CN115755714A - Vehicle-mounted controller supporting cascade active-standby switching - Google Patents

Abstract

The invention discloses a vehicle-mounted controller supporting cascaded master-slave switching, which comprises a CPU control module, an AD acquisition module, a communication module, an IO interface module and a master-slave switching module, wherein the CPU control module is used for acquiring the AD information of a vehicle; the CPU control module mainly comprises a nationwide production CPU, a status indicator light, an operating system, a control software algorithm and the like; the AD acquisition module mainly comprises an analog quantity conditioning circuit and an AD chip circuit; the communication module mainly comprises an RS-485 circuit, an RS-232 circuit, a CAN circuit, an Ethernet communication circuit and an RSSD circuit; the IO interface module mainly comprises a digital quantity input module and a digital quantity output module; the main/standby switching module mainly comprises a main/standby switching circuit of the controller. The invention solves the problem of low localization degree of the existing vehicle-mounted controller, and the communication module interface is integrated through the connector, thereby improving the flexibility and compatibility of the use of customers; the controller supports cascade connection, and the reliability is improved by main-standby switching.

Description

Vehicle-mounted controller supporting cascade active-standby switching

Technical Field

The invention relates to the field of AGV control, in particular to a nationwide production vehicle-mounted controller supporting cascade master-slave switching.

Background

In the field of AGV control, a control system needs to have high real-time performance to ensure stable and reliable operation of the AGV, and currently, operating systems such as u-cos, vxWorks and FreeRTOS adopted by most control software are controlled abroad, so that certain risks are generated. Meanwhile, most imported chips are affected by sanctions, and the condition of goods shortage and goods break occurs, so that the localization of the vehicle-mounted controller is very strong in necessity. In addition, the reliability of data transmission processing in the domestic controller is not sufficient. Therefore, it is very important to design a nationwide production vehicle-mounted controller supporting the cascade active-standby switching.

Disclosure of Invention

The invention aims to overcome the existing problems and provides a nationwide production vehicle-mounted controller supporting cascade active-standby switching, which comprises the following components: the hardware chip connector is nationwide in production and type selection, the control software codes of the operating system are fully independently controllable, and the controller cascade connection supports the main-standby switching to improve the reliability.

In order to achieve the purpose, the invention adopts the following technical scheme:

a nationwide production vehicle-mounted controller supporting cascade active-standby switching is composed of a CPU control module, an AD acquisition module, a communication module, an IO interface module and an active-standby switching module; the hardware is a nationwide chip and a connector, and the software is an autonomous controllable operating system.

The CPU control module selects a nationwide CPU, uses a domestic operating system and controls software to realize autonomous control;

the AD acquisition module comprises an analog quantity conditioning circuit and an AD chip circuit, is electrically connected with the CPU control module, conditions a voltage/current signal output by the sensor and is used for the AD chip to acquire; the AD chip works in a serial mode and sends the acquired information to the CPU control module; and (4) carrying out differential input on signals of the analog quantity conditioning circuit.

The communication module comprises an RS-485 communication circuit, an RS-232 communication circuit, a CAN communication circuit, an Ethernet communication circuit and an RSSD circuit, and is used for communicating with devices such as an upper computer, an industrial personal computer, a driver, a sensor and a remote controller, storing backup parameters and log records.

The IO interface module comprises a digital input circuit and a digital output circuit, and the digital input circuit meets the input of NPN and PNP sensors; the digital output circuit is output by a source power supply and has a load short-circuit protection function.

The main/standby switching module is electrically connected with the CPU control module, and when the two controllers are cascaded, the main controller and the standby controller are arranged through an external switch; when the main controller is set, all functions normally run, and when the standby controller is set, only the information is received and no instruction is sent.

The CPU control module, the AD acquisition module, the communication module, the main and standby switching module are isolated from external power supply by DCDC, the communication module is isolated from external equipment by a chip, and the IO interface module is isolated from the outside by an optical coupler, so that the influence of external interference on communication is reduced.

