AGV trolley based on RISC-V chip

Abstract

The invention discloses an AGV trolley based on an RISC-V chip, and the AGV trolley comprises an AGV trolley body, the left side of the inner wall of the AGV trolley body is fixedly provided with a left motor for driving a left wheel to rotate, the right side of the inner wall of the AGV trolley body is fixedly provided with a right motor for driving a right wheel to rotate, the top of the AGV trolley body is fixedly provided with a top plate, and the top of the top plate is provided with an induction assembly. A driving assembly for driving the sensing assembly to rotate is mounted on the top plate; the invention relates to the technical field of AGVs. According to the AGV trolley based on the RISC-V architecture, the GD32VF103 series MCU is adopted as the chassis controller, various working postures of the AGV trolley body are controlled, the visionFiveV2 development board is used as the master control, the AGV trolley based on the RISC-V architecture is constructed, the AGV trolley is different from a traditional ARM system architecture, the problems of communication expansion, cooperative work and the like of a traditional AGV trolley are solved, and meanwhile corresponding chip supply is stable and low in cost.

Description

Technical Field

[0001] The present invention relates to the technical field of AGV trolleys, and in particular to an AGV trolley based on a RISC-V chip. Background Art

[0002] AGV, the full name of which is Automated Guided Vehicle, is an automated handling device used in factories, warehouses, logistics centers and other environments. AGV can navigate autonomously, move along a predetermined path, and perform the task of handling goods or materials. With the development of industry, AGV has been widely used in industry, and with the development of technology, the design of AGV has become more and more intelligent.

[0003] The current AGVs on the market generally adopt the ARM architecture MCU+MPU hardware layout, and the software part uses the ROS system. However, as it becomes difficult for Chinese companies to obtain ARM licenses, the price of ARM architecture chips will fluctuate more, affecting the production cost of AGV vehicles.

[0004] To this end, the present invention provides an AGV car based on a RISC-V chip to solve the above problems. Summary of the invention

[0005] In view of the deficiencies in the prior art, the present invention provides an AGV car based on a RISC-V chip to solve the above problems.

[0006] To achieve the above objectives, the present invention is implemented through the following technical solutions: an AGV trolley based on a RISC-V chip, comprising an AGV trolley body, a left motor for driving a left wheel to rotate is fixed on the left side of the inner wall of the AGV trolley body, a right motor for driving a right wheel to rotate is fixed on the right side of the inner wall of the AGV trolley body, a top plate is fixed on the top of the AGV trolley body, a sensing component is installed above the top plate, and a driving component for driving the sensing component to rotate is installed on the top plate;

[0007] The sensing component includes a camera and an ultrasonic radar;

[0008] The AGV vehicle body is equipped with a chassis controller, a main control, a GPS module, an IMU module, and a communication module. The chassis controller signal is connected to the left motor and the right motor, and the main control signal is connected to the camera, ultrasonic radar, GPS module, IMU module, and communication module.

[0009] Preferably, the driving assembly includes a driving motor fixed on the bottom wall of the top plate and an outer gear ring rotatably mounted on the top of the top plate, a power shaft of the driving motor passes through the top plate through a bearing and is fixed with a driving gear, the driving gear is meshingly connected with a driven gear, the driven gear is rotatably mounted on the top wall of the top plate, the driven gear is meshingly connected with the outer gear ring, and the induction assembly is mounted on the top of the outer gear ring.

[0010] Preferably, the chassis controller is connected to the main controller via a CAN bus.

[0011] Preferably, the chassis controller signal is connected to a left motor encoder and a right motor encoder.

[0012] Preferably, the chassis controller is a GD32VF103 series MCU.

[0013] Preferably, the main control is a visionFiveV2 development board.

[0014] Preferably, the communication module is a 2.4G wireless communication module.

[0015] Preferably, an RTK antenna is installed on the main control.

