CN104199400B - A kind of AGV Ethernet based on Internet of Things concentrates coordinator - Google Patents
A kind of AGV Ethernet based on Internet of Things concentrates coordinator Download PDFInfo
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- CN104199400B CN104199400B CN201410402973.8A CN201410402973A CN104199400B CN 104199400 B CN104199400 B CN 104199400B CN 201410402973 A CN201410402973 A CN 201410402973A CN 104199400 B CN104199400 B CN 104199400B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/60—Electric or hybrid propulsion means for production processes
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Abstract
The present invention relates to a kind of AGV Ethernet based on Internet of Things and concentrate coordinator.The present invention includes power supply interface module, STM32W108 processor module, wireless processing module, STM32F103 processor module, download program interface module, host computer ethernet communication module and keyboard process module, power by concentrating the power module DC/DC in coordinator to realize Pressure-stabilizing pressure reducing, STM32W108 processor module realizes and Vehicle Controller with wireless communication module, website calling set, the data communication of the equipment rooms such as information display, coordinator is concentrated to utilize Zigbee network that state is issued website calling set, Vehicle Controller, the AVG system equipments such as information display.Present invention employs the wireless Zigbee communication design of technology of Internet of things, each concentration coordinator is a central coordinator node, can carry out data communication, parameter setting and logarithm and show the function such as clean culture, multicast factually.
Description
Technical field
The invention belongs to Internet of Things wireless control technology field, concrete equipment is for AGV based on wireless network
System information concentration, coordinated management, the control device of ethernet communication function.
Background technology
Along with factory automation, the progressively development of computer integrated manufacturing system technology and flexible manufacturing system
System, the extensive application of automatic stereowarehouse, AGV (Automated Guided Vehicle) leads the most automatically
Draw car as contact and regulation discrete type logistics system so that the necessary automated handling of its operation serialization
Handling means, its range of application and technical merit have obtained swift and violent development.AGV is with microcontroller for control
Core processed, technology of Internet of things be support, accumulator is power, drive equipped with nobody of noncontact guiding device
Sail homing guidance carrying cart, the basic function of its automatic job be guide travel, recognize location stop standard and transfer carry
Lotus.Process effective means and the key equipment of flexible manufacturing system of automatization as logistics in the present age, AGV is
Increasingly it is widely applied through having obtained.
At present the guide mode of AGV can be divided into two big classes: car extenal fixation route guidance mode and free path
Guide mode.Car extenal fixation route guidance mode refers to arrange the information media guided on the path travelled
Thing, AGV is guided by the information detecting it, such as electromagnetism guiding, optical navigation, tape guidance
Deng；Free path guide mode is to store the scale coordinate on system layout on AGV, by identifying car
Body present orientation, autonomously decides on driving path, and this kind of guide mode is also referred to as software programming road on car
Footpath mode.Wherein car extenal fixation route guidance mode is usual way.
AGV system application mainly there is equipment to have four kinds, is Vehicle Controller, website calling set, collection respectively
Middle coordinator and information display.The control instruction of AGV is usually and is proposed by website calling set, through concentrating association
Tune device sends, and the state of AGV sends concentration coordinator back to also by communication system, and communication system has two kinds: even
Continuous mode and dispersing mode.Continuous communiction system allow AGV at any time with relative ground controller
Any position uses radio frequency method or uses the communication cable in guide path to receive and send messages.As used nothing
Line electricity, the communication means of iraser.Distributed system simply predetermined place such as AGV calling website,
Vehicle Controller, information display etc., communicate with concentrating to provide between coordinator at specific AGV equipment.
In general, this communication is that the method by radio network technique realizes, Decentralized Communication mode
Advantage be that price is relatively inexpensive, reliable communications is stable.
In AGV system, Ethernet concentrates the main task of coordinator to be host computer platform and website calling set, car
The interconnection function of the equipment such as set controller, information display.When needing material to be transported on station or carrying out
Goods when needing to transport, operator can by the button by website calling set, utilize Zigbee without
The demand of button is transferred to concentrate coordinator by gauze network, then by concentrating coordinator that request is passed through Ethernet
Send host computer platform, host computer requesting site and the type of car to, according to the situation of car in garage at that time,
Send the car type that the website calling set of a kind of station requires, path optimizing with charge free, it is stipulated that purpose website and Yan Lu
The behavior at each road junction, and these information is transmitted Ethernet concentration coordinator, then by concentrating coordinator to pass through
Zigbee wireless network issue website calling set, send with charge free the AGV such as Vehicle Controller and information display other
Equipment.
Summary of the invention
It is an object of the invention to provide a kind of core controller be applicable to automatic guided vehicle system it
One concentrates coordinator.Ethernet concentrates coordinator to be to connect host computer, wireless connections website by Ethernet
Calling set, the equipment of Vehicle Controller, on the one hand use Zigbee radio communication, state to show, order
The functions such as transmission, reception；On the other hand configuration automatic guided vehicle path optimizing, it is stipulated that purpose website and
The function such as each road junction behavior along road.This concentration coordinator utilizes vehicle-mounted technology of Internet of things to realize operation website
Information transmission between calling set, information display and Vehicle Controller, the present invention concentrates association with tradition
Adjusting device not to be both host computer communication mode, traditional concentration coordinator is to realize with UART, and speed is slow, can
The highest by property, connect apart from short, utilize Ethernet to communicate with host computer and can solve these problems.
The concentration coordinator based on Internet of Things that the present invention relates to includes at power supply processing module, STM32W108
Reason device module, wireless processing module, STM32F103 processor module, download program interface module, upper
Machine ethernet communication module and keyboard process module.
Described power interface uses general power supply adaptor joint, and 220VAC is changed by power supply adaptor
5VDC DC source accesses power supply adaptor 3 core joint P4, turning by conventional DC/DC chip IC 117
Change VCC3V3 interface voltage into total system is powered, including U14 switch power module, the second electricity
Hold CA2, the 3rd electric capacity CA3, the 14th electric capacity C14, the 15th electric capacity C15,2 core socket P5.The
3rd pin (IN) of the one termination IC117 of two electric capacity CA2, other end ground connection；3rd electric capacity CA3's
2nd pin (OUT) of one termination IC117, other end ground connection；The one termination IC117 of the 14th electric capacity C14
The 3rd pin (IN), other end ground connection；2nd pin of the one termination IC117 of the 15th electric capacity C15
(OUT), other end ground connection；1st pin ground connection of chip IC 117；Power supply adaptor 3 core joint P4
The 1st, 2 foot ground connection, the 3rd foot is the 5VDC DC supply input foot of VCC；The of 2 core socket P5
1 foot connects the N end of 220VAC, and the 2nd foot connects the L end of 220VAC；1st foot of switch power module U14
Connect the 2nd foot of 2 core socket P5；2nd foot of module U14 connects the 1st foot of 2 core socket P5；Module
The 4th foot ground connection of U14；3rd foot of module U14 be VCC be 5VDC DC source output pin.
