CN111243253A

CN111243253A - Receiving circuit of conveying equipment controller and remote control method

Info

Publication number: CN111243253A
Application number: CN202010025128.9A
Authority: CN
Inventors: 邵云杰; 王耀强; 潘春江; 徐强
Original assignee: Zhejiang Jinhua Winner Mechanical Co ltd
Current assignee: Zhejiang Jinhua Winner Mechanical Co ltd
Priority date: 2020-01-10
Filing date: 2020-01-10
Publication date: 2020-06-05

Abstract

Aiming at the defects of fixed controllable equipment, short communication distance, weak diffraction capability, relatively low receiving sensitivity and relatively small use range in the prior art, the invention provides the receiving circuit of the transport equipment controller and the remote control method, which have the advantages of long communication distance, strong diffraction capability, high receiving sensitivity, strong anti-interference capability, wide application range and strong equipment compatibility. Belongs to the technical field of carrying equipment. The remote controller receiving main body comprises a power supply module, a processor, a wireless communication module, a processing circuit for the wireless signal and a conversion circuit, wherein the processing circuit for the wireless signal comprises an analog signal processing module and a digital signal processing module, and the conversion circuit is a 485 signal conversion circuit; the remote control method is a control command conversion method of an analog quantity signal and a switching value digital signal. The receiving circuit has long remote control distance, strong anti-interference capability, strong equipment compatibility, clear and simple logic of the control method and convenient realization and operation.

Description

Receiving circuit of conveying equipment controller and remote control method

Technical Field

The invention belongs to the technical field of conveying equipment, and particularly relates to a receiving circuit of a conveying equipment controller and a remote control method.

Background

The electric forklift is electrically driven, and compared with the diesel forklift, the electric forklift has the advantages of no pollution, easiness in operation, energy conservation, high efficiency and the like. With the development of economy and the improvement of environmental protection and energy conservation requirements, the electric forklift develops rapidly. The operation methods of the electric forklift and the fuel forklift in the prior art are the same, a full-time driver needs to sit on the forklift to operate, and the forklift needs to be remotely controlled to operate in order to save labor cost and prevent people from entering the forklift in special occasions.

For example, the patent publication number is CN209635837U, the patent name is an electric forklift control system and an electric forklift thereof, which comprises a main control chip, a control end, an execution end, a first optocoupler relay, a second optocoupler relay, an optocoupler isolation circuit, a switching unit, a remote controller and a wireless communication module, wherein by arranging the main control chip and detachably connecting the main control chip with an execution part of the electric forklift through the execution end, the remote controller can be used for sending a control signal to the electric forklift through the wireless communication module, so that a remote control function is realized, the safety requirement of a special use scene is met, and meanwhile, the electric forklift can be directly connected with the electric forklift without changing the internal structure of the electric forklift, the transformation efficiency is high, and the cost is low; in addition, by arranging the control end and the switching unit, when a remote control function is not needed, the remote control device can be switched to a manual control mode, so that the use flexibility is improved. However, the wireless communication module adopts a 2.4G wireless communication module, which has short communication distance, weak diffraction capability and relatively low receiving sensitivity and cannot adapt to complex industrial use places; the controllable equipment is fixed, the application range is relatively small, and the large-scale application is not facilitated.

Disclosure of Invention

Aiming at the defects of short communication distance, weak diffraction capability, relatively low receiving sensitivity and relatively small use range in the prior art, the invention provides the receiving circuit of the transport equipment controller and the remote control method, which have the advantages of long communication distance, strong diffraction capability, high receiving sensitivity, strong anti-interference capability, wide application range and strong equipment compatibility.

