AGV control system architecture and AGV vehicle

Abstract

The invention provides an AGV control system architecture and an AGV vehicle, and the AGV control system architecture comprises an IEC 61499 control system, an AGV ROS system and chassis hardware which are electrically connected. The IEC 61499 control system is connected between the AGV ROS system and the chassis hardware and used for obtaining control information sent by the AGV ROS system, converting the control information into a control instruction suitable for driving the chassis hardware and sending the control instruction to the chassis hardware. According to the embodiment of the invention, software and hardware decoupling is realized based on AGV interface standardization, repeated development can be reduced, an AGV software and hardware system can be rapidly transplanted, and the real-time performance and development efficiency of AGV equipment are improved.

Description

Background Art

[0002] At present, AGV (Automated Guided Vehicle) is a type of industrial robot. It has functions such as mobility, automatic navigation, multi-sensor control, and network interaction. Its main use in actual production is transportation.

[0003] In related technologies, AGV's chassis hardware has a variety of motion models, including a two-wheel differential model, an omnidirectional model, etc. AGV's sensors also have a variety of combination options. AGV's current navigation technology is relatively mature.

[0004] However, the existing AGV software and hardware are bound together, and porting the software to the new AGV chassis requires a lot of adaptation, and it also takes a lot of time to rewrite and debug the code of the drive hardware.

[0005] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present disclosure, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0006] The purpose of the present disclosure is to provide an AGV control system architecture and an AGV vehicle, which are used to overcome, at least to a certain extent, the problems of poor software and hardware compatibility under the AGV control system architecture caused by the limitations and defects of related technologies.

[0007] According to a first aspect of an embodiment of the present disclosure, an AGV control system architecture is provided, comprising: an IEC61499 control system, an AGV ROS system and chassis hardware that are electrically connected; the IEC 61499 control system is connected between the AGV ROS system and the chassis hardware, and is used to obtain control information sent by the AGV ROS system and convert it into control instructions suitable for driving the chassis hardware, and send the control instructions to the chassis hardware.

[0008] In an exemplary embodiment of the present disclosure, the IEC 61499 control system is provided with a motor control functional module, an obstacle avoidance laser control module and a battery management functional module which are electrically connected.

[0009] In an exemplary embodiment of the present disclosure, the AGV ROS system is provided with an electrically connected mapping module, a positioning module and a navigation module, the mapping module is used to generate a planning map and an operation track record of the chassis hardware, the positioning module is used to determine the location information of the chassis hardware, and the navigation module is used to generate navigation information of the chassis hardware.

[0010] In an exemplary embodiment of the present disclosure, the chassis hardware is provided with an electrically connected motor, an obstacle avoidance laser and a battery, wherein the motor is used to provide driving force, the obstacle avoidance laser is used to generate a detection laser, and the battery is used to provide electrical energy.

[0011] In an exemplary embodiment of the present disclosure, the motor control function module is configured to send a motor drive instruction to the motor, the obstacle avoidance laser control module is configured to send a laser drive instruction to the obstacle avoidance laser, and the battery management function module is configured to send a power supply drive instruction to the battery, and the control instruction includes the motor drive instruction, the laser drive instruction and the power supply drive instruction.

[0012] In an exemplary embodiment of the present disclosure, the motor control function module uses the CANopen bus protocol to drive the motor. After determining the power-on state of the motor, the motor control function module inputs the target speed and speed mode to the motor, and obtains the motor state information during the process of driving the motor.

[0013] In an exemplary embodiment of the present disclosure, the CIEC 61499 control system determines a read status word function and a write control word function, and packages the read status word function and the write control word function into a dynamic library, wherein the dynamic library includes underlying code for communicating with the chassis hardware.

[0014] In an exemplary embodiment of the present disclosure, the underlying code in the dynamic library is configured to be callable by functional modules, and the functional modules include the motor control functional module, the obstacle avoidance laser control module and the battery management functional module.

[0015] In an exemplary embodiment of the present disclosure, the components of the chassis hardware communicate with each other using at least one of CANopen communication, RS232 communication and RS485 communication, and the components include at least two of a motor, an obstacle avoidance laser and a battery.

[0016] In an exemplary embodiment of the present disclosure, the AGV ROS system communicates with the IEC 61499 control system via protocols such as WebSocket and / or UDP.

