CN107317582B - A kind of AGV driving motor encoder based on ARM - Google Patents
A kind of AGV driving motor encoder based on ARM Download PDFInfo
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- CN107317582B CN107317582B CN201710439545.6A CN201710439545A CN107317582B CN 107317582 B CN107317582 B CN 107317582B CN 201710439545 A CN201710439545 A CN 201710439545A CN 107317582 B CN107317582 B CN 107317582B
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- 239000003990 capacitor Substances 0.000 claims description 61
- 239000013078 crystal Substances 0.000 claims description 12
- 238000012545 processing Methods 0.000 claims description 9
- 230000005611 electricity Effects 0.000 claims description 6
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03M—CODING; DECODING; CODE CONVERSION IN GENERAL
- H03M1/00—Analogue/digital conversion; Digital/analogue conversion
- H03M1/12—Analogue/digital converters
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/36—Forming the light into pulses
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Abstract
The present invention relates to a kind of AGV driving motor encoder based on ARM.The present invention includes Voltage stabilizing module, communication module, processor module, program debugging serial port module, download interface module, reseting module and LED module.The Voltage stabilizing module receives rectangular wave orthogonal pulses signal and signal is passed to communication module, and processor module and communication module are realized data communication, then handled using the counter inside processor module data.Download interface module provides processor program download interface, connects processor chips online programming using data line.Program debugging serial port module is for debugging encoder, and for reseting module for resetting to circuit, LED module is used to indicate power supply and working condition.The orthogonal rectangular wave pulse of driving motor encoder output of the invention, by the orthogonal rectangular wave pulse of output, the distance of AGV movement walking accurately to control in the current position of available motor with this.
Description
Technical field
The invention belongs to embedded scm signal processing technology fields, are related to a kind of AGV driving motor volume based on ARM
Code device.
Background technique
With factory automation, the gradually development of computer integrated manufacturing system technology and flexible manufacturing system, automatically
Change the extensive use of tiered warehouse facility, AGV (Automated Guided Vehicle) i.e. automatic guided vehicle is as connection and adjusts
Discrete type logistics system so that its operation serialization necessary automated handling handling means, application range and technical level
Swift and violent development is obtained.It is support that AGV, which is using microcontroller as control core, technology of Internet of things, battery is power, is equipped with
The unmanned homing guidance carrier loader of non-contact guiding device, the basic function of automatic job are guiding travelings, recognize location and stop
Quasi- and transfer load.As the effective means of contemporary logistics processing automation and the key equipment of flexible manufacturing system, AGV is
It is more and more widely used.
The guide mode of AGV can be divided into two major classes at present: the outer fixed_path guided mode of vehicle and free path guide mode.
The outer fixed_path guided mode of vehicle refers to the information media object that guiding is arranged on the path of traveling, and AGV is by detecting its
Information is guided, such as electromagnetism guiding, optical navigation, tape guidance；Free path guide mode is to store to be on AGV
Scale coordinate in system layout autonomously decides on driving path, this kind of guide mode is also referred to as by identifying car body present orientation
Software-program path mode on vehicle.Wherein the outer fixed_path guided mode of vehicle is usual way.
It is Vehicle Controller, website calling set, collection respectively due to mainly having there are four types of equipment in the application of AGV system
Middle coordinator and information display.The control instruction of AGV is usually to be proposed by website calling set, through concentrating coordinator to issue, AGV
State send concentration coordinator back to also by communication system, there are two types of communication systems: continuation mode and dispersing mode.Continuous communiction
System allows AGV at any time and any position of opposite ground controller uses radio frequency method or use in guide path
Communication cable receive and send messages.Such as using radio, the communication means of infrared laser.Distributed system is only in scheduled place
Such as AGV calls website, Vehicle Controller, information display, in specific AGV equipment and concentrates offer between coordinator logical
Letter.In general, the advantages of this communication is realized by the method for radio network technique, Decentralized Communication mode is valence
Lattice are relatively inexpensive, reliable communications are stable.
