CN111232053A - 4X 2 wheeled vehicle type AGV steering system and control method thereof - Google Patents
4X 2 wheeled vehicle type AGV steering system and control method thereof Download PDFInfo
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- CN111232053A CN111232053A CN202010273324.8A CN202010273324A CN111232053A CN 111232053 A CN111232053 A CN 111232053A CN 202010273324 A CN202010273324 A CN 202010273324A CN 111232053 A CN111232053 A CN 111232053A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
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- Combustion & Propulsion (AREA)
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- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a 4 x 2 wheeled vehicle type AGV steering system and a control method thereof, which are characterized by comprising a steering axle, an electric push rod, an all-in-one controller, a whole vehicle controller, a vehicle-mounted automatic guiding operation module, a 24V storage battery, a power battery, an angle sensor, a remote control device vehicle-mounted end and a remote control device hand-held end; the steering control function of 4X 2 wheel type vehicle AGV is realized, the system has better steering control effect and stronger controllability, can automatically control the AGV to turn to and the straight line is gone with the low-angle correction based on the preset material transfer route large angle, and can also manually control the AGV to turn to, realizes the AGV field turning and debugging needs, satisfies the AGV steering control demand.
Description
The technical field is as follows:
the invention relates to the technical field of AGV steering systems, in particular to a 4 x 2 wheeled vehicle type AGV steering system and a control method thereof.
Background art:
with the development of AGV technology, the environment in which AGVs are used has been progressing from indoor to outdoor, and the driving systems have also been progressing from systems suitable for indoor use, such as steering wheels, differential wheels, and mecanum wheels, to wheeled vehicle types suitable for outdoor use, such as 4 × 2 and 4 × 4 driving systems. The steering wheel, the differential wheel, the McNam wheel and the like are suitable for indoor AGV driving modes, and during steering, electric energy is directly converted into mechanical energy, so that the traveling direction of the vehicle is changed; wheeled vehicle type AGV, load is heavy, mostly adopt the hydraulic steering; when the vehicle turns, the electric energy is firstly converted into mechanical energy, the mechanical energy is then converted into hydraulic energy, and the hydraulic energy is converted into the mechanical energy and then drives the wheels to deflect, so that the traveling direction of the vehicle is changed. Because when turning to, the electric energy changes many times, has increased the loss of energy, has influenced AGV continuation of the journey.
The invention content is as follows:
it is an object of the present invention to overcome the deficiencies of the prior art described above and to provide an AGV steering system of the 4 x 2 wheeled vehicle type.
It is another object of the present invention to provide a method of controlling an AGV steering system of the 4 x 2 wheeled vehicle type.
The technical scheme provided by the invention is as follows: a4 x 2 wheeled vehicle type AGV steering system is characterized by comprising a steering axle, an electric push rod, an all-in-one controller, a whole vehicle controller, a vehicle-mounted automatic guiding operation module, a 24V storage battery, a power battery, an angle sensor, a remote control device vehicle-mounted end and a remote control device hand-held end;
the steering axle, the all-in-one controller, the whole vehicle controller, the vehicle-mounted automatic guiding operation module, the 24V storage battery, the power battery and the vehicle-mounted end of the remote control device are respectively connected with a 4 multiplied by 2 wheeled vehicle type AGV frame; the fixed end of the electric push rod is connected with a 4X 2 wheel type vehicle AGV frame, and the telescopic end of the electric push rod is connected with a steering knuckle arm of a steering axle; the angle sensor consists of a medium end and a detection end; the medium end is fixedly connected with a steering axle main pin, and the detection end is fixedly connected with a steering knuckle of a steering axle;
the electric push rod is electrically connected with the all-in-one controller through a high-voltage connecting circuit, and the all-in-one controller is connected with the power battery through the high-voltage connecting circuit;
the electric push rod, the all-in-one controller, the vehicle-mounted automatic guiding operation module, the power battery, the angle sensor and the vehicle-mounted end of the remote control device are electrically connected with the 24V storage battery through a low-voltage power line; the electric push rod, the all-in-one controller, the vehicle-mounted automatic guide operation module, the power battery, the angle sensor and the vehicle-mounted end of the remote control device are connected with the whole vehicle controller through a CAN (controller area network) line;
the remote control device is characterized in that the remote control device handheld end is in wireless connection with the remote control device vehicle-mounted end and used for manual control of the AGV.