Described STM32W108 processor and wireless processing module include processor chips IC32, antenna
ANT_SMT, the 42nd resistance R42, the 43rd resistance R43.The 1st of processor chips IC32,2
Pin meets VCC3V3, the 30th of processor chips IC32 the, 31,32 pin ground connection.Processor chips IC32
The 7th pin meet/RESET_108, the 15th pin of processor chips IC32 meets GPIO05 ,/RESET_108
It is connected with VT1, VT2 by CBUS2, CBUS0 of download program interface module with GPIO05.40th
One end of two resistance R42 connects 19 pins of processor chip IC 32, another termination chip IC 232
5th pin；One end of 43rd resistance R43 connects 18 pins of processor chip IC 32, another
1st pin of chip termination IC232；37th pin of processor IC32 connects the wireless place of ANT_SMT
Reason module；Other pins of processor chips IC32 are unsettled.
Described STM32F103 processor module include processor chips IC321, the 49th resistance R49,
50th resistance R50, the first crystal oscillator Y1, the 22nd electric capacity C22, the 23rd electric capacity C23.Process
1st pin of device chip IC 321, the 13rd pin, the 32nd pin, the 48th pin, the 64th pin
Meet power supply VCC3V3, the 12nd pin of processor chips IC321, the 31st pin, the 47th pin,
63 pins, the 18th pin ground connection, the 7th pin (NRST) of processor chips IC321, the 56th pin
(JNTRST), the 50th pin (JTDI), the 46th pin (JTMS), the 49th pin (JTCLK),
55th pin (JTDO) connects jtag interface and debugs for processor program；49th resistance R49 mono-
28th pin (BOOT1) of termination processor chips IC321, other end ground connection；50th resistance R50
One termination processor chips IC321 the 60th pin (BOOT0), other end ground connection；First crystal oscillator Y1
One termination processor chips IC321 the 5th pin (OSC_IN), another terminates processor chips IC321
The 6th pin (OSC_OUT)；22nd electric capacity C22 mono-terminates the 6th of processor chips IC321
Pin (OSC_OUT), other end ground connection；23rd electric capacity C23 mono-terminates processor chips IC321
The 5th pin (OSC_IN), other end ground connection；54th pin of processor chips IC321 meets STM32W108
Processor chips IC32 /RESET_108；Other pins of processor chips IC321 are empty.
Described host computer ethernet communication module includes Ethernet chip IC28, Ethernet interface
HEADER45, the 3rd crystal oscillator Y3, the first inductance L1, the 51st resistance R51, the 53rd resistance R53,
54th resistance R54, the 55th resistance R55, the 56th resistance R56, the 62nd resistance R62,
66th resistance R66, the 67th resistance R67, the 68th resistance R68, the 69th resistance R69,
25th electric capacity C25, the 26th electric capacity C26, the 28th electric capacity C28, the 30th electric capacity C30,
32nd electric capacity C32, the 33rd electric capacity C33, the 34th electric capacity C34.51st resistance R51
One end connect chip IC 28 the 27th pin, the other end connect interface HEADER45 the 12nd pin,
One end of 53rd resistance R53 connects the 26th pin of chip IC 28, and the other end connects interface
9th pin of HEADER45, one end of the 54th resistance R54 connects the 6th pin of chip IC 28,
The other end connects the 35th pin (PB14) of processor chip IC 321, the one of the 55th resistance R55
End connects the 7th pin of chip IC 28, and the other end connects the 36th pin of processor chip IC 321
(PB15), one end of the 56th resistance R56 connects the 8th pin of chip IC 28, and the other end connects
34th pin (PB13) of processor chips IC321, the 9th pin (CS) junction of chip IC 28
33rd pin (PB12) of reason device chip IC 321, the 10th pin (RST) junction of chip IC 28
4th pin (PC15) of reason device chip IC 321, the 4th pin (INT) connection of chip IC 28 processes
27th pin (PB1) of device chip IC 321, one end of the 66th resistance R66 connects chip IC 28
The 17th pin (TPOUT+), the other end connect the 33rd electric capacity C33, the 33rd electric capacity C33's
Other end ground connection, one end of the 67th resistance R67 connects the 16th pin (TPOUT-) of chip IC 28,
The other end connects the 33rd electric capacity C33, and the 17th pin (TPOUT+) of chip IC 28 connects HEADER45
The 1st pin (TD+), chip IC 28 the 16th pin (TPOUT-) connect HEADER45 the 2nd
Pin (TD-), one end of the 68th resistance R68 connects the 13rd pin (TPIN+) of chip IC 28,
The other end connects the 34th electric capacity C34, the other end ground connection of the 34th electric capacity C34, the 69th electricity
One end of resistance R69 connects the 12nd pin (TPIN-) of chip IC 28, and the other end connects the 34th electricity
Holding C34, the 13rd pin (TPIN+) of chip IC 28 connects the 3rd pin (RD+) of HEADER45,
6th pin (RD-) of the 12nd pin (TPIN-) connection HEADER45 of chip IC 28, the 60th
One end of two resistance R62 connects the 14th pin of chip IC 28, other end ground connection, the 26th resistance
One end of C26 connects the 1st pin of chip IC 28, other end ground connection, and one end of the 3rd crystal oscillator Y3 connects
23rd pin of chip IC 28, the other end connects the 24th pin of chip IC 28, the 28th electric capacity
One end of C28 connects the 24th pin of chip IC 28, other end ground connection, one end of the 30th electric capacity C30
Connecting the 23rd pin of chip IC 28, other end ground connection, one end of the 25th electric capacity C25 connects
VCC3V3, other end ground connection, one end of the first inductance L1 connects VCC3V3, and the other end connects the 33rd
Electric capacity C33, the 2nd pin of Ethernet chip IC28, the 11st pin, the 18th pin, the 21st pin,
22nd pin ground connection, the 28th pin of Ethernet chip IC28, the 25th pin, the 20th pin,
19 pins, the 15th pin meet power supply VCC3V3, and other pins of Ethernet chip IC28 are empty, and the 3rd
One end of 12 electric capacity C32 connects VCC3V3, other end ground connection, the 4th pin of HEADER45, the 5th
Pin connects the 8th pin of VCC3V3, HEADER45, the 10th pin, the 10th pin ground connection, HEADER45
Other pins be empty.
