CN208459811U - AGV trolley Navigation Control circuit - Google Patents
AGV trolley Navigation Control circuit Download PDFInfo
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- CN208459811U CN208459811U CN201820851501.4U CN201820851501U CN208459811U CN 208459811 U CN208459811 U CN 208459811U CN 201820851501 U CN201820851501 U CN 201820851501U CN 208459811 U CN208459811 U CN 208459811U
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- agv trolley
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- 238000002955 isolation Methods 0.000 claims abstract description 16
- 230000008878 coupling Effects 0.000 claims abstract description 14
- 238000010168 coupling process Methods 0.000 claims abstract description 14
- 238000005859 coupling reaction Methods 0.000 claims abstract description 14
- 230000003287 optical effect Effects 0.000 claims abstract description 14
- 238000004891 communication Methods 0.000 claims description 10
- 238000004088 simulation Methods 0.000 claims description 4
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 12
- 230000005611 electricity Effects 0.000 description 5
- 238000001514 detection method Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000005355 Hall effect Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
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Abstract
The utility model discloses AGV trolley Navigation Control circuits, including signal acquisition module and Vehicle Controller, the Vehicle Controller includes X86 module and MCU module, the MCU module includes encoder input circuit and optical coupling isolation circuit, the input terminal of the output end connection optical coupling isolation circuit of the encoder input circuit, the input terminal of the output end connection MCU module of the signal acquisition module, the MCU module are connect with X86 module.The utility model is additionally arranged optical coupling isolation circuit in the output end of encoder input circuit, and the output of phase each in encoder can be respectively transmitted to two interfaces, and practicability is high；In addition, the utility model is additionally arranged X86 module, the intelligence degree of the utility model is improved, can be widely applied to Intelligent logistics field.
Description
Technical field
The utility model relates to Intelligent logistics fields, especially AGV trolley Navigation Control circuit.
Background technique
With the fast development of B2C electric business industry, logistic storage becomes the bottleneck factor of every profession and trade expansion.As domestic big
A lower huge sum of money researches and develops a new generation's modernization warehouse to type electric business invariably, but the capital fund of most of storage sector is all spent whole
It picks up, shunt etc. in links.It is picked up in process most influencing the zero of warehouse efficiency, still user moves the motionless traditional manpower side of goods
Formula, therefore the AGV trolley with free path guidance is precisely the effective ways for solving the problems, such as this.AGV is automatic guided vehicle
The english abbreviation of (Automated Guided Vehicle) refers to that being equipped with electricity magnetically or optically waits homing guidances device, can
It is travelled along defined guide path, the transport vehicle with safeguard protection and various transfer functions.
In existing AGV trolley, in order to improve the control precision to trolley, need to be arranged incremental encoder to detect vehicle
Wheel speed or rotational angle.Existing incremental encoder generally has the output of A, B, Z three-phase, and under normal circumstances, encoder
Each can only mutually export and detected to interface, it is not practical enough；In addition, existing AGV trolley only includes MCU module, only
It can control single AGV trolley, cannot achieve the higher more vehicle scheduling of intelligence degree.
Utility model content
In order to solve the above technical problems, the purpose of this utility model is that: provide that a kind of practicability is high and intelligence degree
High AGV trolley Navigation Control circuit.
Technical solution adopted in the utility model is:
AGV trolley Navigation Control circuit, including signal acquisition module and Vehicle Controller, the Vehicle Controller include
X86 module and MCU module, the MCU module include encoder input circuit and optical coupling isolation circuit, the encoder input electricity
The input terminal of the output end connection optical coupling isolation circuit on road, the input of the output end connection MCU module of the signal acquisition module
End, the MCU module are connect with X86 module.
Further, the MCU module further includes the first communicating circuit and MCU chip, the input of first communicating circuit
The output end of connection signal acquisition module is held, first communicating circuit is separately connected MCU chip and X86 module, the MCU core
The input terminal of the output end connection encoder input circuit of piece.
