CN109656179A - A kind of parking AGV general purpose controller and AGV trolley based on DSP and ARM - Google Patents
A kind of parking AGV general purpose controller and AGV trolley based on DSP and ARM Download PDFInfo
- Publication number
- CN109656179A CN109656179A CN201910023368.2A CN201910023368A CN109656179A CN 109656179 A CN109656179 A CN 109656179A CN 201910023368 A CN201910023368 A CN 201910023368A CN 109656179 A CN109656179 A CN 109656179A
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- module
- arm
- dsp
- agv
- general purpose
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Program-control systems
- G05B19/02—Program-control systems electric
- G05B19/04—Program control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Program control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention discloses a kind of parking AGV general purpose controller and AGV trolley based on DSP and ARM；Parking AGV general purpose controller includes: a DSP module, an ARM module, a pair of of distance measuring sensor, a switch module, several motor drive modules, a SRAM module, a gyro module, a camera model and a power module；DSP module is established by spi bus and ARM module and is communicated to connect, and distance measuring sensor is connect by switch module with ARM module, and motor drive module, SRAM module, gyro module and camera model are connect with DSP module respectively.The invention has the benefit that the present invention uses DSP module as primary processor, operation efficiency can be improved；Using ARM module coprocessor the most, some tasks that time-consuming are capable of handling, the pressure of primary processor is reduced, DSP module is enabled quickly to run motion control program.The present invention uses 2 distance measuring sensors, helps so that AGV trolley can be moved along any direction, and barrier can be effectively predicted and realize intelligent barrier avoiding.
Description
Technical field
The invention belongs to the switching on and shutting down control technology fields of electronic instrument, and in particular to a kind of parking based on DSP and ARM
AGV general purpose controller and AGV trolley.
Background technique
The development speed of AGV trolley was surprising in recent years, flexible and efficient, powerful, application range all trades and professions all
Favored very much.And the core of AGV is its bootstrap technique, common AGV bootstrap technique has: electromagnetism guiding, las er-guidance, inertia
Guiding, composite guide etc..Wherein inertial guide AGV is applied at most in electric business storage, is the AGV guidance technology of most prospect.
The maximum bright spot of inertial guide is that its run trace thoroughly gets rid of the limitation of magnetic stripe, track, can directly apply
With existing environment；But the shortcomings that inertial guide be guiding accuracy it is not high, cannot effectively avoidance, be unable to automatic charging, cannot
Wireless debugging cannot show that the various states of current AGV trolley, special circumstances cannot issue alarm signal etc..
The invention solves current inertial guide AGV trolley guiding accuracy it is not high, cannot effectively avoidance, cannot fill automatically
Electricity cannot be debugged wirelessly, cannot show that the small car state of current AGV, special circumstances cannot issue the technical problems such as alarm signal.
Summary of the invention
It is an object of the invention to overcome deficiency in the prior art, it is logical to provide a kind of parking AGV based on DSP and ARM
With controller and AGV trolley.
To solve prior art problem, the invention discloses a kind of parking AGV general purpose controller based on DSP and ARM, packet
It includes:
One is used for the DSP module of primary processor,
One is used for the ARM module of coprocessor,
A pair is used to detect obstacle distance to realize the distance measuring sensor of obstacle,
One switch module for the peripheral equipment of AGV connection different network protocol,
It is several to be used for each motor of AGV motor drive module connected to the controller,
One for quick storage or read ephemeral data SRAM module,
One is used for the gyro module of AGV inertial navigation,
One identifies the camera model of the position AGV and amendment route for obtaining driving picture, and
One for the power module for parking AGV general purpose controller power supply；
DSP module is established by spi bus and ARM module and is communicated to connect, and distance measuring sensor passes through switch module and ARM module
Connection, motor drive module, SRAM module, gyro module and camera model are connect with DSP module respectively.
Preferably,
Further include one be used for AGV automatic charging automatic charging module, automatic charging module respectively with ARM module and power module
Connection.
Preferably,
It further include one for showing that the indicating lamp module of the various states of AGV, indicating lamp module are connect with ARM module.
Preferably,
It further include one for issuing the alarm modules of alarm signal, alarm modules are connect with ARM.
Preferably,
It further include a WIFI module for long distance wireless connection terminal server, WIFI module is connect with ARM module.
Preferably,
It further include one for cooperating APP that can realize that the bluetooth module of wireless debugging AGV function, bluetooth module are connect with ARM module.
Preferably,
Further include serial port module, I/O module, CAN module and Ethernet interface module, serial port module, I/O module, CAN module and with
Too network interface module is connect with DSP module and/or ARM module respectively.
