CN205003506U - Automatic material transport intelligence car control system - Google Patents
Automatic material transport intelligence car control system Download PDFInfo
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- CN205003506U CN205003506U CN201520746798.4U CN201520746798U CN205003506U CN 205003506 U CN205003506 U CN 205003506U CN 201520746798 U CN201520746798 U CN 201520746798U CN 205003506 U CN205003506 U CN 205003506U
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Abstract
The utility model discloses an automatic material transport intelligence car control system, including main control unit, power module, wireless communication module, camera, vehicle driver control module and vehicle discharge control module, the technical effects of the utility model comprises, this control system's of loading travelling bogie can have full -automatic materials handling, charge automatically, automatic barrier, voice prompt, the multimachine function such as operation in coordination of keeping away, can be used to the full -automatic material transport of storage industry, manufacturing, dangerous place and special trade, perhaps transports product, substituting assembly line within a definite time at different stations. Its power resources are regarded as with the rechargeable battery to the dolly, can charge automatically when battery power is not enough. Accessible master control system coordination work between many the dollies forms automatic thing flow net, can improve the production efficiency and the degree of automation of enterprise greatly.
Description
Technical field
The utility model relates to a kind of automatic material transport intelligent vehicle control system.
Background technology
Full automatic material conveyor be the fields such as industrial automation, production of intelligent and high-risk job that requires special skills in the urgent need to a kind of unmanned operation platform.Material transportation is the indispensable process of industry-by-industry, and its impact can not look down upon, and manual work, along with the fast development of economy, can not meet the demand in market and epoch completely.Many countries are all actively carrying out the research and development design of intelligent vehicle in the world, and intelligent vehicle is also more and more paid close attention to as an important branch of mobile robot.Full automatic material transport vehicle can be widely used in automatic production line, the automatic transporting etc. of material, alleviates the manual labor that the mankind are heavy greatly, has wide market outlook.Along with the economic development of China, the progress of technology and culture, enterprise gradually using high-level efficiency as one of the theme produced, Government and enterprise all recognizes that Science and technology constitutes a primary productive force.Full automatic material transport vehicle is for promote industrial automation further, and production of intelligent, enhances productivity, and reduces costs and the development etc. of technologies of intelligent mobile has important value.At present about low cost, flexible arrangement, the full-automatic material transport vehicle that easy-to-use, safe and reliable, expansion is strong, there is not been reported.
Summary of the invention
In order to overcome the technical matters of current material handling inconvenience, the utility model provides a kind of automatic material to transport intelligent vehicle control system.
In order to realize above-mentioned technical purpose, the technical solution of the utility model is, a kind of automatic material transport intelligent vehicle control system, comprise master controller, power module, wireless communication module, camera, vehicle traction control module and vehicle unloading control module, described wireless communication module, camera, vehicle traction control module and vehicle unloading control module communicate to connect with master controller respectively, described power module provides power supply for other each modules, master controller is communicated with host computer by wireless communication module, master controller controls vehicle operating motor by vehicle traction control module, master controller controls vehicle goods bucket by vehicle unloading control module and runs motor.
Described a kind of automatic material transport intelligent vehicle control system, described power module comprises direct supply, energy supply control module and battery status display module, described energy supply control module communicates to connect and controls direct supply, and battery status display module communicates to connect direct supply and shows the state of charge of direct supply.
Described a kind of automatic material transport intelligent vehicle control system, described vehicle traction control module comprises electric machine speed regulation driver module, and described electric machine speed regulation driver module communicates to connect master controller and vehicle operating motor respectively.
Described a kind of automatic material transport intelligent vehicle control system, described vehicle unloading control module comprises driving stepper motor module and motion sensor, described driving stepper motor module communicates to connect master controller respectively and vehicle goods bucket runs motor, described motion sensor is arranged at vehicle goods bucket place and detects goods bucket motion state, and goods bucket motion state is transferred to master controller.
Described a kind of automatic material transport intelligent vehicle control system, also comprise auditory tone cues module, described auditory tone cues module comprises speech chip, power amplification circuit and loudspeaker, described speech chip communication connection master controller, and connects loudspeaker by power amplification circuit.
Described a kind of automatic material transport intelligent vehicle control system, also comprises warning light circuit, described warning light circuit electrical connection master controller by the light on and off of main controller controls warning lamp.
Described a kind of automatic material transport intelligent vehicle control system, described wireless communication module is ZigBee wireless communication module.
Described a kind of automatic material transport intelligent vehicle control system, described master controller is S3C2440 chip.
