CN114637242A - Equipment control method and system based on embedded chip - Google Patents
Equipment control method and system based on embedded chip Download PDFInfo
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Abstract
The invention provides a device control method and a system based on an embedded chip, wherein the system comprises the following steps: the power supply module, the control part and the input and output part; after the 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through the isolation module to supply power to each circuit module power supply, and the CAN communication is used for communicating with each sub-module stage; and the network port is used for data interaction with the upper system WCS, and the positioning and walking are realized by using a mode of combining an encoder and photoelectricity. The equipment control system based on the embedded chip is flexible to control, high in expandability, low in cost and small in size.
Description
Technical Field
The invention belongs to the field of automatic logistics equipment, and particularly relates to an equipment control method and system based on an embedded chip.
Background
The four-way shuttle vehicle refers to a storage robot capable of shuttling in four directions (front, back, left and right) in a plane, and is mainly different from a traditional two-way shuttle vehicle (forward and backward). Compared with the AGV, the shuttle robot needs to run on the track, and when running on the fixed track, the speed of the trolley is faster, and the positioning is more accurate. The four-way shuttle vehicle is mainly divided into two types, namely a material box type shuttle vehicle and a pallet type shuttle vehicle according to different processing unit types. The two versions each have different characteristics. The material box type four-way shuttle is a robot for storing and taking material boxes, and the corresponding technologies comprise Miniload, a multi-layer shuttle and the like. The four-way shuttle car technology is a revolutionary technology in the logistics storage system, especially a box type four-way shuttle car, the main purpose of the four-way shuttle car technology is to provide rapid access service for goods-to-people (robot) sorting, although the application history is not long, the four-way shuttle car technology has attracted wide attention of the industry, and the four-way shuttle car technology is regarded as an important component part of a future intelligent logistics system. At present, the logistics equipment is generally controlled in a PLC control mode, the PLC is high in cost and inflexible in control, and the external Internet of things and other modules are limited.
Disclosure of Invention
The embodiment of the application provides an equipment control method and system based on an embedded chip, and the equipment control method and system are flexible in control, high in expandability, low in cost and small in size.
In a first aspect, an embodiment of the present application provides an apparatus control system based on an embedded chip, including: the power supply module, the control part and the input and output part; after the 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through the isolation module to supply power to each circuit module power supply, and the CAN communication is used for communicating with each submodule level; and the network port is used for data interaction with the upper-layer system WCS, and the positioning and walking are realized by combining an encoder and photoelectricity.
Wherein, the 5V power supply 1 supplies power for the DA chip reference voltage source and the EEPROM; the 5V power supply 2 supplies power for the 485 chip, the 232 chip, the CAN chip, the reverser, the buffer and the input and output optical coupler; and the 3.3V power supply supplies power for the STM32F429, the network port driving chip and the FLASH chip.
The control part takes a CPU as a control core, and comprises a peripheral reset circuit, a crystal oscillator circuit and a storage circuit, wherein the main chip adopts an intentional semiconductor STM32F429IIT6 processor and uses an ARM32 bit Cortex-M3 CPU.
In the input and output part, a 5V power supply 2 supplies power to a low-speed optocoupler and a high-speed optocoupler, an input module is used for receiving, all parameters in the production process are input to a main chip through optocoupler isolation for instruction processing and data output, an output module is used for sending information obtained after operation of a programmable controller, and various controls of an industrial field are completed through an executing mechanism outside the machine; an analog output interface is also provided.
In a second aspect, the present application provides an apparatus control method based on an embedded chip, including: after the 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through the isolation module to supply power to the power supply of each circuit module, and the CAN communication is used for communicating with each submodule level; and the net port is used for data interaction with the upper layer system WCS, and the positioning and walking are realized by combining an encoder and an optical circuit.
Wherein, still include: the storage battery supplies power to the controller, and the input point corresponding to the controller is connected with the origin point photoelectricity and the front and back positioning photoelectricity; after the photoelectric inlet is positioned at the front and the back, the input point corresponding to the controller is changed from 0V to 24V; after the origin point photoelectricity irradiates the reflector, the input point corresponding to the controller is changed from 0V to 24V.
