CN201867651U - Landmark sensor for automatic guided vehicle - Google Patents
Landmark sensor for automatic guided vehicle Download PDFInfo
- Publication number
- CN201867651U CN201867651U CN2010206377032U CN201020637703U CN201867651U CN 201867651 U CN201867651 U CN 201867651U CN 2010206377032 U CN2010206377032 U CN 2010206377032U CN 201020637703 U CN201020637703 U CN 201020637703U CN 201867651 U CN201867651 U CN 201867651U
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- microcontroller
- guided vehicle
- automatic guided
- output
- magnetic sensor
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Abstract
The utility model relates to a landmark sensor for an automatic guided vehicle, comprising a magnetic signal acquisition circuit, a microcontroller and an isolation output circuit. The magnetic signal acquisition circuit is connected to the input end of the microcontroller by an SPI (Single Program Initiation) bus, and the output end of the microcontroller outputs IO (input-output) signals by the isolation output circuit. In the landmark sensor, a control circuit and the signal acquisition circuit are isolated from the outside completely so as to avoid external interference, therefore, the requirements on parking and positioning of the automatic guided vehicle can be met, and the cost of the whole automatic guided vehicle can be lowered.
Description
Technical field
The utility model relates to a kind of sensor that is applied in the automatic guided vehicle, a kind of specifically automatic guided vehicle terrestrial reference sensor.
Background technology
The parking of automatic guide vehicle location is to read the ground magnetic stripe location of stopping by the terrestrial reference sensor that is installed in guide car, the external manufacturer of the general employing of terrestrial reference sensor, relatively more expensive on the price, the scope that detects is also restricted, generally only limit single polarity to detect, detect required magnetic stripe and also must adopt external manufacturer, and output signal is a pulse mode, incompatible with the existing equipment interface, also need to develop conversion equipment in addition, be unfavorable for the use of some special industries such as military project (main devices requires homemade), low-cost industry.
Summary of the invention
Weak points such as, interface obstructed usefulness single and the more auxiliary products of needs, the technical problem to be solved in the present invention at the detection mode that exists in the prior art provide a kind of bearing accuracy higher, can reach automatic guide vehicle parking localization criteria and automatic guided vehicle terrestrial reference sensor cheaply.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
The utility model automatic guided vehicle terrestrial reference sensor dress comprises: the magnetic signal Acquisition Circuit, microcontroller and spacing output circuit, wherein the magnetic signal Acquisition Circuit is connected to the input end of microcontroller by spi bus, and the output terminal of microcontroller is by spacing output circuit output IO signal.
The magnetic signal Acquisition Circuit comprises Magnetic Sensor and digital Magnetic Sensor driver module, the drive controlling end of Magnetic Sensor links to each other with the drive signal of digital Magnetic Sensor driver module, the field signal that collects space, current place is delivered to digital Magnetic Sensor driver module, numeral Magnetic Sensor driver module output digital signal is uploaded to microcontroller in the SPI mode; Spacing output circuit comprises reverse trigger and optocoupler, and trigger is connected to the control end of microcontroller, and the output terminal of trigger links to each other with the input end of optocoupler, the output terminal output IO signal of optocoupler; The resetting pin of microcontroller is connected to the watchdog reset module.
The present invention has following beneficial effect and advantage:
1. the utility model internal control circuit and signal acquisition circuit are isolated fully, have avoided external interference.
2. repetitive positioning accuracy of the present utility model is in 3mm.Can satisfy the parking positioning requirements of automatic guide vehicle.
3. one-tenth product cost of the present utility model is compared with similar external product has cheaper price, has reduced the cost of whole automatic guide vehicle.
Description of drawings
Fig. 1 is the utility model electrical structure block diagram;
Fig. 2 is a microcontroller electrical schematic diagram in the utility model;
Fig. 3 is a magnetic signal Acquisition Circuit schematic diagram in the utility model;
Fig. 4 is a spacing output circuit schematic diagram in the utility model.
Embodiment
Below in conjunction with accompanying drawing structure of the present utility model and principle of work are described in further detail.
As shown in Figure 1, the utility model automatic guided vehicle terrestrial reference sensor device comprises: the magnetic signal Acquisition Circuit, microcontroller U1 and spacing output circuit, wherein the magnetic signal Acquisition Circuit is connected to the input end of microcontroller U1 by spi bus, and the output terminal of microcontroller U1 is by spacing output circuit output IO signal.
As shown in Figure 2, the resetting pin of microcontroller U1 is connected to watchdog reset module U2.The RESET1 control end of watchdog reset module U2 links to each other with the RST pin of microcontroller U1, is responsible for resetting of microcontroller U1 and restarts; Described sensor device DCVCC provides the function of supplying power of total system.
As shown in Figure 3, the magnetic signal Acquisition Circuit comprises Magnetic Sensor and digital Magnetic Sensor driver module UA, the drive controlling end of Magnetic Sensor links to each other with the drive signal of digital Magnetic Sensor driver module UA, under the drive controlling of digital Magnetic Sensor driver module UA, the field signal that collects space, current place is delivered to digital Magnetic Sensor driver module UA, numeral Magnetic Sensor driver module UA output digital signal is uploaded to microcontroller U1 in the SPI mode.
