CN203759540U - Magnetic navigation automatic guided vehicle controller - Google Patents
Magnetic navigation automatic guided vehicle controller Download PDFInfo
- Publication number
- CN203759540U CN203759540U CN201420042637.2U CN201420042637U CN203759540U CN 203759540 U CN203759540 U CN 203759540U CN 201420042637 U CN201420042637 U CN 201420042637U CN 203759540 U CN203759540 U CN 203759540U
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- China
- Prior art keywords
- circuit board
- cpu chip
- automatic guided
- serial port
- magnetic navigation
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- Expired - Fee Related
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Abstract
The utility model provides a magnetic navigation automatic guided vehicle controller. Two circuit boards are adopted and are stacked together in an up-and-down manner and are connected with each other through a 46-pin bus, so that the controller can be formed; the upper circuit board is provided with a sensor input portion, an address input end, a guidance signal input portion, an digital-to-analog conversion output portion, a relay output portion and an LED output portion; the lower circuit board is provided with a CPU chip and a serial port converter; one end of the serial port converter is connected with the CPU chip; the CPU chip is connected with the upper circuit board through the 46-bit bus; and the other end of the serial port converter is connected with a wireless communication module through a serial port, and is connected with an infrared communication receiving module and an electronic tag reader-writer through a change-over switch. According to the magnetic navigation automatic guided vehicle controller of the utility model, various kinds of universal control equipment adopted by original magnetic-guide automatic guided vehicles (AGV) is replaced by integrated control equipment, and therefore, manufacturing time and cost of a system can be decreased, and construction difficulty can be reduced.
Description
Technical field
The utility model patent relates to a kind of special-purpose Centralized Controller for magnetic navigation AGV, comprising usining ARM chip as the inserted computer of CPU and the interface card assembly being connected with its peripheral expansion.The convenient connection of special use that can be applicable to the various inside of magnetic navigation AGV control and the data-interface of periphery output input and various communication data interfaces.
Background technology
Along with the fast development of industrial automation technology and the raising of Chinese work production human cost, in automation field, deliver formula robot (AGV) just in large quantities for industrial circle, transport field, service field.The guidance mode of transporting of delivery formula robot (AGV) mainly contains the modes such as electromagnetic induction guiding, magnetic guiding, laser aiming and the guiding of magnet gyro; Wherein magnetic guidance mode is because site operation cost is low, and change route is convenient, and working stability is reliable, becomes main conventional guidance mode.
In the past, inserted computer and the interface circuit of magnetic guiding AGV, often adopt universal Embedded computer board and interface card, as there is EASY-ARM2100 mainboard aspect, the PLC controller of the computer main boards such as PC104 or various brands, because the demand of versatility mainboard and magnetic navigation AGV differs larger, and interface board aspect is also difficult to more than suitable cooperation inserted computer and controller, and the product being connected with the various peripheral modules of actual AGV is also difficult to convenient connection.Therefore, all bring very large inconvenience and trouble to actual circuit and Software for Design, making, debugging, increased the cycle and the cost that complete engineering.
Summary of the invention
For solving the problem of aforementioned existence, the utility model provides a kind of magnetic navigation delivery formula robot controller, and controller adopts two circuit boards, and upper-lower overlapping, connects and composes by 46 pin buses together; Upper circuit board is equipped with sensor input part, address input end, pilot signal input part, digital-to-analog conversion efferent, relay efferent, LED efferent; Lower circuit board dress cpu chip, serial converter, serial converter one end is connected with cpu chip, and cpu chip is connected with upper circuit board by 46 buses; The serial converter other end is connected with wireless communication module by serial ports, and is connected with infrared communication receiver module, electronic label read/write by switch.
The utility model has the advantage of, by the various universal control devices of selecting of original magnetic guiding AGV, change special-purpose integrated opertaing device into, saved making man-hour, the cost of system and reduced the difficulty of constructing, be applicable to the industrial environment of the AGV operation of magnetic navigation route complexity.To promoting magnetic guiding AGV in the application of industry and other field, have great significance.
Accompanying drawing explanation
Fig. 1 is circuit board the electric circuit constitute block diagram on the utility model.
Fig. 2 is lower board circuit block scheme.
Number in the figure explanation:
2.1-be the importation of the sensor signal of 15 of magnetic navigation AGV.
2.2-be the stimulus part of the magnetic address probe of AGV.
2.3-be the vectoring error importation of front and back guiding probe.
2.4-be DA conversion output.
2.5-be the relay switching variable output on 5 tunnels.
2.6-divide for steering indicating light light output part.
2.7-be LED demonstration output.
3.1-be serial ports 0 part.
3.2-be serial ports 1 part.
3.3-be serial ports level converting section.
3.4 is the input/output section of cpu bus and 46 bus interface.
Embodiment
The utility model builds up by 46 pin buses by two circuit boards are upper and lower.Lower circuit board be by ARM7 chip LPC2114 or LPC2119 as the main control CPU chip of inserted computer, mainly complete computer function, communication function, power conversion function etc.Upper circuit board is by 7 integrated electronic chips, 17 photoelectric isolated chips, and 5 relays, two power modules form, mainly complete with the various input pickups of AGV with export being connected of the various interface of various data-switching of actuating equipment and the connecting line of variety of way etc.