Technique effect of the present utility model is, the travelling bogie loading this control system can have the functions such as full-automatic material carrying, automatic charging, automatic obstacle-avoiding, voice message, multi-machine collaborative operation, can be used for the full-automatic material transport of warehousing industry, manufacturing industry, hazardous area and special trade, or between different station, transport product, substitute streamline.Dolly using chargeable accumulator as its power resources, can when battery electric quantity is not enough automatic charging.By turn-key system co-ordination between multiple stage dolly, form automatic material flow net, greatly can improve production efficiency and the automaticity of enterprise.
Below in conjunction with accompanying drawing, the utility model is described in further detail.
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model.
Embodiment
See Fig. 1, the utility model comprises master controller, power module, wireless communication module, camera, vehicle traction control module and vehicle unloading control module, wireless communication module, camera, vehicle traction control module and vehicle unloading control module communicates to connect with master controller respectively, power module provides power supply for other each modules, master controller is communicated with host computer by wireless communication module, master controller controls vehicle operating motor by vehicle traction control module, and master controller controls vehicle goods bucket by vehicle unloading control module and runs motor.
Wherein power module comprises direct supply, energy supply control module and battery status display module, and energy supply control module communicates to connect and controls direct supply, and battery status display module communicates to connect direct supply and shows the state of charge of direct supply.
Vehicle traction control module comprises electric machine speed regulation driver module, and electric machine speed regulation driver module communicates to connect master controller and vehicle operating motor respectively.
Vehicle unloading control module comprises driving stepper motor module and motion sensor, driving stepper motor module communicates to connect master controller respectively and vehicle goods bucket runs motor, motion sensor is arranged at vehicle goods bucket place and detects goods bucket motion state, and goods bucket motion state is transferred to master controller.
In order to remind staff about travel condition of vehicle information in time, also be provided with auditory tone cues module simultaneously, auditory tone cues module comprises speech chip, power amplification circuit and loudspeaker, speech chip communication connection master controller, and connects loudspeaker by power amplification circuit.
Realizing multi-form alarm to coordinate with sound module, being provided with warning light circuit simultaneously, warning light circuit electrical connection master controller by the light on and off of main controller controls warning lamp.
The wireless communication module that the present embodiment adopts is ZigBee wireless communication module, and master controller is S3C2440 chip.
The utility model full-automatic material transport vehicle used joined together, comprise the sensor of car body and side mounted thereto, control system and unloading mechanism, full-automatic material transport vehicle body is built with the control system controlling car body autokinetic movement and unloading automatically, Embedded pinhole cameras vision real time job tracker and communication module are also housed in full-automatic material transport vehicle body, camera is arranged on full-automatic material transport vehicle front panel, and communication module realizes the wireless transmission of the data and instruction of control system, Visual Tracking System and host computer.
Full-automatic material transport vehicle is equipped with 4 wheels, and inner primarily of 4 direct current generators and electric battery formation, motor is in parallel between two, is equivalent to driving two motors, increases carrying capacity and the climbing capacity of full-automatic material transport vehicle.For convenience of battery charging and discharging, devise charge-discharge circuit, only need toggle switch can realize discharge and recharge operation.Electric battery can use in multiple parallel connection, for full-automatic material transport vehicle improves lasting motive force.Front vehicle wheel is connected and composed by physical construction cleverly by a direction steering wheel, controls to turn to by program and sensor feedback signal output pwm signal.
Camera selects high-quality high-definition camera to monitor, and camera meets can Remote Open or closedown.Camera model is Sony PS2, and communication is PAL agreement.
Steer motor drives the BTS7960 DC brush motor driving chip adopting company of Infineon, and it has big current MOSFET half-bridge structure.Chip has higher integrated level and enough fan-out capabilities, and has advantage in energy consumption.Integrated with in the electric machine control system of miniaturization, be suitable as desirable motor drive ic.
The H electric-motor drive unit that BTS7960 and master control form.Because adopted driving chip is half-bridge, therefore need to adopt two panels to form the rotating that full-bridge realizes motor.Main control chip S3C2440 produces the control signal of 2 road PWM outputs as two panels BTS7960, requires that PWM0, PWM1 can not be high level simultaneously simultaneously.Adopting timer to export hardware pwm pulse, making S3C2440CPU only participate in computing when changing PWM dutycycle, like this can significantly mitigation system computational burden and PWM software programming cost.
Embedded vision tracker adopts PropellerP8X32A eight core 32 chips of parallax company to embed Linux system, Linux system is run OPENCV image procossing storehouse drives OV7665 camera to realize, conventional algorithm is all finished writing in the mode of function, outside can carry out by serial bus the functional module that call instruction comes in calling module, do like this and the sophisticated functionss such as visual processes can be able to be built in an integration module.