The invention aims to be realized by the following technical scheme:

in a first aspect, the present invention provides an analog and digital signal processing module of a receiving circuit of a handling equipment controller, wherein the analog and digital signal processing module comprises an analog signal processing circuit and a digital signal processing circuit; the analog signal processing circuit comprises a transient voltage suppression diode D1, one end of a transient voltage suppression diode D1 is grounded, the other end of the transient voltage suppression diode D1 is connected with a 4-20mA input signal circuit and the input end of a resistor R5, the output end of the resistor R5 is grounded, the input end of a resistor R5 is connected with the input end of a resistor R4, the output end of the resistor R4 is connected with an INA + pin of a low-noise operational amplifier U1, the output end of the resistor R4 is connected with the input end of a capacitor C2, and the output end of the capacitor C2 is grounded; a resistor R6 for keeping signal stabilization is connected to two ends of the capacitor C2; the + VS pin of the low-noise operational amplifier U1 is externally given with +5V working voltage, and the-VS pin is grounded; the INA-and OUTA pins of the low-noise operational amplifier U1 are connected and then connected with the input end of a resistor R2, the output end of the resistor R2 is connected with the input end of a resistor R3, and the output end of the resistor R3 is grounded; the input end of the second resistor R3 is connected with the input end of the resistor R1, the output end of the resistor R1 is connected with the input end of the capacitor C1, and the output end of the capacitor C1 is connected with the output end of the resistor R3; the output end of the capacitor C1 outputs a 0-3V voltage signal.

In the circuit, 4-20mA is converted into 0-5V analog quantity conversion and signal processing circuit, R5 converts 4-20mA current signals into 0-5V voltage signals, D1 is a TVS transient voltage suppression diode and has the function of eliminating signal surge, R4 and C2 form RC filtering, and R6 has the function of keeping the signals stable. U1 is a low noise operational amplifier, which uses the characteristics of the operational amplifier that the input impedance is large and the output impedance is small to realize the impedance transformation. Since the signal after the conversion is an analog quantity voltage signal of 5V, and the subsequent processor can only receive the analog quantity voltage signal of 3V, a voltage division circuit is constructed by utilizing R2 and R3, so that the maximum output voltage can not exceed 3V, and also R1 and C1 are RC low-pass filters for filtering burrs in the signal.

Preferably, the digital signal processing circuit is composed of an RC filter circuit. And signal interference is filtered, and signal integrity is ensured.

In a second aspect, the invention provides a 485 signal conversion circuit of a receiving circuit of a conveying equipment controller, wherein the 485 signal conversion circuit comprises a first optical coupling isolation circuit, a second optical coupling isolation circuit, a third optical coupling isolation circuit, a 485 processing chip and a 485 bus terminal; the input end of the first optical coupling isolation circuit is connected with the processor, the output end of the first optical coupling isolation circuit is connected with the data input pin of the 485 processing chip, the input end of the second optical coupling isolation circuit is connected with the processor, and the output end of the second optical coupling isolation circuit is connected with the data input enabling pin of the 485 processing chip; the input end of the third optical coupling isolation circuit is connected with a data output pin of the 485 processing chip, and the output end of the third optical coupling isolation circuit is connected with the processor; and the differential mode data transmission pin of the 485 processing chip is connected with a 485 bus terminal.

In the above-mentioned scheme, the analog quantity signal and the switching value signal that come from the remote controller transmission main part are received to wireless communication module, through the simulation, the transmission carries out logical operation and data processing for the treater after the digital signal processing module is handled, the treater sends the operation result after handling for 485 signal conversion circuit through first opto-coupler isolation circuit and second opto-coupler isolation circuit, the signal after 485 signal conversion circuit handles is unified to the RS485 signal, the RS485 signal links to each other with the motor controller who accords with the RS485 bus protocol through the RS485 interface, just can the drive arrangement operation through corresponding control command. Correspondingly, a feedback signal of the motor can convert a 485 differential mode signal into a level signal which can be read by the processor through the 485 processing chip and is transmitted back to the processor through the third optical coupling isolation circuit. The first optical coupling isolation circuit, the second optical coupling isolation circuit and the third optical coupling isolation circuit are used for carrying out photoelectric isolation on exchange data between the processor and the 485 processing chip and isolating signal interference. Any equipment conforming to the RS485 bus protocol can be connected with the 485 bus terminal, the preset function can be realized through the corresponding control command of the processor, and the device has good equipment expansibility. The optical coupler is also called as photoelectric isolator or photoelectric coupler, and the optical coupler is a device for transmitting electric signals by using light as a medium, and has the advantages of small volume, long service life, no contact, strong anti-interference capability, insulation between output and input, unidirectional signal transmission and the like, so that the optical coupler is widely applied to digital circuits.

