Differential AGV control system based on laser navigation

Abstract

The utility model discloses a differential AGV (Automatic Guided Vehicle) control system based on laser navigation, which particularly relates to the technical field of AGVs and comprises a main control industrial personal computer, an IO (Input / Output) module, a CAN (Controller Area Network) communication module, a switch and a laser radar, the main control industrial personal computer is connected with the switch, and the switch is further connected with the IO module, the CAN communication module and the laser radar. The main control industrial personal computer is also connected with sound equipment, an IMU module and a WIFI module; the IO module comprises IO equipment; and the CAN communication module is also connected with a motor action module and a non-motor action module. According to the utility model, the main control industrial personal computer is utilized, so that the system has abundant external interfaces and can be connected with sensors with various interfaces; the processing speed and the calculation capability are high; by arranging the IO module, control over radar sudden stop, button sudden stop, touch edge sudden stop, upper and lower limiting sensors and a rotation zero position sensor is achieved, control over a motor and some peripherals is achieved through the CAN communication module, the motor and the peripherals are directly and mutually free of interference, and good reliability and stability are achieved.

Description

Technical Field

[0001] The utility model relates to the technical field of AGV, and more specifically, to a differential AGV control system based on laser navigation. Background Art

[0002] It is known that AGV is an automatic guided vehicle. As an automated transportation tool in a smart workshop, it plays a vital role in modern production. Among them, the AGV control system involves multidisciplinary cross-technologies such as optics, mechanics, computers, sensors, control, and information processing. In addition, AGV can walk along the planned navigation path and has multiple functions such as programming and optional parking, safety protection, and load transfer. In recent years, AGV has been widely used in various fields such as mechanical processing, logistics management, chemical industry, tobacco and alcohol industry, medical food, and electromechanical manufacturing due to its flexibility, intelligence, efficiency, and convenience, meeting different transportation needs and occasions.

[0003] In actual use, although the common laser navigation control system does not require any modification to the environment compared with the traditional guidance method, has strong obstacle avoidance ability and good adaptability to complex environments; thus, with the continuous advancement of related technologies, the cost of laser navigation sensors is getting lower and lower, and the application scope of laser navigation is getting wider and wider; however, the common laser navigation control system usually adopts the form of PLC plus development board, which has poor scalability, long development cycle and high development cost; and because the AGV has more laser navigation external devices, the port capacity and speed of the traditional single MCU control are limited. Therefore, a differential AGV control system based on laser navigation is proposed as a further improvement. Utility Model Content

[0004] In order to overcome the above-mentioned defects of the prior art, an embodiment of the utility model provides a differential AGV control system based on laser navigation to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above object, the utility model provides the following technical solutions: a differential AGV control system based on laser navigation, the AGV control system comprising: a main control industrial computer, an IO module, a CAN communication module, a switch and a laser radar;

[0006] The main control industrial computer is connected to the switch, and the switch is also connected to the IO module, the CAN communication module and the laser radar respectively;

[0007] The main control industrial computer is also connected to: audio, I MU module and WI FI module;

[0008] The IO module includes an IO device;

[0009] The CAN communication module is also connected to a motor action module and a non-motor action module.

[0010] Further, the IO device includes: obstacle avoidance radar, emergency stop button, anti-collision sensor, upper and lower limit sensors and rotation zero position sensor;

[0011] The IO module is respectively connected with the obstacle avoidance radar, the emergency stop button, the anti-collision sensor, the upper and lower limit sensors and the rotation zero position sensor through IO wires.

[0012] Furthermore, the motor action module includes: a left wheel motor, a right wheel motor, a lifting motor and a rotating motor; the non-motor action module includes: a battery, a light strip and a display screen;

[0013] The CAN communication module is connected to the left wheel motor, the right wheel motor, the lifting motor and the rotating motor respectively through the Can1 line;

[0014] The CAN communication module is connected to the battery, the light strip and the display screen respectively through the Can2 line.

[0015] Furthermore, the main control industrial computer is configured with at least a gigabit network port interface, an RS485 interface, a CAN signal interface, a USB interface and a Type C interface.

[0016] Furthermore, the main control industrial computer includes an AGV mainboard, and the AGV mainboard is provided with 16 IO ports connected to IO devices.

[0017] Furthermore, the IO module also includes an AGV vehicle downward-looking camera, and the AGV mainboard is connected to the 0AGV vehicle downward-looking camera via an IO wire.