In AGV system, need to obtain the motor speed in AGV vehicle or position.The electricity of AGV vehicle is obtained at us
When seat in the plane is set, we generate one group of orthogonal rectangular wave pulse signal of output using the photoelectric encoder of motor, receive this group letter
Number, and signal is passed into STM32F103 chip using 485 communication modules and is handled, and the counter in portion in the chip
Middle carry out counting operation, the position of the motor of AGV vehicle is obtained with this.
Summary of the invention
It is an object of the invention to provide a kind of AGV driving motor encoder based on ARM.
The present invention include Voltage stabilizing module, communication module, processor module, program debugging serial port module, download interface module,
Reseting module and LED module.The Voltage stabilizing module receives rectangular wave orthogonal pulses signal and signal is passed to communication mould
Block, processor module and communication module realize data communication, are then carried out using the counter inside processor module to data
Processing.Download interface module provides processor program download interface, connects processor chips online programming using data line.Program
Debugging serial port module is for debugging encoder, and for reseting module for resetting to circuit, LED module is used to indicate electricity
Source and working condition.
The Voltage stabilizing module includes voltage stabilizing chip U1, first capacitor C1, the second electrolytic capacitor C2, third capacitor C3,
Four electrolytic capacitor C4, the first inductance L1, switch S1, fuse F1,4 core socket P4.The 1st pin of voltage stabilizing chip U1 is grounded.Surely
Press the second pin of chip U1, the 4th pin of voltage stabilizing chip U1, one end of third capacitor C3, the 4th electrolytic capacitor C4 just
One end connection of pole, the first inductance L1 is followed by VCC_3V3, and the other end of the first inductance L1 is connected with VMCU_3V3.Third capacitor
The cathode ground connection of the other end of C3, the 4th inductance capacitance.One end of first capacitor C1, the anode of the second inductance capacitance, fuse
One end connection of F1 is followed by the 3rd pin of voltage stabilizing chip.The other end of fuse F1 connects the 1st of four core socket P4 by switch S1
Pin.The 2nd pin ground connection of the other end of first capacitor C1, the cathode of the second inductance capacitance, four core socket P4.Power interface J2
5V power supply is connect as the power supply of Voltage stabilizing module 1, the 1st pin of power interface J2 and the connection of the 3rd pin are followed by the 2nd of four core socket P4 and draw
Foot；The 2nd pin of power interface J2 connects the 1st pin of four core socket P4.Voltage stabilizing chip U1 uses the AMS1117 of AMS company.
The communication module includes interface chip U2, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the tenth electricity
Hold C10, the 11st capacitor C11.Interface chip U2 the 1st, 4 pins are connected with the 30th of processor chips U3,29 pins respectively.
Interface chip U2 the 2nd, the connection of 3 pins be followed by the 14th pin of processor chips U3.The 8th pin of interface chip U2, the 4th
One end connection of resistance R4 is followed by VMCU_3V3；The 7th pin, the tenth capacitor of the other end of 4th resistance R4, interface chip U2
The 3rd pin for the four core socket P4 that one end connection of one end of C10, the 5th resistance R5 is followed by Voltage stabilizing module 1.Interface chip U2
The 5th pin connect with one end of the 6th resistance R6 after be grounded；The 6th pin of interface chip U2, the 6th resistance R6 the other end,
Draw the 4th of the four core socket P4 that one end of 11st capacitor C11, the other end connection of the 5th resistance R5 are followed by Voltage stabilizing module 1
Foot.The 11st capacitor C11 other end is grounded after connecting with the other end of the tenth capacitor.Interface chip U2 uses Maxim company
MAX485。
The processor module includes processor chips U3, processor chips U3 the 1st, 13,19,32,48,64 pins