As shown in Figure 4, spacing output circuit comprises reverse trigger U3 and optocoupler, and trigger U3 is connected to the control end of microcontroller U1, and the output terminal of trigger U3 links to each other with the input end of optocoupler, the output terminal output IO signal of optocoupler.
In the present embodiment, with three road magnetic signal harvesters is example, numeral Magnetic Sensor driver module UA adopts IC11096, Magnetic Sensor adopts the first～three Magnetic Sensor SENXA, SENYA, SENZA becomes horizontally, external output signal and polarity are determined by the second Magnetic Sensor SENYA, first, three Magnetic Sensor SENXA, SENZA is auxiliary Magnetic Sensor, be used to judge whether the external world produces disturbing magnetic field, microcontroller U1 is by control end RESET2, SCLK, MISO, MOSI, SSNOTA, DRDYA links to each other with the communication interface of digital Magnetic Sensor driver module UA, carries out communication in the SPI mode; 16,17 pin of numeral Magnetic Sensor driver module IC11096A link to each other with SENXA, inserting 68 Ω resistance between 15 and 16 pin of 11096A and between 17 and 18 pin, 11,13 pin link to each other with SENYA, insert 68 Ω resistance between 10 and 11 pin and between 13 and 14 pin, 7,8 pin link to each other with SENZA,, insert 68 Ω resistance between 6 and 7 pin and between 8 and 9 pin.
In the present embodiment, spacing output circuit has two optocouplers, microcontroller U1 by control end L11, L22 with in reverse trigger U3 link to each other, to strengthen the IO fan-out capability, oppositely trigger U3 links to each other with the input end of first and second optocoupler U4, U5 by output control terminal L1, L2, the opposite side of first and second optocoupler U4, U5 input end links to each other with the common cathode two-color diode, represents opposed polarity with different colours.
Claims (4)
1. automatic guided vehicle terrestrial reference sensor device, it is characterized in that comprising: the magnetic signal Acquisition Circuit, microcontroller (U1) and spacing output circuit, wherein the magnetic signal Acquisition Circuit is connected to the input end of microcontroller (U1) by spi bus, and the output terminal of microcontroller (U1) is by spacing output circuit output IO signal.
2. by the described automatic guided vehicle terrestrial reference of claim 1 sensor device, it is characterized in that: the magnetic signal Acquisition Circuit comprises Magnetic Sensor and digital Magnetic Sensor driver module (UA), the drive controlling end of Magnetic Sensor links to each other with the drive signal of digital Magnetic Sensor driver module (UA), the field signal that collects space, current place is delivered to digital Magnetic Sensor driver module (UA), numeral Magnetic Sensor driver module (UA) output digital signal is uploaded to microcontroller (U1) in the SPI mode.
3. by the described automatic guided vehicle terrestrial reference of claim 1 sensor device, it is characterized in that: spacing output circuit comprises reverse trigger (U3) and optocoupler, trigger (U3) is connected to the control end of microcontroller (U1), the output terminal of trigger (U3) links to each other with the input end of optocoupler, the output terminal output IO signal of optocoupler.
4. by the described automatic guided vehicle terrestrial reference of claim 1 sensor device, it is characterized in that: the resetting pin of microcontroller (U1) is connected to watchdog reset module (U2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206377032U CN201867651U (en) | 2010-12-02 | 2010-12-02 | Landmark sensor for automatic guided vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010206377032U CN201867651U (en) | 2010-12-02 | 2010-12-02 | Landmark sensor for automatic guided vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201867651U true CN201867651U (en) | 2011-06-15 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2010206377032U Expired - Lifetime CN201867651U (en) | 2010-12-02 | 2010-12-02 | Landmark sensor for automatic guided vehicle |
Country Status (1)
| Country | Link |
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| CN (1) | CN201867651U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359477A (en) * | 2014-11-07 | 2015-02-18 | 西安文理学院 | Serial bus-based AGV magnetic sensor circuit |
| US9329599B1 (en) | 2014-11-21 | 2016-05-03 | Industrial Technology Research Institute | Automatic guided vehicle and method for controlling the same |
| CN106814733A (en) * | 2015-12-01 | 2017-06-09 | 江苏长虹智能装备集团有限公司 | A kind of automatical pilot transportation vehicle Flexibility Control Technique |
| CN107132844A (en) * | 2017-05-24 | 2017-09-05 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target motion from antidote |
-
2010
- 2010-12-02 CN CN2010206377032U patent/CN201867651U/en not_active Expired - Lifetime
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104359477A (en) * | 2014-11-07 | 2015-02-18 | 西安文理学院 | Serial bus-based AGV magnetic sensor circuit |
| US9329599B1 (en) | 2014-11-21 | 2016-05-03 | Industrial Technology Research Institute | Automatic guided vehicle and method for controlling the same |
| CN106814733A (en) * | 2015-12-01 | 2017-06-09 | 江苏长虹智能装备集团有限公司 | A kind of automatical pilot transportation vehicle Flexibility Control Technique |
| CN107132844A (en) * | 2017-05-24 | 2017-09-05 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target motion from antidote |
| CN107132844B (en) * | 2017-05-24 | 2019-07-16 | 浙江大学 | A kind of mobile robot is based on attitude detection module and distinguishingly target is moved from antidote |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20110615 |