Further, the MCU module further includes ADC analog input circuit, and the input terminal of the ADC analog input circuit connects
Connect the output end of the first communicating circuit, the input terminal of the output end connection MCU chip of the ADC analog input circuit.
Further, the MCU module further includes DAC analog output circuit, and the input terminal of the DAC analog output circuit connects
Connect the output end of MCU chip.
Further, the MCU module further includes that GPIO switching value expands circuit, and the GPIO switching value expands the defeated of circuit
Enter the output end of end connection MCU chip.
Further, the X86 module includes the second communicating circuit, and second communicating circuit and the first communicating circuit connect
It connects.
Further, the peripheral circuit composition of the DAC analog electrical output routing DAC7573 chip and DAC7573 chip.
Further, first communicating circuit includes RS232 communicating circuit, CAN communication circuit and RS485 communicating circuit.
Further, second communicating circuit includes RS232 communicating circuit and USB communicating circuit.
The beneficial effects of the utility model are: the utility model the output end of encoder input circuit be additionally arranged optocoupler every
From circuit, the output of phase each in encoder can be respectively transmitted to two interfaces, practicability is high；In addition, the utility model
It is additionally arranged X86 module, compared to single MCU module, the computing capability of X86 module is stronger, improves the intelligence of the utility model
Change degree.
Detailed description of the invention
Fig. 1 is the overall structure block diagram of the utility model AGV trolley Navigation Control circuit；
Fig. 2 is the circuit diagram of the optical coupling isolation circuit of the utility model；
Fig. 3 is the circuit diagram of the CAN communication circuit of the utility model；
Fig. 4 is the circuit diagram of the RS485 communicating circuit of the utility model；
Fig. 5 is the circuit diagram of the ADC analog input circuit of the utility model；
Fig. 6 is the circuit diagram of the DAC analog output circuit of the utility model；
Fig. 7 is that the GPIO switching value of the utility model expands the circuit diagram of circuit.
Specific embodiment
Referring to Fig.1, the AGV trolley Navigation Control circuit of the utility model, including signal acquisition module and Vehicle Controller,
The Vehicle Controller includes X86 module and MCU module, and the MCU module includes encoder input circuit and light-coupled isolation electricity
Road, the input terminal of the output end connection optical coupling isolation circuit of the encoder input circuit, the output of the signal acquisition module
The input terminal of end connection MCU module, the MCU module are connect with X86 module.
Wherein, signal acquisition module, for collecting the voltage variety of magnetic stripe, and then obtain magnetic by Hall effect
The offset signal of item.Hall sensor can be used to realize in signal acquisition module, passes through communication interface and Vehicle Controller
Connection.
MCU module, the offset signal for being sent according to signal acquisition module trigger magnetic navigation track-seeking signal, steering wheel
Driver control signal and the input/output signal of low and high level etc..
X86 module, for expanding the higher function of complexity, such as the scheduling of more vehicles etc., existing skill is can be used in more vehicle scheduling
Art realizes that the utility model is not related to any flow chart of data processing, and the improvement of the utility model only joined X86 mould
Block, to improve the expansion and intelligence degree of the utility model.
Encoder input circuit obtains the Rotating speed measring letter of AGV trolley for the acquisition signal according to signal acquisition module
Number and angle detection signal etc..
Optical coupling isolation circuit, for the method by using light-coupled isolation by the output of phase each in encoder input circuit
Signal is divided into two, and is respectively transmitted to two detection interfaces, for example, in encoder A phase output, can be with simultaneous transmission to two
Interface is detected, and practicability is high.Circuit diagram as shown in Figure 2 can be used to realize in optical coupling isolation circuit.