Wherein, still include: the input point of the controller is connected with the reversing photoelectricity, and when the voltage of the input point is changed from 0V to 24V, the controller sends out an instruction to enable the jacking driver to output a servo ON signal, so that the jacking motor rotates to achieve the reversing function.
Wherein, still include: the controller is connected with the walking driver and the encoder, when the omnidirectional picking robot moves, the encoder outputs a pulse signal to the controller, and when the WCS sends a goods picking signal to the controller, the controller receives the signal and then sends the data of the destination to the walking driver through CAN communication to complete a walking task.
Wherein, still include: and respectively giving instructions to the vacuum chuck and the elevator driver through CAN communication.
In a third aspect, the application provides an automatic logistics device, which comprises any one of the embedded chip-based device control systems.
The equipment control method and the system based on the embedded chip have the following beneficial effects:
the equipment control system based on the embedded chip comprises: the power supply module, the control part and the input and output part; after the 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through the isolation module to supply power to the power supply of each circuit module, and the CAN communication is used for communicating with each submodule level; and the network port is used for data interaction with the upper system WCS, and the positioning and walking are realized by using a mode of combining an encoder and photoelectricity. The device control system based on the embedded chip is flexible in control, high in expandability, low in cost and small in size.
Drawings
Fig. 1 is a schematic structural diagram of an embedded chip-based device control system according to an embodiment of the present application;
FIG. 2 is a schematic diagram of a functional module of an embedded chip-based device control system according to an embodiment of the present disclosure;
FIG. 3 is a first circuit diagram of an input/output portion of an embedded chip-based device control system according to an embodiment of the present disclosure;
FIG. 4 is a second circuit diagram of an input/output portion of an embedded chip-based device control system according to an embodiment of the present application;
fig. 5 is a third circuit diagram of an input/output portion in the embedded chip-based device control system according to the embodiment of the present application.
Detailed Description
The present application is further described with reference to the following figures and examples.
In the following description, the terms "first," "second," and the like are used for descriptive purposes only and are not to be construed as indicating or implying relative importance. The following description provides embodiments of the invention, which may be combined with or substituted for various embodiments, and this application is therefore intended to cover all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes feature A, B, C and another embodiment includes feature B, D, then this application should also be construed to include embodiments that include one or more of all other possible combinations of A, B, C, D, even though such embodiments may not be explicitly recited in the text below.
The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, the described methods may be performed in an order different than the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
The control system of the automatic logistics equipment in the prior art has the following defects: the cost is high, the control mode is not flexible enough, the volume is large, the control of each equipment needs to be customized, and the subsequent expansion capability is not strong.
As shown in fig. 1 to 5, the embedded chip-based device control system of the present application includes: the power module 201, the control module 202, the input/output module 203 and the communication module 204 are sequentially connected, wherein the power module 201 is connected with the control module 202 and the input/output module 203, and the communication module 204 is connected with the control module 202. After the 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through the isolation module to supply power to each circuit module power supply, and the CAN communication is used for communicating with each submodule level; and the network port is used for data interaction with the upper-layer system WCS, and the positioning and walking are realized by combining an encoder and a photoelectric device.
A controller Area network can (controller Area network) belongs to the field bus category, and is a serial communication network for effectively supporting a distributed control system. Is a serial communication bus developed by the company bosch, germany, especially for the automotive industry in the 80 s of 20 th. The automobile air conditioner is more and more emphasized by people due to high performance, high reliability and unique design, and is widely applied to the fields of automobile industry, aviation industry, industrial control, safety protection and the like. The CAN bus is a line for transmitting data between different ECUs (electronic control units), and the CAN bus protocol is a serial communication protocol that is ISO international standardization. The CAN bus structure comprises two lines of CAN _ H and CAN _ L and a plurality of nodes. Where the CAN _ H and CAN _ L wires are wound in twisted pairs, each node has a CAN transceiver (transmitter) and a CAN controller (controller), which may be integrated on-chip or off-chip. On the CAN bus, signals are represented in a voltage form, and CAN signals are represented by potential differences on CAN _ H and CAN _ L lines and are divided into a dominant level (dominant) type and a recessive level (recessive) type. Where the dominant level is specified as a logic 0 and the recessive level is a logic 1.