[0016] Beneficial Effects

[0017] The present invention provides an AGV based on a RISC-V chip. Compared with the prior art, it has the following beneficial effects:

[0018] The present invention adopts the GD32VF103 series MCU as the chassis controller to realize the control of various working postures of the AGV vehicle body, uses the visionFiveV2 development board as the main control, connects the ultrasonic radar, GPS module, IMU module and other sensors to realize the planning of the motion trajectory of the AGV vehicle, and sends instructions through the CAN bus to control the chassis controller to realize the corresponding actions. The present invention constructs an AGV vehicle based on the RISC-V architecture, which is different from the traditional ARM system architecture, solves the problems of communication expansion and collaborative work of traditional AGV vehicles, and the corresponding chip supply is stable and the cost is low. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 It is a front perspective view of the external structure of the present invention;

[0020] Figure 2 It is a rear perspective view of the external structure of the present invention;

[0021] Figure 3 It is the overall structural diagram of the present invention;

[0022] Figure 4It is a work flow chart of the present invention.

[0023] In the figure, 1 is the AGV body; 2 is the left motor; 3 is the right motor; 4 is the top plate; 5 is the outer gear ring; 6 is the drive motor; 7 is the driving gear; 8 is the driven gear; 9 is the camera; 10 is the ultrasonic radar; 11 is the chassis controller; 12 is the main control; 13 is the GPS module; 14 is the IMU module; 15 is the communication module; 16 is the left motor encoder; 17 is the right motor encoder. DETAILED DESCRIPTION

[0024] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0025] Embodiment 1:

[0026] See also Figure 1-4 , an AGV trolley based on a RISC-V chip, comprising an AGV trolley body 1, a left motor 2 for driving a left wheel to rotate is fixed on the left side of the inner wall of the AGV trolley body 1, a right motor 3 for driving a right wheel to rotate is fixed on the right side of the inner wall of the AGV trolley body 1, a top plate 4 is fixed on the top of the AGV trolley body 1, a sensing component is installed above the top plate 4, and a driving component for driving the sensing component to rotate is installed on the top plate 4;

[0027] The sensing component includes a camera 9 and an ultrasonic radar 10;

[0028] The AGV body 1 is equipped with a chassis controller 11, a main control 12, a GPS module 13, an IMU module 14, and a communication module 15. The chassis controller 11 signal is connected to the left motor 2 and the right motor 3, and the main control 12 signal is connected to the camera 9, the ultrasonic radar 10, the GPS module 13, the IMU module 14 and the communication module 15.

[0029] The chassis controller 11 is connected to the main control 12 via the CAN bus. The chassis controller 11 is signal-connected to the left motor encoder 16 and the right motor encoder 17. The chassis controller 11 is a GD32VF103 series MCU. The main control 12 is a visionFiveV2 development board. The communication module 15 is a 2.4G wireless communication module. The main control 12 is equipped with an RTK antenna.

[0030] In this embodiment, the camera 9 is set to monitor the surrounding environment of the AGV trolley body 1, and the ultrasonic radar 10, GPS module 13 and IMU module 14 are set to monitor the position of the AGV trolley body 1 in real time, and the corresponding image data and position information data are processed by the main control 12, so as to realize the planning of the motion trajectory of the AGV trolley and connect with the chassis controller 11 through the CAN bus, and control the working state of the left motor 2 and the right motor 3 through the chassis controller 11, so as to realize the basic functions of the AGV trolley body 1 such as forward, backward, steering, acceleration and deceleration. The chassis controller 11 adopts the GD32VF103 series MCU, which is a 32-bit general-purpose microcontroller based on the RISC-V core, which provides high performance and low power consumption, and provides a wide variety of peripherals, which can facilitate communication expansion and collaborative work. The main control 12 uses the visionFiveV2 development board, which is equipped with the StarFive JH7110 RISC-V U74 quad-core processor, with a maximum operating frequency of 1.5GHz, 2MB L2 cache and S7 monitoring core, supports RV64GC ISA, and has a variety of display interfaces and peripheral interfaces. The set drive component can drive the camera 9 and ultrasonic radar 10 to rotate, so as to monitor the surrounding environment, without the need to set up multiple cameras 9 and ultrasonic radars 10, which can effectively reduce the cost of the device.