Described keyboard process module include the 90th resistance R90, the 91st resistance R91, the 92nd
Resistance R92, the 93rd resistance R93, the 94th resistance R94, the 95th resistance R95, the 9th
16 resistance R96, the 97th resistance R97, the 90th electric capacity C90, the 91st electric capacity C91,
92 electric capacity C92, the 93rd electric capacity C93, the 94th electric capacity C94, the 95th electric capacity C95,
96th electric capacity C96, the 97th electric capacity C97,20 core socket P7.The one of 90th resistance R90
End connects VCC3V3, and the other end connects the 17th pin of 20 core socket P7 and processor chips IC321
8th pin (PC0), one end of the 90th electric capacity C90 connects the 17th pin of 20 core socket P7, separately
One end ground connection, one end of the 91st resistance R91 connects VCC3V3, and the other end connects 20 core socket P7
The 18th pin and the 9th pin (PC1) of processor chips IC321, the one of the 91st electric capacity C91
End connects the 18th pin of 20 core socket P7, other end ground connection, and one end of the 92nd resistance R92 is even
Meeting VCC3V3, the other end connects the 15th pin of 20 core socket P7 and the of processor chips IC321
10 pins (PC2), one end of the 92nd electric capacity C92 connects the 15th pin of 20 core socket P7, separately
One end ground connection, one end of the 93rd resistance R93 connects VCC3V3, and the other end connects 20 core socket P7
The 16th pin and the 11st pin (PC3) of processor chips IC321, the 93rd electric capacity C90's
One end connects the 16th pin of 20 core socket P7, other end ground connection, one end of the 94th resistance R94
Connecting VCC3V3, the other end connects the of the 13rd pin of 20 core socket P7 and processor chips IC321
24 pins (PC4), one end of the 94th electric capacity C90 connects the 13rd pin of 20 core socket P7, separately
One end ground connection, one end of the 95th resistance R95 connects VCC3V3, and the other end connects 20 core socket P7
The 14th pin and the 25th pin (PC5) of processor chips IC321, the 95th electric capacity C90's
One end connects the 14th pin of 20 core socket P7, other end ground connection, one end of the 96th resistance R96
Connecting VCC3V3, the other end connects the of the 19th pin of 20 core socket P7 and processor chips IC321
37 pins (PC6), one end of the 96th electric capacity C90 connects the 19th pin of 20 core socket P7, separately
One end ground connection, one end of the 97th resistance R97 connects VCC3V3, and the other end connects 20 core socket P7
The 20th pin and the 38th pin (PC7) of processor chips IC321, the 97th electric capacity C90's
One end connects the 20th pin of 20 core socket P7, other end ground connection, the 1st pin of 20 core socket P7
Connect VCC3V3, the 2nd pin ground connection of 20 core socket P7.
Described download program interface module include 232, first audion VT1 of chip IC, second three
Pole pipe VT2, the 36th resistance R36, the 35th resistance R35, the 44th resistance R44, the 4th
17 resistance R47, the 48th resistance R48, the 17th electric capacity C17, the 16th electric capacity C16, second
14 electric capacity C24,4 core socket P6.The 23rd of the one termination chip IC 232 of the 44th resistance R44
Foot, the base stage of second audion VT2 of another termination of the 44th resistance R44, the 35th resistance
13rd foot of the one termination chip IC 232 of R35, another termination first three of the 35th resistance R35
The base stage of pole pipe VT1, a termination VCC3V3 of the 36th resistance R36, the 36th resistance R36's
The colelctor electrode of first audion VT1 of another termination and the 7th pin of chip IC 32, first audion
The grounded emitter of VT1, the colelctor electrode one of second audion VT2 terminates the 15th pin of chip IC 32,
The grounded emitter of second audion VT2, a termination VCC3V3 of the 47th resistance R47, the 4th
1st pin of another termination chip IC 232 of 17 resistance R47 and the 18th pin of chip IC 32,
Another termination chip IC 232 of one the termination VCC3V3, the 48th resistance R48 of the 48th resistance R48
The 5th pin and the 19th pin of chip IC 32, one end ground connection of the 17th electric capacity C17, the 17th
1st pin of another termination chip IC 232 of electric capacity C17, one end ground connection of the 16th electric capacity C16,
5th pin of another termination chip IC 232 of the 16th electric capacity C16, the one of the 24th electric capacity C24
End ground connection, the 17th pin of another termination chip IC 232 of the 24th electric capacity C24, chip IC 232
The 26th, 7,18,21,25 ground connection, chip IC 232 the 17th foot output VCC3V3, chip IC 232
The 16th foot connect P6 the 3rd foot, chip IC 232 the 15th foot connect P6 the 2nd foot, chip
20th foot of IC232 connects the 1st foot of P6, and other pins of chip IC 232 are all unsettled.
Compared with background technology, present invention employs the wireless Zigbee communication design of technology of Internet of things,
Each concentration coordinator is the central coordinator node of a Zigbee network, can carry out data communication,
Parameter is arranged and logarithm shows the function such as clean culture, multicast factually, utilizes the security feature of Zigbee concentration to be assisted
Adjust device, website calling set, automatic guided vehicle composition one safety, dedicated network, real-time management, on
The information of report automatic guided vehicle, single node can be with transmission range up to 500 meters, and transmitting data speed can
Reaching 250KBPS, upper layer protocol data message transmissions speed is up to 100f/ms；Concentrate coordinator and host computer
Communication uses wired forms, utilizes Ethernet to realize 10MBPS high speed reliable communication, fully meets factory AGV
Concentrate coordinator requirement.