The WCS is a short for warehouse control system, is a layer of management control system between the WMS system and the PLC system, can coordinate the operation of various logistics devices such as a conveyor, a stacker, a shuttle vehicle, a robot, an automatic guided vehicle and other logistics devices, optimizes and decomposes tasks and analyzes execution paths mainly through a task engine and a message engine, provides execution guarantee and optimization for scheduling instructions of an upper layer system, and realizes integration, unified scheduling and monitoring of various device system interfaces.
The position detection device is used as an important component of transmission control, the function of the position detection device is to detect the displacement, send a feedback signal to be compared with a command signal sent by the control device, and if the deviation exists, the position detection device controls the execution component to move towards the direction of eliminating the deviation after being amplified until the deviation is equal to zero. In order to improve the accuracy of the mechanical device, the accuracy of the detection element and the detection system must be improved. Among them, the rotary encoder, the linear encoder (grating ruler, magnetic grating ruler), the rotary transformer, the tachogenerator and so on are relatively common, wherein the encoder is one of the most common detection devices of various machines, and the encoder is used as a signal detection method, and has been widely used in the industrial automation field. The encoder is various in types, and different industry users have different requirements on parameters and specifications of the encoder.
The encoder is classified into a read-out type, and there are a contact type and a non-contact type. The contact type adopts a brush output, and the brush contacts a conductive area or an insulating area to represent that the state of the code is '1' or '0'; the non-contact type receiving sensor is a photosensor or a magnetosensor, and when the photosensor is used, the state of the code is "1" or "0" as represented by a light-transmitting region and a light-opaque region. Encoders are classified according to detection principles, and include optical, magnetic, inductive, and capacitive types. The encoder is classified into a linear encoder (a grating scale, a magnetic grating scale) and a rotary encoder in a measurement manner. The encoder is classified according to a signal principle (a scale method and a signal output form), and includes an incremental encoder, an absolute encoder and a hybrid encoder.
In some embodiments, the 5V power supply 1 supplies power to the DA chip reference voltage source and the EEPROM; the 5V power supply 2 supplies power for the 485 chip, the 232 chip, the CAN chip, the reverser, the buffer and the input and output optical coupler; and the 3.3V power supply supplies power for the STM32F429, the network port driving chip and the FLASH chip.
In the application, the power supply input voltage 24V is output by the power supply module to +15V, -15V, +5V, +3.3V, and is supplied to the network port, the can chip, the FLASH, the input/output module and the CPU. The control part takes a CPU as a control core, and consists of a peripheral reset circuit, a crystal oscillator circuit and a storage circuit; the main chip adopts an ST (semiconductor by implication) STM32F429IIT6 processor, an ARM 32-bit Cortex-M3CPU is used, a self-adaptive real-time accelerator (ART accelerator) can enable a program to be executed on FLASH at the highest 120MHz frequency, the running performance of a zero-waiting state can be realized, a memory protection unit is arranged in the main chip, and the performance of up to 150DMIPS/1.25DMIPS/MHz can be realized. FLASH memory up to 1 Mbyte, dynamic password memory 512 bytes, SRAM 128+4KB bytes, flexible static memory controller, support for CF card, SRAM, PSRAM, NOR and NAND memory.
