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Magnetic navigation AGV control system

A control system and magnetic navigation technology, applied in control/adjustment system, two-dimensional position/course control, non-electric variable control, etc., can solve the problems of poor scalability and achieve effective tracking, easy interactive management, and good navigation The effect of precision

Inactive Publication Date: 2018-03-09
郭琳
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

SCM and PLC control systems have the advantages of low power consumption and simple control, but poor scalability

Method used

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  • Magnetic navigation AGV control system
  • Magnetic navigation AGV control system
  • Magnetic navigation AGV control system

Examples

Experimental program
Comparison scheme
Effect test

Embodiment Construction

[0025] Such as figure 1 As shown, the system architecture is the key to the AGV control system. The control scheme of the system is divided into monitoring management layer, communication layer, control layer, function layer and sensor layer five layers from top to bottom, monitoring management layer. Load the Advantech industrial computer POD-6552 on the AGV to realize the monitoring and management of the control system. By establishing a wireless local area network, the data sharing between the client PC and the monitoring management terminal can be realized, which is helpful for the debugging, development and management of the control system; CAN field bus is used in the communication layer to complete the command control between the monitoring management layer and the control layer Send and report feedback. The field bus is suitable for the expansion of the later control nodes, which is the guarantee for the system to become more complex and intelligent: the control laye...

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Abstract

In order to ensure the scalability and stability of the magnetic navigation AGV control system, a magnetic navigation AGV control system was invented. Its hardware architecture is based on an embedded industrial computer, and multiple ARM processors that control peripheral devices are connected through the CAN bus. . Emphasis is given on the implementation of the system's motion controller and monitoring and management system. The motion controller is implemented based on the interrupt task scheduling mode, and the dynamic tracking behavior of the AGV is improved by the fuzzy self-tuning PD regulator; the monitoring and management system includes six interactive modules. Its sending and receiving communication process is completed cooperatively through timely thread suspension and step-by-step receiving matching operations. The on-site measurement shows that the AGv works stably and reliably, and the tracking effect is good.

Description

Technical field [0001] The invention relates to a control system, in particular to a magnetic navigation AGV control system. Background technique [0002] The automatic guided vehicle (AGV) is the key equipment for the automation, flexibility and intelligence of the modern logistics system. It is of great significance to study the related technologies of AGV. The navigation system is the core component of AGV. At present, the common AGV navigation methods mainly include visual navigation, laser navigation and magnetic navigation. Visual navigation has poor adaptability because it is easily affected by the environment, and the hardware cost of laser navigation is relatively high. Magnetic navigation is not only simple in control, low in cost, but also has strong anti-interference ability. It can work in various environments and is the most widely used. [0003] The navigation control system of AGV mainly adopts single-chip microcomputer, programmable logic controller PLC an...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
CPCG05D1/0263
Inventor 郭琳
Owner 郭琳
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