CN204925799U - General AGV's main control board - Google Patents
General AGV's main control board Download PDFInfo
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- CN204925799U CN204925799U CN201520716574.9U CN201520716574U CN204925799U CN 204925799 U CN204925799 U CN 204925799U CN 201520716574 U CN201520716574 U CN 201520716574U CN 204925799 U CN204925799 U CN 204925799U
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Abstract
The utility model discloses a general AGV's main control board, it includes interconnect's the main control unit and the the control unit that navigates, still includes master control communication unit, memory cell and the peripheral interface unit be connected with the main control unit, still includes the navigation communication unit and navigation drive unit that are connected with navigation the control unit. The utility model discloses simple structure, it is with low costs, have modularization, universalization and platform characteristics, offer multichannel TTL signal IO interface, the general sensor of compatible AGV, the integrated development and the manufacturing of the AGV product of being more convenient for.
Description
Technical field
The utility model relates to AGV control field, particularly relates to the master control borad of a kind of general AGV.
Background technology
Carrying out smoothly at present along with industry 4.0 and made in China 2015, manufacturing industry and factory have become inevitable trend to Intelligent logistics and intelligence manufacture development.
And AGV(automatically guiding trolley) automatic transporting effect in logistics system, in production efficiency and management, there is very important effect, Denso of being in especially joined, automobile assembling and the aspect application such as automatic stored more and more.And all put in AGV development & production along with white domestic appliances group, manufacturing company and Internet of Things company, domestic AGV industry and product maturing, the also standardization gradually of the common sensor of AGV, driver, specialized company is even had to provide AGV accessory, so just, accelerate the exploitation of AGV product, also improve the reliability of AGV product simultaneously, reduce AGV cost.
But be applicable to the master control borad of AGV at present, commercially rarely found, therefore market is increasing, also very urgent to a kind of general AGV master control borad demand.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, the master control borad of a kind of AGV of general compatibility is provided, have that structure is simple, cost is low, modularization, universalization and hardware and software platform feature, be supplied to multichannel TTL signal I/O interface, compatible AGV general purpose transducer, the Integrated Development of AGV product of being more convenient for and manufacture.
The purpose of this utility model is achieved through the following technical solutions: the master control borad of a kind of general AGV, it comprises interconnective main control unit and navigation control unit, also comprise the Master Communications unit, storage unit and the peripheral interface units that are connected with main control unit, also comprise the navigational communications unit and the driver element that navigates that are connected with navigation control unit.
Further, described peripheral interface units comprises one or more the combination in control signal interface, TTL signal I/O interface and AD circuit output interface.
Wherein, control signal interface comprises one or more relay interface, TTL signal I/O interface comprises one or more the combination in sensor interface, tri coloured lantern interface, the vehicle-mounted keystroke interface of AGV and expansion interface, and AD circuit output interface is connected with electric circuit inspection meter.
Further, described sensor interface comprises infrared sensor interface and mechanical collision sensor interface.
Further, described Master Communications unit is used for level conversion, and comprise multiple communication chip, current-limiting circuit and overshoot current protection circuit, communication chip is connected with one or more serial line interface with overshoot current protection circuit by current-limiting circuit.
Further, described serial line interface comprises for reporting the serial line interface A of AGV Vehicular display device status information, for the long-range AGV of reporting status information to the serial line interface B of host computer and for carrying out with RFID card reader or landmark sensor the serial line interface C that communicates.
Further, described navigational communications unit comprises magnetic navigation communication unit and test communications unit, and navigation control unit is connected with Magnetic Sensor by magnetic navigation communication unit, and navigation control unit is connected with host computer by test communications unit.
Further, described navigation driver element exports PWM ripple with the running status of the left and right difference speed motor of control AGV.
Further; the utility model also comprises the Power Management Unit be connected with main control unit; described Power Management Unit comprises multiple power management chip and corresponding peripheral circuit, and described peripheral circuit comprises freewheel current, current foldback circuit and reverse-connection protection circuit.
Further, the utility model also comprises the reset unit of the duty for monitoring main control unit and navigation control unit, the state-detection input end of reset unit is connected with the definition status output terminal of main control unit and navigation control unit respectively, the reset signal output terminal of reset unit is connected with the reseting controling end of main control unit and navigation control unit respectively, and the BOD low voltage test end of reset unit is connected with the power supply input end of main control unit and navigation control unit respectively.
Preferably, described Master Communications unit comprises ATmega1280 chip, and described navigation control unit comprises ATmega1280 chip.
The beneficial effects of the utility model are:
The utility model structure is simple, and cost is low, has modularization, universalization and hardware and software platform feature, is supplied to multichannel TTL signal I/O interface, compatible AGV general purpose transducer, the Integrated Development of AGV product of being more convenient for and manufacture.