[0017] According to a second aspect of an embodiment of the present disclosure, an AGV vehicle is provided, comprising:

[0018] The vehicle body is loaded with the AGV control system architecture as described in any of the above technical solutions.

[0019] In the embodiment of the present disclosure, an IEC 61499 control system, an AGV ROS system and chassis hardware are electrically connected, and the IEC 61499 control system is connected between the AGV ROS system and the chassis hardware, so as to obtain control information sent by the AGV ROS system and convert it into control instructions suitable for driving the chassis hardware, and send the control instructions to the chassis hardware. Based on the standardization of AGV interfaces, the decoupling of software and hardware is achieved, which can reduce repeated development and quickly transplant AGV software and hardware systems, and improve the real-time performance and development efficiency of AGV equipment.

[0020] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The accompanying drawings herein are incorporated into the specification and constitute a part of the specification, illustrate embodiments consistent with the present disclosure, and together with the specification are used to explain the principles of the present disclosure. Obviously, the accompanying drawings described below are only some embodiments of the present disclosure, and for ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0022] Figure 1 A schematic diagram showing an exemplary system architecture to which the AGV control system architecture solution of an embodiment of the present invention can be applied;

[0023] Figure 2 is a schematic diagram of an AGV control system architecture in an exemplary embodiment of the present disclosure;

[0024] Figure 3 is a schematic diagram of a transport AGV scenario of an AGV control system architecture in an exemplary embodiment of the present disclosure;

[0025] Figure 4 is a schematic diagram of a motor of an AGV control system architecture in an exemplary embodiment of the present disclosure;

[0026] Figure 5 is a schematic diagram of a signal flow processing solution under an AGV control system architecture in an exemplary embodiment of the present disclosure;

[0027] Figure 6 It is a block diagram of an AGV vehicle in an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0028] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in a variety of forms and should not be construed as being limited to the examples set forth herein; on the contrary, these embodiments are provided so that the present disclosure will be more comprehensive and complete, and the concepts of the example embodiments are fully conveyed to those skilled in the art. The described features, structures, or characteristics may be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present disclosure. However, those skilled in the art will appreciate that the technical solutions of the present disclosure may be practiced while omitting one or more of the specific details, or other control system architectures, components, devices, steps, etc. may be adopted. In other cases, known technical solutions are not shown or described in detail to avoid obscuring various aspects of the present disclosure.

[0029] In addition, the accompanying drawings are only schematic diagrams of the present disclosure, and the same reference numerals in the drawings represent the same or similar parts, so their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities, which do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0030] Figure 1 A schematic diagram showing an exemplary system architecture to which the AGV control system architecture solution according to an embodiment of the present invention can be applied.

[0031] like Figure 1 As shown, the system architecture 100 may include one or more of terminal devices 101, 102, 103, a network 104, and a server 105. The network 104 is used to provide a medium for communication links between the terminal devices 101, 102, 103 and the server 105. The network 104 may include various connection types, such as wired, wireless communication links, or optical fiber cables, etc.

[0032] It should be understood that Figure 1 The number of terminal devices, networks and servers in the embodiment is only for illustration. According to the implementation requirements, there may be any number of terminal devices, networks and servers. For example, the server 105 may be a server cluster composed of multiple servers.

[0033] Users can use terminal devices 101, 102, 103 to interact with server 105 through network 104 to receive or send messages, etc. Terminal devices 101, 102, 103 can be various electronic devices with display screens, including but not limited to smart phones, tablet computers, portable computers, desktop computers, etc.

[0034] In some embodiments, the AGV control system architecture provided by the embodiments of the present invention is generally executed by the server 105, and accordingly, the AGV control system architecture device is generally set in the terminal device 103 (which may also be the terminal device 101 or 102). In other embodiments, some terminals may have functions similar to those of the server device to execute the control system architecture.

[0035] The exemplary embodiments of the present disclosure are described in detail below with reference to the accompanying drawings.

[0036] Figure 2 is a schematic diagram of an AGV control system architecture 200 in an exemplary embodiment of the present disclosure.