Operating personnel are connected in the built-in communication module of dolly at operating terminal by wireless network, and send associative operation instruction to it, communication module receives instruction and passes to built-in main control chip S3C2440, and main control chip S3C2440 performs corresponding instruction by control circuit by full-automatic material transport vehicle; Simultaneously, be arranged on various sensor on full-automatic material transport vehicle and data back can be passed to operating terminal by communication network by camera, thus realize up-downgoing control and two-way communication, so that operator understands the running status of full-automatic material transport vehicle in real time, and environmentally situation sends instruction and controls full-automatic material transport vehicle and perform specific task, realizes interactive operation.
Upper computer software controls signal light control, real time job monitoring, controls the behaviors such as full-automatic material transport vehicle motor pattern in real time.Slave computer software by receiving the order from host computer, thus performs corresponding operating.And the tie connected between host computer and slave computer is exactly communication protocol, software section comprises communication protocol, client control software design and slave computer software.The exploitation of communication protocol and host computer is mainly introduced at this.
Communication protocol host computer adopts data packet format move instruction, and the form of monocase also can be adopted to send, and because the interference of monocase communication mode is comparatively large, therefore adopts data packet format move instruction, packet header OXFF, bag tail OXFF, no parity check position.Host computer utilizes wireless telecommunications to send packet to receiving end by Socket, and receiving end is untied packet by unpacking mechanism, is sent to main control chip S3C2440 and performs associative operation by control module by serial ports.Its agreement regulation is as shown in table 1.
Table 1 communication protocol specifies
| Data bit | Function | Data bit | Function |
| 0x00 | Stop | 0x05 | Preference pattern |
| 0x01 | Advance | 0x06 | Menu |
| 0x02 | Retreat | 0x07 | Arrange |
| 0x03 | Motor turns left | 0x08 | Battery information |
| 0x04 | Motor is turned right | Feedback information |
For parametric controller, adopt a kind of method based on WindowsCE.net technology, in literary composition, use VisualStudio2010 to write C# host computer client.Adopt ICP/IP protocol, utilize Socket to send packet to receiving end.Client comprises two windows: main window and allocation window.Main window comprises video viewing area and control knob district, is mainly used in display passback video and realizes full-automatic material transport vehicle controlling.Allocation window mainly completes the configuration of wireless network and the self-defined key assignments of full-automatic material transport vehicle steering order.
According to the communication protocol of table 1, the mode that host computer is packed with Byte by Socket sends control command to full-automatic material transport vehicle, receives camera passback video flowing simultaneously and shows in real time in video viewing area.The video that camera is taken also can be resolved into a sheet by a sheet independently jpg picture and be sent to client by video section, and picture is combined into video by client again.Send for Socket data, first create the example of Socket object, after creating Socket example, namely host computer is connected to receiving end by Connect method, and sends data by Send method.Data are sent completely rear Close method and close Socket with releasing resource.
In addition, the mode of configuration file is adopted to access the data of last configuration, in order to avoid repeated configuration, and by definition 8 keyboard values, be convenient to the execution of observation event, the comprehensive control of motor and steering engine can be realized with this conveniently by the trigger event of keyboard, and add car light control command, upper computer software operational excellence after tested.
Slave computer software drive plate adopts arduino2560 controller.Embedded control system based on arduino2560 provides the high and scheme that cost is low of a kind of dirigibility.Program of lower computer mainly comprises: external interrupt, steering wheel PWM interruption, timer, serial ports interruption, initialization etc.Program of lower computer receives the host computer order forwarded from communication system, realizes the functions such as data receiver, camera control, motor steering, car light control, battery electric quantity instruction, infrared obstacle.
Be more than wherein specific implementation of the present utility model, it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these apparent replacement forms all belong to protection scope of the present invention.
Claims (8)
1. an automatic material transport intelligent vehicle control system, it is characterized in that, comprise master controller, power module, wireless communication module, camera, vehicle traction control module and vehicle unloading control module, described wireless communication module, camera, vehicle traction control module and vehicle unloading control module communicate to connect with master controller respectively, described power module provides power supply for other each modules, master controller is communicated with host computer by wireless communication module, master controller controls vehicle operating motor by vehicle traction control module, master controller controls vehicle goods bucket by vehicle unloading control module and runs motor.
2. a kind of automatic material transport intelligent vehicle control system according to claim 1, it is characterized in that, described power module comprises direct supply, energy supply control module and battery status display module, described energy supply control module communicates to connect and controls direct supply, and battery status display module communicates to connect direct supply and shows the state of charge of direct supply.