Furthermore, the all-in-one controller at least comprises a power distribution module, a DC/AC module and a DC/DC module.
Further, the power battery outputs high-voltage direct current to the all-in-one controller; the power distribution module in the all-in-one controller distributes the high-voltage direct current from the power battery to the DC/AC module and the DC/DC module in the all-in-one controller; the DC/AC module outputs high-voltage alternating current to the electric push rod; the DC/DC module outputs low-voltage direct current to a 24V storage battery.
Furthermore, the electric push rod is controlled by CAN communication; and the vehicle control unit controls the action of the electric push rod through CAN communication.
Furthermore, the angle sensor adopts a CAN data output single-circle absolute value encoder to feed back the deflection angle of the wheel, and after the zero position of the steering knuckle of the vehicle steering axle is calibrated, the deflection angle of the wheel is measured by detecting the rotation angle of the steering knuckle.
Furthermore, the vehicle-mounted automatic guiding operation module consists of an upper computer, a navigation sensor, a touch display screen and a communication conversion module; the navigation sensor, the touch display screen and the communication conversion module are connected with an upper computer through a connecting wire;
the upper computer is used for storing AGV running path information, fusing automatic guidance running control data, accurately controlling AGV running and communicating related information of AGV running;
the navigation sensor collects the position information and course angle information of the AGV in real time and transmits the information to the upper computer, and the upper computer processes the position information and course angle information data of the AGV collected by the navigation sensor to accurately control the operation of the AGV;
the touch display screen is used for inputting control parameters, planning an AGV running path, displaying related parameter information and fault information of the AGV running, and is convenient for man-machine interaction;
the communication conversion module is used for wired communication conversion between the upper computer and the vehicle control unit or wireless communication conversion between the upper computer and the background system.
Furthermore, the navigation sensor is a combination of a visual navigation sensor, a laser navigation sensor, an inertial navigation sensor, a GNSS navigation sensor, a laser navigation sensor, an inertial navigation sensor and a GNSS navigation sensor.
The invention discloses a control method of an AGV steering system of a 4 multiplied by 2 wheeled vehicle type, which is characterized by comprising the following steps:
a, starting a vehicle, wherein a 24V storage battery provides a 24V power supply for an electric push rod, an all-in-one controller, a vehicle control unit, a vehicle-mounted automatic guiding operation module, a power battery, an angle sensor and a vehicle-mounted end of a remote control device, and a BMS integrated in the vehicle control unit, the vehicle-mounted automatic guiding operation module and the power battery is started and self-checked; after the self-checking is passed, the vehicle control unit sends a high-voltage instruction to the power battery through the CAN line, the power battery transmits high-voltage direct current to the all-in-one controller after receiving the high-voltage instruction, a power distribution module in the all-in-one controller distributes the high-voltage direct current from the power battery to a DC/AC module and a DC/DC module in the all-in-one controller, the DC/AC module transmits the high-voltage direct current to the electric push rod to prepare for steering, and meanwhile, the DC/DC module is used for charging a 24V storage battery;
b, setting and storing AGV running path information in an upper computer of the vehicle-mounted automatic guidance running module through a touch display screen based on material transfer requirements, wherein the path information comprises path points, a vehicle speed, a running direction, vehicle corners and a non-contact obstacle stopping distance;
c, the upper computer converts the AGV running path information into an instruction and sends the instruction to the vehicle controller through a CAN (controller area network) line, and the vehicle controller receives the instruction of the upper computer to control the vehicle to travel according to the AGV running path;
d, in the running process of the AGV, the whole vehicle controller receives a steering instruction of an upper computer, the whole vehicle controller is communicated with the electric push rod through a CAN (controller area network) line to control the action of the telescopic end of the electric push rod, the telescopic end of the electric push rod acts to drive wheels of a steering axle to deflect, the AGV steering or the vehicle wheel aligning is realized, an angle sensor monitors the wheel rotation angle of the steering axle in real time and transmits rotation angle information to the whole vehicle controller through the CAN line;
e, a navigation sensor in the vehicle-mounted automatic guiding operation module acquires the AGV position and course angle information in real time and transmits the information to an upper computer in the vehicle-mounted automatic guiding operation module, and the information transmitted by the navigation sensor is processed by the upper computer and is compared with a stored AGV operation path, so that whether the AGV needs to turn or not is judged according to the information; if the vehicle needs to be steered, the upper computer processes the information of the vehicle position and the course angle acquired by the navigation sensor in real time to judge the difference value between the vehicle deflection angle and the actually required rotation angle, and controls AGV steering or vehicle wheel alignment through real-time communication between a CAN line and a vehicle controller;
f, a navigation sensor in the vehicle-mounted automatic guiding operation module collects the position and course angle information of the AGV in real time and transmits the information to an upper computer in the vehicle-mounted automatic guiding operation module, the upper computer processes the information returned by the navigation sensor and compares the information with a stored AGV operation path to judge whether the AGV operation direction has small-angle deviation relative to a material transfer path, if the deviation exists, a small-angle path correction instruction is sent to the whole vehicle controller through a CAN (controller area network) line after the deviation angle is judged, the whole vehicle controller controls a steering execution device to execute corresponding actions to realize small-angle correction of the AGV traveling path, and the safe operation of the AGV according to the stored AGV operation path.
