CN107659310B - Can realize AGV guide and frequency generator of communication - Google Patents
Can realize AGV guide and frequency generator of communication Download PDFInfo
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- CN107659310B CN107659310B CN201711087256.0A CN201711087256A CN107659310B CN 107659310 B CN107659310 B CN 107659310B CN 201711087256 A CN201711087256 A CN 201711087256A CN 107659310 B CN107659310 B CN 107659310B
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- 238000004891 communication Methods 0.000 title claims abstract description 45
- 238000012545 processing Methods 0.000 claims description 7
- 238000005516 engineering process Methods 0.000 abstract description 5
- 238000006243 chemical reaction Methods 0.000 description 3
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
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- H—ELECTRICITY
- H03—ELECTRONIC CIRCUITRY
- H03L—AUTOMATIC CONTROL, STARTING, SYNCHRONISATION OR STABILISATION OF GENERATORS OF ELECTRONIC OSCILLATIONS OR PULSES
- H03L7/00—Automatic control of frequency or phase; Synchronisation
- H03L7/06—Automatic control of frequency or phase; Synchronisation using a reference signal applied to a frequency- or phase-locked loop
- H03L7/16—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop
- H03L7/18—Indirect frequency synthesis, i.e. generating a desired one of a number of predetermined frequencies using a frequency- or phase-locked loop using a frequency divider or counter in the loop
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/02—Digital function generators
- G06F1/03—Digital function generators working, at least partly, by table look-up
- G06F1/0321—Waveform generators, i.e. devices for generating periodical functions of time, e.g. direct digital synthesizers
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Abstract
The invention relates to a frequency generator capable of realizing AGV guiding and communication, which can realize electromagnetic guiding of an automatic guided vehicle AGV and communication between an upper computer and the AGV. The invention has the functional structure comprising a CPU, a programmable gate array FPGA circuit, two direct digital frequency synthesizer DDS devices and a feedback circuit. The output frequency can be stabilized to constant current through the feedback circuit, and the current is not changed along with the change of the length of the external electric wire within a certain range. According to the invention, sine wave signals with different frequencies are flexibly and effectively selected and output through the dial switch K1, guidance of the AGV is realized by identifying the low-frequency output signals through the electromagnetic sensor, and communication between the AGV and the upper computer is realized by identifying the high-frequency output signals. The invention effectively solves the problem that the wireless communication technology cannot be adopted in the special working environment, and enables the AGV to be widely applied in more fields.
Description
Technical Field
The invention relates to a frequency generator capable of realizing AGV guiding and communication, which is suitable for various situations of wireless guiding and communication limitation in special environments; belonging to the AGV guiding and communication field.
Background
Along with the high-speed development of the information age, the currently common AGV (Automated Guided Vehicle) communication mode in the market is basically established on the basis of wireless communication, however, in some special fields, the safety requirement on information is higher, the safety of important information is difficult to ensure by the wireless communication technology, the limitation greatly limits the wide application of the AGV in the special industry field, and further a series of operation cost, working efficiency and the like of enterprises are changed, so that the diversified production requirements of the enterprises cannot be met.
Programmable gate array FPGA (Field-Programmable Gate Array), which is a product of further development on the basis of programmable devices such as PAL, GAL, CPLD.
DDS is an english abbreviation for direct digital frequency synthesizer (Direct Digital Synthesizer). Direct digital frequency synthesizer DDS is a key digitizing technique, like DSP (digital signal processing). Compared with the traditional frequency synthesizer, the direct digital frequency synthesizer DDS has the advantages of low cost, low power consumption, high resolution, quick conversion time and the like, is widely used in the fields of telecommunication and electronic instruments, and is a key technology for realizing the full digitalization of equipment.
CAN is an abbreviation for controller area network (Controller Area Network, CAN). Is developed by the germany BOSCH company, known as developing and manufacturing automotive electronics, and eventually becomes an international standard (ISO 11898).
Disclosure of Invention
Aiming at the existing problems, the invention aims to provide a frequency generator capable of realizing communication between an AGV and an upper computer so as to solve the problem that the AGV cannot use a wireless communication technology in special occasions.
