Remote monitorable multi-axis cooperative intelligent controller based on 5G technology
A technology of intelligent controller and remote control, applied in the direction of program control, computer control, general control system, etc., can solve the problems of difficulty in scheduling, AGV path interference, large scope of influence, etc., to ensure synchronization and avoid path interference problems. , the effect of high remote positioning accuracy
Active Publication Date: 2020-11-06
BEIJING SATELLITE MFG FACTORY
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Problems solved by technology
However, in the actual application process, since the AGV driving process is mostly a straight line and there are few turns, the area enclosed by the AGV driving path and the line connecting the starting point and the ending point will be larger, and the scope of influence in the factory will be relatively large. , if there are multiple AGVs performing different tasks in the factory building, it will become difficult to schedule and even cause multi-AGV path interference problems
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[0109] (1) Input the starting point (4,3) and end point (13,14) of the AGV movement in the host computer module, the movement speed = 0.2m / s, the number of cycles = 1 (such as Figure 4 shown), the information will be sent to the 5G gateway 1.
[0110] (2) The 5G gateway 1 receives information such as the starting point (4,3) and the end point (13,14) of the AGV movement, the movement speed = 0.2m / s, and the number of cycles = 1 sent by the host computer, and uses 5G communication technology to pass the information through the external The 5G base station sends information such as the AGV movement path, movement speed = 0.2m / s, cycle number = 1, etc. to the 5G gateway 2.
[0111] (3) The 5G gateway 2 receives the AGV movement start point (4,3) and end point (13,14), movement speed=0.2m / s, cycle number=1 and other information sent by the 5G gateway 1 through the 5G base station.
[0112] (4) The 5G gateway 2 transmits information such as the starting point (4, 3) and the endin...
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The invention discloses a remote monitorable multi-axis cooperative intelligent controller based on a 5G technology. The modification of a motion path and motion parameters of a factory AGV at a remote terminal is realized through employing the 5G transmission technology, and the real-time motion data of the AGV are monitored. The controller has abundant interfaces, and uses a pulse / direction modeor a CAN bus communication mode to control the cooperative movement of various motors, so that the AGV can accurately move. In addition, according to AGV starting point and terminal point information, an AGV path is planned in a minimum area mode; the area defined by the driving path of the AGV from the starting point to the terminal point and the connecting line of the starting point and the terminal point is minimum, so that the driving space of the AGVs is reduced to the maximum extent, the influence range of AGV driving on a workshop is greatly reduced, the path interference problem possibly caused when the multiple AGVs execute different tasks at the same time is solved. The control precision of the controller is extremely high, and the AGV motion positioning precision reaches + / -0.5mm.
Description
technical field [0001] The invention relates to a remote monitorable multi-axis collaborative intelligent controller based on 5G technology. Background technique [0002] Existing multi-axis collaborative controllers mainly use wired transmission or wireless LAN transmission to send instructions and collect information to the execution equipment such as AGV in the workshop. The transmission distance is limited. If it is necessary to control the operation site, it must be within the limited distance. conduct. With the gradual development of production workshops in the direction of intelligence, high integration, and high density, the space left for on-site operations is getting smaller and smaller, and the production workshops of most companies continue to move out, resulting in the distance between the R&D technology department and the production site. The farther away, if it is necessary to optimize the control or change the path of the on-site AGV, it needs to be complete...
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IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/23051
Inventor 谭旭刘净瑜韩建超张加波王颜漆嘉林吕晶薇于海滨任明妍
Owner BEIJING SATELLITE MFG FACTORY