The invention has the beneficial effects that:
1. the electric push rod is used as a steering power source and an actuating mechanism, so that the energy conversion process during steering is simplified, the energy loss is reduced, and the electric push rod is environment-friendly and energy-saving;
2. the electric push rod is used as a steering power source and an actuating mechanism, so that the energy conversion process during steering is simplified, the steering response time is shortened, and the steering stability is improved;
3. the components forming the AGV steering system adopt new energy vehicle general components, are easy to obtain and easy to implement;
4. based on angle sensor feedback, the automatic steering control process is combined, the AGV steering accuracy is ensured, the AGV runs according to the planned AGV running path, and the AGV steering control process has higher self-adaptability and high efficiency.
Description of the drawings:
FIG. 1 is a block diagram of the system of the present invention;
FIG. 2 is a schematic view of the installation of the steering system of the present invention on a vehicle;
FIG. 3 is a schematic view of the connection of the electric putter and the steering column according to the present invention;
fig. 4 is a schematic view of the installation position of the angle sensor of the present invention.
In the figure: the system comprises a steering axle 1, an electric push rod 2, an all-in-one controller 3, a power distribution module 31, a DC/AC module 32, a DC/DC module 33, a vehicle control unit 4, a vehicle-mounted automatic guiding operation module 5, an upper computer 51, a navigation sensor 52, a touch display screen 53, a communication conversion module 54, a 624V storage battery, a power battery 7, an angle sensor 8, a medium end 81, a detection end 82, a remote control device vehicle-mounted end 9 and a remote control device handheld end 10.
The specific implementation mode is as follows:
the present invention is described in further detail below with reference to the attached drawing figures.
As shown in fig. 1, 2, 3 and 4, a 4 × 2 wheeled vehicle type AGV steering system is composed of a steering axle 1, an electric push rod 2, an all-in-one controller 3, a vehicle controller 4, a vehicle-mounted automatic guiding operation module 5, a 24V storage battery 6, a power battery 7, an angle sensor 8, a remote control device vehicle-mounted end 9 and a remote control device hand-held end 10;
the all-in-one controller 3 at least comprises a power distribution module 31, a DC/AC module 32 and a DC/DC module 33;
the power battery 7 outputs high-voltage direct current to the all-in-one controller 3; the distribution module 31 in the all-in-one controller 3 distributes the high-voltage direct current from the power battery 7 to the DC/AC module 32 and the DC/DC module 33 in the all-in-one controller 3; the DC/AC module 32 outputs high-voltage alternating current to the electric push rod 2; the DC/DC module 33 outputs low-voltage direct current to the 24V storage battery 6;
the electric push rod 2 is controlled by CAN communication, and the vehicle control unit 4 controls the action of the electric push rod through the CAN communication;
the angle sensor 8 is composed of a medium end 81 and a detection end 82; the angle sensor 8 adopts a CAN data output single-loop absolute value encoder to feed back the deflection angle of the wheel, and after the zero position of the steering knuckle of the vehicle steering axle is calibrated, the deflection angle of the wheel is measured by detecting the rotation angle of the steering knuckle;
