CN205068154U - Automatic operation pavement detection system of guide car - Google Patents

Abstract

The utility model is suitable for a laser rangefinder field provides an automatic operation pavement detection system of guide car, the motor encoder be connected including the laser rangefinder sensor, with the motor of automated guidance car, the motor drive, master controller and the communication module of connection between laser rangefinder sensor, motor drive and master controller that are connected with the motor and the motor encoder of automated guidance car respectively, the laser rangefinder sensor is a diffuse reflection type laser rangefinder sensor. The utility model discloses a diffuse reflection type laser distance sensor detects the channel size on automated guidance car operation road surface, solved among the prior art automated guidance car and cruise machine equipment can only automatic operation in planning good route and environment, it is outstanding in the barrier on ground to detect people or thing etc. To the then unable accurate measuring of ground channel, the range of application receives the problem of limitation, has wide application prospect, is suitable for extensive popularization.

Description

A kind of operation pavement detection system of automatic guided vehicle

Technical field

The utility model belongs to laser ranging field, particularly relates to a kind of operation pavement detection system of automatic guided vehicle.

Background technology

Automatic guided vehicle and machinery and equipment of cruising are widely used in the fields such as unmanned factory assembles between transfer car(buggy) automatically, electricity substation.But, these automatic guided vehicles and machinery and equipment of cruising can only run in the path and environment of having planned automatically, can only detect that people or thing etc. protrude from the barrier on ground, then cannot accurately detect for ground raceway groove, cause its range of application to be greatly limited.

Utility model content

The object of the utility model embodiment is the operation pavement detection system providing a kind of automatic guided vehicle, being intended to solve automatic guided vehicle and machinery and equipment of cruising in prior art can only run in the path and environment of having planned automatically, can only detect that people or thing etc. protrude from the barrier on ground, then cannot accurately detect for ground raceway groove, the problem that range of application is limited to.

The utility model embodiment realizes like this, a kind of operation pavement detection system of automatic guided vehicle, comprise the motor encoder that laser range sensor is connected with the motor of automatic guided vehicle, the motor driver be connected with motor and the described motor encoder of automatic guided vehicle respectively, primary controller and be connected to described laser range sensor, communication module between described motor driver and described primary controller, described laser range sensor is scattered reflection type laser range sensor.

Preferably, described communication module comprises interface conversion chip, described interface conversion chip is connected with described laser range sensor by a RS232 interface and is connected and two-way communication with described primary controller by the first Transistor-Transistor Logic level generic asynchronous serial communication interface corresponding with a described RS232 interface, and described interface conversion chip is also connected with described motor driver by the 2nd RS232 interface and is connected and two-way communication with described primary controller by the second Transistor-Transistor Logic level generic asynchronous serial communication interface corresponding with described 2nd RS232 interface.

Preferably, described communication module also comprises electrostatic protection unit, and described electrostatic protection unit one termination digitally, the other end is connected with a described RS232 interface and described 2nd RS232 interface respectively.

Preferably, described motor driver comprises the motor drive ic be connected with described motor and the connection stand be connected with described motor drive ic, described motor drive ic is connected with described communication module by a described RS232 interface, and described motor drive ic is connected with described motor encoder by described connection stand.

Preferably; described motor driver also comprises that one end and described motor and described motor drive ic connect altogether, the motor of other end ground connection drives protected location motor to drive protected location, and described motor drives protected location to comprise reverse voltage and drives protector and filter capacitor group.

Preferably, described primary controller comprises main control chip, the crystal oscillation clock circuit be connected with described main control chip and programming interface, and described main control chip is connected and two-way communication with described communication module with described second Transistor-Transistor Logic level generic asynchronous serial communication interface by described first Transistor-Transistor Logic level generic asynchronous serial communication interface.

Preferably, described primary controller also comprises with power supply, described main control chip and is digitally connected, and to eliminate the electric source filter circuit of the high frequency noise of power supply, described electric source filter circuit comprises magnetic bead and bypass small capacitances group.

Preferably, described primary controller also comprises and connects with power supply, described main control chip and be digitally connected, and with the reset circuit of the described primary controller that resets, described reset circuit comprises reset switch.

Preferably, described primary controller also comprises and is connected between power supply and described main control chip, to indicate the LED display circuit of the duty of the operation pavement detection system of the operation automatic guided vehicle of described automatic guided vehicle.