3. a kind of automatic material transport intelligent vehicle control system according to claim 1, it is characterized in that, described vehicle traction control module comprises electric machine speed regulation driver module, and described electric machine speed regulation driver module communicates to connect master controller and vehicle operating motor respectively.
4. a kind of automatic material transport intelligent vehicle control system according to claim 1, it is characterized in that, described vehicle unloading control module comprises driving stepper motor module and motion sensor, described driving stepper motor module communicates to connect master controller respectively and vehicle goods bucket runs motor, described motion sensor is arranged at vehicle goods bucket place and detects goods bucket motion state, and goods bucket motion state is transferred to master controller.
5. a kind of automatic material transport intelligent vehicle control system according to claim 1, it is characterized in that, also comprise auditory tone cues module, described auditory tone cues module comprises speech chip, power amplification circuit and loudspeaker, described speech chip communication connection master controller, and connect loudspeaker by power amplification circuit.
6. a kind of automatic material transport intelligent vehicle control system according to claim 1, is characterized in that, also comprise warning light circuit, described warning light circuit electrical connection master controller by the light on and off of main controller controls warning lamp.
7. a kind of automatic material transport intelligent vehicle control system according to claim 1, it is characterized in that, described wireless communication module is ZigBee wireless communication module.
8. a kind of automatic material transport intelligent vehicle control system according to claim 1, it is characterized in that, described master controller is S3C2440 chip.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520746798.4U CN205003506U (en) | 2015-09-24 | 2015-09-24 | Automatic material transport intelligence car control system |
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| CN201520746798.4U CN205003506U (en) | 2015-09-24 | 2015-09-24 | Automatic material transport intelligence car control system |
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| CN205003506U true CN205003506U (en) | 2016-01-27 |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406318A (en) * | 2016-11-15 | 2017-02-15 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on radio frequency signal |
| CN106444782A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on infrared obstacle avoidance sensor |
| CN106444781A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Material box transport cart capable of automatically avoiding obstacles |
| CN106444783A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on laser |
| CN106483960A (en) * | 2016-11-15 | 2017-03-08 | 江苏智石科技有限公司 | A kind of intelligent magazine transport vehicle based on ultrasound wave |
| CN106527440A (en) * | 2016-11-15 | 2017-03-22 | 江苏智石科技有限公司 | Intelligent container truck for chip packaging |
| CN106569497A (en) * | 2016-11-15 | 2017-04-19 | 江苏智石科技有限公司 | Radar based intelligent material box transport vehicle |
| CN106598044A (en) * | 2016-11-15 | 2017-04-26 | 江苏智石科技有限公司 | Magazine transport vehicle |
| CN106647740A (en) * | 2016-11-15 | 2017-05-10 | 江苏智石科技有限公司 | Grating-based intelligent magazine transport vehicle |
| CN109765872A (en) * | 2019-03-01 | 2019-05-17 | 苏州洪昇新能源科技有限公司 | A kind of moulding lines intelligent monitor system |
-
2015
- 2015-09-24 CN CN201520746798.4U patent/CN205003506U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106406318A (en) * | 2016-11-15 | 2017-02-15 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on radio frequency signal |
| CN106444782A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on infrared obstacle avoidance sensor |
| CN106444781A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Material box transport cart capable of automatically avoiding obstacles |
| CN106444783A (en) * | 2016-11-15 | 2017-02-22 | 江苏智石科技有限公司 | Intelligent material box transport vehicle based on laser |
| CN106483960A (en) * | 2016-11-15 | 2017-03-08 | 江苏智石科技有限公司 | A kind of intelligent magazine transport vehicle based on ultrasound wave |
| CN106527440A (en) * | 2016-11-15 | 2017-03-22 | 江苏智石科技有限公司 | Intelligent container truck for chip packaging |
| CN106569497A (en) * | 2016-11-15 | 2017-04-19 | 江苏智石科技有限公司 | Radar based intelligent material box transport vehicle |
| CN106598044A (en) * | 2016-11-15 | 2017-04-26 | 江苏智石科技有限公司 | Magazine transport vehicle |
| CN106647740A (en) * | 2016-11-15 | 2017-05-10 | 江苏智石科技有限公司 | Grating-based intelligent magazine transport vehicle |
| CN109765872A (en) * | 2019-03-01 | 2019-05-17 | 苏州洪昇新能源科技有限公司 | A kind of moulding lines intelligent monitor system |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160127 Termination date: 20180924 |
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| CF01 | Termination of patent right due to non-payment of annual fee |