CN102231233B - Automatic guiding vehicle distributed autonomous cooperation control system and control method - Google Patents
Automatic guiding vehicle distributed autonomous cooperation control system and control method Download PDFInfo
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Abstract
Provided are an automatic guiding vehicle distributed autonomous cooperation control system and a control method. The invention is directed to the fields of wireless communication and distributed control in automation transmission. The system comprises an application layer, a cooperation layer and a perception layer. The application layer comprises a vehicle control module, an environment modeling module, a task management module and a global monitor module. The cooperation layer comprises an equity communication network of whole system information interaction and acquisition, a wireless equity communication network control unit, a distributed path program unit and a wireless transmit-receive module. The perception layer comprises a radio frequency card reader, an encoder, a range finding sensor and the like. According to the invention, the operation capability, system capacity and operation efficiency of a multiple AGV system are substantially improved.
Description
Technical field
The present invention relates to a kind of automatic guiding vehicle distributed autonomous cooperation control system and control method, belong to radio communication and distributed control field in the robotization conveying.
Background technology
Automated guided vehicle system (AGVS) is comprised of many autonomous vehicles, integrates the integrated intelligence transportation system of the technology such as Electromechanical Control, computer network and wireless telecommunications.At present, the large-scale places such as at home and abroad station of automated guided vehicle system, harbour, quite a few logistics is carried in relevant enterprise and is used widely.
Tradition is for the Collaborative Control aspect of many automatic guided vehicles, mainly be as the centralized control platform take industrial computer, the job scheduling of vehicle, path planning and system-wide monitoring are all finished by this control center, and all vehicles are except only carrying out alternately with control center from self-sensor device perception environment.Although the centralized control mode cost based on this master-slave communication is lower, be easy to realize that it is only applicable to have a small amount of vehicle, the application system of simple scheduling strategy.Increase along with vehicle number in the system, path planning of overall importance and dispatching algorithm have proposed harsh requirement to the performance of computing machine, huge communication throughput can not guarantee the real-time and stable of system, if also need central controller to carry out monitoring and task assignment simultaneously, this centralized control mode can not reach the impact of performance of expection.
Distributed control model has unique advantage for the resolution system performance bottleneck, becomes gradually the main contents of multi-robot system research under distributed control architecture for the research of the coordination and cooperation of a plurality of robots.Aspect the distributed control of mobile robot and cooperation, the patent of having applied for mainly contains [CN201010599726.3], [CN200810115616.8], automatic guided vehicle is a kind of as the mobile robot's, has obviously different from architectural feature, running environment and the application of above two patent institute description objects.
Summary of the invention
In order to address the above problem, the present invention proposes a kind of automatic guiding vehicle distributed autonomous cooperation control system and control method, utilize the correlation theory of Multi-Agent Cooperation, the combined sensor technology, wireless communication technique, multithreading and intelligent transport technology, on the control system of each automatic guided vehicle, structure comprises transport information to surrounding environment, path planning, anticollisions etc. are perception independently, decision-making, executive system, make each AGV all have higher autonomous level, in the known situation of task, by distributed path planning and the autonomous task of fulfiling assignment that rationally keeps in obscurity.
The present invention adopts following technical scheme for solving its technical matters:
A kind of automatic guiding vehicle distributed autonomous cooperation control system comprises application layer, collaboration layer and sensing layer, and described application layer comprises the vehicle control module, environmental modeling module, task management module, the global monitoring module that link to each other with man-machine interface; Described collaboration layer comprises the peer-to-peer communications network of total system information interaction and collection, wireless peer-to-peer communications network control unit, distribution route planning unit and radio receiving transmitting module; Described sensing layer comprises radio-frequency card reader, scrambler, distance measuring sensor, and application layer is by the wireless peer-to-peer network control module in the Ethernet connection collaboration layer, and sensing layer is by the distribution route planning unit in the CAN bus access collaboration layer.