the vehicle-mounted automatic guiding operation module 5 consists of an upper computer 51, a navigation sensor 52, a touch display screen 53 and a communication conversion module 54, wherein the navigation sensor 52, the touch display screen 53 and the communication conversion module 54 are connected with the upper computer through special connecting wires; the upper computer 51 is used for storing AGV running path information, fusing automatic guidance running control data, accurately controlling AGV running and communicating related AGV running information; the navigation sensor 52 is a visual navigation sensor or a laser navigation sensor or an inertial navigation sensor or a GNSS navigation sensor or a combination of a laser navigation sensor, an inertial navigation sensor and a GNSS navigation sensor; the navigation sensor 52 collects the position information and the course angle information of the AGV in real time and transmits the position information and the course angle information to the upper computer 51, and the upper computer 51 processes the position information and the course angle information data of the AGV collected by the navigation sensor 52 to accurately control the operation of the AGV; the touch display screen 53 is used for inputting control parameters, planning an AGV running path, displaying related parameter information and fault information of the AGV running, and is convenient for man-machine interaction; the communication conversion module 54 is used for wired communication conversion between the upper computer 51 and the vehicle control unit 4 or wireless communication conversion between the upper computer 51 and a background system;
the remote control device handheld end 10 is wirelessly connected with the remote control device vehicle-mounted end 9 and used for manual control of the AGV vehicle;
respectively connecting a steering axle 1, an all-in-one controller 3, a vehicle control unit 4, a vehicle-mounted automatic guiding operation module 5, a 24V storage battery 6, a power battery 7 and a vehicle-mounted end 9 of a remote control device with a frame of a 4 multiplied by 2 wheeled vehicle type AGV; connecting the fixed end of an electric push rod 2 with a 4 multiplied by 2 wheeled vehicle type AGV frame, and connecting the telescopic end of the electric push rod 2 with a steering knuckle arm of a steering axle 1;
fixedly connecting a medium end 81 of the angle sensor 8 with a main pin of the steering axle 1, and fixedly connecting a detection end 82 with a steering knuckle of the steering axle 1;
the electric push rod 2 is electrically connected with the all-in-one controller 3 through a high-voltage connecting circuit, and the all-in-one controller 3 is connected with the power battery 7 through the high-voltage connecting circuit;
electrically connecting an electric push rod 2, an all-in-one controller 3, a vehicle control unit 4, a vehicle-mounted automatic guiding operation module 5, a power battery 7, an angle sensor 8 and a vehicle-mounted end 9 of a remote control device with a 24V storage battery 6 through a low-voltage power line; and then the electric push rod 2, the all-in-one controller 3, the vehicle controller 4, the vehicle-mounted automatic guiding operation module 5, the power battery 7, the angle sensor 8 and the vehicle-mounted end 9 of the remote control device are connected with the whole vehicle CAN through CAN lines.
According to the AGV steering system of the 4 x 2 wheeled vehicle type, the telescopic end of the electric push rod 2 acts to drive the wheels of the steering axle 1 to deflect; the all-in-one controller 3 provides high-voltage alternating current for the electric push rod 2 and provides low-voltage direct current for the 24V storage battery 6; the vehicle control unit 4 receives the instruction of the vehicle-mounted automatic guiding operation module 5 to control the action of the electric push rod 2 so as to control the steering of the vehicle; the vehicle-mounted automatic guiding operation module 5 issues a large-angle steering instruction or a small-angle correction instruction to the vehicle control unit 4 based on the set path; the 24V storage battery 6 provides low-voltage power supply for the steering system electrical appliance; the power battery 7 provides a high-voltage power supply for the all-in-one controller 3; the angle sensor 8 detects the wheel rotation angle of the steering axle 1 and transmits rotation angle information to the vehicle control unit 4; the remote control device hand-held end 10 is in wireless connection with the remote control device vehicle-mounted end 9 and is used for manual control of the AGV vehicle.