[0037] refer to Figure 2 , the AGV control system architecture 200 may include:

[0038] Electrically connected IEC 61499 control system 204, AGV ROS system 202 and chassis hardware 206;

[0039] The IEC 61499 control system 204 is connected between the AGV ROS system 202 and the chassis hardware 206 , and is used to obtain control information sent by the AGV ROS system 202 , convert it into control instructions suitable for driving the chassis hardware 206 , and send the control instructions to the chassis hardware 206 .

[0040] In the embodiment of the present disclosure, an IEC 61499 control system 204, an AGV ROS system 202 and a chassis hardware 206 are electrically connected, and the IEC 61499 control system 204 is connected between the AGV ROS system 202 and the chassis hardware 206, so as to obtain control information sent by the AGV ROS system 202 and convert it into a control instruction suitable for driving the chassis hardware 206, and send the control instruction to the chassis hardware 206, thereby realizing software and hardware decoupling based on AGV interface standardization, reducing repeated development and rapid transplantation of AGV software and hardware systems, and improving the real-time performance and development efficiency of AGV equipment.

[0041] Next, each step of the AGV control system architecture 200 is described in detail.

[0042] In an exemplary embodiment of the present disclosure, the IEC 61499 control system 204 is provided with a motor control functional module, an obstacle avoidance laser control module and a battery management functional module which are electrically connected.

[0043] In the above embodiment, the IEC 61499 control system acts as a transfer station to convert the data transmitted by the hardware into data that complies with the AGV ROS standard. In addition, the signal transmitted by the AGV ROS control system is also converted into data that can be adapted by the hardware.

[0044] In an exemplary embodiment of the present disclosure, the AGV ROS system 202 is provided with an electrically connected mapping module, a positioning module and a navigation module, the mapping module is used to generate a planning map and an operation track record of the chassis hardware 206, the positioning module is used to determine the location information of the chassis hardware 206, and the navigation module is used to generate navigation information of the chassis hardware 206.

[0045] In the above embodiment, the map generated by the mapping module can be divided into 2D maps, 3D maps, etc. according to dimensions, and can be divided into laser maps and visual maps according to sensors, among which the laser map is a map generated by scanning the spatial area with an obstacle avoidance laser.

[0046] In the above embodiment, the AGV ROS control system is the algorithm layer that realizes the mapping, positioning, navigation and other functions of the navigation vehicle. The AGV ROS control system will tell the AGC hardware system which point to go to, at what speed, acceleration and steering to run, how the motor rotates, and will receive laser data from the control system, etc., but is not limited to this.

[0047] In an exemplary embodiment of the present disclosure, the chassis hardware 206 is provided with an electrically connected motor, an obstacle avoidance laser and a battery, wherein the motor is used to provide driving force, the obstacle avoidance laser is used to generate a detection laser, and the battery is used to provide electrical energy.

[0048] In an exemplary embodiment of the present disclosure, the motor control function module is configured to send a motor drive instruction to the motor, the obstacle avoidance laser control module is configured to send a laser drive instruction to the obstacle avoidance laser, and the battery management function module is configured to send a power supply drive instruction to the battery, and the control instruction includes the motor drive instruction, the laser drive instruction and the power supply drive instruction.

[0049] In an exemplary embodiment of the present disclosure, the motor control function module uses the CANopen bus protocol to drive the motor. After determining the power-on state of the motor, the motor control function module inputs the target speed and speed mode to the motor, and obtains the motor state information during the process of driving the motor.

[0050] In an exemplary embodiment of the present disclosure, the CIEC 61499 control system 204 determines a read status word function and a write control word function, and packages the read status word function and the write control word function into a dynamic library, which includes underlying code for communicating with the chassis hardware 206.

[0051] In the above embodiment, the key step of creating a dynamic library is to define the function interface. First, it is necessary to clearly define the specific interface forms of the read status word function and the write control word function, including the function name, parameter list and return value type. For example, the read status word function may be defined as int read_status_word (int device_id, char* status_buffer), wherein device_id is used to specify the device number to read the status word, status_buffer is a buffer for storing the read status word information, and the function return value indicates the success or failure of the read operation (such as 0 for success, -1 for failure). The write control word function can be similarly defined as int write_control_word (intdevice_id, char* control_word), device_id is the target device number, control_word is the control word content to be written, and the return value is also used to indicate the operation result. In addition, the dynamic library is implemented in China and uses a suitable programming language (such as C, C++, etc.) to implement these functions. In the implementation process, it is necessary to include the underlying code for communicating with the hardware device. For example, if it is through a serial port to communicate with the device, it is necessary to write the relevant codes such as serial port initialization, data transmission and reception. After completing the function implementation, use the corresponding compiler and tools to compile these functions into dynamic library files.