Preferably, the 485 bus terminal is a pluggable terminal. The field device is convenient to expand and butt joint.

In a third aspect, the invention provides a remote control method for a controller of a conveying device, wherein remote control signals comprise 4-20mA analog quantity signals and switching value digital signals, a lifting button, a descending button and a loudspeaker button on a remote controller are switching value signals, an operating lever controls the device to move forward, and output signals are 4-20mA analog quantity signals; the analog quantity signal is divided into two paths, one path is a front-back walking signal, and the other path is a steering signal; the control method comprises the following steps:

the left and right poking of the operating lever is used for controlling the steering motor to move, and the up and down poking is used for controlling the walking motor to move;

the current is 12mA at the output of the operating lever in a neutral state, and the motor does not move when the current is set to be 11.5-12.5 mA;

the moving speed is reduced from the maximum value to zero when the walking signal is output at 4-11.5 mA, the maximum value of the moving speed is 4-6.5 mA, and the moving speed is reduced from the maximum value to zero when the walking signal is 6.5-11.5 mA; retreating when the output current is 12.5-16.5 mA, wherein the speed is zero when the output current is 12.5mA, the retreating speed is increased from zero to the maximum when the output current is 12.5-16.5 mA, and the retreating speed is maximum when the output current is 16.5-20 mA and comprises 16.5 mA;

the left steering angle is 80 degrees when the steering signal is output at 20-16.5 mA, and the left steering angle is decreased from 80 degrees to 0 degrees when the steering signal is output at 16.5-12.5 mA; when the steering signal is output by 11.5-6.5 mA, the right steering angle is gradually increased from 0 degree to 80 degrees, and when the steering signal is output by 6.5-4 mA, the right steering angle is 80 degrees; 80 degrees is the maximum steering angle;

when the control rod controls the motor to move forwards, the lifting or descending switching value signal is not executed, and the signal of the horn button is normally executed; when the lifting or falling signals are output at the same time, the lifting or falling signals are not executed; when the up or down signal is output, the control signal of the joystick is not executed.

Compared with the prior art, the invention has the following beneficial effects:

the anti-interference capability is strong, and the device can adapt to severe industrial environment; the adopted modules are all the existing mature products, and the cost is low. The RS-485 protocol is a serial bus standard widely adopted when the communication distance is dozens of meters to thousands of meters, all devices conforming to the RS485 bus protocol can be connected in an extensible mode, and the device compatibility is strong.

Drawings

FIG. 1 is a schematic structural diagram of a remote control transceiver;

FIG. 2 is a schematic diagram of a remote controller;

FIG. 3 is a schematic block diagram of a remote control transceiver;

FIG. 4 is a circuit diagram of an analog signal processing circuit;

fig. 5 is a 485 signal conversion circuit diagram.

The labels in the figure are: 1. 485 signal conversion circuit; 101. a first opto-isolator circuit; 102. a second opto-isolator circuit; 103. a third opto-isolator circuit; 104. 485 processing chip; 105. 485 bus terminals; 2. analog and digital signal processing modules; 201. an analog signal processing circuit; 202. a digital signal processing circuit; 3. a wireless communication module; 4. a processor; 5. and a power supply module.

Detailed Description

The invention will be further described with reference to examples of embodiments shown in the drawings to which:

example 1

As shown in fig. 1 and 3, the remote controller receiving main body comprises a power supply module 5, a processor 4, a wireless communication module 3 and a processing circuit for wireless signals, wherein the processing circuit for wireless signals comprises an analog signal processing module 2, a digital signal processing module 2 and a 485 signal conversion circuit 1. The wireless communication module 3 in this embodiment is a 433M wireless communication module. 433M wireless communication has strong anti-interference, supports various point-to-point, point-to-multipoint wireless data communication modes, has the characteristics of integrated receiving and transmitting, safety isolation, installation isolation, simple use, high cost performance, stability, reliability and the like, and has no problem in long-distance transmission as long as the transmitting power is large enough. Is particularly suitable for the industrial field with severe application.