The invention discloses a control method of an AGV steering system of a 4 multiplied by 2 wheeled vehicle type, which comprises the following steps:
a, starting a vehicle, wherein a 24V storage battery 6 supplies 24V power to an electric push rod 2, an all-in-one controller 3, a vehicle control unit 4, a vehicle-mounted automatic guiding operation module 5, the 24V storage battery 6, a power battery 7, an angle sensor 8 and a vehicle-mounted end 9 of a remote control device, and a BMS integrated in the vehicle control unit 4, the vehicle-mounted automatic guiding operation module 5 and the power battery 7 is started and self-checked; after the self-checking is passed, the vehicle control unit 4 sends a high-voltage instruction to the power battery 7 through the CAN line, the power battery 7 transmits high-voltage direct current to the all-in-one controller 3 after receiving the high-voltage instruction, the power distribution module 31 in the all-in-one controller 3 distributes the high-voltage direct current from the power battery 7 to the DC/AC module 32 and the DC/DC module 33 in the all-in-one controller 3, the DC/AC module 32 transmits the high-voltage direct current to the electric push rod 2 to prepare for steering, and meanwhile, the DC/DC module 33 is used for charging the 24V storage battery 6;
b, setting and storing AGV running path information in an upper computer 51 of the vehicle-mounted automatic guiding running module 5 through a touch display screen 53 based on material transferring requirements, wherein the path information comprises path points, a vehicle speed, a running direction, vehicle corners and a non-contact stopping distance;
c, the upper computer 51 converts the AGV running path information into an instruction and sends the instruction to the whole vehicle controller 4 through a CAN (controller area network) line, and the whole vehicle controller 4 receives the instruction of the upper computer 51 to control the vehicle to travel according to the AGV running path;
d, in the running process of the AGV, the whole vehicle controller 4 receives a steering instruction of the upper computer 51, the whole vehicle controller communicates with the electric push rod 2 through a CAN (controller area network) line to control the action of the telescopic end of the electric push rod 2, the telescopic end of the electric push rod 2 acts to drive wheels of the steering axle 1 to deflect, the AGV steers or the wheels return to the right, the angle sensor 8 monitors the wheel rotation angle of the steering axle 1 in real time and transmits rotation angle information to the whole vehicle controller 4 through the CAN line;
e, a navigation sensor 52 in the vehicle-mounted automatic guiding operation module 5 collects the information of the AGV position and the course angle in real time and transmits the information to an upper computer 51 in the vehicle-mounted automatic guiding operation module 5, and the upper computer 51 processes the information transmitted back by the navigation sensor 52 and compares the information with a stored AGV operation path so as to judge whether the AGV needs to turn; if the vehicle needs to be steered, the upper computer 51 processes the vehicle position and course angle information acquired by the navigation sensor 52 in real time to judge the difference value between the vehicle deflection angle and the actually required rotation angle, and controls the AGV to steer or the vehicle to be steered in real time through the real-time communication between the CAN line and the vehicle controller 4;
f, a navigation sensor 52 in the vehicle-mounted automatic guiding operation module 5 collects the AGV position and course angle information in real time and transmits the information to an upper computer 51 in the vehicle-mounted automatic guiding operation module 5, the upper computer 51 processes the information returned by the navigation sensor 52 and compares the information with the stored AGV operation path, whether the AGV operation direction has small-angle deviation relative to the material transfer path is judged, if the deviation exists, a small-angle path correction instruction is sent to the whole vehicle controller 4 through a CAN (controller area network) line after the deviation angle is judged, the whole vehicle controller 4 controls a steering execution device, corresponding actions are executed to realize small-angle correction of the AGV traveling path, and the safe operation of the AGV according to the stored AGV operation path.