Meet VMCU_3V3.Processor chips U3 the 12nd, 18,31,47,63 pins ground connection.Processor chips U3 the 58th, 59,61,62
Pin is connect with the 1st of interface J1,2,3,4 pins respectively.One end of crystal oscillator Y1 connect with one end of capacitor C13 and is followed by processor
The 6th pin of chip U3；The other end of crystal oscillator Y1 connect the 5th pin for being followed by processor chips U3 with one end of capacitor C14；Electricity
It is grounded after holding the other end connection of the other end, capacitor C14 of C13.The 46th pin of processor chips U3 connects download interface module 5
In 20 core socket P1 JTMS interface, the 49th pin of processor chips U3 meets 20 core socket P1 in download interface module 5
JTCK interface, the 50th pin of processing chip U3 connects the JTDI interface of 20 core socket P1 in download interface module 5, processor
The 55th pin of chip U3 connects the JTDO interface of 20 core socket P1 in lower download interface module 5, and the 56th of processor chips U3 the
Foot connects the JNTRST interface of 20 core socket P1 in download interface module 5.The 15th pin of processor chips U3 connects light-emitting diodes
The cathode of pipe D2.7th pin of processor chips connects the NRST pin of reseting module 6.The 60th pin of processing chip U3 passes through
8th resistance is connected with GND.28th pin meets BOOT1, and BOOT1 connects the 7th resistance and is connected with GND.Processor chips
Other pin floating of STM32F103.Processor chips U3 uses the STM32F103 chip of ST company.
The program debugging serial port module includes four core socket P2.The 1st pin of four core socket P2 is connect by resistance R8
4th pin on ground, four core socket P2 meets VMCU_3V3.2,3 pins of the P2 of 4 core sockets connect the of processor chips U3 respectively
42,43 pin.
The download interface module includes 20 core socket P1.20 core socket P1 the 1st, 2 pins connection be followed by
VMCU_3V3.20 core socket P1 the 4th, 6,8,10,12,14,16,18, the connection of 20 pins are followed by GND.20 core socket P1's
15th pin meets NRST and is connected with reseting module 6, and connect with the 7th pin of processor chips U3；11st pin meets GND.
The reseting module includes 3rd resistor R3, the 5th capacitor C5 and key K1.Key K1 and the 5th capacitor C5 are simultaneously
Connection, one end after parallel connection are grounded GND, are used as NRST pin, NRST after one end connection of the other end, 3rd resistor R3 after parallel connection
Pin, 20 core socket P1 the 15th pin connected with the 7th pin of processor chips U3；Another termination power of 3rd resistor
VMCU_3V3。
The LED module includes first resistor R1, second resistance R2 and two light emitting diodes.Light emitting diode D1's
Anode meets VMCU_3V3 by first resistor R1；The minus earth GND of light emitting diode D1.The anode tap of light emitting diode D2 is logical
It crosses second resistance R2 and connects VMCU_3V3, the 15th foot of the cathode termination processor chips of light emitting diode D2.
The fuse uses F1206.Timer module interface J1, program download module interface P1, serial communication mould
Block interface P2,485 communication module interface P4 connector all use mature connector.Light emitting diode D1, D2 are all made of
LED0805_RED.Crystal oscillator Y1 uses 8M crystal oscillator.
The orthogonal rectangular wave pulse of driving motor encoder output of the invention can by the orthogonal rectangular wave pulse of output
To obtain the current position of motor, accurately to control the distance of AGV movement walking with this.
Detailed description of the invention
Fig. 1 is overall structure diagram of the invention；
Fig. 2 is the circuit diagram of Voltage stabilizing module in Fig. 1；
Fig. 3 is the circuit diagram of communication module in Fig. 1；
Fig. 4 is the circuit diagram of processor module in Fig. 1；
Fig. 5 is the circuit diagram of program debugging serial port module in Fig. 1；
Fig. 6 is the circuit diagram of download interface module in Fig. 1；
Fig. 7 is reseting module in Fig. 1；
Fig. 8 is the circuit diagram of LED module in Fig. 1.