[0018] Technical effects and advantages of the utility model:

[0019] By setting up a main control industrial computer and utilizing the main control industrial computer, it has a wealth of external interfaces and can connect sensors with various interfaces; it has fast processing speed and strong computing power; by setting up IO modules, it can control radar emergency stop, button emergency stop, edge emergency stop, upper and lower limit sensors and rotation zero position sensor; and by utilizing the CAN communication module, it can control the motor and some peripherals, which directly do not interfere with each other and have good reliability and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a schematic diagram of the overall structure of the utility model.

[0021] Figure 2 This is a schematic diagram of the network structure of the differential AGV body of the utility model.

[0022] Figure 3It is a schematic diagram of the power supply circuit of the utility model.

[0023] Figure 4 It is a connection diagram of the AGV mainboard and IO module of the utility model.

[0024] Figure 5 This is a schematic diagram of the CAN bus loop of the utility model.

[0025] The accompanying drawings are marked as follows:

[0026] 1. Main control industrial computer;

[0027] 11. AGV mainboard;

[0028] 2. IO module;

[0029] 21. IO devices;

[0030] 211. Obstacle avoidance radar; 212. Emergency stop button; 213. Anti-collision sensor;

[0031] 214, upper and lower limit sensors; 215, rotation zero position sensor;

[0032] 22. AGV vehicle downward-looking camera;

[0033] 3. CAN communication module;

[0034] 31. Motor action module; 32. Non-motor action module;

[0035] 4. Switch; 5. LiDAR; 6. Speaker; 7. IMU module; 8. WIFI module;

[0036] 9. WI FI access point; 10. Debug network port. DETAILED DESCRIPTION

[0037] In order to make the purpose, technical solution and advantages of the utility model more clear, the utility model is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the utility model and are not used to limit the utility model.

[0038] As attached Figure 1-5 A differential AGV control system based on laser navigation is shown, the AGV control system includes: a main control industrial computer 1, an IO module 2, a CAN communication module 3, a switch 4 and a laser radar 5;

[0039] The main control industrial computer 1 is connected to the switch 4, and the switch 4 is also connected to the IO module 2, the CAN communication module 3 and the laser radar 5 respectively;

[0040] The main control industrial computer 1 is also connected with: a speaker 6, an I MU module 7 and a WI FI module 8;

[0041] Among them, the speaker 6 is used to play the prompt sounds of AGV vehicle alarm, steering, picking up and releasing goods, etc.

[0042] The IMU module 7 is used to measure the three-axis attitude angle or angular rate and acceleration of the AGV vehicle;

[0043] The WI FI module 8 is used for wireless communication between devices;

[0044] Among them, the main control industrial computer 1 is directly connected to the speaker 6, I MU module 7, WI FI module 8 and switch 4 through the port;

[0045] The IO module 2 includes an IO device 21;

[0046] Among them, the IO module 2 is used for input and output of information transmission.

[0047] The CAN communication module 3 is also connected to a motor action module 31 and a non-motor action module 32;

[0048] Among them, the motor action module 31 can control the walking, rotation, lifting, and pallet rotation of the differential AGV vehicle; and the non-motor action module 32 can control the battery charging and discharging, light strip display, and display screen output; thereby realizing the CAN communication module 3 to control the AGV vehicle motor mechanical energy, battery charging and discharging, light strip display, and display screen display through two CAN lines;

[0049] Implementation example of the main control industrial computer 1: The processor of the main control industrial computer 1 is i5 1155G7, and its powerful algorithm processing capability is used to ensure the stability of signal transmission; the memory is 16G+128G, and the system used is ubuntu20.04 version, so that the main control industrial computer 1 can be better compatible with the ROS robot operating system.

[0050] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the IO device 21 includes: an obstacle avoidance radar 211, an emergency stop button 212, an anti-collision sensor 213, an upper and lower limit sensor 214 and a rotation zero position sensor 215;

[0051] The IO module 2 is respectively connected to the obstacle avoidance radar 211, the emergency stop button 212, the anti-collision sensor 213, the upper and lower limit sensors 214 and the rotation zero position sensor 215 through IO wires;

[0052] The emergency stop button 212 includes a front emergency stop button and a rear emergency stop button.

[0053] The anti-collision sensor 213 includes a front edge sensor and a rear edge sensor.