The invention also discloses a kind of AGV trolley based on DSP and ARM including parking AGV general purpose controllers；Stop AGV
General purpose controller includes: a DSP module, an ARM module, a pair of of distance measuring sensor, a switch module, several motor driven moulds
Block, a SRAM module, a gyro module, a camera model and a power module；
DSP module is established by spi bus and ARM module and is communicated to connect, and distance measuring sensor passes through switch module and ARM module
Connection, motor drive module, SRAM module, gyro module and camera model are connect with DSP module respectively.
The invention has the benefit that
1. the present invention uses DSP module as primary processor, operation efficiency can be improved；Using ARM module coprocessor the most,
Some tasks that time-consuming are capable of handling, the pressure of primary processor is reduced, DSP module is enabled quickly to run motion control journey
Sequence.
2. the present invention uses 2 distance measuring sensors, help so that AGV trolley can be moved along any direction, it can
Barrier is effectively predicted and realizes intelligent barrier avoiding.
3. the present invention uses WIFI module, AGV trolley long-distance on-line server can be enable, distributed online to realize
Task, the communication mode is at low cost, good communication quality.
4. the present invention uses bluetooth module, the APP in the intelligent wireless terminal such as mobile phone can be cooperated wirelessly to be debugged, side
Just research staff's near radio monitors AGV data, and some interim operations are carried out under offline condition.
5. the present invention uses automatic charging module, it can automatically detect electricity and carry out automatic charging, do not need manual operation
Charging reduces labor workload.
6. general extension rich interface of the present invention, facilitates user to extend；Use the side such as serial ports, CAN, WIFI, Ethernet interface
Formula communication, facilitates user to select.
Detailed description of the invention
Fig. 1 is the system block diagram of controller part in the present invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, a kind of AGV trolley based on DSP and ARM, including controller, controller further comprise a DSP
Module, an ARM module, a pair of of distance measuring sensor, a switch module, several motor drive modules, a SRAM module, a gyro
Instrument module, a camera model and a power module.
Power module, which has, is divided into decompression and voltage stabilizing function, provides the electric energy of needs for controller.DSP module is with making main place
Device is managed, has higher operation efficiency, and ARM module is used as coprocessor, handles some tasks that time-consuming to mitigate DSP mould
The operation pressure of block, for the two by high speed SPI bus communication, data transmission bauds is fast, and stability is high.
Distance measuring sensor is for detecting the distance between AGV trolley and barrier, to realize intelligent obstacle, 360 ° without dead
The safety traffic of angle guarantee AGV trolley.It is multiple using network protocols such as TCP/UDP that switch module connects AGV trolley
One input terminal of peripheral equipment, the output end of distance measuring sensor and switch module connects, the output end of switch module with
The input terminal connection of ARM module is to realize the transmission for detecting signal.
Motor drive module is arranged three groups altogether, and every group amounts to two drive modules, the input terminal difference of each drive module
Connect an output end of DSP module；The output end for wherein controlling two motor drive modules of walking is separately connected a row
The control terminal for walking motor, the output end for controlling two motor drive modules of steering are separately connected the control of a steering motor
End, the output end for controlling two motor drive modules of lifting are separately connected the control terminal of a lifting motor, pass through above-mentioned company
Connect the purpose for realizing walking, steering and the lifting of control AGV trolley.
SRAM module connect so as to quick storage with DSP module or reads ephemeral data, also furthermore is stored in line more
New procedures function, wirelessly i.e. refreshable program.
The output end of gyro module and the input terminal connection of DSP module are used for the inertial navigation of AGV trolley.
The output end of camera model and an input terminal of DSP module are connected for real-time pictures to be transferred to DSP module
In order to identify that traffic route is corrected in the current location of AGV trolley in time.
As a preferred embodiment, which further includes an automatic charging module, automatic charging module respectively with
ARM module is connected with power module.The automatic charging module has electric quantity detecting circuit, is capable of the electricity of real-time monitoring power module
Amount, when AGV trolley electricity be less than preset minimum charge value when, AGV trolley complete current task after can go to automatically charging pile into
Row automatic charging.
As a preferred embodiment, which further includes an indicating lamp module, the input terminal of indicating lamp module with
One output end of ARM module is connected for showing the various states of AGV.
As a preferred embodiment, which further includes an alarm modules, and alarm modules are connect with ARM for sending out
Alarm signal out, to help that staff AGV trolley is prompted to break down.
As a preferred embodiment, which further includes a WIFI module, and WIFI module connect use with ARM module
Terminal server is connected in long distance wireless.