[0052] In the above embodiment, when developing a function block that complies with the IEC 61499 standard, it is necessary to add the generated dynamic library file to the development environment of the function block. Different function block development tools may have different configuration methods. For example, in some Eclipse-based function block development plug-ins, the directory where the dynamic library file is located can be added through the "library path" option in the project properties, and the dynamic library file name to be linked (such as libcontrol_interface.so or control_interface.dll) can be specified in the "link library" option.

[0053] In the above embodiment, it is also necessary to include a corresponding header file in the code of the function block, and the header file declares the function interface in the dynamic library.

[0054] In the above embodiment, in the execution logic of the function block, the function in the dynamic library is called according to the system requirements and event triggering conditions. For example, when the function block receives a "device status query" event, the read_status_word function is called in the event processing function to obtain the status information of the device, and subsequent processing is performed according to the read status information.

[0055] In an exemplary embodiment of the present disclosure, the underlying code in the dynamic library is configured to be callable by functional modules, and the functional modules include the motor control functional module, the obstacle avoidance laser control module and the battery management functional module.

[0056] In an exemplary embodiment of the present disclosure, the components of the chassis hardware 206 communicate with each other using at least one of CANopen communication, RS232 communication and RS485 communication, and the components include at least two of a motor, an obstacle avoidance laser and a battery.

[0057] In an exemplary embodiment of the present disclosure, the AGV ROS system 202 communicates with the IEC 61499 control system 204 via protocols such as WebSocket and / or UDP.

[0058] In the above embodiment, compared with the communication via CAN bus, EtherCat bus and other protocols used in the prior art, the AGV ROS system 202 and the IEC 61499 control system 204 communicate via WebSocket and / or UDP and other protocols, which significantly improves the communication efficiency.

[0059] In addition, the chassis of the AGV in the prior art has a variety of motion models, including two-wheel differential model, four-wheel differential model, Ackerman model, omnidirectional model, etc., but not limited to these, and has a variety of sensors, including encoder reduction motor, laser radar, IMU, camera, etc. Sensors are divided into many types, including single-line laser radar, multi-line laser radar, monocular camera, binocular camera, etc. The hardware selection of AGVs from different manufacturers and different models is different. The existing AGV software and hardware are bound together, and a lot of adaptation is required to transplant the software and hardware coupling tightly to the new AGV chassis.

[0060] The technical solution disclosed in the present invention can achieve software and hardware decoupling through IEC 61499, can quickly transplant the navigation module to the new AGV chassis, can be compatible with a variety of AGV chassis hardware, reduce unnecessary troubles, and integrate the AGV system with the industrial control system, so that the real-time performance of the movement is guaranteed and the production line management will be easier.

[0061] The AGV control system based on IEC 61499 proposed in the present disclosure standardizes interfaces, can reduce repeated development, decouple software and hardware, and achieve rapid transplantation. In addition, the AGV can be directly connected to the IEC 61499 control system to improve the real-time performance of the equipment.

[0062] In the above embodiment, ROS (Robot Operating System) is an open source meta-operating system suitable for robots. It provides the services that an operating system should have, including hardware abstraction, underlying device control, implementation of common functions, inter-process messaging, and package management. It also provides tools and library functions required for acquiring, compiling, writing, and running code across computers. ROS can currently be applied to the field of robotics, including mobile robots and robotic arms. Mobile robots should be the most widely used, mainly used in robot modeling, perception, navigation, planning, etc. It can be combined with ordinary robots to control real robots, and its functions are indeed powerful. It is an important platform for laser AGV and visual AGV.

[0063] In the above embodiments, most manufacturers deploy their own algorithms through the ROS system, strongly bind hardware devices and software, and open self-defined protocol interfaces to the outside world. The protocol interfaces opened by each manufacturer are different. Traditional PLCs are based on the IEC 61131 standard, but when modern control systems move towards decentralized digital control systems, the advantage of using IEC 61499 controllers in dedicated equipment is that application development and deployment are efficient and fast. Distributed control, hardware and software decoupling, and overall application development.