[0054] The upper and lower limit sensors 214 include an upper limit sensor and a lower limit sensor.

[0055] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the motor action module 31 includes: a left wheel motor, a right wheel motor, a lifting motor and a rotating motor; the non-motor action module 32 includes: a battery, a light strip and a display screen;

[0056] The CAN communication module 3 is connected to the left wheel motor, the right wheel motor, the lifting motor and the rotating motor respectively through the Can1 line;

[0057] The CAN communication module 3 is connected to the battery, light strip and display screen respectively through the Can2 line.

[0058] Among them, Figure 5 As shown, the CAN bus loop is composed of the AGV mainboard 11 of the main control industrial computer 1 and the CAN communication module 3. The CAN communication module 3 mainly includes two CAN lines:

[0059] Can1 line and Can2 line. Can1 line controls the walking, lifting and rotating motors of the AGV vehicle, and realizes information interaction with the motors through the mutual conversion of TCP signals and CAN signals, thereby realizing the control of the four motors by the main control industrial computer 1;

[0060] The Can2 line controls the battery charging and discharging, light strip output and display screen display. It converts TCP signals and CAN signals to each other to achieve information interaction with the peripheral controller and achieve the purpose of controlling the peripherals.

[0061] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the main control industrial computer 1 is configured with at least a gigabit network port interface, an RS485 interface, a CAN signal interface, a USB interface and a TypeC interface; in order to improve the expansion capability of the main control industrial computer 1, it is preferably configured with multiple gigabit network port interfaces, RS485 interfaces, at least 2 CAN signal interfaces, a USB interface, and a TypeC interface.

[0062] Among them, the TypeC interface is used to directly connect to the IMU module 7, and is connected to the switch 4 through the Ethernet port. The switch 4 is connected to the laser radar 5, the IO module 2, and the CAN communication module 3; and the obstacle avoidance radar 211, the emergency stop button 212, the anti-collision sensor 213, the upper and lower limit sensors 214, and the rotation zero position sensor 215 on the IO device 21 are indirectly connected to the main control industrial computer 1 through RS485 to TPC for data interaction;

[0063] Among them, the four motors of the motor action module 31, the left wheel motor, the right wheel motor, the lifting motor and the rotating motor, are indirectly connected to the main control industrial computer 1 through the Can1 line to TCP, and the battery, the light strip and the display screen are indirectly connected to the main control industrial computer 1 through the Can2 line to TCP for data interaction and processing; it can be seen that the main control industrial computer 1 is used for all related work such as data collection and processing, mapping positioning, and path planning of the differential AGV;

[0064] In a preferred embodiment, as shown in the attached Figure 1-5 As shown, the main control industrial computer 1 includes an AGV mainboard 11 , and the AGV mainboard 11 is provided with 16 IO ports connected to the IO device 21 .

[0065] The IO module 2 also includes an AGV vehicle downward-looking camera 22, and the AGV mainboard 11 is connected to the AGV vehicle downward-looking camera 22 via an IO wire.

[0066] Among them, the AGV vehicle downward camera 22 is used to scan the ground QR code for repositioning and vehicle posture adjustment; when the AGV vehicle downward camera 22 scans the QR code, the QR code information will be converted from RS485 signal to TCP signal and transmitted to the main control industrial computer 1, and the main control industrial computer 1 will issue instructions to make the AGV vehicle take corresponding actions;

[0067] Among them, Figure 2 As shown, the network structure used by the differential AGV body using the differential AGV control system includes: Wi-Fi access point 9, laser radar 5 and debugging network port 10;

[0068] The WI FI access point 9 is used to connect to an external wireless local area network, and can realize data interaction between related devices and AGV vehicles under the same network and operation functions of the AGV vehicles;

[0069] The laser radar 5 is connected to the main control industrial computer 1 through the switch 4, and the main control industrial computer 1 can directly obtain the data of the laser radar 5 and make timely processing;

[0070] Among them, at least one debugging network port 10 is retained, which is directly connected to the main control industrial computer 1 through a network cable, so that the relevant equipment and the main control industrial computer 1 can directly exchange data, which can more directly and conveniently control the AGV vehicle and develop and debug related functions.