Specific embodiment
As shown in Figure 1, a kind of AGV driving motor encoder based on ARM, including Voltage stabilizing module 1, communication module 2, processing
Device module 3, program debugging serial port module 4, download interface module 5, reseting module 6 and LED module 7.Voltage stabilizing module receives rectangle
Wave orthogonal pulses signal and signal is passed into communication module, processor module and communication module realize data communication, then
Data are handled using the counter inside processor module.Download interface module provides processor program download interface,
Processor chips online programming is connected using data line.Program debugging serial port module resets mould for debugging to encoder
For block for resetting to circuit, LED module is used to indicate power supply and working condition.
As shown in Fig. 2, Voltage stabilizing module 1 includes voltage stabilizing chip U1, first capacitor C1, the second electrolytic capacitor C2, third capacitor
C3, the 4th electrolytic capacitor C4, the first inductance L1, switch S1, fuse F1,4 core socket P4.The 1st pin of voltage stabilizing chip U1 connects
Ground.The second pin of voltage stabilizing chip U1, the 4th pin of voltage stabilizing chip U1, one end of third capacitor C3, the 4th electrolytic capacitor C4
Anode, the first inductance L1 one end connection be followed by VCC_3V3, the other end of the first inductance L1 is connected with VMCU_3V3.Third
The cathode ground connection of the other end of capacitor C3, the 4th inductance capacitance.One end of first capacitor C1, the anode of the second inductance capacitance, guarantor
One end connection of dangerous silk F1 is followed by the 3rd pin of voltage stabilizing chip.The other end of fuse F1 meets four core socket P4 by switch S1
The 1st pin.The 2nd pin ground connection of the other end of first capacitor C1, the cathode of the second inductance capacitance, four core socket P4.Power supply
Interface J2 connects 5V power supply as the power supply of Voltage stabilizing module 1, and the 1st pin of power interface J2 and the connection of the 3rd pin are followed by four core socket P4's
2nd pin；The 2nd pin of power interface J2 connects the 1st pin of four core socket P4.
As shown in figure 3, communication module 2 includes interface chip U2, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the
Ten capacitor C10, the 11st capacitor C11.Interface chip U2 the 1st, 4 pins respectively with the 30th of processor chips U3,29 pins
It is connected.Interface chip U2 the 2nd, the connection of 3 pins be followed by the 14th pin of processor chips U3.The 8th pin of interface chip U2,
One end connection of 4th resistance R4 is followed by VMCU_3V3；The other end of 4th resistance R4, the 7th pin of interface chip U2, the tenth
The 3rd pin for the four core socket P4 that one end connection of one end of capacitor C10, the 5th resistance R5 is followed by Voltage stabilizing module 1.Interface core
The 5th pin of piece U2 is grounded after connecting with one end of the 6th resistance R6；The 6th pin of interface chip U2, the 6th resistance R6 it is another
The four core socket P4's that the other end connection of one end, one end of the 11st capacitor C11, the 5th resistance R5 is followed by Voltage stabilizing module 1
4th pin.The 11st capacitor C11 other end is grounded after connecting with the other end of the tenth capacitor.
As shown in figure 4, processor module 3 include processor chips U3, processor chips U3 the 1st, 13,19,32,48,
64 pins meet VMCU_3V3.Processor chips U3 the 12nd, 18,31,47,63 pins ground connection.Processor chips U3 the 58th,
59,61,62 pins are connect with the 1st of interface J1,2,3,4 pins respectively.After one end of crystal oscillator Y1 is connect with one end of capacitor C13
Connect the 6th pin of processor chips U3；The other end of crystal oscillator Y1 is connect with one end of capacitor C14 is followed by the of processor chips U3
5 pins；It is grounded after the other end connection of the other end, capacitor C14 of capacitor C13.The 46th pin of processor chips U3 connects downloading
The JTMS interface of 20 core socket P1, the 49th pin of processor chips U3 connect 20 in download interface module 5 in interface module 5
The JTCK interface of core socket P1, the JTDI that the 50th pin of processing chip U3 meets 20 core socket P1 in download interface module 5 connect
Mouthful, the 55th pin of processor chips U3 connects the JTDO interface of 20 core socket P1 in lower download interface module 5, processor chips
The 56th foot of U3 connects the JNTRST interface of 20 core socket P1 in download interface module 5.The 15th pin of processor chips U3 connects
The cathode of light emitting diode D2.7th pin of processor chips connects the NRST pin of reseting module 6.Handle the 60th of chip U3
Pin meets BOOT0, and BOOT0 connects the 8th resistance and is connected with GND.28th pin meets BOOT1, and BOOT1 meets the 7th resistance and and GND
It is connected.
