Intelligent AGV motion control device for critical equipment manufacturing

Abstract

The invention discloses an intelligent AGV motion control device for critical equipment manufacturing. The device comprises a lower computer and an upper computer. The lower computer and the upper computer are integrated and installed inside a control box. The lower computer is an expandable motion control unit, receives control information from the upper computer, sends motion information and status information to the upper computer to be monitored and displayed and specifically comprises a DSP motion control panel and an FPGA expansion board; the upper computer adopts an ARM hardware platform and comprises a navigation module, an obstacle avoidance module, a monitoring display module, a battery management module and a CAN bus communication module for achieving a navigation algorithm, anobstacle avoidance algorithm, monitoring display, peripheral management and communication with the lower computer. The device is applied into an intelligent AGV for critical equipment manufacturing, translation and lifting control over the intelligent AGV can be achieved, and expansion is easy.

Description

technical field [0001] The invention relates to the technical field of equipment manufacturing, in particular to a motion control device for an intelligent AGV for critical equipment manufacturing. Background technique [0002] The intelligent AGV for critical equipment manufacturing is an omnidirectional mobile platform for critical equipment manufacturing. Due to its unique mecanum wheel independent drive and cooperative control technology, this omnidirectional mobile platform provides an efficient solution for the flexible transfer and precise assembly positioning of large and medium-sized products in the manufacture of critical equipment. The motion controller is the brain of the intelligent AGV manufactured for critical equipment. It is used for motion control of intelligent AGV, safe obstacle avoidance, communication with other peripherals, etc. Through the motion control algorithm, the command is output to the servo system to realize the omni-directional arbitrary c...

AI Technical Summary

Problems solved by technology

[0003] Some of the main controllers in the existing technical solutions use MiniPC, send control commands to the motor driver through the 485 bus, and realize communication with ultrasonic sensors, magnetic sensors, and RFID sensors through the RS232 bus. The AGV using this control system can realize two-way movement and reversing , but the system has certain shortcomings. The main controller adopts MiniPC, which is not convenient for system expansion. The navigation method is single and cannot adapt to different working environments; the communication method with the motor driver is single and does not have universality.

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