[0071] Among them, Figure 4As shown, the AGV mainboard 11 is provided with 16 IO ports which are respectively connected to the emergency stop button 212, the anti-collision sensor 213, the upper and lower limit sensors 214, the rotation zero position sensor 215, the AGV vehicle downward view camera 22 and three relays in the IO module 2; that is, the AGV mainboard 11 and the IO module 2 constitute an IO signal loop, and there are 16 IO ports on the AGV mainboard 11, which are respectively connected to the IO module 2 devices. During communication, the rs485 will be converted into a tcp signal to communicate with the AGV mainboard;

[0072] Among them, there are three IO connections corresponding to the relay and the relay switch, and the other end of the relay is connected to the laser radar 5, and the laser radar 5 has three obstacle avoidance modes, including radar turning emergency stop, linear deceleration and linear emergency stop; the three obstacle avoidance modes have only one obstacle avoidance mode at the same time, so when the obstacle avoidance distance of a certain obstacle avoidance radar 211 is triggered, the relay switch is closed, and at this time the rs485 signal will be converted into a tcp signal and transmitted to the AGV mainboard 11, and communicate with the main control industrial computer 1, and the main control industrial computer 1 will then control the emergency stop of the differential AGV vehicle and the output of the light strip information through CAN communication.

[0073] Among them, there are two IOs connected to the AGV vehicle downward-looking camera 22. In addition, the entire IO signal circuit will eventually be connected to the 24V terminal block to meet the needs of signal transmission and power transmission. This makes the entire IO signal circuit more convenient to maintain and makes the control circuit more beautiful and standardized, making it easier to find and quickly troubleshoot.

[0074] Among them, Figure 3 As shown, the power supply circuit of the differential AGV control system is composed of a power supply, a laser radar 5, a switch 4, and an AGV mainboard 11;

[0075] After the DC48V is converted to DC24V output, the power supply directly supplies power to the laser radar 5, the switch 4, and the AGV mainboard 11, and the AGV mainboard 11 serves as a power supply to provide power to the IMU module 7 and the speaker 6, so that all devices can work normally and stably; at the same time, the power supply uses a lithium battery, which has the characteristics of stable output voltage, large output current, and small ripple, maintaining the voltage and current stability between the modules.

[0076] 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.

[0077] 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. A differential AGV control system based on laser navigation, characterized in that: The AGV control system comprises: a main control industrial computer (1), an IO module (2), a CAN communication module (3), a switch (4) and a laser radar (5); The main control industrial computer (1) is connected to a switch (4), and the switch (4) is also connected to an IO module (2), a CAN communication module (3) and a laser radar (5) respectively; The main control industrial computer (1) is also connected to: a speaker (6), an IMU module (7) and a WIFI module (8); The IO module (2) includes an IO device (21); The CAN communication module (3) is also connected to a motor action module (31) and a non-motor action module (32).

2. According to claim 1, a differential AGV control system based on laser navigation is characterized in that: The IO device (21) comprises: an obstacle avoidance radar (211), an emergency stop button (212), an anti-collision sensor (213), upper and lower limit sensors (214) and a rotation zero position sensor (215); The IO module (2) is respectively connected to the obstacle avoidance radar (211), the emergency stop button (212), the anti-collision sensor (213), the upper and lower limit sensors (214) and the rotation zero position sensor (215) through IO wires.

3. The differential AGV control system based on laser navigation according to claim 1, characterized in that: The motor action module (31) includes: a left wheel motor, a right wheel motor, a lifting motor and a rotating motor; the non-motor action module (32) includes: a battery, a light strip and a display screen; The CAN communication module (3) is respectively connected to the left wheel motor, the right wheel motor, the lifting motor and the rotating motor via the Can1 line; The CAN communication module (3) is respectively connected to the battery, the light strip and the display screen via the Can2 line.

4. The differential AGV control system based on laser navigation according to claim 3 is characterized in that: The main control industrial computer (1) is configured with at least a gigabit network port interface, an RS485 interface, a CAN signal interface, a USB interface and a Type C interface.

5. The differential AGV control system based on laser navigation according to claim 2 is characterized in that: The main control industrial computer (1) comprises an AGV mainboard (11), and the AGV mainboard (11) is provided with 16 IO ports connected to the IO devices (21).

6. The differential AGV control system based on laser navigation according to claim 5, characterized in that: The IO module (2) also includes an AGV vehicle downward-looking camera (22), and the AGV mainboard (11) is connected to the AGV vehicle downward-looking camera (22) via an IO wire.

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