[0064] Compared with the polling mechanism adopted by IEC 61131, the event-driven execution mode proposed by IEC 61499 can greatly enhance the reconfigurability and high reusability of distributed automation applications, thereby achieving the reconfigurability, interoperability and portability of distributed control systems.

[0065] In an exemplary embodiment of the present disclosure, the IEC 61499 control system optimizes and encapsulates the underlying hardware of the AGV, improves the control efficiency of the chassis hardware, and at the same time unifies the external interface of the control system and complies with the IEC 61499 standard.

[0066] In an exemplary embodiment of the present disclosure, the architecture of the IEC 61499 control system of the AGV is as follows:

[0067] The southbound function mainly realizes efficient control of chassis hardware. This part needs to be adapted to chassis hardware of different manufacturers and series, as well as communication adaptation of different buses and protocols. At the same time, it is necessary to complete the coordinated control between various hardware and adopt a low-code approach to achieve rapid development and deployment. The northbound function mainly realizes the optimization and encapsulation of ROS system modules, and has the functions of real-time event triggering and efficient data transmission. At the same time, the mapping module, positioning module, and navigation module have a unified 61499 interface, which has the function of unified control of distributed modules.

[0068] In an exemplary embodiment of the present disclosure, Figure 3 As shown in the figure, a simple scene 300 of a transport AGV using an IEC 61499 control system is shown. The AGV transports goods between the packaging station and the finished product warehouse. The IEC 61499 control system integrates the ROS system and the industrial control system, which can achieve a unified standard external interface, rapid development, improve real-time performance and efficient collaboration with other equipment, and better manage the underlying motion control of the production line.

[0069] In an exemplary embodiment of the present disclosure, a more complex production line will use an AGV equipped with a robotic arm. In order to better coordinate the motion control of the AGV robotic arm and the production line, an IEC 61499 control system is more necessary.

[0070] In an exemplary embodiment of the present disclosure, the motor may adopt CANopen communication, RS232 communication, RS485 communication, etc.

[0071] In an exemplary embodiment of the present disclosure, Figure 4 As shown in the figure below, the example is a motor CANopen function block 400, which is triggered by real-time events, receives linear speed and angular speed instructions, and then returns the motor status value and error status.

[0072] In an exemplary embodiment of the present disclosure, the CANopen bus protocol is used to control the motor movement. The CANopen protocol adopts a reliable error handling and error detection mechanism, which meets the high speed, stable reliability, and high real-time requirements required by industrial control. First, confirm the power-on status, confirm that there is no alarm, transfer the value of the target speed address, change the speed mode, query the error code, ensure that there is no error, and return to the motor status.

[0073] In an exemplary embodiment of the present disclosure, Figure 5 As shown in the figure, an example of the interface function of the transmission speed is implemented in C++ language, which involves interfaces such as the read status word function and the write control word function, which are packaged into a dynamic library and called by the function block. Specifically, the following steps are included:

[0074] Step S502, query the status word 0x60410010 to confirm power on;

[0075] Step S504, query the alarm status of the status word 0x60410010;

[0076] Step S506, return status word to confirm that there is no alarm;

[0077] Step S508, input the speed value of the index 0x60FF0020;

[0078] Step S510, input speed mode to index 0x60600008;

[0079] Step S512, query the error code;

[0080] Step S514, confirming that there is no error;

[0081] Step S516, return to the motor state.

[0082] Based on the above embodiments, the advantages achieved by the embodiments of the present disclosure based on the IEC 61499 control system of AGV include:

[0083] (1) Standardization: All modules are unified into functional blocks that comply with the IEC 61499 standard, which together build the AGV control system, facilitate docking with other IEC 61499 devices, and achieve software and hardware decoupling for rapid portability.

[0084] (2) Real-time collaborative control: For distributed systems that contain a large number of devices and require frequent interactions, multi-machine collaborative control is achieved, and the control timeliness is guaranteed, with real-time performance.

[0085] Corresponding to the above control system architecture embodiment, the present disclosure also provides an AGV device that can be used to execute the above control system architecture embodiment.

