AGV (Automatic Guided Vehicle) control system based on bus control mode

Abstract

The invention relates to an AGV (Automatic Guided Vehicle) control system based on a bus control mode. The AGV control system comprises a host computer control unit, an AGV interface board, servo motors and absolute value encoders, wherein the AGV interface board is arranged on an AGV; the AGV interface board is connected with a group of servo motors for driving AGV wheels to rotate through a bus way; the AGV interface board is connected with a gyroscope and an acceleration meter; the AGV interface board is connected with a group of absolute value encoders arranged on an axle; and the AGV interface board is further connected with the host computer control unit for performing real-time data interaction to realize a control function on the AGV. According to the AGV control system disclosed by the invention, the AGV interface board taking an FPGA (Field Programmable Gate Array) as a core is adopted, and is connected with a group of servo motors for driving the AGV to move through a MECHATROLINK2 bus, so that external interference is prevented effectively, the working states of the servo motors can be controlled and acquired rapidly and accurately in real time, an automatic control function for AGV movement is realized, and the instantaneity and stability of control are ensured; and the AGV control system can be widely applied in the field of the AGV.

Description

technical field [0001] The invention belongs to the technical field of mobile robots, in particular to an AGV control system based on a bus control mode. Background technique [0002] AGV is a kind of unmanned automatic handling vehicle powered by batteries, equipped with non-contact guiding devices and independent addressing systems. Arrive at the designated location and complete a series of homework tasks. [0003] The composition of the AGV body control system can be combined in two ways. One is a relatively simple way, such as a microprocessor + peripherals, which directly control the peripherals by their control units, computing units, storage units and clocks. Here, the ARM+ peripherals and DSP+ peripherals are examples, although they are theoretically feasible, but in terms of high real-time performance, short control cycle, stability, reliability, fast and efficient, low power consumption, flexible expansion, compact shape, and minimum occupancy There are many prob...

AI Technical Summary

Problems solved by technology

[0003] The composition of the AGV body control system can be combined in two ways. One is a relatively simple way, such as a microprocessor + peripherals, which directly control the peripherals by their control units, computing units, storage units and clocks. Here, the ARM+ peripherals and DSP+ peripherals are examples, although they are theoretically feasible, but in terms of high real-time performance, short control cycle, stability, reliability, fast and efficient, low power consumption, flexible expansion, compact shape, and minimum occupancy There are many problems in space: the first problem is that it is difficult to realize real-time and correct reception and transmission of position data, speed data, input and output status and other information for control, so as to complete the very flexible and high-precision motion control of AGV ; The second problem is that it is difficult to realize various high-precision peripherals required by the AGV, such as servo motors; the third problem is that it is difficult to realize that the software and hardware can be modified to a certain extent, and AGV products can be customized according to user needs; The four problems are that it is difficult to achieve low power consumption, high reliability, and free scalability of the entire system

In view of the fact that domestic AGV development is still in its infancy, and the development and application of the above second method by related manufacturers are far from meeting the requirements of practical application, this invention is developed based on the technical background of filling this gap in China

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