In order to solve the problems, the invention adopts the following solutions: the utility model provides a can realize AGV guide and frequency generator of communication which characterized in that, frequency generator (32) functional structure includes a central processing unit CPU, a first programmable gate array FPGA circuit, a first direct digital frequency synthesizer DDS, a second direct digital frequency synthesizer DDS and a feedback circuit; the CPU is connected with a programmable gate array (FPGA) circuit, the programmable gate array (FPGA) circuit is connected with a first direct digital frequency synthesizer (DDS) (and a second direct digital frequency synthesizer (DDS)) in parallel, the programmable gate array (FPGA) circuit is connected with a dial switch (K1), the transmitter and the receiver are connected with the first direct digital frequency synthesizer (DDS) and the second direct digital frequency synthesizer (DDS), the transmitter and the receiver are connected with a feedback circuit, the frequency generator (32) is used for realizing the guidance of an AGV (33) through an output low-frequency signal, and the frequency generator (32) is used for realizing the communication between the AGV and an upper computer through an output high-frequency signal.
The frequency generator (32) selectively outputs sine wave signals with different frequencies through the dial switch K1; if the dial switch K1 selects 0 to 3, the corresponding output realizes the frequency of signals F0-F3 (21) required by the AGV electromagnetic guidance, and communication cannot be performed; when the dial switch K1 selects 4, the frequency generator (32) can determine what frequency to output according to the instruction sent by the upper computer (31), and at the moment, any frequency of F0-F3 (21) and the frequency of a signal F4 (22) and a signal F5 (23) for realizing communication between the upper computer and the AGV can be output.
And the CPU performs data communication with the upper computer through a CAN/RS485 standard communication protocol and encodes an instruction of the upper computer.
The programmable gate array FPGA performs internal processing according to signals of the CPU and the feedback circuit, and selects frequency according to the dial switch K1.
The direct digital frequency synthesizer DDS and the direct digital frequency synthesizer DDS equipment generate signals F0-F3 which are low-frequency sinusoidal signals, and the signals F4/F5 which are high-frequency sinusoidal signals; the signal F4 frequency may be interpreted as 1 when communicating with the AGV and the signal F5 frequency may be interpreted as 0 when communicating with the AGV.
The feedback circuit can feed back signals synthesized by the direct digital frequency synthesizer DDS and the direct digital frequency synthesizer DDS to the programmable gate array FPGA.
The feedback circuit can feed back signals synthesized by the two direct digital frequency synthesizers DDS to the programmable gate array FPGA, and the external guide wire (35) can stabilize the output frequency to constant current within a certain length.
Working principle: the frequency generator (32) outputs signals when working, as shown in fig. 1, signals F0-F3 (21) are output by one direct digital frequency synthesizer DDS (15) for realizing electromagnetic guidance of the AGV, and signals F4 (22) and F5 (23) are output by the other direct digital frequency synthesizer DDS (16) for realizing communication between the upper computer and the AGV. The output currents of signals F0-F3 (21) are much greater than the output currents of signals F4 (22) and F5 (23), while the output frequencies are much lower than the output frequencies of signals F4 (22) and F5 (23). Thus, the electromagnetic guidance of the AGV by the output frequencies F4 (22) and F5 (23) is negligible, and the output frequency signals F0-F3 (21) do not affect the communication between the host computer and the AGV.
According to the invention, sine wave signals with different frequencies are flexibly and effectively selected and output through the dial switch K1, guidance of the AGV is realized by identifying the low-frequency output signals through the electromagnetic sensor, communication between the AGV and an upper computer is realized by identifying the high-frequency output signals, the problem that a wireless communication technology cannot be adopted in a special working environment can be effectively solved, and the AGV is widely applied to more fields.
Drawings
Fig. 1 is a schematic diagram of a part of frequency signals output by the present invention.
Fig. 2 is a schematic diagram of the signal communication state in the embodiment of the present invention.
Description of the drawings: 20-signals F0-F3, 21-signals F0-F3; 22-signal F4; 23-signal F5; 31-an upper computer; 32-a frequency signal generator; 33—AGV; 34-electromagnetic sensor; 35-guiding.
Detailed Description
Examples: the invention adopts a frequency generator capable of realizing AGV guidance and communication, and the functional structure of the frequency generator comprises a Central Processing Unit (CPU), a programmable gate array (FPGA) circuit, two devices of a direct digital frequency synthesizer (DDS) and a feedback circuit. The CPU performs data communication with the upper computer through CAN and RS485 standard communication protocol, and encodes the instruction of the upper computer.