[0086] Figure 6 It is a block diagram of an AGV vehicle in an exemplary embodiment of the present disclosure.

[0087] refer to Figure 6 , the AGV vehicle 600 may include:

[0088] The vehicle body is loaded with the AGV control system architecture 200 as described in any of the above technical solutions.

[0089] It should be noted that, although several modules or modules of the device for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to the embodiments of the present disclosure, the features and functions of two or more modules or modules described above can be embodied in one module or module. On the contrary, the features and functions of one module or module described above can be further divided into multiple modules or modules to be embodied.

[0090] In an exemplary embodiment of the present disclosure, an electronic device capable of implementing the above control system architecture is also provided.

[0091] It will be appreciated by those skilled in the art that various aspects of the present invention may be implemented as a system, a control system architecture or a program product. Therefore, various aspects of the present invention may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software implementations, which may be collectively referred to herein as "circuits", "modules" or "systems".

[0092] The electronic device device number 00 according to this embodiment of the present invention is described below with reference to the device number. The electronic device device number 00 shown in the device number is only an example and should not bring any limitation to the function and scope of use of the embodiment of the present invention.

[0093] As shown in the device diagram number, the electronic device diagram number 00 is presented in the form of a general computing device. The components of the electronic device diagram number 00 may include but are not limited to: the above-mentioned at least one processing module device diagram number 10, the above-mentioned at least one storage module device diagram number 20, and the bus device diagram number 30 connecting different system components (including the storage module device diagram number 20 and the processing module device diagram number 10).

[0094] The storage module stores program codes, which can be executed by the processing module device diagram number 10, so that the processing module device diagram number 10 performs the steps according to various exemplary embodiments of the present invention described in the above "Exemplary Control System Architecture" section of this specification. For example, the processing module device diagram number 10 can execute the control system architecture shown in the embodiment of the present disclosure.

[0095] The storage module device diagram number 20 may include a readable medium in the form of a volatile storage module, such as a random access memory module (RAM) device diagram number 201 and / or a cache memory module device diagram number 202, and may further include a read-only memory module (ROM) device diagram number 203.

[0096] The storage module device diagram number 20 may also include a program / utility device diagram number 204 having a set (at least one) of program module device diagram number 205, such program module device diagram number 205 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of these examples or some combination may include the implementation of a network environment.

[0097] The bus device diagram number 30 may represent one or more of several types of bus structures, including a storage module bus or storage module controller, a peripheral bus, a graphics acceleration port, a processing module, or a local bus using any of a variety of bus structures.

[0098] The electronic device device diagram number 00 can also communicate with one or more external device device diagram number 40 (e.g., keyboard, pointing device, Bluetooth device, etc.), and can also communicate with one or more devices that enable users to interact with the electronic device device diagram number 00, and / or communicate with any device that enables the electronic device device diagram number 00 to communicate with one or more other computing devices (e.g., router, modem, etc.). This communication can be carried out through the input / output (I / O) interface device diagram number 50. In addition, the electronic device device diagram number 00 can also communicate with one or more networks (e.g., local area network (LAN), wide area network (WAN) and / or public network, such as the Internet) through the network adapter device diagram number 60. As shown in the figure, the network adapter device diagram number 60 communicates with other modules of the electronic device device diagram number 00 through the bus device diagram number 30. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in combination with the electronic device device diagram number 00, including but not limited to: microcode, device driver, redundant processing module, external disk drive array, RAID system, tape drive, and data backup storage system, etc.

[0099] Through the description of the above implementation, it is easy for those skilled in the art to understand that the example implementation described here can be implemented by software, or by software combined with necessary hardware. Therefore, the technical solution according to the implementation of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a USB flash drive, a mobile hard disk, etc.) or on a network, including a number of instructions to enable a computing device (which can be a personal computer, a server, a terminal device, or a network device, etc.) to execute the control system architecture according to the implementation of the present disclosure.

[0100] In an exemplary embodiment of the present disclosure, a computer-readable storage medium is also provided, on which a program product capable of implementing the control system architecture described above in this specification is stored. In some possible implementations, various aspects of the present invention may also be implemented in the form of a program product, which includes a program code, and when the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present invention described in the above "Exemplary Control System Architecture" section of this specification.