Accompanying drawing explanation
Fig. 1 is the integrated circuit structural representation of the present invention；
Fig. 2 is the adaptor power supplies processing module schematic diagram in Fig. 1；
Fig. 3 is the STM32F103 processor module schematic diagram in Fig. 1；
Fig. 4 is the STM32W108 processor module schematic diagram in Fig. 1；
Fig. 5 is the host computer ethernet communication module diagram in Fig. 1；
Fig. 6 is the download program interface module schematic diagram in Fig. 1；
Fig. 7 is the download program interface level change-over circuit schematic diagram in Fig. 1；
Fig. 8 is the keyboard process module schematic diagram in Fig. 1；
Fig. 9 is the workflow diagram of the present invention.
Detailed description of the invention
It is an object of the invention to provide one connect be applicable to AGV system host computer and website calling set,
The equipment of the bridge of Vehicle Controller concentrates coordinator, on the one hand uses Zigbee radio communication, state to show
Show, order the functions such as transmission, reception；On the other hand configuration automatic guided vehicle path optimizing, it is stipulated that mesh
Website and along road the function such as each road junction behavior.When needing material to be transported on station or having ready-made goods to need
Time to be transported, operator can be by the button by website calling set.The present invention have employed Internet of Things
The wireless Zigbee communication design of network technology, the website calling set that each station is placed is one
Routing node in Zigbee network, can carry out the functions such as data communication, parameter setting and data forwarding,
The security feature utilizing Zigbee will concentrate coordinator, website calling set, automatic guided vehicle to form one
Safety, dedicated network, real-time management, report the information of automatic guided vehicle, single node can transmit away from
From up to 500 meters, transmission data speed up to 250KBPS, upper layer protocol data message transmissions speed up to
100f/ms, descending protocol data transmission bauds, up to 50f/ms, has order retransmission mechanism；Concentrate and coordinate
Device communicates with host computer and uses wired forms, utilizes Ethernet to realize 10MBPS high speed reliable communication, concentrates
Coordinator can ensure that call command is correctly transmitted and shows call state in real time.
As it is shown in figure 1, the concentration coordinator based on Internet of Things that the present invention relates to include power supply processing module 3,
Under STM32W108 processor module 5, wireless processing module 6, STM32F103 processor module 1, program
Carry interface module 2 and host computer communication module 4 and keyboard process module 7.Concentration based on Internet of Things is coordinated
Device has various ways power supply mode, and one uses the 5V power supply adaptor of standard that 220VAC is changed 5VDC,
Its two uses USB interface provides 5VDC500ma, its three use 220VAC and switch power module output
5VDC, powers, at STM32W108 by concentrating the power module DC/DC in coordinator to realize Pressure-stabilizing pressure reducing
Reason device module and wireless communication module realize setting with Vehicle Controller, website calling set, information display etc.
Data communication between Bei, utilizes UART and the STM32F103 processor die of STM32W108 processor module
The UART2 of block realizes order, Data Over Cable high-speed communication；When website calling set pushes button, Ethernet
Concentrate coordinator to receive website call request, utilize Ethernet interface to send host computer by call request, on
Position machine checks in garage whether have Che Kepai？And by Ethernet interface transmission state to concentrating coordinator,
Ethernet concentrates coordinator to utilize Zigbee network that state is issued website calling set, Vehicle Controller, letter
The AVG system equipments such as breath display.Under in-system programming mode, P6 provides USB interface and STM32W108
Processor DLL, utilizes data wire connect USB and concentrate the STM32W108 processor die of coordinator
Block carries out online programming；Under system operating mode, P6 provides USB interface and STM32F103 processor
Ethernet interface communicates to connect, it is achieved host computer is communicated by Ethernet interface with concentration coordinator.
As in figure 2 it is shown, power interface of the present invention uses general power supply adaptor joint, power supply
220VAC is changed 5VDC DC source and accesses power supply adaptor 3 core joint P4 by adapter, by conventional
Total system is powered, including U14 by the VCC3V3 interface voltage that is converted into of DC/DC chip IC 117
Switch power module, the second electric capacity CA2, the 3rd electric capacity CA3, the 14th electric capacity C14, the 15th electric capacity
C15,2 core socket P5.3rd pin (IN) of the one termination IC117 of the second electric capacity CA2, the other end
Ground connection；2nd pin (OUT) of the one termination IC117 of the 3rd electric capacity CA3, other end ground connection；Tenth
3rd pin (IN) of the one termination IC117 of four electric capacity C14, other end ground connection；15th electric capacity C15
One termination IC117 the 2nd pin (OUT), other end ground connection；1st pin of chip IC 117 connects
Ground；1st, the 2 foot ground connection of power supply adaptor 3 core joint P4, the 3rd foot is the 5VDC unidirectional current of VCC
Source input pin；1st foot of 2 core socket P5 connects the N end of 220VAC, and the 2nd foot connects the L end of 220VAC；
1st foot of switch power module U14 connects the 2nd foot of 2 core socket P5；2nd foot of module U14 connects 2
1st foot of core socket P5；4th foot ground connection of module U14；3rd foot of module U14 be VCC be 5VDC
DC source output pin.
As shown in Figure 4, STM32W108 processor of the present invention and wireless processing module include processing
Device chip IC 32, antenna ANT_SMT, the 42nd resistance R42, the 43rd resistance R43.Processor
The 1st of chip IC 32,2 pins meet VCC3V3, the 30th of processor chips IC32 the, 31,32 pins
Ground connection.7th pin of processor chips IC32 meets/RESET_108, the 15th of processor chips IC32
Pin meets GPIO05 ,/RESET and GPIO05 by CBUS2, CBUS0 of download program interface module and
VT1, VT2 are connected.One end of 42nd resistance R42 connects 19 pins of processor chip IC 32,
5th pin of another termination chip IC 232；One end of 43rd resistance R43 connects processor chips
18 pins of IC32, the 1st pin of another termination chip IC 232；37th pin of processor IC32
Connect ANT_SMT wireless processing module；Other pins of processor chips IC32 are unsettled.