Claims (8)
1. A4 multiplied by 2 wheeled vehicle type AGV steering system is characterized by comprising a steering axle (1), an electric push rod (2), an all-in-one controller (3), a whole vehicle controller (4), a vehicle-mounted automatic guiding operation module (5), a 24V storage battery (6), a power battery (7), an angle sensor (8), a remote control device vehicle-mounted end (9) and a remote control device hand-held end (10);
the steering axle (1), the all-in-one controller (3), the whole vehicle controller (4), the vehicle-mounted automatic guiding operation module (5), the 24V storage battery (6), the power battery (7) and the vehicle-mounted end (9) of the remote control device are respectively connected with a 4 multiplied by 2 wheel type vehicle type AGV frame; the fixed end of the electric push rod (2) is connected with a 4 x 2 wheeled vehicle type AGV frame, and the telescopic end of the electric push rod (2) is connected with a steering knuckle arm of a steering axle (1); the angle sensor (8) consists of a medium end (81) and a detection end (82); the medium end (81) is fixedly connected with a kingpin of the steering axle (1), and the detection end (82) is fixedly connected with a steering knuckle of the steering axle (1);
the electric push rod (2) is electrically connected with the all-in-one controller (3) through a high-voltage connecting circuit, and the all-in-one controller (3) is connected with the power battery (7) through the high-voltage connecting circuit;
the electric push rod (2), the all-in-one controller (3), the whole vehicle controller (4), the vehicle-mounted automatic guiding operation module (5), the power battery (7), the angle sensor (8) and the vehicle-mounted end (9) of the remote control device are electrically connected with the 24V storage battery (6) through a low-voltage power line; the electric push rod (2), the all-in-one controller (3), the vehicle-mounted automatic guiding operation module (5), the power battery (7), the angle sensor (8) and the vehicle-mounted end (9) of the remote control device are connected with the whole vehicle controller (4) through a CAN (controller area network) line;
and the remote control device hand-held end (10) is in wireless connection with the remote control device vehicle-mounted end (9) and is used for manually controlling the AGV.
2. A 4 x 2 wheeled AGV steering system according to claim 1, characterised in that said all in one controller (3) comprises at least one power distribution module (31), one DC/AC module (32) and one DC/DC module (33).
3. An AGV steering system according to claim 1, characterised in that the power battery (7) outputs high voltage dc to the all in one controller (3); the power distribution module (31) in the all-in-one controller (3) distributes the high-voltage direct current from the power battery (7) to the DC/AC module (32) and the DC/DC module (33) in the all-in-one controller (3); the DC/AC module (32) outputs high-voltage alternating current to the electric push rod (2); the DC/DC module (33) outputs low-voltage direct current to the 24V storage battery (6).
4. An AGV steering system according to claim 1, characterised in that the electric push rod (2) is CAN communication controlled; and the vehicle control unit (4) controls the action of the electric push rod (2) through CAN communication.
5. An AGV steering system according to claim 1, characterised in that the angle sensor (8) uses a CAN data output single turn absolute encoder to feed back the wheel yaw angle, which is measured by sensing the steering angle of the knuckle of the vehicle steering axle (1) after the knuckle has been calibrated to zero.
6. An AGV steering system according to claim 1, characterised in that said vehicle automatic guided vehicle module (5) consists of an upper computer (51), a navigation sensor (52), a touch screen display (53), a communication conversion module (54); the navigation sensor (52), the touch display screen (53) and the communication conversion module (54) are connected with an upper computer (51) through connecting wires;
the upper computer (51) is used for storing AGV running path information, fusing automatic guidance running control data, accurately controlling AGV running and communicating related information of AGV running;
the navigation sensor (52) collects the position information and course angle information of the AGV in real time and transmits the information to the upper computer (51), and the upper computer (51) processes the position information and course angle information data of the AGV collected by the navigation sensor (52) to accurately control the operation of the AGV;
the touch display screen (53) is used for inputting control parameters, planning an AGV running path, displaying related parameter information of AGV running and fault information, and is convenient for man-machine interaction;
the communication conversion module (54) is used for wired communication conversion between the upper computer (51) and the whole vehicle controller (4) or wireless communication conversion between the upper computer (51) and a background system.
7. An AGV steering system according to claim 6, characterised in that said navigation sensors (52) are visual navigation sensors or laser navigation sensors or inertial navigation sensors or GNSS navigation sensors or a combination of both.