The master-slave switching module is electrically connected with the CPU control module and the AD acquisition module, and when the master controller is cascaded with the standby controller, the input states of the master-slave switching module are interlocked.

Compared with the prior art, the invention has the beneficial effects that: the invention solves the problem of low localization degree of the existing vehicle-mounted controller and realizes the autonomous control of all software codes. All chips and connectors of the controller realize nationwide production; the communication module interfaces are integrated through the connectors, so that the use flexibility and the compatibility of customers are improved; the controller supports cascade connection, and the reliability is improved by the main-standby switching.

Drawings

Fig. 1 is a schematic structural diagram of a nationwide productive onboard controller supporting cascaded active-standby switching according to the present invention.

Detailed Description

The invention is further described in the following detailed description with reference to the drawings in which:

as shown in fig. 1, the present invention provides a nationwide onboard controller supporting cascaded active-standby switching, which is used for controlling the automatic guided movement of a vehicle body; the nationwide production vehicle-mounted controller can be divided into five functional modules in terms of circuit function, and the five functional modules comprise a CPU control module, an AD acquisition module, a communication module, an IO interface module and a main and standby switching module. The nationwide onboard controller control object is generally an AGV.

The CPU control module selects a nationwide CPU, and uses a domestic embedded operating system SylixOS to carry out multi-task scheduling on control software, the system has short task switching time, stable and reliable operation, and all codes are independently controllable; the CPU main control chip is a domestic Loongson 2K1000 processor, the main frequency is up to 1GHz, the interfaces are numerous, the CPU main control chip comprises 2 communication interfaces such as independent network ports, 6 communication ports 485, 1 communication port 232 and 2 communication ports CAN, a plurality of I/O interfaces and an AD/DA interface extended from an SPI interface; the control software integrates various communication protocols and algorithms to complete the motion control task of the vehicle body; and the running states of the CPU and each interface are displayed in real time through a state indicator lamp.

The AD acquisition module comprises an analog quantity conditioning circuit and an AD chip circuit, is electrically connected with the CPU control module, and is used for conditioning voltage/current signals (0-10V/0-20mA) output by the vehicle body sensor to 0-3.3V for the AD chip to acquire; the AD chip works in a serial mode, supports 8-channel input, has the sampling throughput rate of 200ksps for all channels, and sends acquired information to the CPU control module; the analog quantity conditioning circuit is in signal differential input, and the input end of the analog quantity conditioning circuit is connected with the overvoltage protection circuit.

The communication module comprises an RS-485 circuit, an RS-232 circuit, a CAN circuit, an Ethernet communication circuit and an RSSD circuit, and is electrically connected with the CPU control module; the RS-485 circuit has the maximum data communication rate of 10Mbps and is used for carrying out real-time communication with external equipment such as a sensor, a card reader, a remote controller and the like; the RS-232 circuit has the maximum data communication rate of 120kbps and is used for programming an operating system and a software program; the CAN communication circuit has the maximum data communication rate of 1Mbps and is used for communicating with the steering wheel driver; the gigabit Ethernet communication circuit is used for communicating with an upper computer and an industrial personal computer; the RSSD circuit is used for storing backup parameters and log records. The RS-485, RS-232 and CAN communication circuits are isolated from the outside through digital isolators, and the Ethernet communication circuits are isolated through transformers.

The IO interface module comprises a digital quantity input circuit and a digital quantity output circuit and is electrically connected with the CPU control module; the digital input circuit is used for receiving a digital input signal and supporting NPN and PNP input; the digital output circuit is used for outputting a digital signal, the output type is source power output, and a recoverable fuse is added for protection. The digital input and output circuits are isolated by optical couplers.