The programmable gate array FPGA performs internal processing according to signals of the CPU and the feedback circuit, and selects frequency according to the dial switch K1.
The signals F0-F3 generated by the direct digital frequency synthesizer DDS are low frequency sinusoidal signals, and the signals F4/F5 generated by the direct digital frequency synthesizer DDS16 are high frequency sinusoidal signals. The signal F4 frequency may be interpreted as 1 when communicating with the AGV and the signal F5 frequency may be interpreted as 0 when communicating with the AGV.
The signals synthesized by the direct digital frequency synthesizer DDS and the direct digital frequency synthesizer DDS16 are fed back to the programmable gate array FPGA, and the output frequency can be stabilized to constant current within a certain length of an external guide wire.
The low-frequency signal output by the frequency generator is used for realizing guidance of the AGV, and the high-frequency signal output by the frequency generator is used for realizing communication between the AGV and the upper computer.
As shown in FIG. 2, the frequency signal generator of the embodiment adopts an STM32F103 microcontroller through a CPU, writes a CAN/RS485 protocol communication program which is communicated with an upper computer, and timely transmits an instruction sent by the upper computer to a programmable gate array FPGA. If the dial switch K1 selects 0 to 3, signals F0-F3 required by the AGV electromagnetic guidance are correspondingly output, and communication cannot be performed. If the dial switch K1 selects 4, the frequency generator can determine what frequency to output according to the instruction sent by the upper computer, and at the moment, any frequency of F0-F3 and the frequency of a signal F4 and a signal F5 for realizing communication between the upper computer and the AGV can be output.
The DDS equipment of the direct digital frequency synthesizer selected by the invention is very simple and low in power consumption, and can generate sine waves by performing digital-to-analog conversion through the time conversion signals in digital form.
The frequency signal generator of this embodiment has two direct digital frequency synthesizer DDS devices, one direct digital frequency synthesizer DDS converts digital signals into sinusoidal low-frequency signals of signal F4 and signal F5 that can realize electromagnetic guidance of the AGV, and the other direct digital frequency synthesizer DDS device converts the signals into sinusoidal high-frequency signals of signal F4 and signal F5 that can realize communication of the AGV.
The feedback circuit can feed back signals synthesized by the two direct digital frequency synthesizers DDS to the programmable gate array FPGA, and can stabilize the output frequency to constant current no matter how long (within 1000 m) the external guide wire is, and how high the resistance is. The electromagnetic sensor 34 installed on the AGV can sense the magnetic fields generated by the frequency generator through the two coils to output different frequencies, the signal F4 can be considered as a binary code 1, the signal F5 can be considered as a binary code 0, and therefore the instruction of the upper computer is transmitted to the AGV in the form of a series of binary codes, and the communication between the upper computer and the AGV is realized.
The technical solutions of the present invention will be clearly and completely described with reference to the accompanying drawings, and it is obvious that the described embodiments are only some of the preferred embodiments of the present invention, not all of them. Based on the technical idea of the present invention, it should be also understood that several non-inventive modifications and improved embodiments can be made by those skilled in the art without departing from the inventive concept of the present invention.
Claims (7)
1. The utility model provides a can realize AGV guide and frequency generator of communication which characterized in that, frequency generator (32) functional structure includes a central processing unit CPU, a first programmable gate array FPGA circuit, a first direct digital frequency synthesizer DDS, a second direct digital frequency synthesizer DDS and a feedback circuit; the CPU is connected with the FPGA circuit, the FPGA circuit is connected with the first direct digital frequency synthesizer DDS and the second direct digital frequency synthesizer DDS in parallel, the FPGA circuit is connected with the dial switch K1, the transmitting receiver is connected with the first direct digital frequency synthesizer DDS and the second direct digital frequency synthesizer DDS, and the transmitting receiver is connected with the feedback circuit; the frequency generator (32) is used for realizing the guidance of the AGV (33) through the low-frequency signal of output, and the frequency generator (32) is used for realizing the communication of the AGV and the upper computer through the high-frequency signal of output.