8. A method of controlling an AGV steering system according to any one of claims 1 to 7 in the form of a 4 x 2 wheeled vehicle including the steps of:
a, starting a vehicle, wherein a 24V storage battery (6) provides a 24V power supply for an electric push rod (2), an all-in-one controller (3), a whole vehicle controller (4), a vehicle-mounted automatic guiding operation module (5), a power battery (7), an angle sensor (8) and a vehicle-mounted end (9) of a remote control device, and a BMS integrated in the whole vehicle controller (4), the vehicle-mounted automatic guiding operation module (5) and the power battery (7) is started and self-checked; after the self-checking is passed, the vehicle control unit (4) issues a high-voltage instruction to the power battery (7) through the CAN line, the power battery (7) transmits high-voltage direct current to the all-in-one controller (3) after receiving the high-voltage instruction, the power distribution module (31) in the all-in-one controller (3) distributes the high-voltage direct current from the power battery (7) to the DC/AC module (32) and the DC/DC module (33) in the all-in-one controller (3), the DC/AC module (32) transmits the high-voltage direct current to the electric push rod (2), preparation work is prepared for steering, and meanwhile, the DC/DC module (33) is used for charging the 24V storage battery (6);
b, setting and storing AGV running path information in an upper computer (51) of the vehicle-mounted automatic guiding running module (5) through a touch display screen (53) based on material transferring requirements, wherein the path information comprises path points, a vehicle speed, a running direction, vehicle corners and a non-contact obstacle stopping distance;
c, the upper computer (51) converts the AGV running path information into an instruction and sends the instruction to the whole vehicle controller (4) through a CAN (controller area network) line, and the whole vehicle controller (4) receives the instruction of the upper computer (51) to control the vehicle to run according to the AGV running path;
d, in the running process of the AGV, the whole vehicle controller (4) receives a steering instruction of the upper computer (51), the CAN line is communicated with the electric push rod (2) to control the telescopic end of the electric push rod (2) to act, the telescopic end of the electric push rod (2) acts to drive wheels of the steering axle (1) to deflect, the AGV steering or the wheel aligning is realized, the angle sensor (8) monitors the wheel rotation angle of the steering axle (1) in real time and transmits rotation angle information to the whole vehicle controller (4) through the CAN line;
e, a navigation sensor (52) in the vehicle-mounted automatic guiding operation module (5) collects the AGV position and course angle information in real time and transmits the information to an upper computer (51) in the vehicle-mounted automatic guiding operation module (5), and the upper computer (51) processes the information transmitted by the navigation sensor (52) and compares the information with a stored AGV operation path so as to judge whether the AGV needs to turn; if the AGV needs to turn, the upper computer (51) processes the vehicle position and course angle information collected by the navigation sensor (52) in real time to judge the difference value between the vehicle deflection angle and the actually required rotation angle, and the AGV turns or the vehicle turns right through the real-time communication between the CAN line and the whole vehicle controller (4);
f, a navigation sensor (52) in the vehicle-mounted automatic guiding operation module (5) collects the AGV position and course angle information in real time and transmits the information to an upper computer (51) in the vehicle-mounted automatic guiding operation module (5), the upper computer (51) processes the information returned by the navigation sensor (52) and compares the information with a stored AGV operation path, whether the AGV operation direction has small-angle deviation relative to a material transfer path or not is judged, if the deviation exists, a small-angle path correction instruction is sent to the whole vehicle controller (4) through a CAN (controller area network) line after the deviation angle is judged, the whole vehicle controller (4) controls a steering execution device, corresponding actions are executed to realize small-angle correction of the AGV traveling path, and the safe operation of the AGV according to the stored AGV.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202010273324.8A CN111232053A (en) | 2020-04-09 | 2020-04-09 | 4X 2 wheeled vehicle type AGV steering system and control method thereof |
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| CN202010273324.8A CN111232053A (en) | 2020-04-09 | 2020-04-09 | 4X 2 wheeled vehicle type AGV steering system and control method thereof |
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| CN111232053A true CN111232053A (en) | 2020-06-05 |
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| CN202010273324.8A Pending CN111232053A (en) | 2020-04-09 | 2020-04-09 | 4X 2 wheeled vehicle type AGV steering system and control method thereof |
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| CN (1) | CN111232053A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976719A (en) * | 2020-08-03 | 2020-11-24 | 长沙理工大学 | Vehicle warehousing system and method |
| CN115107724B (en) * | 2022-07-06 | 2023-09-26 | 山东蓬翔汽车有限公司 | Operating device and operating method of wheel type AGV stay wire type parking brake |
-
2020
- 2020-04-09 CN CN202010273324.8A patent/CN111232053A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111976719A (en) * | 2020-08-03 | 2020-11-24 | 长沙理工大学 | Vehicle warehousing system and method |
| CN115107724B (en) * | 2022-07-06 | 2023-09-26 | 山东蓬翔汽车有限公司 | Operating device and operating method of wheel type AGV stay wire type parking brake |
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