As it is shown on figure 3, STM32F103 processor module of the present invention include processor chips IC321,
49th resistance R49, the 50th resistance R50, the first crystal oscillator Y1, the 22nd electric capacity C22, second
13 electric capacity C23.1st pin of processor chips IC321, the 13rd pin, the 32nd pin,
48 pins, the 64th pin meet power supply VCC3V3, the 12nd pin of processor chips IC321, the 31st
Pin, the 47th pin, the 63rd pin, the 18th pin ground connection, the 7th of processor chips IC321 is drawn
Foot (NRST), the 56th pin (JNTRST), the 50th pin (JTDI), the 46th pin (JTMS),
49th pin (JTCLK), the 55th pin (JTDO) connect jtag interface and debug for processor program；
49th resistance R49 mono-terminates the 28th pin (BOOT1) of processor chips IC321, another termination
Ground；60th pin (BOOT0) of one termination processor chips IC321 of the 50th resistance R50, another
End ground connection；5th pin (OSC_IN) of one termination processor chips IC321 of the first crystal oscillator Y1, separately
6th pin (OSC_OUT) of one termination processor chips IC321；22nd electric capacity C22 mono-terminates
6th pin (OSC_OUT) of processor chips IC321, other end ground connection；23rd electric capacity C23
5th pin (OSC_IN) of one termination processor chips IC321, other end ground connection；Processor chips IC321
The 54th pin connect STM32W108 processor chips IC32 /RESET；Processor chips IC321
Other pins are empty.
As it is shown in figure 5, host computer ethernet communication module of the present invention include Ethernet chip IC28,
Ethernet interface HEADER45, the 3rd crystal oscillator Y3, the first inductance L1, the 51st resistance R51, the 5th
13 resistance R53, the 54th resistance R54, the 55th resistance R55, the 56th resistance R56,
62nd resistance R62, the 66th resistance R66, the 67th resistance R67, the 68th resistance R68,
69th resistance R69, the 25th electric capacity C25, the 26th electric capacity C26, the 28th electric capacity C28,
30th electric capacity C30, the 32nd electric capacity C32, the 33rd electric capacity C33, the 34th electric capacity C34.
One end of 51st resistance R51 connects the 27th pin of chip IC 28, and the other end connects interface
12nd pin of HEADER45, one end of the 53rd resistance R53 connects the 26th pin of chip IC 28,
The other end connects the 9th pin of interface HEADER45, and one end of the 54th resistance R54 connects chip IC 28
The 6th pin, the other end connect processor chip IC 321 the 35th pin (PB14), the 55th
One end of resistance R55 connects the 7th pin of chip IC 28, and the other end connects processor chip IC 321
36th pin (PB15), one end of the 56th resistance R56 connects the 8th pin of chip IC 28, separately
One end connects the 34th pin (PB13) of processor chip IC 321, the 9th pin (CS) of chip IC 28
Connect the 33rd pin (PB12) of processor chip IC 321, the 10th pin (RST) of chip IC 28
Connecting the 4th pin (PC15) of processor chip IC 321, the 4th pin (INT) of chip IC 28 is even
Connecing the 27th pin (PB1) of processor chips IC321, one end of the 66th resistance R66 connects chip
17th pin (TPOUT+) of IC28, the other end connects the 33rd electric capacity C33, the 33rd electric capacity
The other end ground connection of C33, one end of the 67th resistance R67 connects the 16th pin of chip IC 28
(TPOUT-), the other end connects the 33rd electric capacity C33, the 17th pin (TPOUT+) of chip IC 28
Connecting the 1st pin (TD+) of HEADER45, the 16th pin (TPOUT-) of chip IC 28 connects
2nd pin (TD-) of HEADER45, one end of the 68th resistance R68 connects the of chip IC 28
13 pins (TPIN+), the other end connects another of the 34th electric capacity C34, the 34th electric capacity C34
End ground connection, one end of the 69th resistance R69 connects the 12nd pin (TPIN-) of chip IC 28, separately
One end connects the 34th electric capacity C34, and the 13rd pin (TPIN+) of chip IC 28 connects HEADER45
The 3rd pin (RD+), chip IC 28 the 12nd pin (TPIN-) connect HEADER45 the 6th
Pin (RD-), one end of the 62nd resistance R62 connects the 14th pin of chip IC 28, the other end
Ground connection, the 1st pin of one end connection chip IC 28 of the 26th resistance C26, other end ground connection, the
One end of three crystal oscillator Y3 connects the 23rd pin of chip IC 28, and the other end connects the 24th of chip IC 28
Pin, the 24th pin of one end connection chip IC 28 of the 28th electric capacity C28, other end ground connection,
23rd pin of one end connection chip IC 28 of the 30th electric capacity C30, other end ground connection, the 25th
One end of electric capacity C25 connects VCC3V3, other end ground connection, and one end of the first inductance L1 connects VCC3V3,
The other end connects the 33rd electric capacity C33, the 2nd pin of Ethernet chip IC28, the 11st pin, the
18 pins, the 21st pin, the 22nd pin ground connection, the 28th pin of Ethernet chip IC28, the 25th
Pin, the 20th pin, the 19th pin, the 15th pin connect power supply VCC3V3, Ethernet chip IC28
Other pins be empty, one end of the 32nd electric capacity C32 connects VCC3V3, other end ground connection, HEADER45
The 4th pin, the 5th pin connect the 8th pin of VCC3V3, HEADER45, the 10th pin, the
10 pin ground connection, other pins of HEADER45 are empty.