In the present application, the input-output section: the low-speed optical coupler and the high-speed optical coupler are powered by 5V, the input module is used for receiving, all parameters in the production process are input to the main chip through optical coupler isolation for instruction processing and data output, the output module is used for sending information obtained after operation of the programmable controller, and various controls of an industrial field are completed through an executing mechanism outside the machine; an analog output interface can also be provided. The optical coupler isolation is isolation by adopting an optical coupler. The structure of the optical coupler is equivalent to packaging the light emitting diode and the photosensitive diode together. The optical coupling isolation circuit ensures that the two isolated circuits are not directly connected electrically, and mainly prevents the interference caused by the connection electrically, particularly between a low-voltage control circuit and an external high-voltage circuit. The main components of the optical coupler are a light emitting device and a light sensing device, the light emitting device is generally an IRLED, the light receiving device is in the types of a photosensitive diode, a photosensitive triode, a Darlington tube, an optical integrated circuit and the like, and in a high-frequency switching power supply, the requirement on the response speed of the optical coupler is high, so that the high-speed type with quick response is generally adopted, and the delay time is within 500 nS. When the optical coupler is used for transmitting analog signals or direct current signals, the linear optical coupler is adopted to reduce distortion, and when the digital switching signals are transmitted, the requirement on the linearity is not strict.
The logistics automation equipment controller controls all logistics automation equipment, reduces the cost of the control system, and reduces the size of the equipment controller.
In some embodiments, the system of the present application comprises: the device comprises a power supply module (18V-70V input voltage stabilized to 24V for supplying power to the whole circuit), a main control chip, an optical coupling isolation module, a 485 serial port module, a CAN communication module, an IO input/output module, an analog voltage output module, an encoder detection module, an LED display module, a switch module, a network interface module and a storage module.
The equipment control method based on the embedded chip comprises the following steps: s101, after a 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through an isolation module to supply power to each circuit module power supply, and CAN communication is performed with each sub-module level; and S103, performing data interaction with an upper system WCS by using a network interface, and realizing positioning and walking by using a mode of combining an encoder and a photoelectric device.
The method can be flexibly applied to various industrial automatic control occasions, such as production machinery, industrial production lines and industrial control equipment of various machine tools in the industries of metallurgy, chemical industry, plastics, light textile, food, packaging, printing, building materials, woodworking, laser welding and cutting, environmental protection equipment, single process control devices and the like.
The controller is listed in the practical case of the omnidirectional picking robot: a reciprocating shuttle control device capable of storing and lifting is characterized in that a storage battery is connected with a controller to provide a load, and an input point corresponding to the controller is connected with an original point photoelectricity (reflection photoelectricity) and a front and back positioning photoelectricity; after the photoelectric inlet is positioned at the front and the back, the input point corresponding to the controller is changed from 0V to 24V; after the origin point photoelectrically irradiates the reflector, the input point corresponding to the controller is changed from 0V to 24V; the input point of the controller is connected with the reversing photoelectricity, when the voltage of the input point is changed from 0V to 24V, the controller sends out an instruction, so that the jacking driver outputs a servo ON signal (the level is changed from 0V to 24V) to enable the jacking motor to rotate to achieve the reversing function; the controller is connected with the walking driver and the encoder, and when the omnidirectional picking robot moves, the encoder outputs a pulse signal to the controller; when the WCS sends a goods taking signal (for example, a No. 3 goods position) to the controller, the controller receives the signal and then sends data of a destination to the walking driver through CAN communication to complete a walking task; and respectively giving instructions to the vacuum chuck and the elevator driver through CAN communication.
The application also provides automatic logistics equipment which comprises any one of the equipment control system based on the embedded chip.
The invention takes a single chip as a base, autonomously designs a controller platform as the core of the whole control system, has flexible control, can control different types of logistics equipment, is greatly helpful for the subsequent access of the Internet of things and sensor modules, and has the cost of 1/5 of PLC. The application uses the single chip microcomputer as an embedded control platform of a control core, and can control the automatic logistics equipment.
In the present application, the embodiment of the device control method based on the embedded chip is basically similar to the embodiment of the device control system based on the embedded chip, and for the relevant points, reference is made to the description of the embodiment of the device control system based on the embedded chip.
It is clear to a person skilled in the art that the solution according to the embodiments of the invention can be implemented by means of software and/or hardware. The "unit" and "module" in the present specification refer to software and/or hardware capable of performing a specific function independently or in cooperation with other components, wherein the hardware may be, for example, an FPGA (Field-Programmable Gate Array), an IC (Integrated Circuit), or the like.