[0031] Embodiment 2:

[0032] See also Figure 1-2 This embodiment provides a technical solution based on the first embodiment: the driving component includes a driving motor 6 fixed on the bottom wall of the top plate 4 and an outer gear ring 5 rotatably installed on the top of the top plate 4, the power shaft of the driving motor 6 passes through the top plate 4 through a bearing and is fixed with a driving gear 7, the driving gear 7 is meshedly connected with a driven gear 8, the driven gear 8 is rotatably installed on the top wall of the top plate 4, the driven gear 8 is meshedly connected with the outer gear ring 5, and the induction component is installed on the top of the outer gear ring 5.

[0033] In this embodiment, the driving component is set up to drive the camera 9 and the ultrasonic radar 10 to rotate, so as to monitor the surrounding environment. There is no need to set up multiple cameras 9 and ultrasonic radars 10, which can effectively reduce the cost of the device. When the driving component is working, the driving motor 6 drives the driving gear 7 to rotate, and the driving gear 7 drives the outer gear ring 5 to rotate through the driven gear 8, thereby driving the sensing component to rotate.

[0034] The present invention adopts GigaDevice's GD32VF103 series MCU as the chassis controller 11. The GD32VF103 series MCU is a 32-bit general-purpose microcontroller based on the RISC-V core. It provides high performance while having low power consumption, and provides a wide variety of peripherals to achieve control of various working postures of the AGV vehicle body 1. The visionFiveV2 development board of Saifang Technology is used as the main control 12, and sensors such as the ultrasonic radar 10, the GPS module 13 and the IMU module 14 are connected to realize the planning of the motion trajectory of the AGV vehicle and send instructions through the CAN bus to control the chassis controller 11 to achieve corresponding actions. The present invention constructs an AGV vehicle based on the RISC-V architecture, which is different from the traditional ARM system architecture, and solves the problems of communication expansion and collaborative work of traditional AGV vehicles.

[0035] Meanwhile, the contents not described in detail in this specification belong to the prior art known to those skilled in the art.

[0036] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0037] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An AGV car based on a RISC-V chip, comprising an AGV car body (1), characterized in that: A left motor (2) for driving the left wheel to rotate is fixed on the left side of the inner wall of the AGV trolley body (1); a right motor (3) for driving the right wheel to rotate is fixed on the right side of the inner wall of the AGV trolley body (1); a top plate (4) is fixed on the top of the AGV trolley body (1); a sensing component is installed above the top plate (4); and a driving component for driving the sensing component to rotate is installed on the top plate (4); The sensing component comprises a camera (9) and an ultrasonic radar (10); The AGV trolley body (1) is equipped with a chassis controller (11), a main control (12), a GPS module (13), an IMU module (14), and a communication module (15); the chassis controller (11) is connected to the left motor (2) and the right motor (3) by signal; the main control (12) is connected to the camera (9), the ultrasonic radar (10), the GPS module (13), the IMU module (14), and the communication module (15) by signal.

2. According to claim 1, the AGV based on the RISC-V chip is characterized in that: The driving assembly comprises a driving motor (6) fixed on the bottom wall of the top plate (4) and an outer gear ring (5) rotatably mounted on the top of the top plate (4); a power shaft of the driving motor (6) passes through the top plate (4) through a bearing and is fixed with a driving gear (7); the driving gear (7) is meshedly connected with a driven gear (8); the driven gear (8) is rotatably mounted on the top wall of the top plate (4); the driven gear (8) is meshedly connected with the outer gear ring (5); and the induction assembly is mounted on the top of the outer gear ring (5).

3. The RISC-V chip-based AGV according to claim 1, characterized in that: The chassis controller (11) is connected to the main controller (12) via a CAN bus.

4. The RISC-V chip-based AGV according to claim 3, characterized in that: The chassis controller (11) is signal-connected to a left motor encoder (16) and a right motor encoder (17).

5. The RISC-V chip-based AGV according to claim 4, characterized in that: The chassis controller (11) is a GD32VF103 series MCU.

6. The RISC-V chip-based AGV according to claim 1, characterized in that: The main control (12) is a visionFiveV2 development board.

7. The RISC-V chip-based AGV according to claim 1, characterized in that: The communication module (15) is a 2.4G wireless communication module.

8. The RISC-V chip-based AGV according to claim 1, characterized in that: The main control (12) is equipped with an RTK antenna.

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