Automatic guide vehicle distributed collaboration control system, wireless peer-to-peer communications network control unit in the described collaboration layer comprises ARM main control chip, expansion SDRAM storer, serial ports electrical level conversion chip 1 and serial ports electrical level conversion chip 2, network chip, RJ-45 interface, power supply chip, reset chip, clock chip, button and pilot lamp, expansion GPIO groove, debugging interface, serial port terminal, Zigbee radio receiving transmitting module, wherein, expansion SDRAM storer and network chip are connected with the ARM main control chip by 16 bit data address Bus respectively; RJ-45 interface interconnection network chip; Serial ports electrical level conversion chip 1 is connected with the ARM main control chip by the UART interface, is connected with the Zigbee radio receiving transmitting module by RS-232 interface simultaneously; Serial ports electrical level conversion chip 2 is connected with the ARM main control chip by the UART interface, is connected with serial port terminal by RS-232 interface simultaneously; Clock chip is connected with the ARM main control chip by the I/O mode; Button is connected with the ARM main control chip with pilot lamp, expansion GPIO groove; Reset chip connects ARM main control chip reset pin; Power supply chip is connected with ARM main control chip power pins; Debugging interface is connected by JTAG agreement line with the ARM main control chip.
Automatic guide vehicle distributed collaboration control system, distribution route planning unit in the described collaboration layer comprises ARM main control chip, expansion SDRAM storer, spread F LASH, serial ports electrical level conversion chip, CAN Bus Interface Chip, power supply chip, reset chip, clock chip, button and pilot lamp, expansion GPIO groove, debugging interface, Zigbee radio receiving transmitting module, homing guidance vehicle controller, wherein, expansion SDRAM storer and spread F LASH are connected with the ARM main control chip by 16 bit data address Bus respectively; The serial ports electrical level conversion chip is connected with the ARM main control chip by the UART interface, is connected with the Zigbee radio receiving transmitting module by RS-232 interface simultaneously; The CAN Bus Interface Chip connects the ARM main control chip by the TD/RD interface, connects the homing guidance vehicle controller by the CAN bus simultaneously; Clock chip is connected with the ARM main control chip by the I/O mode; Button is connected with the ARM main control chip by the I/O mode with pilot lamp, expansion GPIO groove; Reset chip connects ARM main control chip reset pin; Power supply chip is connected with ARM main control chip power pins; Debugging interface is connected with the ARM main control chip by JTAG agreement line.
Automatic guide vehicle distributed collaboration control system, it is netted that the peer-to-peer communications network topology structure of described collaboration layer total system information interaction and collection is Mesh, and wherein any two nodes carry out peer-to-peer communications.
The control method of described automatic guiding vehicle distributed autonomous cooperation control system comprises the steps:
(1) application layer is set up the electronic chart in path according to actual needs, configuration node information and routine weight value;
(2) application layer is sent to the collaboration layer gateway to electronic map information by Ethernet, is downloaded to Working vehicle by wireless peer-to-peer communications network control unit;
(3) application layer is specified beginning, stop, the end station of a certain transmission task according to actual needs, form task queue and be sent to the collaboration layer gateway by Ethernet, by wireless peer-to-peer network control module release tasks, each distribution route planning unit obtains separately suitable task by competition;
(4) the distribution route planning unit carries out distribution route planning according to obtaining task according to corresponding strategy, waits collaborative network to be added;
(5) wireless peer-to-peer communications network control unit starts wireless cooperative network, after each ready node registration adds collaborative network, issue cooperation startup command, each distribution route planning unit starts operation according to path planning, carry out self-determination cooperation by the cycle, mainly finish the conflict evading on the course, arrive at the destination smoothly, reciprocal with this.
The control method of described automatic guiding vehicle distributed autonomous cooperation control system, self-determination cooperation in the described step (5) is finished by each automatic guided vehicle broadcasting cooperation sign, and the cooperation sign comprises that the crossing takies, station takies, formation is advanced, overtakes other vehicles and dodge, dodge in opposite directions.