Compared with prior art, beneficial effect is the utility model embodiment: by the detection adopting scattered reflection type laser distance sensor can realize road pavement raceway groove; By arranging electrostatic protection unit in communication module, when can effectively suppress laser distance sensor and motor driver to carry out data communication by described communication module and primary controller, the instantaneous pressure produced in communication line, prevents the first serial data communication interface from being damaged by high pressure; Driving protector by arranging reverse voltage in motor driver, under powering-off state, the motor of automatic guided vehicle effectively can be avoided to rotate by external force the reverse voltage produced and damage motor driver; By arranging filter capacitor group in motor driver, power circuit effectively can be suppressed to produce high frequency noise, avoid high frequency noise to affect the behavior in service of the motor of automatic guided vehicle; By arranging crystal oscillation clock circuit in primary controller, for primary controller provides accurate work clock; Writing interface by arranging to sweep in primary controller, conveniently programming and debugging being carried out to the internal processes of primary controller; By arranging electric source filter circuit in primary controller, can efficient go out power circuit produce high frequency noise; By arranging reset circuit in primary controller, when debugging primary controller, system can be resetted; By arranging LED indicating circuit in primary controller, whether the duty that can show the operation pavement detection system running automatic guided vehicle is in real time normal.

Accompanying drawing explanation

Fig. 1 is the basic structure block diagram of the operation pavement detection system of the automatic guided vehicle that the utility model embodiment provides;

Fig. 2 is the concrete structure block diagram of the operation pavement detection system of the automatic guided vehicle that preferred embodiment of the present utility model provides;

Fig. 3 is the electrical block diagram of the communication module that preferred embodiment of the present utility model provides;

Fig. 4 with Fig. 5 is motor driver that preferred embodiment of the present utility model provides when being connected with motor encoder, the electrical block diagram of motor driver;

When Fig. 6 and Fig. 7 is the motor of the motor-drive circuit control automatic guided vehicle that preferred embodiment of the present utility model provides, the electrical block diagram of motor driver;

Fig. 8 is the electrical block diagram of the primary controller that preferred embodiment of the present utility model provides;

Fig. 9 is the operation pavement detection method utilizing automatic guided vehicle that preferred embodiment of the present utility model provides, and detects the principle schematic of the length of road surface raceway groove;

Figure 10 is the operation pavement detection method utilizing automatic guided vehicle that preferred embodiment of the present utility model provides, and detects the principle schematic of the degree of depth of road surface raceway groove.

Embodiment

In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with drawings and Examples, the utility model is further elaborated.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.

Fig. 1 is the basic structure block diagram of the operation pavement detection system of the automatic guided vehicle that the utility model embodiment provides.

As shown in Figure 1, the operation pavement detection system of the operation automatic guided vehicle that the utility model embodiment provides, comprise motor driver 40 that motor encoder 30 that laser range sensor 10 is connected with the motor 20 of automatic guided vehicle is connected with motor 20 and the motor encoder 30 of automatic guided vehicle, primary controller 60 and be connected to laser range sensor 10, communication module 50 between motor driver 40 and primary controller 60, described laser range sensor 10 is scattered reflection type laser range sensor.

Fig. 2 is the concrete structure block diagram of the operation pavement detection system of the automatic guided vehicle that preferred embodiment of the present utility model provides.

As shown in Figure 2, communication module 50 comprises interface conversion chip 51 and electrostatic protection unit 52, described interface conversion chip 51 is connected with described laser range sensor 10 by a RS232 interface 511, and be connected and two-way communication with primary controller 60 by the first Transistor-Transistor Logic level generic asynchronous serial communication interface 512 corresponding with a described RS232 interface 511, interface conversion chip 51 is also connected with motor driver 40 by the 2nd RS232 interface 521, and be connected and two-way communication with described primary controller 60 by the second Transistor-Transistor Logic level generic asynchronous serial communication interface 522 corresponding with described 2nd RS232 interface 521, described electrostatic protection unit 52 1 termination digitally, the other end is connected with a described RS232 interface 511 and described 2nd RS232 interface 521 respectively.