Fig. 2 is the compositional block diagram of upper circuit board (interface board).
2.1 importations that are the sensor signal of 15 of magnetic navigation AGV wherein, comprise the electric weight of battery, and front and back stop, front and back collision, automatic/hand switch, the specific information of the AGV such as put in place of transfer mechanism.
The wherein signal input of the 2.2 magnetic address probes that are AGV.
Wherein the 2.3 vectoring error inputs for front and back guiding probe, make isolation selected input by two 74LS573 triple gates, and make switch gating respectively by phase inverter, and 8 bit data signals are inputted to 46 bit CPU data buss.
Wherein 2.4 for DA conversion output, by 3 OUT mouths in 46 bit CPU buses, by data DATA line, pulse PLUS line, latch line, respectively the 74LS595 shift register of two series connection carried out to serial data input.Through being sent to again two DAC0800DA conversion chips, convert two-way simulating signal and two ways of digital signals to, respectively two of left and right AGV movable motor is carried out to speed and direction control.
Wherein 2.5 is the relay output turn on-switch amount on 5 tunnels, purpose isolation, drive motor, and electromagnet etc. are carried out power component.
Wherein 2.6 for steering indicating light light output part divides, and CPU, by 3 output data lines in bus, by 74HC138 chip and driving, is converted to 5 tunnels and turns to light output.
Wherein 2.7 for LED shows output, and CPU, by 2 output data lines in bus, to the DATA data line of light-emitting diode display and shift pulse line, exports serial data.
The interface line of above interface board, all in winding displacement and the socket unity of form of external equipment, facilitates the cable wiring manufacture of AGV.Power unit is simple.
Fig. 3 is lower circuit board (CPU) circuit block diagram.
Wherein 3.1 is serial ports 0 part, and serial ports 0 is connected with respectively serial ports 0.0, and corresponding infrared communication is accepted module, accepts the manual operation information of hand-held Infrared remote controller to AGV; Serial ports 0.1, corresponding RFID electronic tag reads to know module, accepts the coding that this module receives the electronic tag address of pasting on ground.The gating of these two serial ports, is that the relay by a double-pole double-throw switches, and switches " automatic/hand " signal conversion of being inputted.When manual, serial ports is connected infrared signal input, is subject to the operation of manual controller; Automatically time, serial ports is connected the input of RFID signal, can read to know the specific address of electronic tag during operation.
Wherein 3.2 is serial ports 1 part, connects wireless MODEN.
Wherein 3.3 is serial ports conversion portion, has selected MAX3232CDR chip, and two-way is changed the level signal that the Transistor-Transistor Logic level of CPU is RS232.
Wherein 3.4 is the input/output section of cpu bus and 46 bus interface.
Power unit is simple.
Claims (1)
1. a magnetic navigation delivery formula robot controller, is characterized in that, controller adopts two circuit boards, and upper-lower overlapping, connects and composes by 46 pin buses together; Upper circuit board is equipped with sensor input part, address input end, pilot signal input part, digital-to-analog conversion efferent, relay efferent, LED efferent; Lower circuit board dress cpu chip, serial converter, serial converter one end is connected with cpu chip, and cpu chip is connected with upper circuit board by 46 buses; The serial converter other end is connected with wireless communication module by serial ports, and is connected with infrared communication receiver module, electronic label read/write by switch.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420042637.2U CN203759540U (en) | 2014-01-23 | 2014-01-23 | Magnetic navigation automatic guided vehicle controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420042637.2U CN203759540U (en) | 2014-01-23 | 2014-01-23 | Magnetic navigation automatic guided vehicle controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203759540U true CN203759540U (en) | 2014-08-06 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420042637.2U Expired - Fee Related CN203759540U (en) | 2014-01-23 | 2014-01-23 | Magnetic navigation automatic guided vehicle controller |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203759540U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107132847A (en) * | 2017-06-22 | 2017-09-05 | 福州大学 | A kind of AGV embedded control systems navigated based on tape and control method |
| CN111061271A (en) * | 2019-12-23 | 2020-04-24 | 天行智控(成都)科技有限公司 | Side-hanging type rail transportation control system |
-
2014
- 2014-01-23 CN CN201420042637.2U patent/CN203759540U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107132847A (en) * | 2017-06-22 | 2017-09-05 | 福州大学 | A kind of AGV embedded control systems navigated based on tape and control method |
| CN111061271A (en) * | 2019-12-23 | 2020-04-24 | 天行智控(成都)科技有限公司 | Side-hanging type rail transportation control system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 201407 Fengxian District, Qian Qian Road, No. 1153, Shanghai Patentee after: Shanghai Fuyang yunwang robot Limited by Share Ltd Address before: 201407 Fengxian District, Qian Qian Road, No. 1153, Shanghai Patentee before: Fuyang Tech Development Co., Ltd., Shanghai |
|
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140806 Termination date: 20210123 |