The control method of described automatic guiding vehicle distributed autonomous cooperation control system, it is characterized in that the conflict evading in the described step (5) refers in a single day enter zone, crossing (station) when vehicle, then send at once crossing (station) and take sign, other direction vehicles of this crossing (station) need be waited for until the current vehicle (group) that takies leaves zone, crossing (station), and crossing (station) takies sign and cancel; Under collaboration mode is advanced in formation, when vehicle detection has other vehicles to the place ahead, then maintain safe distance with front truck, follow the front truck operation, fleet's pattern is applicable to the one-way traffic track; Under the pattern of overtaking other vehicles, if slow train blocks express on the road of advancing, in the appointed area, slow train can give way to express; If two in opposite directions driving vehicles occur in same path, then this path enters the pattern of dodging in opposite directions, and the low vehicle of priority is implemented to dodge, and the high vehicle of priority passes through; Dodge in opposite directions in the pattern, the low priority vehicle take lateral drift or dynamically the mode of crossing dodge.
Beneficial effect of the present invention is as follows:
1, adopted the control structure of the ZigBee-network combination of distributed embedded multi-core tupe and equity, can carry out smoothly parallel computation and processing for the job task of assigning, system overhead and interstitial content coupling are little, very big capacity and the efficient that must improve system.
2, adopt the collaborative work of setting up the cordless communication network realization overall situation based on the ZigBee technology of 802.15.4 standard, take full advantage of on the one hand anti-collision mechanism and the multi-hop routing mechanism of Zigbee protocol stack bottom, for system communication has increased necessary redundancy, communication fault-tolerance and stability are fully guaranteed virtually.On the other hand, because the Zigbee protocol stack to the support of MANET, makes system have abundant open interface, had great extensibility.
3, utilized wireless radio-frequency to describe and read abstract environmental information advantage, in conjunction with the digitized environment modeling technique, it is flexible that system has possessed suitable production configuration.
Description of drawings
Fig. 1 is the system construction drawing of automatic guide vehicle distributed collaboration control system.
Fig. 2 is for being used for the total system information interaction and gathering peer-to-peer communications network control unit structural drawing.
Fig. 3 is the system construction drawing of distribution route planning unit.
Fig. 4 is the communication succession figure of each ZigBee routing node under the control of coordinator node.
Fig. 5 is for being used for the total system information interaction and gathering the peer-to-peer communications network topological diagram.
Fig. 6 is the collaborative process process flow diagram in the distribution route planning unit.
Embodiment
Below in conjunction with accompanying drawing the invention is described in further details.
Fig. 1 is the system construction drawing of automatic guide vehicle distributed collaboration control system, and native system can be divided into application layer, collaboration layer, sensing layer.Described application layer comprises vehicle control module, environmental modeling module, task management module, global monitoring module; Described collaboration layer comprises the peer-to-peer communications network of total system information interaction and collection, wireless peer-to-peer communications network control unit, distribution route planning unit and radio receiving transmitting module; Described sensing layer comprises radio-frequency card reader, scrambler, distance measuring sensor.Application layer is by the wireless peer-to-peer network control module in the Ethernet connection collaboration layer, and sensing layer is by the distribution route planning unit in the CAN bus access collaboration layer.
Each functions of modules in the application layer: vehicle control module, be mainly used in manually controlling each vehicle operating, state checks vehicles; The environmental modeling module is mainly used in according to on-the-spot actual path and the foundation of station situation, modification and file two dimensional surface model, is responsible for routing information, nodal information are downloaded on the distribution route planner of guiding voluntarily vehicle; The task management module is mainly used in customer demand input, customization, take vehicle-state and system performance as distributing and reclaim according to idle vehicle being carried out task; The global monitoring module is mainly used to gather and show electric parameter, the location parameter of the online vehicle of current system, the operation conditions of the matching units such as the running status of each station and charging station.
Scrambler in the sensing layer and automatic guide motor vehicle drive system electric drilling match, distance measuring sensor is installed on center, automatic guided vehicle dead ahead, and radio-frequency card reader is installed on bottom, automatic guided vehicle dead ahead.Radio-frequency card is the ID card of EM4001 standard, places respectively Actual path need to move the landmark locations such as station, intersection, the crossing that crosses, charging station.
