AGV motion control semi-physical simulation system

Abstract

The invention discloses an AGV motion control semi-physical simulation system. The system comprises an AGV motion simulation module, a communication module, an AGV man-machine interface module, an AGV controller module and a system monitoring computer module, wherein the AGV motion simulation module and the communication module are arranged in an embedded controller, the AGV man-machine interface module and the system monitoring computer module are arranged in a computer, the AGV motion simulation module is connected with and communicate with the AGV controller module through the communication module, the system monitoring computer module is connected with and communicates with the embedded controller through a network port, and at the same time, monitors internal data of the embedded controller through computer software, and the AGV man-machine interface module is connected with and communicate with the embedded controller through a network port. According to the invention, basis parameters of AGVs and storage yards, environment parameters and sensor states can be set, controller commands are received, motion states of the vehicles can be calculated in real time, sensor data is returned to the controller, the motion status of the vehicles in the storage yards can be dynamically displayed, and accordingly, debugging and performance testing of the controller are facilitated.

Description

technical field [0001] The invention relates to a motion control simulation system, in particular to an AGV (automatic guided vehicle system) motion control semi-physical simulation system based on an embedded controller, which belongs to the field of robot technology. Background technique [0002] The automatic guided vehicle system (abbreviated as AGV) first appeared in the 1950s, and began to be rapidly popularized and applied in developed countries such as Europe, the United States, and Japan in the 1970s. At present, AGV (Automatic Guided Vehicle System) has been widely used in fields such as tobacco, automobile assembly, banknote printing, press and publication, and petroleum core. Now AGV is also gradually used in cargo transportation, which can realize large containers and heavy loads Automatic transport of goods. [0003] The motion control system of AGV consists of AGV positioning navigation (abbreviated as NCS) and motion control system (abbreviated as MCS). Usu...

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Problems solved by technology

[0004] 1. If there is a big problem with the AGV motion controller, debug it on a real vehicle. Once the AGV vehicle (vehicle with AGV installed) loses control or the device burns out, it will bring about a large economic loss and pose a threat to the safety of the debugger. very big;

[0005] 2. It is not convenient to test the response of the AGV motion controller to external environmental conditions such as wind resistance, rainfall, and tire pressure;

[0006] 3. It is not convenient to test the response of the AGV motion controller when the sensor and transponder fail;

[0007] 4. For different stockyard map tests, it is necessary to test on different stockyards, and the feasibility is poor

However, this utility model is limited to testing the performance of the transmission system of the electric locomotive, and cannot test the movement of the whole vehicle

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