[0101] The program product for implementing the above control system architecture according to an embodiment of the present invention may adopt a portable compact disk read-only memory (CD-ROM) and include program code, and may be run on a terminal device, such as a personal computer. However, the program product of the present invention is not limited thereto, and in this document, a readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, apparatus, or device.

[0102] Among them, the readable medium can be a readable signal medium or a readable storage medium. The readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of readable storage media (a non-exhaustive list) include: an electrical connection with one or more wires, a portable disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above.

[0103] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a readable storage medium, which may send, propagate, or transmit a program for use by or in conjunction with an instruction execution system, apparatus, or device.

[0104] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0105] In an exemplary embodiment of the present disclosure, a computer program product is also provided, which can be loaded or stored in any combination of one or more readable media, and can be written in any combination of one or more programming languages ​​to perform the program code of the present invention, including object-oriented programming languages ​​such as Java, C++, etc., and also conventional procedural programming languages ​​such as "C" language or similar programming languages. The program code can be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or completely on a remote computing device or server. In the case of a remote computing device, the remote computing device can be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computing device (for example, using an Internet service provider to connect through the Internet).

[0106] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the control system architecture according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0107] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are to be considered exemplary only, and the true scope and concept of the present disclosure are indicated by the claims.

Claims

1. An AGV control system architecture, characterized in that: include: Electrically connected IEC 61499 control system, AGV ROS system and chassis hardware; The IEC 61499 control system is connected between the AGV ROS system and the chassis hardware, and is used to obtain the control information sent by the AGV ROS system, convert it into a control instruction suitable for driving the chassis hardware, and send the control instruction to the chassis hardware.

2. The AGV control system architecture as claimed in claim 1, characterized in that: The IEC 61499 control system is provided with an electrically connected motor control function module, an obstacle avoidance laser control module and a battery management function module.

3. The AGV control system architecture as claimed in claim 2, characterized in that: The AGV ROS system is provided with an electrically connected mapping module, a positioning module and a navigation module, wherein the mapping module is used to generate a planning map and an operation track record of the chassis hardware, the positioning module is used to determine the location information of the chassis hardware, and the navigation module is used to generate navigation information of the chassis hardware.

4. The AGV control system architecture as claimed in claim 3, characterized in that: The chassis hardware is provided with an electrically connected motor, an obstacle avoidance laser and a battery, wherein the motor is used to provide driving force, the obstacle avoidance laser is used to generate a detection laser, and the battery is used to provide electrical energy.

5. The AGV control system architecture as claimed in claim 4, characterized in that: The motor control function module is configured to send a motor drive instruction to the motor, the obstacle avoidance laser control module is configured to send a laser drive instruction to the obstacle avoidance laser, and the battery management function module is configured to send a power supply drive instruction to the battery. The control instruction includes the motor drive instruction, the laser drive instruction and the power supply drive instruction.

6. The AGV control system architecture as claimed in claim 4, characterized in that: The motor control function module drives the motor using the CANopen bus protocol. After determining the power-on state of the motor, the motor control function module inputs a target speed and a speed mode to the motor and obtains motor state information during the process of driving the motor.

7. The AGV control system architecture according to any one of claims 1 to 6, characterized in that: The CIEC 61499 control system determines a read status word function and a write control word function, and packages the read status word function and the write control word function into a dynamic library, wherein the dynamic library includes underlying code for communicating with the chassis hardware.

8. The AGV control system architecture as claimed in claim 7, characterized in that: The underlying code in the dynamic library is configured to be callable by functional modules, which include the motor control functional module, the obstacle avoidance laser control module and the battery management functional module.

9. The AGV control system architecture according to any one of claims 1 to 6, characterized in that: The components of the chassis hardware communicate with each other using at least one of a CANopen communication mode, an RS232 communication mode and an RS485 communication mode, and the components include at least two of a motor, an obstacle avoidance laser and a battery.

10. The AGV control system architecture according to any one of claims 1 to 6, characterized in that: The AGV ROS system communicates with the IEC 61499 control system via protocols such as WebSocket and / or UDP.

11. An AGV vehicle, characterized in that: include: The vehicle body is loaded with the AGV control system architecture as described in any one of claims 1-10 above.

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