As shown in Figure 8, keyboard process module of the present invention include the 90th resistance R90, the 91st
Resistance R91, the 92nd resistance R92, the 93rd resistance R93, the 94th resistance R94, the 9th
15 resistance R95, the 96th resistance R96, the 97th resistance R97, the 90th electric capacity C90,
91 electric capacity C91, the 92nd electric capacity C92, the 93rd electric capacity C93, the 94th electric capacity C94,
95th electric capacity C95, the 96th electric capacity C96, the 97th electric capacity C97,20 core socket P7.The
One end of 90 resistance R90 connects VCC3V3, and the other end connects the 17th pin and the place of 20 core socket P7
8th pin (PC0) of reason device chip IC 321, one end of the 90th electric capacity C90 connects 20 core socket P7
The 17th pin, other end ground connection, one end of the 91st resistance R91 connects VCC3V3, and the other end is even
Connect the 18th pin and the 9th pin (PC1) of processor chips IC321 of 20 core socket P7, the 90th
One end of one electric capacity C91 connects the 18th pin of 20 core socket P7, other end ground connection, the 92nd electricity
One end of resistance R92 connects VCC3V3, and the other end connects the 15th pin and the processor core of 20 core socket P7
10th pin (PC2) of sheet IC321, one end of the 92nd electric capacity C92 connects 20 core socket P7's
15th pin, other end ground connection, one end of the 93rd resistance R93 connects VCC3V3, and the other end connects
16th pin of 20 core socket P7 and the 11st pin (PC3) of processor chips IC321, the 93rd
One end of electric capacity C90 connects the 16th pin of 20 core socket P7, other end ground connection, the 94th resistance
One end of R94 connects VCC3V3, and the other end connects the 13rd pin and the processor chips of 20 core socket P7
24th pin (PC4) of IC321, one end of the 94th electric capacity C90 connects the of 20 core socket P7
13 pins, other end ground connection, one end of the 95th resistance R95 connects VCC3V3, and the other end connects 20
14th pin of core socket P7 and the 25th pin (PC5) of processor chips IC321, the 95th electricity
The one end holding C90 connects the 14th pin of 20 core socket P7, other end ground connection, the 96th resistance R96
One end connect VCC3V3, the other end connects the 19th pin and processor chips IC321 of 20 core socket P7
The 37th pin (PC6), what one end of the 96th electric capacity C90 connected 20 core socket P7 the 19th draws
Foot, other end ground connection, one end of the 97th resistance R97 connects VCC3V3, and the other end connects 20 cores and inserts
20th pin of seat P7 and the 38th pin (PC7) of processor chips IC321, the 97th electric capacity C90
One end connect the 20th pin of 20 core socket P7, other end ground connection, the 1st of 20 core socket P7 is drawn
Foot connects VCC3V3, the 2nd pin ground connection of 20 core socket P7.
As shown in Figure 6,7, download program interface module of the present invention includes chip IC 232, first
Individual audion VT1, second audion VT2, the 36th resistance R36, the 35th resistance R35,
44th resistance R44, the 47th resistance R47, the 48th resistance R48, the 17th electric capacity C17,
16th electric capacity C16, the 24th electric capacity C24,4 core socket P6.One end of 44th resistance R44
Connect the 23rd foot of chip IC 232, second audion VT2's of another termination of the 44th resistance R44
Base stage, the 13rd foot of a termination chip IC 232 of the 35th resistance R35, the 35th resistance R35
Another termination first audion VT1 base stage, the 36th resistance R36 one termination VCC3V3,
The colelctor electrode and the 7th of chip IC 32 the of first audion VT1 of another termination of the 36th resistance R36
Pin, the grounded emitter of first audion VT1, the colelctor electrode one of second audion VT2 terminates
15th pin of chip IC 32, the grounded emitter of second audion VT2, the 47th resistance R47
One termination VCC3V3, the 47th resistance R47 another termination chip IC 232 the 1st pin and core
18th pin of sheet IC32, termination a VCC3V3, the 48th resistance R48 of the 48th resistance R48
Another termination the 5th pin of chip IC 232 and the 19th pin of chip IC 32, the 17th electric capacity C17
One end ground connection, the 17th electric capacity C17 another termination chip IC 232 the 1st pin, the 16th electricity
Hold one end ground connection of C16, the 5th pin of another termination chip IC 232 of the 16th electric capacity C16, the
One end ground connection of 24 electric capacity C24, the of another termination chip IC 232 of the 24th electric capacity C24
17 pins, the 26th of chip IC 232 the, 7,18,21,25 ground connection, the 17th foot of chip IC 232 is defeated
Going out VCC3V3, the 16th foot of chip IC 232 connects the 3rd foot of P6, and the 15th foot of chip IC 232 is even
Connecing the 2nd foot of P6, the 20th foot of chip IC 232 connects the 1st foot of P6, other of chip IC 232
Pin is all unsettled.
Voltage conversion chip IC117 of the present invention, processor chips IC321, processor chips
IC32, chip IC 232 all use matured product, and voltage conversion chip IC117 uses TI company
AS1117-3.3V, processor chips IC32 use the STM32W108 of ST company, processor chips IC321
Use the STM32F103RC of ST company.The key-press module interface of P7, the USB interface connector of P6 are all adopted
With ripe connector, chip IC 323 uses the FT232R of FTDI company, audion VT1, VT2 to adopt
Selecting 1N5408 with more conventional 2N3904, diode D1, chip IC 28 uses conventional ENC28J60.
The workflow of the present invention is as it is shown in figure 9, each Ethernet concentrates coordinator to have unique ID
Value, is the Centroid of wireless network, sets up the wireless channel of oneself, peace by Zigbee wireless network
Full password and communication link, can be with quick obtaining Vehicle Controller, website calling set and information display
Information state；Coordinator is concentrated to also need to host computer be carried out handshake communication, by the important information of host computer
It is saved in the RAM of system.Each station is needed to install different types of calling set by application system,
When needing material to be transported on station or to have ready-made goods to need to transport, operator can be by by station
The button of some calling set, utilizes Zigbee wireless network that the demand of button is transferred to Ethernet and concentrates coordination
Device, then by concentrating coordinator to give host computer by Ethernet interface, website calling set generally has two
Or multiple button, each button represents the type of different cars respectively, and host computer is according to car in garage at that time
Situation, send the car type that the website calling set of a kind of station requires with charge free, concentrate coordinator by Ethernet
By path optimizing, it is stipulated that purpose website and the information such as the behavior at each road junction along road, utilize Zigbee wireless network
Network is issued website calling set, is sent other equipment of the AGV such as Vehicle Controller and information display with charge free.Vehicle-mounted control
Current position, running status and magnetic track information are reported master system by device processed timing in time, in order to
Host computer gui software shows automatic guided vehicle position and state in real time.Owing to have employed the logical of Internet of Things
Letter agreement and technology, it is possible to realize website calling set, concentrate coordinator to lead to Vehicle Controller multiple spot
Letter, it would however also be possible to employ the form of broadcast makes an announcement to all website calling sets, Vehicle Controller, in order to
Ensureing that all orders are properly executed, upper and lower layer protocol devises the mechanism of reliability transmission.
