AGV body control system and control method thereof

Abstract

The invention discloses an AGV body control system and method, and the system comprises a central control unit, the central control unit is connected with a plurality of motor drivers and a plurality of sensors through control lines, the central control unit is developed based on ARM, the parameters of an AGV body model are preset in advance through the central control unit, the motion mathematic model of the body is determined, and the motion mathematic model of the body is determined. According to the model, calculating parameters of each motor driver corresponding to a motion mode which needs to be realized by the AGV body according to an actual command, then driving the corresponding motor driver through a control line to control each motor to cooperatively act so as to complete an expected motion plan, and returning current operation parameters to a central control unit in real time by each motor in an action execution process, the central control unit dynamically and comprehensively decides an AGV body motion strategy according to the real-time motor state in cooperation with other sensor signals, the AGV body motion model is preset in advance, the customer parameter adaptation process can be effectively reduced, and in addition, the AGV body motion control system based on ARM development is higher in flexibility, lower in cost and wide in application prospect.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV body, and in particular to an AGV body control system and a control method thereof. Background Art

[0002] At present, the existing AGV body control system is mainly controlled by the on-board controller, which is generally PLC or industrial computer control. However, with PLC or industrial computer as the core component of the body control system, the PLC controller is expensive and can usually only be used for simple motion control. Industrial computer control usually mixes body control with other business needs for development on an industrial computer, which is not conducive to distributed deployment and hardware integration and secondary development by hardware integration manufacturers. It requires a lot of pre-development work, the cost is also high, and the user development cycle is long. Therefore, it is urgent to develop an AGV body control system and its control method to solve the above technical problems.

[0003] In view of this, the present invention is proposed. Summary of the invention

[0004] The purpose of the present invention is to provide an AGV body control system and a control method thereof. By presetting the AGV body motion model in advance, the customer parameter adaptation process can be effectively reduced. In addition, the present invention is developed based on ARM, has higher flexibility, lower cost, has broad application prospects, and is conducive to popularization and application.

[0005] In order to achieve the above-mentioned purpose, the present invention provides an AGV body control system, including a central control unit, which is respectively connected to a number of motor drivers and a number of sensors through control lines. The central control unit is developed based on ARM, and the AGV body model parameters are preset in advance through the central control unit to determine the motion mathematical model of the body. According to the model, the parameters of each motor driver corresponding to the motion mode that the AGV body needs to achieve according to the actual command are calculated, and then the corresponding motor drivers are driven through the control lines to control the coordinated actions of each motor to complete the expected motion planning. During the execution of the action, each motor transmits the current operating parameters to the central control unit in real time. The central control unit dynamically and comprehensively decides the AGV body motion strategy based on the real-time motor status and other sensor signals.

[0006] The present invention also provides a control method of an AGV vehicle body control system, comprising the following steps:

[0007] S1: Establish AGV body model parameters. The user presets the AGV body related parameters in the central control unit in advance. The central control unit establishes the body motion mathematical model through the input related parameters.

[0008] S2: The central control unit is responsible for receiving and processing instructions, and converts the movement mode required by the vehicle body into specific motor driver control commands through inverse kinematic operations, and sends them to the corresponding motor drivers;

[0009] S3: The central control unit collects feedback information from various sensors and motor drivers, analyzes and processes the feedback information to adjust the movement of the AGV body to ensure that it runs safely and efficiently along the established path.

[0010] Preferably, in S1, the relevant parameters include vehicle body type, length and width, left and right wheel spacing, motor speed threshold, wheel spacing and wheel position.

[0011] Preferably, in S1, the establishment of the motion mathematical model is based on the structural characteristics and motion characteristics of the vehicle body. The differential model chassis AGV body describes its motion state through the linear velocity and angular velocity in the vehicle body coordinate system. For the single-steering wheel AGV body, its kinematic model solves the displacement and posture changes of the vehicle within a certain period of time. The dual-steering wheel AGV body performs motion planning through the PurePursuit algorithm model. These models take into account various motion mechanisms of the vehicle body, including differential wheels, single and double steering wheels, and their steering and driving methods.

[0012] Preferably, in S3, the feedback information includes position, speed, motor operating status, and obstacle avoidance sensor signals.

[0013] An AGV body control system and a control method thereof provided by the present invention have the following beneficial effects.

[0014] 1. The present invention can effectively reduce the customer parameter adaptation process by presetting the AGV body motion model in advance.

[0015] 2. The present invention is developed based on ARM, which has higher flexibility and lower cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 This is a structural block diagram of an AGV body control system provided by the present invention. DETAILED DESCRIPTION

[0017] The present invention is further described below in conjunction with specific embodiments and drawings to help understand the content of the present invention.

[0018] like Figure 1The figure shows a structural block diagram of an AGV body control system provided by the present invention. The AGV body control system includes a central control unit, which is connected to a plurality of motor drivers and a plurality of sensors through control lines. The central control unit is developed based on ARM. The AGV body model parameters are preset in advance by the central control unit to determine the motion mathematical model of the body. The parameters of each motor driver corresponding to the motion mode that the AGV body needs to achieve according to the actual command are calculated according to the model, and then the corresponding motor drivers are driven through the control lines to control the coordinated actions of each motor to complete the expected motion planning. During the execution of the action, each motor transmits the current operating parameters to the central control unit in real time. The central control unit dynamically and comprehensively decides the AGV body motion strategy according to the real-time motor status and other sensor signals.