As shown in figure 5, program debugging serial port module 4 includes four core socket P2.The 1st pin of four core socket P2 passes through resistance
R8 ground connection, the 4th pin of four core socket P2 meet VMCU_3V3.2,3 pins of the P2 of 4 core sockets connect processor chips U3's respectively
42nd, 43 pins.
As shown in fig. 6, download interface module 5 includes 20 core socket P1.20 core socket P1 the 1st, 2 pins connection after
Meet VMCU_3V3.20 core socket P1 the 4th, 6,8,10,12,14,16,18, the connection of 20 pins are followed by GND.20 core socket P1
The 15th pin meet NRST and be connected with reseting module 6, and connect with the 7th pin of processor chips U3；11st pin meets GND.
As shown in fig. 7, reseting module 6 includes 3rd resistor R3, the 5th capacitor C5 and key K1.Key K1 and the 5th capacitor
C5 is in parallel, and one end after parallel connection is grounded GND, is used as NRST pin after one end connection of the other end, 3rd resistor R3 after parallel connection,
NRST pin, 20 core socket P1 the 15th pin connected with the 7th pin of processor chips U3；Another termination of 3rd resistor
Power supply VMCU_3V3.
As shown in figure 8, LED module 7 includes first resistor R1, second resistance R2 and two light emitting diodes.Light-emitting diodes
The anode of pipe D1 meets VMCU_3V3 by first resistor R1；The minus earth GND of light emitting diode D1.The sun of light emitting diode D2
It is extreme that VMCU_3V3, the 15th foot of the cathode termination processor chips of light emitting diode D2 are connect by second resistance R2.
Fuse uses F1206.Voltage stabilizing chip U1 uses the AMS1117 of AMS company.Interface chip U2 is public using Maxim
Take charge of MAX485.Processor chips U3 uses the STM32F103 chip of ST company.Timer module interface J1, program download module
Interface P1, serial communication modular interface P2,485 communication module interface P4 connector all use mature connector.Luminous two
Pole pipe D1, D2 are all made of LED0805_RED.Crystal oscillator Y1 uses 8M crystal oscillator.
Other pin floating of processor chips STM32F103.
The present invention obtains the encoded information of the motor of AGV vehicle operation suitable for AGV system.When the motor operation of AGV
When, the position encoded information of motor can be obtained by obtaining the pulse signal of motor output.Present invention employs be based on
The Counter Design scheme of STM32, when AGV vehicle is run, the photoelectric encoder of motor can export one group of orthogonal rectangular wave arteries and veins
Signal A phase and B phase are rushed, after the quadrature coding pulse circuit of STM32 chip is enabled, the rectangular pulse letter of motor output can be obtained
Number A phase B phase.Then the counter being transferred in STM32F103 chip is handled into the RS485 communication module in oversampling circuit.According to A
The Square wave pulses of phase B phase, STM32F103 chip can carry out plus-minus counting in internal counter, electric to obtain AGV with this
The code device signal of machine rotation.