The utility model also provides power management, is completed the data acquisition and processing (DAP) of various AGV sensor, completed the Navigation Control of AGV by navigation control unit by main control unit, compatible strong.
Accompanying drawing explanation
Fig. 1 is circuit block diagram of the present utility model.
Embodiment
Below in conjunction with accompanying drawing, the technical solution of the utility model is described in further detail, but protection domain of the present utility model is not limited to the following stated.
As shown in Figure 1, the master control borad of a kind of general AGV, it comprises interconnective main control unit and navigation control unit, also comprise the Master Communications unit, storage unit and the peripheral interface units that are connected with main control unit, also comprise the navigational communications unit and driver output unit that are connected with navigation control unit.The utility model also can comprise the Power Management Unit be connected with main control unit, and the reset unit be connected with main control unit and navigation control unit respectively.
(1) Power Management Unit
In the utility model, Power Management Unit can be made up of multiple power management chip and corresponding peripheral circuit.Described peripheral circuit generally comprises freewheel current and current foldback circuit, also can arrange reverse-connection protection circuit, and reverse-connection protection circuit can adopt diode (as SS36 element) to realize.
The input voltage range of Power Management Unit can be 24V-36V, and output voltage is 12V, 5V and 3.3V, and its power management chip can adopt two LM2596-12 chips, two LM2596-5.0 chips and a LM2596-3.3 chip.
(2) peripheral interface units
In the utility model, peripheral interface units comprises one or more control signal interface and TTL signal I/O interface.
Wherein, peripheral interface units can adopt NPN triode to realize control signal interface, and control signal interface can be used for same relay and connects, for controlling the duty of other motor.
Peripheral interface units utilizes bus transceiver (as 74HC245 chip) to realize TTL signal I/O interface, TTL signal I/O interface can be used for being connected with various sensor, as infrared sensor and mechanical collision sensor, adopt two-way TTL signal output interface and infrared sensor, after signal triggers, control AGV is out of service; Adopt a road TTL signal input interface to be connected with mechanical collision sensor, after signal triggers, control AGV is out of service; Also be connected with tri coloured lantern by four road TTL signal output interfaces, control the display state of tri coloured lantern; Also be connected with vehicle-mounted button by 12 road TTL signal input interfaces, receive the input signal of vehicle-mounted button; Also can reserve multichannel TTL expansion interface, for configuring miscellaneous equipment.
Peripheral interface units is also connected with electric circuit inspection meter by AD electricity output interface.
(3) storage unit
In the utility model, storage unit can adopt the AT64C64EPPROM storage chip of 64Kb, adopt I2C communication mode with main control unit, be mainly used in the data such as AGV operating path, the rfid card data in multiple cycle, electricity collision storing setting, so that can to off-line analysis after AGV fault.
(4) Master Communications unit
In the utility model, Master Communications unit can be made up of multiple communication chip, current-limiting circuit and overshoot current protection circuit.Communication chip is connected with multiple serial line interface with overshoot current protection circuit by current-limiting circuit.As adopted three Max232 chips, realize the conversion of UART RS 232 level, and be serially connected with current-limiting resistance in Max232 die terminals, and access two-way TVS diode (as ISMACAT3G) over the ground as overshoot current protection at each signal wire.
General, Master Communications unit can provide three RS232 serial ports, and wherein, RS232 serial ports A is for reporting the state of AGV Vehicular display device, RS232 serial ports B is used for the long-range state of AGV that reports to host computer, and RS232 serial ports C is used for communicating with RFID card reader or landmark sensor.
(5) main control unit
In the utility model, the main control unit that the ATmega1280 chip of AVR and 11.0592M crystal oscillator form can be adopted.Main control unit receives infrared signal or mechanical collision signal by peripheral interface units, carrys out the running status of control AGV; Main control unit also every some cycles (as 3s), by Master Communications unit by the state information report of AGV to host computer, timing inquiry RFID card reader state, and determine AGV run action according to the task of its No. ID and setting.
The status information of AGV can comprise AGVID information, collision information, infrared information, information about power, AGV failure message, AGV velocity information, AGV mileage information, task number and execution status of task etc.
(6) navigation control unit
In the utility model, navigation control unit also can adopt the ATmega1280 chip of AVR, for the treatment of navigation magnetic sensor data, completes the monitoring that AGV runs motor.Navigation control unit adopts pid control mode, by UART, the information such as the speed of current AGV and mileage is sent to main control unit according to some cycles (as 1.5s).
(7) navigational communications unit
In the utility model, navigational communications unit comprises magnetic navigation communication unit and test communications unit, can adopt two-way magnetic navigation RS232 communication interface and a road RS232 test interface.Magnetic navigation communication unit sends request signal by timer with some cycles (as 20ms), the information such as the speed that inquiry AGV is current, after the complete one-period of magnetic navigation cell processing, the data of magnetic navigation and the numerical value of differential speed motor are sent to host computer by test communications unit, so that debugging.