It is netted that total system information interaction in the collaboration layer and the peer-to-peer communications topology of networks of collection are Mesh, and wherein any two nodes can carry out peer-to-peer communications.The ZigBee of total system information interaction and collection is wireless, and the peer-to-peer communications network is comprised of ZigBee transceiver module and several the ZigBee transceiver modules with routing node function with coordinator node function.ZigBee transceiver module with coordination function links to each other with wireless peer-to-peer network control module by serial ports, and the ZigBee transceiver module with routing function links to each other with the distribution route planning unit by serial ports.Photoelectric encoder, laser range sensor, radio-frequency card reader connect the distribution route planning unit as the DI point by the CAN bus.
Between application layer and collaboration layer, there is the wireless peer-to-peer communications network control unit that is used for total system information interaction and collection, this control module is that collaboration layer network creator carries out mutual interface with collaboration layer network and application layer, is one of most important module in the system of the present invention.
Fig. 2 is that the present invention is used for the total system information interaction and gathers peer-to-peer communications network control unit internal architecture figure.This control module comprises ARM main control chip, expansion SDRAM storer, serial ports electrical level conversion chip 1 and serial ports electrical level conversion chip 2, network chip, RJ-45 interface, power supply chip, reset chip, clock chip, button and pilot lamp, expansion GPIO groove, debugging interface, serial port terminal, Zigbee radio receiving transmitting module, wherein, expansion SDRAM storer and network chip are connected with the ARM main control chip by 16 bit data address Bus respectively; RJ-45 interface interconnection network chip; Serial ports electrical level conversion chip 1 is connected with the ARM main control chip by the UART interface, is connected with the Zigbee radio receiving transmitting module by RS-232 interface simultaneously; Serial ports electrical level conversion chip 2 is connected with the ARM main control chip by the UART interface, is connected with serial port terminal by RS-232 interface simultaneously; Clock chip is connected with the ARM main control chip by the I/O mode; Button is connected with the ARM main control chip with pilot lamp, expansion GPIO groove; Reset chip connects ARM main control chip reset pin; Power supply chip is connected with ARM main control chip power pins; Debugging interface is connected by JTAG agreement line with the ARM main control chip.
Wherein power supply chip provides the source of stable pressure of ARM main control chip and the needed 5V of peripheral interface device, 3.3V, 1.8V; Debugging interface connects the ARM main control chip by JTAG agreement line, is used for program burn writing and on-line debugging; Expansion SDRAM storer, the basic running environment (carrying RAM together with the ARM main control chip) of program is provided on the one hand, the main data buffering towards the overall situation that provides each distributed node of lower floor, this data buffer can be divided into monitor data buffering, traffic behavior buffering, mission bit stream buffering according to the difference of data type.The main application-oriented layer of monitor data buffer zone provides the car internal state parameter of vehicle operating, comprises place node, travelling speed, battery status etc.The main facing cooperation layer network of traffic behavior buffer zone, traffic behavior mainly refers to taking/idle marker of intersection, one-lane taking/idle marker etc.The main facing cooperation layer network of mission bit stream buffer zone is for the mission bit stream of issue application layer.Clock chip provides system communication timestamp benchmark.Reset chip provides system's soft start on the one hand, and its EEPROM that carries 2K can the storage system basic configuration information, and system reads when powering on.ZigBee radio receiving transmitting module (coordinator node) is by serial ports level transferring chip 1 Access Control unit, and each node of collaboration layer (car) enters or leave collaboration layer, must advance this node registration.Application layer is all passed through this node to the control information of collaboration layer and collaboration layer to the monitor data of application layer.The serial ports level transferring chip 2 main serial port terminals that connect local PC are used for local debug terminal and show.Network chip is outer gateway device as the collaboration layer network, and the physical interface of application layer user access is provided, and by this chip, can also carry out remote monitoring based on Internet to collaboration layer.Button and pilot lamp are used for the configuration-system basic parameter and system state shows.