2. A frequency generator for enabling AGV guidance and communication according to claim 1, characterized in that said frequency generator (32) selectively outputs sine wave signals of different frequencies through a dial switch K1; if the dial switch K1 selects 0 to 3, the corresponding output realizes the frequency of signals F0-F3 (21) required by the AGV electromagnetic guidance, and communication cannot be performed; when the dial switch K1 selects 4, the frequency generator (32) can determine what frequency to output according to the instruction sent by the upper computer (31), and at the moment, any frequency of F0-F3 (21) and the frequency of a signal F4 (22) and a signal F5 (23) for realizing communication between the upper computer and the AGV can be output.
3. The frequency generator capable of realizing AGV guiding and communication according to claim 1 wherein the CPU performs data communication with the upper computer through CAN/RS485 standard communication protocol and encodes the instruction of the upper computer.
4. The frequency generator for realizing AGV guidance and communication according to claim 1 wherein the programmable gate array FPGA performs internal processing according to signals from the CPU and the feedback circuit and selects the frequency according to the dial switch K1.
5. The frequency generator capable of realizing AGV guiding and communication according to claim 1 wherein the direct digital frequency synthesizer DDS and the direct digital frequency synthesizer DDS device generate signals F0-F3 as low frequency sinusoidal signals and signals F4/F5 as high frequency sinusoidal signals; the signal F4 frequency may be interpreted as 1 when communicating with the AGV and the signal F5 frequency may be interpreted as 0 when communicating with the AGV.
6. The frequency generator for enabling AGV guidance and communication according to claim 1 wherein said feedback circuit feeds back signals synthesized by the direct digital frequency synthesizer DDS and the direct digital frequency synthesizer DDS to the programmable gate array fpga.
7. The frequency generator for enabling guidance and communication of an AGV of claim 1, wherein: the feedback circuit can feed back signals synthesized by the two direct digital frequency synthesizers DDS to the programmable gate array FPGA, and the external guide wire (35) can stabilize the output frequency to constant current within a certain length.
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| CN201711087256.0A CN107659310B (en) | 2017-11-07 | 2017-11-07 | Can realize AGV guide and frequency generator of communication |
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| CN201711087256.0A CN107659310B (en) | 2017-11-07 | 2017-11-07 | Can realize AGV guide and frequency generator of communication |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110044364A (en) * | 2019-05-08 | 2019-07-23 | 中冶宝钢技术服务有限公司 | Hot-metal car route guidance device |
| CN113009920A (en) * | 2021-03-09 | 2021-06-22 | 河南牧原智能科技有限公司 | Mobile robot navigation control method and system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6066967A (en) * | 1997-02-07 | 2000-05-23 | Sensytech, Inc. | Phase-coherent frequency synthesis with a DDS circuit |
| WO2005062736A2 (en) * | 2003-12-11 | 2005-07-14 | Advanced Radio Corporation | Wideband dds synthesizer |
| CN201266240Y (en) * | 2008-10-14 | 2009-07-01 | 武汉大学 | High band multichannel DDS signal generator |
| CN202182933U (en) * | 2011-07-01 | 2012-04-04 | 黑龙江科技学院 | Low frequency numerical control signal-generator based on direct digital frequency synthesizer |
| CN207652417U (en) * | 2017-11-07 | 2018-07-24 | 云南昆船智能装备有限公司 | A kind of achievable frequency generator AGV guidings and communicated |
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- 2017-11-07 CN CN201711087256.0A patent/CN107659310B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6066967A (en) * | 1997-02-07 | 2000-05-23 | Sensytech, Inc. | Phase-coherent frequency synthesis with a DDS circuit |
| WO2005062736A2 (en) * | 2003-12-11 | 2005-07-14 | Advanced Radio Corporation | Wideband dds synthesizer |
| CN201266240Y (en) * | 2008-10-14 | 2009-07-01 | 武汉大学 | High band multichannel DDS signal generator |
| CN202182933U (en) * | 2011-07-01 | 2012-04-04 | 黑龙江科技学院 | Low frequency numerical control signal-generator based on direct digital frequency synthesizer |
| CN207652417U (en) * | 2017-11-07 | 2018-07-24 | 云南昆船智能装备有限公司 | A kind of achievable frequency generator AGV guidings and communicated |
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