Wherein, as shown in Fig. 2, the A phase that the input signal of the circuit is encoder input circuit exports (ENCODER1_A)
(ENCODER1_B) is exported with B phase, and A phase is exported after optical coupling isolation circuit and is divided into ENCODER1_A1 and ENCODER1_
B phase is exported and is divided into ENCODER1_B1 and ENCODER1_B2 by A2.In addition, the optical coupling isolation circuit of the utility model is also every
Increase pull-up in the output of phase, the pulse for exporting encoder input circuit becomes adjustable pulse, practical new to improve this
The adaptability of type, such as: if increasing the pull-up of 24V, the high level of the output pulse of encoder input circuit is
24V, low level 0V；If increasing the pull-up of 12V, the high level of the output pulse of encoder input circuit is 12V, low
Level is 0V.
It is further used as preferred embodiment, the MCU module further includes the first communicating circuit and MCU chip, described
The output end of the input terminal connection signal acquisition module of first communicating circuit, first communicating circuit are separately connected MCU chip
With X86 module, the input terminal of the output end connection encoder input circuit of the MCU chip.
Wherein, the first communicating circuit, for realizing the data communication and MCU between MCU module and signal acquisition module
Data communication between module and X86 module.RS232 communicating circuit can be used to realize in first communicating circuit, can also use
CAN communication circuit as shown in Figure 3 realizes, and using as shown in Fig. 4 RS485 communicating circuit circuit diagram come
It realizes.
MCU chip triggers corresponding control signal to ADC simulation input electricity for the signal according to the first communicating circuit
Road, encoder input circuit and GPIO switching value expand circuit etc..
It is further used as preferred embodiment, the MCU module further includes ADC analog input circuit, the ADC simulation
The input terminal of input circuit connects the output end of the first communicating circuit, and the output end of the ADC analog input circuit connects MCU core
The input terminal of piece.
Wherein, ADC analog input circuit, the signal for obtaining signal acquisition module are converted into digital signal.ADC mould
Circuit diagram as shown in Figure 5 can be used to realize in quasi- input circuit, and the utility model has reserved 4 groups of detection potential circuits,
The expansion of circuit is improved, the ADC analog input circuit of the utility model draws after filtering and pressure stabilizing with corresponding ADC
Foot connection.
It is further used as preferred embodiment, the MCU module further includes DAC analog output circuit, the DAC simulation
The output end of the input terminal connection MCU chip of output circuit.
Wherein, DAC analog output circuit, for carrying out digital and analogue signals conversion, to drive the driver of AGV trolley.DAC mould
Circuit diagram as shown in FIG. 6 can be used to realize in quasi- output circuit.
It is further used as preferred embodiment, the MCU module further includes that GPIO switching value expands circuit, the GPIO
Switching value expands the output end of the input terminal connection MCU chip of circuit.
Wherein, GPIO switching value expands circuit, for providing expansion interface abundant, GPIO mouthfuls is reserved, for such as controlling
Lamp processed dodges and control switch detects etc..GPIO switching value, which expands circuit, can be used circuit diagram as shown in Figure 7 to realize.
It is further used as preferred embodiment, the X86 module includes the second communicating circuit, second communicating circuit
It is connect with the first communicating circuit.
Wherein, the second communicating circuit, for realizing the data communication between X86 module and MCU module.Second communicating circuit
USB communicating circuit can be used to realize, RS232 communicating circuit can also be used to realize.
It is further used as preferred embodiment, the DAC analog electrical output routing DAC7573 chip and DAC7573 core
The peripheral circuit of piece forms.
It is further used as preferred embodiment, first communicating circuit includes RS232 communicating circuit, CAN communication electricity
Road and RS485 communicating circuit.
It is further used as preferred embodiment, second communicating circuit includes RS232 communicating circuit and USB communication
Circuit.
The utility model obtains the signals such as the offset of AGV trolley by signal acquisition module, then passes through MCU module
Trolley Navigation Control is carried out, the utility model passes through X86 module also to expand the senior control function such as the scheduling of more vehicles.