(8) navigate driver element
Navigation driver element is for exporting PWM ripple with the running status of the left and right difference speed motor of control AGV.Navigation control unit produces the pwm signal of two-way 1KHz variable duty ratio by timer, then accesses bus transceiver (74HC245), strengthens driving force and the insulation blocking of PWM.
(9) reset unit
In the utility model, reset unit, for monitoring the duty of main control unit and navigation control unit, can adopt the chip of ATmega8.The state-detection input end of reset unit is connected with the definition status output terminal of main control unit and navigation control unit respectively, the reset signal output terminal of reset unit is connected with the reseting controling end of main control unit and navigation control unit respectively, and the BOD low voltage test end of reset unit is connected with the power supply input end of main control unit and navigation control unit respectively.
If when reset unit does not receive the heartbeat packet data that main control unit and navigation control unit send within a certain period of time, reset unit starts reset signal, BOD low voltage test is carried out to the power supply of main control unit and navigation control unit simultaneously, once power supply is in low-voltage state, then reset main control unit and navigation control unit, after resetting, PWM ripple is become low level and makes left and right difference speed motor out of service by Navigation Control plate.
Claims (10)
1. the master control borad of a general AGV, it is characterized in that: it comprises interconnective main control unit and navigation control unit, also comprise the Master Communications unit, storage unit and the peripheral interface units that are connected with main control unit, also comprise the navigational communications unit and the driver element that navigates that are connected with navigation control unit.
2. the master control borad of a kind of general AGV according to claim 1, is characterized in that: described peripheral interface units comprises one or more the combination in control signal interface, TTL signal I/O interface and AD circuit output interface;
Wherein, control signal interface comprises one or more relay interface, TTL signal I/O interface comprises one or more the combination in sensor interface, tri coloured lantern interface, the vehicle-mounted keystroke interface of AGV and expansion interface, and AD circuit output interface is connected with electric circuit inspection meter.
3. the master control borad of a kind of general AGV according to claim 2, is characterized in that: described sensor interface comprises infrared sensor interface and mechanical collision sensor interface.
4. the master control borad of a kind of general AGV according to claim 1; it is characterized in that: described Master Communications unit is used for level conversion; comprise multiple communication chip, current-limiting circuit and overshoot current protection circuit, communication chip is connected with one or more serial line interface with overshoot current protection circuit by current-limiting circuit.
5. the master control borad of a kind of general AGV according to claim 4, is characterized in that: described serial line interface comprises for reporting the serial line interface A of AGV Vehicular display device status information, for the long-range AGV of reporting status information to the serial line interface B of host computer and for carrying out with RFID card reader or landmark sensor the serial line interface C that communicates.
6. the master control borad of a kind of general AGV according to claim 1, it is characterized in that: described navigational communications unit comprises magnetic navigation communication unit and test communications unit, navigation control unit is connected with Magnetic Sensor by magnetic navigation communication unit, and navigation control unit is connected with host computer by test communications unit.
7. the master control borad of a kind of general AGV according to claim 1, is characterized in that: described navigation driver element exports PWM ripple with the running status of the left and right difference speed motor of control AGV.
8. the master control borad of a kind of general AGV according to claim 1; it is characterized in that: also comprise the Power Management Unit be connected with main control unit; described Power Management Unit comprises multiple power management chip and corresponding peripheral circuit, and described peripheral circuit comprises freewheel current, current foldback circuit and reverse-connection protection circuit.
9. the master control borad of a kind of general AGV according to claim 1, it is characterized in that: the reset unit also comprising the duty for monitoring main control unit and navigation control unit, the state-detection input end of reset unit is connected with the definition status output terminal of main control unit and navigation control unit respectively, the reset signal output terminal of reset unit is connected with the reseting controling end of main control unit and navigation control unit respectively, and the BOD low voltage test end of reset unit is connected with the power supply input end of main control unit and navigation control unit respectively.
10. the master control borad of a kind of general AGV according to claim 1, is characterized in that: described Master Communications unit comprises ATmega1280 chip, and described navigation control unit comprises ATmega1280 chip.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520716574.9U CN204925799U (en) | 2015-09-16 | 2015-09-16 | General AGV's main control board |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520716574.9U CN204925799U (en) | 2015-09-16 | 2015-09-16 | General AGV's main control board |
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| CN204925799U true CN204925799U (en) | 2015-12-30 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494259A (en) * | 2016-12-27 | 2017-03-15 | 山东泰开机器人有限公司 | Modularity AGV intelligent navigation vehicle control system |
| 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 |
-
2015
- 2015-09-16 CN CN201520716574.9U patent/CN204925799U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106494259A (en) * | 2016-12-27 | 2017-03-15 | 山东泰开机器人有限公司 | Modularity AGV intelligent navigation vehicle control system |
| 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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