Fig. 3 is the system construction drawing of distribution route planning unit.Comprise ARM main control chip, expansion SDRAM storer, spread F LASH, serial ports electrical level conversion chip, CAN Bus Interface Chip, power supply chip, reset chip, clock chip, button and pilot lamp, expansion GPIO groove, debugging interface, Zigbee radio receiving transmitting module, homing guidance vehicle controller, wherein, expansion SDRAM storer and spread F LASH are connected with the ARM main control chip by 16 bit data address Bus respectively; The serial ports electrical level conversion chip is connected with the ARM main control chip by the UART interface, is connected with the Zigbee radio receiving transmitting module by RS-232 interface simultaneously; The CAN Bus Interface Chip connects the ARM main control chip by the TD/RD interface, connects the homing guidance vehicle controller by the CAN bus simultaneously; Clock chip is connected with the ARM main control chip by the I/O mode; Button is connected with the ARM main control chip by the I/O mode with pilot lamp, expansion GPIO groove; Reset chip connects ARM main control chip reset pin; Power supply chip is connected with ARM main control chip power pins; Debugging interface is connected with the ARM main control chip by JTAG agreement line.
Wherein power supply chip provides the source of stable pressure of ARM main control chip and the needed 5V of peripheral interface device, 3.3V, 1.8V; Debugging interface connects the ARM main control chip by JTAG agreement line, is used for program burn writing and on-line debugging; The basic running environment (with ARM main control chip carry RAM together) of expansion SDRAM storer by program is provided; Spread F LASH provides the program code storage space on the one hand, on the other hand, is mainly used to storing electronic map, mainly comprise nodal information and routing information, the distribution route planner powers on automatically from program storage steering map information, as for download and the renewal of map, controlled by application layer.ZigBee radio receiving transmitting module (routing node) is by serial ports level shifter interface 1 access distribution route planning unit, the ARM main control chip is broadcasted self information, is accepted other information of vehicles to ZigBee-network by this module, and broadcasting is subject to preamble opportunity and describes coordinator node control among Fig. 2.
Fig. 4 is the communication succession figure of each ZigBee routing node under the control of coordinator node, system's initial time, in network, send a frame control information by wireless peer-to-peer network control module, time window is t1, after other routing nodes receive this order, be subject to the adjustment of steering order among the t1 with time window t2(t2 according to car number) the local environment state of issue oneself in the network, broadcast message mainly comprises: the method for operation, vehicle heading, cooperation poster, translational speed etc.In non-broadcasting window, each routing node enters the state of intercepting, and the filter broadcast nodal information in conjunction with the displacement state, sends corresponding actions information to motion controller.Broadcasting stop also to be as the criterion with the order of receiving network control unit.
Fig. 5 is for being used for the total system information interaction and gathering the peer-to-peer communications network topological diagram.Network structure is the Mesh shape, comprising a coordinator node (coordinator node) and several routing nodes (routing node) (subnet can reach 254).Coordinator node is a global function node, comprising outside all functions of routing node, can also be as the creator of a subnet, in this Mesh network, any node adds and leaves, all must be through this coordinator node, after network is set up, each node in this network becomes the in logic structure of equity, refers to that namely any two nodes can carry out Random Communication in this network, because the ZigBee underlying protocol is supported collision detection and is kept out of the way retransmitting function, guaranteed the reliability of communication, but efficient and order in order to guarantee to communicate by letter, and the present invention has adopted previously described time window broadcast strategy.
The environment detection network that sensing layer is comprised of the sensor that is installed on the autonomous Guide vehicle, sensor mainly comprises the scrambler of detection vehicle speed and traffic direction and relative motion distance, the radio-frequency card reader of detection vehicle position (from placing the radio-frequency card reading information on the operating path), and the distance measuring sensor etc. of distance between the detection vehicle.Scrambler, radio-frequency card reader and distance measuring sensor all are connected into the control bus of automatic guided vehicle, the environmental information that these sensors obtain is uploaded to application layer as state parameter on the one hand, the more important thing is the foundation that cooperates as distributed director, the status information of the state of self and other autonomous Guide vehicle vehicles gives the program interoperability in the distribution route planning unit to process by the Ordering of collaboration layer network.