Claims (1)
1. AGV Ethernet based on Internet of Things concentrate a coordinator, including power supply processing module,
STM32W108 processor module, wireless processing module, STM32F103 processor module, program
Download interface module, host computer ethernet communication module and keyboard process module, it is characterised in that:
Described power supply processing module uses general power supply adaptor joint, and power supply adaptor will
220VAC conversion 5VDC DC source accesses power supply adaptor 3 core joint P4, by conventional DC/DC
Total system is powered by the VCC3V3 interface voltage that is converted into of chip IC 117, opens including U14
Close power module, the second electric capacity CA2, the 3rd electric capacity CA3, the 14th electric capacity C14, the 15th electricity
Hold C15,2 core socket P5；3rd pin of the one termination IC117 of the second electric capacity CA2, the other end
Ground connection；2nd pin of the one termination IC117 of the 3rd electric capacity CA3, other end ground connection；14th electricity
Hold the 3rd pin of a termination IC117 of C14, other end ground connection；One end of 15th electric capacity C15
Connect the 2nd pin of IC117, other end ground connection；1st pin ground connection of chip IC 117；Power supply is fitted
1st, the 2 foot ground connection of orchestration 3 core joint P4, the 3rd foot is that the 5VDC DC source of VCC is defeated
Enter foot；1st foot of 2 core socket P5 connects the N end of 220VAC, and the 2nd foot meets the L of 220VAC
End；1st foot of switch power module U14 connects the 2nd foot of 2 core socket P5；The of module U14
2 feet connect the 1st foot of 2 core socket P5；4th foot ground connection of module U14；The 3rd of module U14
Foot be VCC be 5VDC DC source output pin；
Described STM32W108 processor and wireless processing module include processor chips IC32, sky
Line ANT_SMT, the 42nd resistance R42, the 43rd resistance R43；Processor chips IC32
The 1st, 2 pins meet VCC3V3, the 30th of processor chips IC32 the, 31,32 pin ground connection；
7th pin of processor chips IC32 meets/RESET_108, and the 15th of processor chips IC32 is drawn
Foot meets GPIO05 ,/RESET_108 and GPIO05 by the CBUS2 of download program interface module,
CBUS0 with VT1, VT2 are connected；One end of 42nd resistance R42 connects processor chip IC 32
19 pins, another termination chip IC 232 the 5th pin；One end of 43rd resistance R43
Connect 18 pins of processor chip IC 32, the 1st pin of another termination chip IC 232；Process
37th pin of device IC32 connects ANT_SMT wireless processing module；Its of processor chips IC32
His pin is unsettled；
Described STM32F103 processor module includes processor chips IC321, the 49th resistance
R49, the 50th resistance R50, the first crystal oscillator Y1, the 22nd electric capacity C22, the 23rd electric capacity
C23；1st pin of processor chips IC321, the 13rd pin, the 32nd pin, the 48th pin,
64th pin meets power supply VCC3V3, the 12nd pin of processor chips IC321, the 31st pin,
47th pin, the 63rd pin, the 18th pin ground connection, the 7th pin of processor chips IC321,
56th pin, the 50th pin, the 46th pin, the 49th pin, the 55th pin connect jtag interface
Debug for processor program；49th resistance R49 mono-terminates the 28th of processor chips IC321
Pin, other end ground connection；The 60th of one termination processor chips IC321 of the 50th resistance R50
Pin, other end ground connection；5th pin of one termination processor chips IC321 of the first crystal oscillator Y1,
6th pin of another termination processor chips IC321；22nd electric capacity C22 mono-terminates processor
6th pin of chip IC 321, other end ground connection；23rd electric capacity C23 mono-terminates processor core
5th pin of sheet IC321, other end ground connection；54th pin of processor chips IC321 connects
STM32W108 processor chips IC32 /RESET_108；Other of processor chips IC321 draw
Foot is empty；
Described host computer ethernet communication module includes Ethernet chip IC28, Ethernet interface
HEADER45, the 3rd crystal oscillator Y3, the first inductance L1, the 51st resistance R51, the 53rd
Resistance R53, the 54th resistance R54, the 55th resistance R55, the 56th resistance R56,
62nd resistance R62, the 66th resistance R66, the 67th resistance R67, the 68th electricity
Resistance R68, the 69th resistance R69, the 25th electric capacity C25, the 26th electric capacity C26, the
28 electric capacity C28, the 30th electric capacity C30, the 32nd electric capacity C32, the 33rd electric capacity C33,
34th electric capacity C34；One end of 51st resistance R51 connects the 27th pin of chip IC 28,
The other end connects the 12nd pin of interface HEADER45, and one end of the 53rd resistance R53 connects
26th pin of chip IC 28, the 9th pin of other end connection interface HEADER45, the 50th
One end of four resistance R54 connects the 6th pin of chip IC 28, and the other end connects processor chip IC 321
The 35th pin, one end of the 55th resistance R55 connects the 7th pin of chip IC 28, another
End connects the 36th pin of processor chip IC 321, and one end of the 56th resistance R56 connects core
8th pin of sheet IC28, the other end connects the 34th pin of processor chip IC 321, chip IC 28
The 9th pin connect the 33rd pin of processor chip IC 321, the 10th pin of chip IC 28 is even
Connecing the 4th pin of processor chips IC321, the 4th pin of chip IC 28 connects processor chips
27th pin of IC321, one end of the 66th resistance R66 connects the 17th pin of chip IC 28,
Other end connection the 33rd electric capacity C33 one end, the other end ground connection of the 33rd electric capacity C33, the
One end of 67 resistance R67 connects the 16th pin of chip IC 28, and the other end connects the 33rd
Electric capacity C33 one end, the 17th pin of chip IC 28 connects the 1st pin of HEADER45, core
16th pin of sheet IC28 connects the 2nd pin of HEADER45, the 68th resistance R68's
One end connects the 13rd pin of chip IC 28, and the other end connects the 34th electric capacity C34 one end, the
The other end ground connection of 34 electric capacity C34, one end of the 69th resistance R69 connects chip IC 28
The 12nd pin, the other end connect the 34th electric capacity C34 one end, the 13rd of chip IC 28 is drawn
Foot connects the 3rd pin of HEADER45, and the 12nd pin of chip IC 28 connects HEADER45
The 6th pin, one end of the 62nd resistance R62 connects the 14th pin of chip IC 28, another
End ground connection, one end of the 26th resistance C26 connects the 1st pin of chip IC 28, another termination
Ground, one end of the 3rd crystal oscillator Y3 connects the 23rd pin of chip IC 28, and the other end connects chip IC 28