As shown in fig. 2 and 3, the lifting button, the descending button and the horn button are high and low level switching value signals, the control lever controls two paths of 4-20mA analog quantity signals output during the advancing of the forklift, and the two paths of 4-20mA analog quantities respectively control the movement of the walking motor and the movement of the steering motor. The control method comprises the following steps:

the current is 12mA output by the operating lever in a middle position state, and the motor does not move when the current is set to be 11.5-12.5 mA in order to avoid the situations of vibration of a remote controller and the like at ordinary times;

the left steering angle is 80 degrees when the steering signal is output at 20-16.5 mA, and the left steering angle is decreased from 80 degrees to 0 degrees when the steering signal is output at 16.5-12.5 mA; when the steering signal is output to 11.5-6.5 mA, the right steering angle is 0-80 DEGGradually increasing, wherein the right steering angle is 80 degrees at 6.5-4 mA; 80 degrees is the maximum steering angle;

The wireless communication module 3 receives the analog quantity signal and the switching value signal from the remote controller transmitting main body, and the analog quantity signal and the switching value signal are transmitted to the processor 4 for logic operation and data processing after being processed by the analog signal processing module 2 and the digital signal processing module 2. For signals of 4-20mA, as the processor 4 in the subsequent receiving circuit can not receive the current signal, a process of current-voltage conversion is carried out:

as shown in fig. 4, the analog signal processing circuit 201 includes a transient voltage suppressor diode D1, one end of the transient voltage suppressor diode D1 is grounded, the other end of the transient voltage suppressor diode D1 is connected to the 4-20mA input signal circuit and the input end of a resistor R5, the output end of the resistor R5 is grounded, the input end of the resistor R5 is connected to the input end of a resistor R4, the output end of the resistor R4 is connected to the INA + pin of the low noise operational amplifier U1, the output end of the resistor R4 is connected to the input end of a capacitor C2, and the output end of the capacitor C2 is grounded; a resistor R6 for keeping signal stabilization is connected to two ends of the capacitor C2; the + VS pin of the low-noise operational amplifier U1 is externally given with +5V working voltage, and the-VS pin is grounded; the INA-and OUTA pins of the low-noise operational amplifier U1 are connected and then connected with the input end of a resistor R2, the output end of the resistor R2 is connected with the input end of a resistor R3, and the output end of the resistor R3 is grounded; the input end of the second resistor R3 is connected with the input end of the resistor R1, the output end of the resistor R1 is connected with the input end of the capacitor C1, and the output end of the capacitor C1 is connected with the output end of the resistor R3; the output end of the capacitor C1 outputs a 0-3V voltage signal. The voltage signal is transmitted to the processor 4 for processing, then transmitted to the 485 signal conversion circuit 1 for conversion into a 485 differential mode signal, and then transmitted to the motor controller through the 485 bus terminal 105 to control the motor to act.

In the analog signal processing circuit 201, R5 converts a 4-20mA signal into a 0-5V signal, D1 has the function of eliminating the surge of the signal, R4 and C2 form RC filtering, and R6 has the function of keeping the signal stable. The model of the low-noise operational amplifier U1 is SGM8532XS/TR, and the characteristics of large input impedance and small output impedance of the operational amplifier are utilized to realize impedance conversion. Since the signal after the conversion is a 5V signal, and the subsequent processor 4 can only receive a 3V analog signal, a voltage dividing circuit is constructed by using R2 and R3, so that the maximum output voltage does not exceed 3V, and similarly, R1 and C1 are RC low-pass filters for filtering out glitches in the signal.

In order to ensure the integrity of the signal, RC filtering is also designed in the digital signal processing circuit 202, which is similar to the analog signal filtering and will not be described again.

As shown in fig. 5, the instruction data processed by the analog and digital signal processing module 2 is transmitted to the 485 processing chip 104 through the first optical coupling isolation circuit 101 and the second optical coupling isolation circuit 102, the model of the 485 processing chip 104 in this embodiment is MAX485/SP485, wherein the pin D of the 485 processing chip 104 is a data input end, the pin DE is an enable end of the pin D, when the pin DE transmitted to the 485 processing chip 104 by the second optical coupling isolation circuit 102 is a high level signal, the data transmitted to the pin D by the first optical coupling isolation circuit 101 is converted into a differential mode signal by the 485 processing chip 104, and is output to the 485 bus terminal 105 through the pins a and B of the 485 processing chip 104. Similarly, pins a and B of the 485 processing chip 104 receive a feedback signal from the motor controller through the 485 bus terminal 105, the differential mode signal is converted into a level signal by the 485 processing chip 104, and the level signal is output through a pin R and is transmitted to the processor 4 through a third isolation optocoupler circuit for logic operation processing.