Fig. 6 is the collaborative process process flow diagram in the distribution route planning unit.Application layer enters the mission bit stream pond to idle vehicle release task message, and each vehicle is take self vehicle-state parameter, vehicle location etc. as according to carrying out self check, if self check is not passed through, then this car enters debugger, is kicked out of candidate queue simultaneously.If self check is passed through, vehicle further obtains mission bit stream, carries out path planning in conjunction with electronic map of automobile navigation.Import application layer on the program results into, application layer task management module is obtained preferred plan and is implemented vehicle according to the task competitive strategy.After the task competition finished, unelected vehicle entered the competition of next round task, and the vehicle of winning is waited for the broadcast synchronization instruction of Web control device, started operation thereby sail the path into.The tasks carrying vehicle is judged whether current region is zone, crossing, general running region, fleet's running region, is kept away the barrier zone according to radio-frequency information in the middle of according to the path driving process.If the crossing is regional, obtain crossing traffic cooperation sign from coordinator node, travel according to the crossing coordination strategy.If enter fleet's running region, then maintain safe distance, a car travels according to normal strategy, and rear car then maintains safe distance.Keep away the barrier zone if enter, then enter and keep away the barrier treatment scheme.All carry out according to this strategy that travels between per two nodes, know arrive at the destination after, wait for that new task assigns.
Claims (3)
1. the control method of an automatic guiding vehicle distributed autonomous cooperation control system, this control system comprises application layer, collaboration layer and sensing layer, described application layer comprises the vehicle control module, environmental modeling module, task management module, the global monitoring module that link to each other with man-machine interface; Described collaboration layer comprises the peer-to-peer communications network of total system information interaction and collection, wireless peer-to-peer communications network control unit, distribution route planning unit and radio receiving transmitting module; Described sensing layer, comprise radio-frequency card reader, scrambler, distance measuring sensor, application layer is by the wireless peer-to-peer network control module in the Ethernet connection collaboration layer, sensing layer is by the distribution route planning unit in the CAN bus access collaboration layer, it is characterized in that its control method comprises the steps:
(1) application layer is set up the electronic chart in path according to actual needs, configuration node information and routine weight value;
(2) application layer is sent to the collaboration layer gateway to electronic map information by Ethernet, is downloaded to Working vehicle by wireless peer-to-peer communications network control unit;
(3) application layer is specified beginning, stop, the end station of a certain transmission task according to actual needs, form task queue and be sent to the collaboration layer gateway by Ethernet, by wireless peer-to-peer network control module release tasks, each distribution route planning unit obtains separately suitable task by competition;
(4) the distribution route planning unit carries out distribution route planning according to obtaining task according to corresponding strategy, waits collaborative network to be added;
(5) wireless peer-to-peer communications network control unit starts wireless cooperative network, after each ready node registration adds collaborative network, issue cooperation startup command, each distribution route planning unit starts operation according to path planning, carry out self-determination cooperation by the cycle, mainly finish the conflict evading on the course, arrive at the destination smoothly, reciprocal with this.
2. the control method of automatic guiding vehicle distributed autonomous cooperation control system according to claim 1, it is characterized in that the self-determination cooperation in the described step (5) finishes by each automatic guided vehicle broadcasting cooperation sign, the cooperation sign comprises that the crossing takies, station takies, formation is advanced, overtakes other vehicles and dodge, dodge in opposite directions.
3. the control method of automatic guiding vehicle distributed autonomous cooperation control system according to claim 1, it is characterized in that the conflict evading in the described step (5) refers in a single day enter the zone, crossing when vehicle, then send at once the crossing and take sign, other direction vehicles of this crossing need be waited for until the current vehicle that takies leaves the zone, crossing, and the crossing takies sign and cancels; Under collaboration mode is advanced in formation, when vehicle detection has other vehicles to the place ahead, then maintain safe distance with front truck, follow the front truck operation, fleet's pattern is applicable to the one-way traffic track; Under the pattern of overtaking other vehicles, if slow train blocks express on the road of advancing, in the appointed area, slow train can give way to express; If two in opposite directions driving vehicles occur in same path, then this path enters the pattern of dodging in opposite directions, and the low vehicle of priority is implemented to dodge, and the high vehicle of priority passes through; Dodge in opposite directions in the pattern, the low priority vehicle take lateral drift or dynamically the mode of crossing dodge.
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