The master-slave switching module is electrically connected with the CPU control module and the AD acquisition module, and when the master controller is cascaded with the standby controller, the input states of the master-slave switching module are interlocked. The main/standby switching module is electrically connected with the CPU control module, and when the two controllers are cascaded, the main controller and the standby controller are arranged through an external switch; when the main controller is set, all functions normally run, and when the standby controller is set, the CPU only receives information and does not send instructions.

It should be noted that, some circuits involved in the present invention are known in the art, such as analog conditioning circuit, AD chip circuit, RS-485, RS-232, CAN, ethernet communication circuit, RSSD circuit, digital input circuit, digital output circuit, etc., and will not be described herein again.

The invention solves the problem of low localization degree of the existing vehicle-mounted controller and realizes the autonomous control of an operating system and software codes. All chips and connectors of the controller realize nationwide production; the communication module interfaces are integrated through the connectors, so that the use flexibility and the compatibility of customers are improved; the controller supports cascade connection, and the reliability is improved by the main-standby switching.

Further, it should be understood that various changes or modifications of the present invention can be made by those skilled in the art after reading the teaching of the present invention, and these equivalents also fall within the scope of the claims appended to the present application.

Claims (7)

1. A vehicle-mounted controller supporting cascaded master-slave switching is characterized by comprising a CPU control module, an AD acquisition module, a communication module, an IO interface module and a master-slave switching module; wherein:

the CPU control module is electrically connected with the AD acquisition module, the communication module, the IO interface module and the main/standby switching module;

the AD acquisition module inputs a current and voltage signal of an external sensor and sends the signal to the CPU control module through conditioning conversion;

the communication module is used for the communication between the CPU control module and external devices such as an upper computer, an industrial personal computer, a driver, a sensor, a remote controller and the like, and storing backup parameters and log records;

the IO interface module comprises a digital input circuit and a digital output circuit;

the main/standby switching module is controlled by a main/standby switching switch of an external controller.

2. The vehicle-mounted controller supporting cascaded master-slave switching according to claim 1, wherein the AD acquisition module comprises an analog conditioning circuit and an AD chip circuit; the sampling interface sends the acquired data to the analog quantity conditioning circuit, and the data is conditioned and then sent to the AD chip circuit; the analog quantity conditioning circuit conditions the input voltage/current signal into a voltage signal of 0 to 3.3V; in the AD chip circuit, the sampling throughput rate of all channels is 200ksps, and the AD chip works in a serial mode.

3. The vehicle-mounted controller supporting cascaded master-slave switching according to claim 1, wherein the communication module comprises an RS-485, an RS-232, a CAN, an ethernet communication circuit and an RSSD circuit; the RS-485 circuit is used for carrying out real-time communication with external equipment such as a sensor, a card reader, a remote controller and the like; the RS-232 circuit is used for programming an operating system and a software program; the CAN communication circuit is used for communicating with the driver; the Ethernet communication circuit is used for communicating with an upper computer and an industrial personal computer; the RSSD circuit is used for storing backup parameters and log records.

4. The vehicle-mounted controller supporting the cascaded main-standby switching according to claim 1, wherein the IO interface module comprises a digital input circuit and a digital output circuit, PNP and NPN input and source transistor output are realized, and an output interface has a protection function.

5. The vehicle-mounted controller supporting the cascaded active-standby switching according to claim 1, wherein the controller is set as a main controller, all functions are normally operated, and the controller is set as a standby controller, and only receives information and does not send instructions.

6. The vehicle-mounted controller supporting cascaded main-standby switching according to claim 1, wherein the CPU control module, the AD acquisition module, the communication module, and the main-standby switching module are isolated from an external power supply by using DCDC, the communication module is isolated from an external device by using a chip, and the IO interface module is isolated from the outside by using an optical coupler.

7. The vehicle-mounted controller supporting cascaded master-slave switching according to any one of claims 1 to 6, wherein the master-slave switching module is electrically connected with the CPU control module and the AD acquisition module, and when the master controller is cascaded with the standby controller, input states of the master-slave switching module are interlocked.

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