AGV is the “auto-assisted transport vehicle”, which refers to a transport vehicle equipped with electromagnetic or optical automatic assisting equipment that can follow the rules of the guiding route, and has safety maintenance and various transport functions. Its characteristics are unmanned and guided.
Under the help of aviation equipment, it can be automatically controlled according to a preset route. Can automatically enter and exit loading and unloading stations, work stations, and shelves in 24 hours, and are fully accustomed to long working hours, large handling volumes, messy handling lines, and flexible high-grade technologies claim.
The AGV control system is divided into a ground control system, a vehicle control system, and a navigation/support system.
The AGV ground control system adopts the industrial control method, which is mainly for AGV task assignment, vehicle processing, traffic processing, and communication processing.
Assignment of tasks: The provision of an environment for the interpretation of the AGV ground control program; supply of scheduling tasks based on task priority and initiation time; supply of various operations on the task such as initiation, suspension, revocation, etc.
Vehicle handling: According to the requirements of the material handling task, the dispatching AGV implements the task, calculates the shortest walking route of the AGV according to the principle of the shortest walking time of the AGV, and controls the walking process of the AGV, and timely delivers the cargo loading and unloading.
Electrical instructions.
Traffic processing: According to AGV's physical standards, working conditions and route conditions, the method of supplying AGVs to avoid each other automatically, together with the deadlock method to avoid vehicles waiting for each other and the method of presenting deadlocks; AGV's traffic handler there must be walking segment allocation and deadlock reporting.
Communication processing: AGV ground control system and AGV stand-alone, ground monitoring system, ground IO equipment, vehicle simulation system and monitoring center communication function. AGV's IPC establishes connection with the above-ground wireless router through its WiFi module Then, set up a wireless communication network and complete the data exchange with the monitoring center.
AGV vehicle-mounted control system, namely AGV single-machine control system, after receiving the instruction of industrial computer, served as AGV single-machine navigation, assisting, route selection, vehicle driving, loading and unloading operations and other functions.
Navigation: The AGV single machine measures and calculates the position and heading in the overall coordinates of the location through its own navigation device.
Auxiliary: AGV stand-alone based on the current position, heading and pre-set theoretical orbit to calculate the speed value and steering angle value of the next cycle, that is, AGV movement command value.
Route selection: AGV single machine according to the instructions of the industrial computer, through accounting, pre-select the approach to work, and report the results to the ground control system, whether the work can be distributed by the ground control system according to the location of other AGV locations . The way that AGV stands alone is planned according to practical operating conditions. It consists of several “segments”. Each "segment" refers to the starting point, the suspension point of the segment, and the information such as the AGV's travel speed and direction in the segment. Vehicle Drive: AGV single machine controls the vehicle's work through the servo device according to the calculation effect and route selection information of the assisting and guiding. The AGV steering gear selects the differential voltage signal servo system. Its characteristic is that the zero point of the servo can be set locally.
Azimuth and location of the servo angle can be accurately learned after the AGV power-off restart. When the steering wheel rolls, the linear resistance of the potentiometer on the steering wheel of the device triggers a reverberation voltage U0. The IPC announces the voltage output command and outputs the result.
The standard voltage value U1 and the response voltage U0 are differentially processed. The differential signal passes through the schedule so that the response voltage U0 approaches the target voltage value U1, and the measured target voltage U1 and the corresponding angle are quantified in the control process, and then Control the steering of the wheels.
Currently, the navigation/assistance technologies used for AGV include direct coordinates, electromagnetic guidance, tape guidance, optical guidance, laser navigation, inertial navigation, and visual navigation.
The use of IPC in AGV
IPCs have high anti-magnetic, dust-proof, and anti-impact capabilities. They can work safely in a messy environment for a long time and can provide AGV with an efficient and reliable control system. Embedded industrial computer adopts fanless planning, compact structure and heat dissipation Good, waterproof and dustproof functions are excellent, and can be used sensitively in harsh environments such as temperature and space usage. The equipment and maintenance are simple and convenient, and can be widely used in surface control systems. With the rapid development of accounting machine technology, embedded The IPC hardware and software levels have been greatly advanced and are now able to meet the various needs of AGV products. Compared with IPCs, embedded IPCs have the advantages of low cost and low power consumption, which necessitates the use of their own portable power supplies.
AGV products are particularly important.
The industrial tablet computer integrates a host, a liquid crystal display, and a touch screen, and has features such as low power consumption, waterproof and dustproof, and strong anti-vibration ability, and can be safely operated for a long time under a wide temperature range. It also has a touch function and is an AGV vehicle.
The best solution for human-machine interface in the control system.
With the advent of intelligent production, factory intelligence has become an irreversible trend. AGV is an important central component of automation technology and will require considerable future demand. Research for a decade of unremitting efforts to seek the higher quality of industrial computers, push The deepening and development of smart factories will help the Industrial 4.0 era.