The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications or additions may be made to the described embodiments or alternatives may be employed by those skilled in the art without departing from the spirit or ambit of the invention as defined in the appended claims.

Claims

1. An analog and digital signal processing module (2) of a receiving circuit of a handling equipment controller, characterized in that the analog and digital signal processing module (2) comprises an analog signal processing circuit (201) and a digital signal processing circuit (202); the analog signal processing circuit (201) comprises a transient voltage suppression diode D1, one end of a transient voltage suppression diode D1 is grounded, the other end of the transient voltage suppression diode D1 is connected with a 4-20mA input signal circuit and the input end of a resistor R5, the output end of the resistor R5 is grounded, the input end of a resistor R5 is connected with the input end of a resistor R4, the output end of the resistor R4 is connected with an INA + pin of a low-noise operational amplifier U1, the output end of the resistor R4 is connected with the input end of a capacitor C2, and the output end of the capacitor C2 is grounded; a resistor R6 for keeping signal stabilization is connected to two ends of the capacitor C2; the + VS pin of the low-noise operational amplifier U1 is externally given with +5V working voltage, and the-VS pin is grounded; the INA-and OUTA pins of the low-noise operational amplifier U1 are connected and then connected with the input end of a resistor R2, the output end of the resistor R2 is connected with the input end of a resistor R3, and the output end of the resistor R3 is grounded; the input end of the second resistor R3 is connected with the input end of the resistor R1, the output end of the resistor R1 is connected with the input end of the capacitor C1, and the output end of the capacitor C1 is connected with the output end of the resistor R3; the output end of the capacitor C1 outputs a 0-3V voltage signal.

2. An analog, digital signal processing module (2) of a handling device controller receiver circuit according to claim 1, characterized in that the digital signal processing circuit (202) consists of an RC filter circuit.

3. A485 signal conversion circuit of a receiving circuit of a conveying equipment controller is characterized in that the 485 signal conversion circuit (1) comprises a first optical coupling isolation circuit (101), a second optical coupling isolation circuit (102), a third optical coupling isolation circuit (103), a 485 processing chip (104) and a 485 bus terminal (105); the input end of the first optical coupling isolation circuit (101) is connected with the processor (4), the output end of the first optical coupling isolation circuit is connected with the data input pin of the 485 processing chip (104), the input end of the second optical coupling isolation circuit (102) is connected with the processor (4), and the output end of the second optical coupling isolation circuit is connected with the data input enabling pin of the 485 processing chip (104); the input end of the third optical coupling isolation circuit (103) is connected with the data output pin of the 485 processing chip (104), and the output end of the third optical coupling isolation circuit is connected with the processor (4); and the differential mode data transmission pin of the 485 processing chip (104) is connected with a 485 bus terminal (105).

4. A 485 signal conversion circuit for a receiving circuit of a handling equipment controller according to claim 3, characterized in that the 485 bus terminals (105) are pluggable terminals.

5. A remote control method for a controller of a carrying device comprises the steps that remote control signals comprise 4-20mA analog quantity signals and switching value digital signals, a lifting button, a descending button and a loudspeaker button on a remote controller are switching value signals, an operating rod controls the device to move forward, and output signals are 4-20mA analog quantity signals; the analog quantity signal is divided into two paths, one path is a front-back walking signal, and the other path is a steering signal; the control method is characterized by comprising the following steps:

the traveling signal is output at 4-11.5 mA, the maximum value of the traveling speed is 4-6.5 mA, and the traveling signal is advanced at 6.5-11.5 mAThe speed is decreased from the maximum value to zero; retreating when the output current is 12.5-16.5 mA, wherein the speed is zero when the output current is 12.5mA, the retreating speed is increased from zero to the maximum when the output current is 12.5-16.5 mA, and the retreating speed is maximum when the output current is 16.5-20 mA and comprises 16.5 mA;