In the several embodiments provided in the present application, it should be understood that the disclosed system and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or certain features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
All functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. An embedded chip-based device control system, comprising: the device comprises a power module, a control part, an input and output part and a communication module; after the 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through the isolation module to supply power to each circuit module power supply, and the CAN communication is used for communicating with each sub-module stage; and the net port is used for data interaction with the upper system WCS, and the positioning and walking are realized by combining an encoder and a photoelectric device.
2. The embedded chip-based device control system according to claim 1, wherein the 5V power supply 1 supplies power to a DA chip reference voltage source and an EEPROM; the 5V power supply 2 supplies power for the 485 chip, the 232 chip, the CAN chip, the reverser, the buffer and the input and output optical coupler; and the 3.3V power supply supplies power for the STM32F429, the network port driving chip and the FLASH chip.
3. The embedded chip based device control system according to claim 2, wherein the control part uses a CPU as a control core, and comprises a peripheral reset circuit, a crystal oscillator circuit and a storage circuit, and the main chip adopts an ideological semiconductor STM32F429IIT6 processor and uses an ARM32 bit Cortex-M3 CPU.
4. The embedded chip-based device control system according to any one of claims 1-3, wherein the input/output section supplies power to the low-speed and high-speed optocouplers through a 5V power supply 2, the input module is used for receiving, the parameters of the production process are input to the main chip through optocoupler isolation for instruction processing and data output, the output module is used for sending information obtained after operation of the programmable controller, and various controls of the industrial field are completed through an external execution mechanism; an analog output interface is also provided.
5. An equipment control method based on an embedded chip is characterized by comprising the following steps: after the 24V power supply is input, voltages of +/-15V, 5V, 12V and 3.3V are output through the isolation module to supply power to each circuit module power supply, and the CAN communication is used for communicating with each submodule level; and the network port is used for data interaction with the upper system WCS, and the positioning and walking are realized by using a mode of combining an encoder and photoelectricity.
6. The embedded chip-based device control method according to claim 5, further comprising: the storage battery supplies power to the controller, and the input point corresponding to the controller is connected with the origin photoelectricity and the front and back positioning photoelectricity; after the photoelectric inlet is positioned at the front and the back, the input point corresponding to the controller is changed from 0V to 24V; after the origin point photoelectrically irradiates the reflector, the input point corresponding to the controller is changed from 0V to 24V.
7. The embedded chip-based device control method according to claim 6, further comprising: the input point of the controller is connected with the reversing photoelectricity, and when the voltage of the input point is changed from 0V to 24V, the controller sends out an instruction to enable the jacking driver to output a servo ON signal, so that the jacking motor rotates to achieve the reversing function.
8. The embedded chip-based device control method according to any one of claims 5 to 7, further comprising: the controller is connected with the walking driver, the controller is connected with the encoder, when the omnidirectional picking robot moves, the encoder outputs a pulse signal to the controller, and when the WCS sends a goods picking signal to the controller, the controller receives the signal and then sends data of a destination to the walking driver through CAN communication to complete a walking task.
9. The embedded chip-based device control method according to any one of claims 5 to 7, further comprising: and respectively sending instructions to the vacuum chuck and the elevator driver through CAN communication.
10. An automated logistics apparatus comprising the embedded chip-based apparatus control system of any one of claims 1 to 4.
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| CN112305968A (en) * | 2020-11-02 | 2021-02-02 | 普罗格智芯科技(湖北)有限公司 | Controller |
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| CA3034986A1 (en) * | 2016-09-09 | 2018-03-15 | Socovar, Societe En Commandite | Checksum-filtered decoding, checksum-aided forward error correction of data packets, forward error correction of data using bit erasure channels and sub-symbol level decoding for erroneous fountain codes |
| CN109691027A (en) * | 2016-09-14 | 2019-04-26 | T移动美国公司 | Application level service quality test system |
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