In conclusion the AGV trolley Navigation Control circuit of the utility model has the advantage that
1), the utility model is additionally arranged optical coupling isolation circuit in the output end of encoder input circuit, can be by encoder
In the output of each phase be respectively transmitted to two interfaces, practicability is high；
2), the utility model is additionally arranged X86 module, and intelligence degree is high, and expansion is high；
3), the utility model is equipped with GPIO switching value and expands circuit, provides expansion interface abundant.
It is to be illustrated to the preferable implementation of the utility model, but the utility model is not limited to the reality above
Example is applied, those skilled in the art can also make various equivalent changes without departing from the spirit of the present invention
Shape or replacement, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (9)
1.AGV trolley Navigation Control circuit, it is characterised in that: including signal acquisition module and Vehicle Controller, the vehicle-mounted control
Device processed includes X86 module and MCU module, and the MCU module includes encoder input circuit and optical coupling isolation circuit, the coding
The input terminal of the output end connection optical coupling isolation circuit of device input circuit, the output end of the signal acquisition module connect MCU mould
The input terminal of block, the MCU module are connect with X86 module.
2. AGV trolley Navigation Control circuit according to claim 1, it is characterised in that: the MCU module further includes first
Communicating circuit and MCU chip, the output end of the input terminal connection signal acquisition module of first communicating circuit, described first is logical
News circuit is separately connected MCU chip and X86 module, the input terminal of the output end connection encoder input circuit of the MCU chip.
3. AGV trolley Navigation Control circuit according to claim 2, it is characterised in that: the MCU module further includes ADC
Analog input circuit, the input terminal of the ADC analog input circuit connect the output end of the first communicating circuit, the ADC simulation
The input terminal of the output end connection MCU chip of input circuit.
4. AGV trolley Navigation Control circuit according to claim 3, it is characterised in that: the MCU module further includes DAC
Analog output circuit, the output end of the input terminal connection MCU chip of the DAC analog output circuit.
5. AGV trolley Navigation Control circuit according to claim 4, it is characterised in that: the MCU module further includes GPIO
Switching value expands circuit, and the GPIO switching value expands the output end of the input terminal connection MCU chip of circuit.
6. AGV trolley Navigation Control circuit according to claim 2, it is characterised in that: the X86 module includes second logical
Circuit is interrogated, second communicating circuit is connect with the first communicating circuit.
7. AGV trolley Navigation Control circuit according to claim 4, it is characterised in that: the DAC analog electrical output routing
The peripheral circuit of DAC7573 chip and DAC7573 chip composition.
8. AGV trolley Navigation Control circuit according to claim 2, it is characterised in that: first communicating circuit includes
RS232 communicating circuit, CAN communication circuit and RS485 communicating circuit.
9. AGV trolley Navigation Control circuit according to claim 6, it is characterised in that: second communicating circuit includes
RS232 communicating circuit and USB communicating circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820851501.4U CN208459811U (en) | 2018-06-01 | 2018-06-01 | AGV trolley Navigation Control circuit |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820851501.4U CN208459811U (en) | 2018-06-01 | 2018-06-01 | AGV trolley Navigation Control circuit |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208459811U true CN208459811U (en) | 2019-02-01 |
Family
ID=65159203
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820851501.4U Expired - Fee Related CN208459811U (en) | 2018-06-01 | 2018-06-01 | AGV trolley Navigation Control circuit |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208459811U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620029A (en) * | 2019-07-22 | 2020-09-04 | 浙江凯乐士科技有限公司 | Shuttle vehicle control device and method and shuttle vehicle |
-
2018
- 2018-06-01 CN CN201820851501.4U patent/CN208459811U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111620029A (en) * | 2019-07-22 | 2020-09-04 | 浙江凯乐士科技有限公司 | Shuttle vehicle control device and method and shuttle vehicle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Huizhuan Machine Tool Co.,Ltd. Assignor: CONPROFE TECHNOLOGY GROUP Co.,Ltd. Contract record no.: X2022980018404 Denomination of utility model: AGV trolley navigation control circuit Granted publication date: 20190201 License type: Common License Record date: 20221018 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190201 |