Claims (6)
1. a kind of AGV driving motor encoder based on ARM, including Voltage stabilizing module, communication module, processor module, program tune
Try serial port module, download interface module, reseting module and LED module；It is characterized by: the Voltage stabilizing module receives rectangular wave
Orthogonal pulses signal and signal is passed into communication module, processor module and communication module realize data communication, then sharp
Data are handled with the counter of processor inside modules；Download interface module provides processor program download interface, benefit
Processor chips U3 online programming is connected with data line；Program debugging serial port module resets mould for debugging to encoder
For block for resetting to circuit, LED module is used to indicate power supply and working condition；
The Voltage stabilizing module includes voltage stabilizing chip U1, first capacitor C1, the second electrolytic capacitor C2, third capacitor C3, the 4th electricity
Solve capacitor C4, the first inductance L1, switch S1, fuse F1,4 core socket P4；The 1st pin of voltage stabilizing chip U1 is grounded；Pressure stabilizing core
The second pin of piece U1, the 4th pin of voltage stabilizing chip U1, one end of third capacitor C3, the anode of the 4th electrolytic capacitor C4,
One end connection of one inductance L1 is followed by VCC_3V3, and the other end of the first inductance L1 is connected with VMCU_3V3；Third capacitor C3's is another
One end, the 4th inductance capacitance cathode ground connection；One end of first capacitor C1, the anode of the second inductance capacitance, fuse F1 one
End connection is followed by the 3rd pin of voltage stabilizing chip；The other end of fuse F1 connects the 1st pin of four core socket P4 by switch S1；
The 2nd pin ground connection of the other end of first capacitor C1, the cathode of the second inductance capacitance, four core socket P4；Power interface J2 meets 5V
Power supply is Voltage stabilizing module power supply, and the 1st pin of power interface J2 and the connection of the 3rd pin are followed by the 2nd pin of four core socket P4；Power supply
The 2nd pin of interface J2 connects the 1st pin of four core socket P4；Voltage stabilizing chip U1 uses the AMS1117 of AMS company；
The communication module includes interface chip U2, the 4th resistance R4, the 5th resistance R5, the 6th resistance R6, the tenth capacitor
C10, the 11st capacitor C11；Interface chip U2 the 1st, 4 pins are connected with the 30th of processor chips U3,29 pins respectively；It connects
Mouthful chip U2 the 2nd, the connection of 3 pins be followed by the 14th pin of processor chips U3；The 8th pin of interface chip U2, the 4th electricity
One end connection of resistance R4 is followed by VMCU_3V3；The 7th pin, the tenth capacitor C10 of the other end of 4th resistance R4, interface chip U2
One end, the 5th resistance R5 the 3rd pin of four core socket P4 that is followed by Voltage stabilizing module of one end connection；The of interface chip U2
5 pins are grounded after connecting with one end of the 6th resistance R6；The 6th pin of interface chip U2, the other end of the 6th resistance R6, the tenth
The 4th pin for the four core socket P4 that one end of one capacitor C11, the other end connection of the 5th resistance R5 are followed by Voltage stabilizing module；The
The 11 capacitor C11 other ends are grounded after connecting with the other end of the tenth capacitor；Interface chip U2 uses Maxim company MAX485；
The processor module includes processor chips U3, processor chips U3 the 1st, 13,19,32,48,64 pins connect
VMCU_3V3；Processor chips U3 the 12nd, 18,31,47,63 pins ground connection；Draw the 58th, 59,61, the 62 of processor chips U3
Foot is connect with the 1st of interface J1,2,3,4 pins respectively；One end of crystal oscillator Y1 connect with one end of capacitor C13 and is followed by processor core
The 6th pin of piece U3；The other end of crystal oscillator Y1 connect the 5th pin for being followed by processor chips U3 with one end of capacitor C14；Capacitor
It is grounded after the other end connection of the other end, capacitor C14 of C13；The 46th pin of processor chips U3 connects in download interface module
The JTMS interface of 20 core socket P1, the 49th pin of processor chips U3 meet 20 core socket P1 in download interface module
50th pin of JTCK interface, processing chip U3 connects the JTDI interface of 20 core socket P1 in download interface module, processor core
The 55th pin of piece U3 connects the JTDO interface of 20 core socket P1 in lower download interface module, and the 56th foot of processor chips U3 connects
The JNTRST interface of 20 core socket P1 in download interface module；The 15th pin sending and receiving optical diode D2's of processor chips U3
Cathode；7th pin of processor chips connects the NRST pin of reseting module；The 60th pin of processing chip U3 meets BOOT0,
BOOT0 connects the 8th resistance and is connected with GND；28th pin meets BOOT1, and BOOT1 connects the 7th resistance and is connected with GND；Processor
Other pin floating of chip U3；Processor chips U3 uses the STM32F103 chip of ST company.