As a preferred embodiment, which further includes a bluetooth module, and bluetooth module connect use with ARM module
Wireless debugging AGV function is realized in the APP on cooperation intelligent mobile terminal.
As a preferred embodiment, which also has serial port module, I/O module, CAN module and Ethernet interface
Module, serial port module, I/O module, CAN module and Ethernet interface module are connect with DSP module and/or ARM module respectively, these
Interface module is general module, facilitates extension function.
AGV trolley in the present invention, other devices in addition to the content of above-mentioned record have been recorded in the prior art,
It is not improvement place of the invention, therefore is not repeated them here.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of parking AGV general purpose controller based on DSP and ARM, it is characterised in that:
Include:
One is used for the DSP module of primary processor,
One is used for the ARM module of coprocessor,
A pair is used to detect obstacle distance to realize the distance measuring sensor of obstacle,
One switch module for the peripheral equipment of AGV connection different network protocol,
It is several to be used for each motor of AGV motor drive module connected to the controller,
One for quick storage or read ephemeral data SRAM module,
One is used for the gyro module of AGV inertial navigation,
One identifies the camera model of the position AGV and amendment route for obtaining driving picture, and
One for the power module for the parking AGV general purpose controller power supply；
The DSP module is established by spi bus and the ARM module and is communicated to connect, and the distance measuring sensor passes through interchanger
Module is connect with the ARM module, the motor drive module, SRAM module, gyro module and camera model respectively with institute
State DSP module connection.
2. a kind of parking AGV general purpose controller based on DSP and ARM according to claim 1, it is characterised in that:
Further include one be used for AGV automatic charging automatic charging module, the automatic charging module respectively with the ARM module and
The power module connection.
3. a kind of parking AGV general purpose controller based on DSP and ARM according to claim 1, it is characterised in that:
It further include one for showing that the indicating lamp module of the various states of AGV, the indicating lamp module are connect with the ARM module.
4. a kind of parking AGV general purpose controller based on DSP and ARM according to claim 1, it is characterised in that:
It further include one for issuing the alarm modules of alarm signal, the alarm modules are connect with the ARM.
5. a kind of parking AGV general purpose controller based on DSP and ARM according to claim 1, it is characterised in that:
It further include a WIFI module for long distance wireless connection terminal server, the WIFI module and the ARM module connect
It connects.
6. a kind of parking AGV general purpose controller based on DSP and ARM according to claim 1, it is characterised in that:
It further include one for cooperating APP that can realize the bluetooth module of wireless debugging AGV function, the bluetooth module and the ARM
Module connection.
7. a kind of parking AGV general purpose controller based on DSP and ARM according to claim 1, it is characterised in that:
It further include serial port module, I/O module, CAN module and Ethernet interface module, the serial port module, I/O module, CAN module
It is connect respectively with the DSP module and/or the ARM module with Ethernet interface module.
8. a kind of AGV trolley based on DSP and ARM, it is characterised in that:
Including a kind of parking AGV general purpose controller based on DSP and ARM according to claim 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910023368.2A CN109656179A (en) | 2019-01-10 | 2019-01-10 | A kind of parking AGV general purpose controller and AGV trolley based on DSP and ARM |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910023368.2A CN109656179A (en) | 2019-01-10 | 2019-01-10 | A kind of parking AGV general purpose controller and AGV trolley based on DSP and ARM |
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| CN109656179A true CN109656179A (en) | 2019-04-19 |
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| CN201910023368.2A Pending CN109656179A (en) | 2019-01-10 | 2019-01-10 | A kind of parking AGV general purpose controller and AGV trolley based on DSP and ARM |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110304001A (en) * | 2019-07-30 | 2019-10-08 | 成都雅骏新能源汽车科技股份有限公司 | A kind of automobile mounted intelligence control system |
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| KR20090004237A (en) * | 2007-07-06 | 2009-01-12 | 엘지디스플레이 주식회사 | Auto Transfer Balance |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| TA01 | Transfer of patent application right | ||
| TA01 | Transfer of patent application right |
Effective date of registration: 20220803 Address after: 202150 room 211, No. 28, Xiushan Road, Chongming Industrial Park, Shanghai Applicant after: SHANGHAI HYTONE PARKING EQUIPMENT CO.,LTD. Address before: 201100 room 506, No. 1313, zhuanxing East Road, Minhang District, Shanghai Applicant before: INTEWARE (SHANGHAI) INTELLIGENT TECHNOLOGY CO.,LTD. |
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| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190419 |