The 24th pin, one end of the 28th electric capacity C28 connects the 24th pin of chip IC 28, separately
One end ground connection, one end of the 30th electric capacity C30 connects the 23rd pin of chip IC 28, another termination
Ground, one end of the 25th electric capacity C25 connects VCC3V3, other end ground connection, the first inductance L1
One end connect VCC3V3, the other end connect the 33rd electric capacity C33, Ethernet chip IC28
2nd pin, the 11st pin, the 18th pin, the 21st pin, the 22nd pin ground connection, Ethernet
28th pin of chip IC 28, the 25th pin, the 20th pin, the 19th pin, the 15th pin
Meeting power supply VCC3V3, other pins of Ethernet chip IC28 are empty, the 32nd electric capacity C32
One end connect VCC3V3, other end ground connection, the 4th pin of HEADER45, the 5th pin are even
Connect the 8th pin of VCC3V3, HEADER45, the 10th pin, the 10th pin ground connection,
Other pins of HEADER45 are empty；
Described keyboard process module include the 90th resistance R90, the 91st resistance R91, the 9th
12 resistance R92, the 93rd resistance R93, the 94th resistance R94, the 95th resistance R95,
96th resistance R96, the 97th resistance R97, the 90th electric capacity C90, the 91st electric capacity
C91, the 92nd electric capacity C92, the 93rd electric capacity C93, the 94th electric capacity C94, the 90th
Five electric capacity C95, the 96th electric capacity C96, the 97th electric capacity C97,20 core socket P7；9th
One end of ten resistance R90 connects VCC3V3, and the other end connects the 17th pin of 20 core socket P7
With the 8th pin of processor chips IC321, one end of the 90th electric capacity C90 connects 20 core sockets
17th pin of P7, other end ground connection, one end of the 91st resistance R91 connects VCC3V3,
The other end connects the 18th pin and the 9th pin of processor chips IC321 of 20 core socket P7, the
One end of 91 electric capacity C91 connects the 18th pin of 20 core socket P7, other end ground connection, and
One end of 92 resistance R92 connects VCC3V3, and the other end connects the 15th of 20 core socket P7
Pin and the 10th pin of processor chips IC321, one end of the 92nd electric capacity C92 connects 20
15th pin of core socket P7, other end ground connection, one end of the 93rd resistance R93 connects
VCC3V3, the other end connects the 16th pin of 20 core socket P7 and the of processor chips IC321
11 pins, one end of the 93rd electric capacity C90 connects the 16th pin of 20 core socket P7, another
End ground connection, one end of the 94th resistance R94 connects VCC3V3, and the other end connects 20 core sockets
13rd pin of P7 and the 24th pin of processor chips IC321, the one of the 94th electric capacity C90
End connects the 13rd pin of 20 core socket P7, other end ground connection, the one of the 95th resistance R95
End connects VCC3V3, and the other end connects the 14th pin and processor chips IC321 of 20 core socket P7
The 25th pin, one end of the 95th electric capacity C90 connects the 14th pin of 20 core socket P7,
Other end ground connection, one end of the 96th resistance R96 connects VCC3V3, and the other end connects 20 cores
19th pin of socket P7 and the 37th pin of processor chips IC321, the 96th electric capacity C90
One end connect the 19th pin of 20 core socket P7, other end ground connection, the 97th resistance R97
One end connect VCC3V3, the other end connects the 20th pin and the processor chips of 20 core socket P7
38th pin of IC321, one end of the 97th electric capacity C90 connects the 20th of 20 core socket P7
Pin, other end ground connection, the 1st pin of 20 core socket P7 connects VCC3V3,20 core socket P7
The 2nd pin ground connection；
Described download program interface module include 232, first audion VT1 of chip IC, second
Individual audion VT2, the 36th resistance R36, the 35th resistance R35, the 44th resistance R44,
47th resistance R47, the 48th resistance R48, the 17th electric capacity C17, the 16th electric capacity C16,
24th electric capacity C24,4 core socket P6；The one termination chip IC 232 of the 44th resistance R44
The 23rd foot, the base stage of second audion VT2 of another termination of the 44th resistance R44, the
13rd foot of the one termination chip IC 232 of 35 resistance R35, the 35th resistance R35's is another
The base stage of one first audion VT1 of termination, a termination VCC3V3 of the 36th resistance R36,
Another termination colelctor electrode of first audion VT1 of 36th resistance R36 and chip IC 32
7th pin, the grounded emitter of first audion VT1, the current collection of second audion VT2
Pole one terminates the 15th pin of chip IC 32, the grounded emitter of second audion VT2, and the 4th
Another termination chip IC 232 of one the termination VCC3V3, the 47th resistance R47 of 17 resistance R47
The 1st pin and the 18th pin of chip IC 32, the 48th resistance R48 one termination VCC3V3,
5th pin and the 19th of chip IC 32 the of another termination chip IC 232 of the 48th resistance R48
Pin, one end ground connection of the 17th electric capacity C17, another termination chip IC 232 of the 17th electric capacity C17
The 1st pin, one end ground connection of the 16th electric capacity C16, the 16th electric capacity C16 another termination core
5th pin of sheet IC232, one end ground connection of the 24th electric capacity C24, the 24th electric capacity C24
Another termination chip IC 232 the 17th pin, the 26th of chip IC 232 the, 7,18,21,25
Ground connection, the 17th foot output VCC3V3 of chip IC 232, the 16th foot of chip IC 232 connects P6
The 3rd foot, chip IC 232 the 15th foot connect P6 the 2nd foot, the 20th of chip IC 232
Foot connects the 1st foot of P6, and other pins of chip IC 232 are all unsettled；
Described voltage conversion chip IC117 uses the AS1117-3.3V of TI company, processor chips
IC32 uses the STM32W108 of ST company, processor chips IC321 to use ST company
STM32F103RC；Chip IC 232 uses the FT232R of FTDI company, chip IC 28 model to be
ENC28J60。
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| CN107317582B (en) * | 2017-06-12 | 2019-05-14 | 杭州电子科技大学 | A kind of AGV driving motor encoder based on ARM |
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| CN1786859A (en) * | 2005-11-22 | 2006-06-14 | 南京航空航天大学 | Method for implementing guiding system and zigbee module of indoor and outdoor automatic carrying vehicle |
| CN101977447A (en) * | 2010-10-19 | 2011-02-16 | 杭州电子科技大学 | ZigBee intelligent gateway for large-scale networking and implementing method thereof |
| CN103309350A (en) * | 2013-05-24 | 2013-09-18 | 南京航空航天大学 | Automatic guided vehicle scheduling system and method based on global wireless precise positioning |
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