2. a kind of AGV driving motor encoder based on ARM as described in claim 1, it is characterised in that: the program tune
Trying serial port module includes four core socket P2；The 1st pin of four core socket P2 is grounded by resistance R8, and the 4th of four core socket P2 is drawn
Foot meets VMCU_3V3；2,3 pins of the P2 of 4 core sockets connect the 42nd of processor chips U3 the, 43 pins respectively.
3. a kind of AGV driving motor encoder based on ARM as described in claim 1, it is characterised in that: the downloading connects
Mouth mold block includes 20 core socket P1；20 core socket P1 the 1st, 2 pins connection be followed by VMCU_3V3；20 core socket P1
4,6,8,10,12,14,16,18,20 pins connection is followed by GND；The 15th pin of 20 core socket P1 meets NRST and reseting module
It is connected, and is connect with the 7th pin of processor chips U3；11st pin meets GND.
4. a kind of AGV driving motor encoder based on ARM as described in claim 1, it is characterised in that: the reset mould
Block includes 3rd resistor R3, the 5th capacitor C5 and key K1；Key K1 is in parallel with the 5th capacitor C5, one end ground connection after parallel connection
GND, it is in parallel after the other end, 3rd resistor R3 one end connection after be used as NRST pin, NRST pin, 20 core socket P1
15th pin is connected with the 7th pin of processor chips U3；Another termination power VMCU_3V3 of 3rd resistor.
5. a kind of AGV driving motor encoder based on ARM as described in claim 1, it is characterised in that: the LED mould
Block includes first resistor R1, second resistance R2 and two light emitting diodes；The anode of light emitting diode D1 passes through first resistor R1
Meet VMCU_3V3；The minus earth GND of light emitting diode D1；The anode tap of light emitting diode D2 is connect by second resistance R2
15th foot of the cathode termination processor chips of VMCU_3V3, light emitting diode D2.
6. such as a kind of described in any item AGV driving motor encoders based on ARM of claim 2~5, it is characterised in that: institute
The fuse stated uses F1206；Light emitting diode is all made of LED0805_RED；Crystal oscillator Y1 uses 8M crystal oscillator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710439545.6A CN107317582B (en) | 2017-06-12 | 2017-06-12 | A kind of AGV driving motor encoder based on ARM |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710439545.6A CN107317582B (en) | 2017-06-12 | 2017-06-12 | A kind of AGV driving motor encoder based on ARM |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN104111614A (en) * | 2014-07-30 | 2014-10-22 | 杭州电子科技大学 | AGV station beeper based on Internet of things |
| CN104133475A (en) * | 2014-07-30 | 2014-11-05 | 杭州电子科技大学 | AGV information displayer based on internet of things |
| CN104199400A (en) * | 2014-08-15 | 2014-12-10 | 杭州电子科技大学 | AGV (automated guided vehicle) Ethernet centralized coordinator based on Internet of things |
| CN104238499A (en) * | 2014-08-15 | 2014-12-24 | 杭州电子科技大学 | AGV concentrated coordinator based on Internet of Things |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104111614A (en) * | 2014-07-30 | 2014-10-22 | 杭州电子科技大学 | AGV station beeper based on Internet of things |
| CN104133475A (en) * | 2014-07-30 | 2014-11-05 | 杭州电子科技大学 | AGV information displayer based on internet of things |
| CN104199400A (en) * | 2014-08-15 | 2014-12-10 | 杭州电子科技大学 | AGV (automated guided vehicle) Ethernet centralized coordinator based on Internet of things |
| CN104238499A (en) * | 2014-08-15 | 2014-12-24 | 杭州电子科技大学 | AGV concentrated coordinator based on Internet of Things |
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