Artificially assembled and disassembled automatic guided vehicle control system

Abstract

The invention provides an artificially assembled and disassembled automatic guided vehicle control system which comprises a battery, a control module, a motor controller, a first motor, a second motor, a signal processor and a mechanical device, wherein the control module sends a control signal to the motor controller, and the motor controller respectively controls the operation of the first motor and the second motor so as to drive the mechanical device to move; and the drive signal of the first motor and the second motor is synthesized by the signal processor to control the movement of the mechanical device. The control module is a dual-core controller which comprises an upper computer system and a movement control system arranged on an ADSP (Advanced Signal Processing) circuit and an FPGA (Field Programmable Gate Array) circuit, and the upper computer system comprises a human-computer interface, a path planning module and an online output module; the movement control system comprises an encoder module, an input and output control module, a data memory module and a servo control system, wherein the servo control module is realized by the FPGA circuit and other modules are realized by the ADSP circuit.

Description

technical field [0001] The present invention relates to the technical field of automatic guided vehicles (AGV, Automated Guided Vehicle), and in particular to a manual loading and unloading automatic guided vehicle control system. Background technique [0002] Automated Guided Vehicle (AGV for short), refers to a transport vehicle equipped with automatic guidance devices such as electromagnetic or optical, capable of driving along a prescribed guiding path, with safety protection and various transfer functions, in industrial applications It does not require a driver and uses a rechargeable battery as its power source. Generally, the computer can be used to control its travel route and behavior, or the electromagnetic track can be used to set up its travel route. The electromagnetic track is pasted on the floor, and the unmanned van moves and moves according to the information brought by the electromagnetic track. [0003] Compared with walking, crawling or other non-wheeled...

AI Technical Summary

Problems solved by technology

[0007] (1) Due to the frequent braking and starting of the AGV car, the workload of the DSP is increased, and the single-chip DSP cannot consider the state of the battery, so that the system energy cannot be optimally utilized

[0008] (2) Due to the interference of unstable factors in the surrounding environment, the single DSP controller often appears abnormal, causing loss of control and poor anti-interference ability

[0009] (3) Since the DSP has to deal with the interference of the AGV's surrounding environment and manage the operation of the motor, it is difficult to meet the requirements of rapidity and stability. If this problem is solved by adding a new processor, it will have to deal with two Issues such as synchronization and communication between processors prolong system development time

[0010] (4) Single-chip DSP is difficult to meet the requirements of multi-signal processing system

In order to meet the requirements of the two motors, the single-chip DSP-controlled AGV is usually solved by implementing high-speed analog / digital (A / D) sampling and signal processing functions on multiple different boards, which brings many benefits to practical applications. inconvenient

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