[0019] The present invention also provides a control method of an AGV vehicle body control system, comprising the following steps:

[0020] S1: Establish AGV body model parameters. The user presets the AGV body related parameters in the central control unit in advance. The central control unit establishes the body motion mathematical model through the input related parameters.

[0021] In S1, the relevant parameters include vehicle body type, length and width, left and right wheel spacing, motor speed threshold, wheel spacing and wheel position.

[0022] In S1, the establishment of the motion mathematical model is based on the structural characteristics and motion characteristics of the vehicle body. The differential model chassis AGV body describes its motion state through the linear velocity and angular velocity in the body coordinate system. For the single-steering wheel AGV body, its kinematic model solves the displacement and posture changes of the vehicle within a certain period of time. The dual-steering wheel AGV body performs motion planning through the Pure Pursuit algorithm model. These models take into account various motion mechanisms of the vehicle body, including differential wheels, single and double steering wheels, and their steering and driving methods.

[0023] First, for the differentially driven AGV body, the motion mathematical model involves how to convert the speed of the left and right drive wheels into the linear velocity and angular velocity in the body coordinate system, which is called the forward kinematics problem. Correspondingly, the inverse kinematics problem is to calculate the speed of the left and right drive wheels based on the linear velocity and angular velocity in the body coordinate system.

[0024] Secondly, for the dual-steering wheel AGV body, the motion mathematical model is analyzed using the Pure Pursuit algorithm. This model is suitable for models with both front and rear steering wheels installed on the center line of the body, but it is also suitable for models with other structures. The Pure Pursuit algorithm can help the AGV body navigate smoothly on curves and ensure that the vehicle can accurately travel along the predetermined path;

[0025] Finally, the motion modeling of the AGV body also involves dynamics theory, including the study of the dynamic characteristics of the body and how to achieve the desired dynamic response through control input. When establishing the model, it is necessary to consider the constraints of the motion system. These constraints are complete constraints or incomplete constraints, which determine the motion capability and control strategy of the AGV body.

[0026] S2: The central control unit is responsible for receiving and processing instructions, and converts the movement mode required by the vehicle body into specific motor driver control commands through inverse kinematic operations, and sends them to the corresponding motor drivers;

[0027] S3: The central control unit collects feedback information from various sensors and motor drivers, analyzes and processes the feedback information to adjust the movement of the AGV body to ensure that it runs safely and efficiently along the established path.

[0028] In S3, the feedback information includes position, speed, motor operation status, and obstacle avoidance sensor signals.

[0029] The present invention can effectively reduce the customer parameter adaptation process by presetting the AGV body motion model in advance. In addition, the present invention is developed based on ARM, has higher flexibility, lower cost, has broad application prospects, and is conducive to popularization and application.

[0030] The invention concept is described in detail using specific examples herein, and the description of the above embodiments is only used to help understand the core idea of ​​the invention. It should be pointed out that any obvious modification, equivalent substitution or other improvement made by a person of ordinary skill in the art without departing from the invention concept should be included in the protection scope of the present invention.

Claims

1. An AGV vehicle body control system, characterized in that: It includes a central control unit, which is connected to several motor drivers and several sensors through control lines. The central control unit is developed based on ARM. The AGV body model parameters are preset in advance through the central control unit to determine the motion mathematical model of the body. The parameters of each motor driver corresponding to the motion mode that the AGV body needs to achieve according to the actual command are deduced according to the model, and then the corresponding motor drivers are driven through the control lines to control the coordinated actions of each motor to complete the expected motion planning. During the execution of the action, each motor transmits the current operating parameters to the central control unit in real time. The central control unit dynamically and comprehensively decides the AGV body motion strategy based on the real-time motor status and other sensor signals.

2. A control method for the AGV vehicle body control system according to claim 1, characterized in that: The steps include: S1: Establish AGV body model parameters. The user presets the AGV body related parameters in the central control unit in advance. The central control unit establishes the body motion mathematical model through the input related parameters. S2: The central control unit is responsible for receiving and processing instructions, and converts the movement mode required by the vehicle body into specific motor driver control commands through inverse kinematic operations, and sends them to the corresponding motor drivers; S3: The central control unit collects feedback information from various sensors and motor drivers, analyzes and processes the feedback information to adjust the movement of the AGV body to ensure that it runs safely and efficiently along the established path.

3. The control method of the AGV vehicle body control system according to claim 2, characterized in that: In S1, the relevant parameters include vehicle body type, length and width, left and right wheel spacing, motor speed threshold, wheel spacing and wheel position.

4. The control method of the AGV vehicle body control system according to claim 3, characterized in that: In S1, the establishment of the motion mathematical model is based on the structural characteristics and motion characteristics of the vehicle body. The differential model chassis AGV body describes its motion state through the linear velocity and angular velocity in the body coordinate system. For the single-steering wheel AGV body, its kinematic model solves the displacement and posture changes of the vehicle within a certain period of time. The dual-steering wheel AGV body performs motion planning through the Pure Pursuit algorithm model. These models take into account various motion mechanisms of the vehicle body, including differential wheels, single and double steering wheels, and their steering and driving methods.

5. The control method of the AGV vehicle body control system according to claim 4, characterized in that: In S3, the feedback information includes position, speed, motor operation status, and obstacle avoidance sensor signals.

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