The signal that interface conversion chip 51 is transmitted by a RS232 interface 511 and the 2nd RS232 interface 521 for receiving laser range sensor 10 and motor driver 20, and this signal is passed to primary controller 60 by the first Transistor-Transistor Logic level generic asynchronous serial communication interface 521 and the second Transistor-Transistor Logic level generic asynchronous serial communication interface 522 adapting to primary controller 60, with the conversion realizing by RS232 interface to Transistor-Transistor Logic level generic asynchronous serial communication interface;

Motor driver 40 comprises the motor drive ic 41 be connected with motor 20, the connection stand 42 be connected with motor drive ic 41 and one end and described motor 20 and described motor drive ic 41 connects altogether, the motor of other end ground connection EGND drives protected location 43, motor drive ic 41 is connected with communication module 50 by the first Transistor-Transistor Logic level generic asynchronous serial communication interface 521, motor drive ic 41 is connected with motor encoder 30 by connecting stand 42, and motor drives protected location 43 to comprise reverse voltage and drives protector 431 and filter capacitor group 432;

Primary controller 60 comprises main control chip 61, the crystal oscillation clock circuit 62 be connected with main control chip 61 and programming interface 63, and main control chip 61 is connected with described communication module 50 with the second Transistor-Transistor Logic level generic asynchronous serial communication interface 522 respectively by the first Transistor-Transistor Logic level generic asynchronous serial communication interface 521; Primary controller 60 also comprise with power supply 70, main control chip 61 and digitally DGND be connected, to eliminate the electric source filter circuit 64 of the high frequency noise of power supply 70, electric source filter circuit 64 comprises magnetic bead 641 and bypass small capacitances group 642; Primary controller 60 also comprise with power supply 70, main control chip 61 and digitally DGND be connected, in order to the reset circuit 65 of the primary controller 60 that resets, reset circuit 65 comprises reset switch 651; Primary controller 60 also comprises and being connected between power supply 70 and main control chip 61, to indicate the LED display circuit 66 of the duty of the operation pavement detection system of the operation automatic guided vehicle of described automatic guided vehicle.

In a particular application, the first Transistor-Transistor Logic level generic asynchronous serial communication interface 521 and the second Transistor-Transistor Logic level generic asynchronous serial communication interface 522 are UART interface; Interface conversion chip 51 in communication module 50 can select TI (TexasInstruments, Texas Instrument) the MAX3232 sequence of communications module of producing, having of other manufacturer production also can be selected to be the interface conversion chip of UART interface function by RS232 interface conversion; When electrostatic protection unit 52 is for effectively suppressing laser distance sensor and motor driver to carry out data communication by described communication module and primary controller, the instantaneous pressure produced in communication line, prevents the first serial data communication interface from being damaged by high pressure.

In a particular application, the motor drive ic that motor drive ic 41 can select CopleyControls company of the U.S. to produce, this chip supports the DC voltage input of 14V ~ 90V, and the maximum drive current of output is 30A; Reverse voltage drives protector 431 specifically to select BS0640-C type semiconductor discharge tube, and again with under effectively avoiding powering-off state, motor rotates due to external force and causes too high reverse voltage, damages motor driver; Filter capacitor group 432 comprises multiple filter capacitor, can effectively prevent from occurring high-frequency noise in power circuit, affects the rotating property of motor.

In a particular application, main control chip 61 selects STM32F103 series monolithic, also can select the framework such as the single-chip microcomputer that can realize software programming, FPGA, DSP, ARM of other model and the primary controller of platform and processor; Crystal oscillation clock circuit 62 selects the clock chip that can provide 8MHZ crystal oscillator frequency; Magnetic bead 641 and bypass small capacitances group 642 are for eliminating the high frequency noise on power supply 70 circuit; The reset switch 651 of reset circuit 65 is mainly used in being used for when debugging primary controller 60 control system of reset primary controller 60; To main control chip 61 programming software program when programming interface 63 is for debugging primary controller 60; LED display circuit 66 comprises multiple LED light, for the sign that whether normal the duty as primary controller 60 is.

Fig. 3 is the electrical block diagram of the communication module that preferred embodiment of the present utility model provides.

As shown in Figure 3, communication module 50 comprises interface conversion chip U5, can select the MAX3232EIDB type interface conversion chip that TI (TexasInstruments, Texas Instrument) produces in the present embodiment.

Fig. 4 with Fig. 5 is motor driver that preferred embodiment of the present utility model provides when being connected with motor encoder, the electrical block diagram of motor driver.

As shown in Figure 4 and Figure 5, motor driver 40 comprises motor drive ic 41 (being made up of U1A, U1B, U1C tri-funtion parts), specifically select the AP2-090-30 type motor driver that CopleyControls company of the U.S. produces, Fig. 4 with Fig. 5 only illustrates the funtion part U1C that motor drive ic 41 is connected with motor encoder 30.

Fig. 8 is the electrical block diagram of the primary controller that preferred embodiment of the present utility model provides.

As shown in Figure 8, primary controller 60 comprises main control chip U2, and main control chip U2 specifically selects STM32F103RBT6 type single-chip microcomputer.

As shown in Fig. 3 ~ 5 and Fig. 8, the circuit connection of each pin of interface conversion chip U5 is as follows:

The electric capacity C29 that electric capacity is 0.1UF, rated voltage is 50V is connected with between No. 1 pin C1+ and No. 3 pin C1-;

The electric capacity C30 that electric capacity is 0.1UF, rated voltage is 50V is connected with between No. 4 pin C2+ and No. 5 pin C2-;

The link UART1_TXDYYI of No. 11 pin T1IN is connected with the link UART1_TXD of No. 42 pin PA9/USART1_TX/TIM1_CH2 of main control chip U2, is also connected with power end 3V3 through resistance R22;

The link UART2_TXD of No. 10 pin T2IN is connected with the link UART2_TXD of No. 16 pin PA2/USART2_TX/ADC_IN2/TIM2_CH3 of main control chip U2, is also connected with power end 3V3 through resistance R23;

The link UART1_RXD of No. 12 pin R1OUT is connected with the link UART1_RXD of No. 43 pin PA11/USART1_CTS/CANRX/USBDM/TIM1_CH4 of main control chip U2, is also connected with power end 3V3 through resistance R24;

The link UART2_RXD of No. 9 pin R2OUT is connected with the link UART2_RXD of No. 17 pin PA3/USART2_RX/ADC_IN3/TIM2_CH4 of main control chip U2, is also connected with power end 3V3 through resistance R25;

No. 16 pin VCC meet power end 3V3;

No. 2 pin V+, No. 6 pin V-are electric capacity C31, C32 of 0.1UF respectively through electric capacity, then meet power end 3V3 through the electric capacity C33 that electric capacity is 0.1UF; Electric capacity C31, C32 that No. 2 pin V+, No. 6 pin V-are also 0.1UF through electric capacity are respectively connected with digital grounding end DGND;

No. 15 pin GND are connected with digital grounding end DGND;

The link RS232_TXD1 of No. 14 pin T1OUT is connected with earth terminal DGND through TVS pipe D10, and is that the resistance R26 of 10 Ω is connected with laser range sensor 10 (not shown) through resistance;

The link RS232_TXD2 of No. 7 pin T2OUT is connected with earth terminal DGND through TVS pipe D8, and is that the resistance R27 of 10 Ω is connected with the link RS232_TXD2 of the PE40 pin RS232_TXD2 of motor drive ic U1C through resistance;

The link RS232_RXD1 of No. 13 pin R1IN is connected with earth terminal DGND through TVS pipe D9, and is that the resistance R28 of 10 Ω is connected with laser range sensor 10 (not shown) through resistance;

The link RS232_RXD2 of No. 8 pin R2IN is connected with earth terminal DGND through TVS pipe D10, and is that the resistance R36 of 10 Ω is connected with the link RS232_RXD2 of the PE39 pin RS232_RXD2 of motor drive ic U1C through resistance;

TVS pipe D7 ~ D10 forms the electrostatic protection unit 52 of communication module 50 jointly.

As shown in Figure 4 and Figure 5, U1C is the funtion part that motor drive ic 41 is connected with motor encoder 30, U1C and two the connection stand 42 that 12 pin HEADER_6X2 type double-row needle CON6 and CON7 are formed connects, in this embodiment, chip U1C is connected stand 42 corresponding with two motors 20 and two respectively motor encoder 30 with two connects, therefore each pin of U1C is symmetrical structure, the structure of double-row needle CON6 with CON7 is identical.

As shown in Figure 4, when U1C is connected with one of them motor 20 and motor encoder 30 by double-row needle CON6, the circuit connection of each pin of U1C is as follows:

The link HALL_W_A of PC1 pin AXIS_A_HALL_W is the Hall element feedback signal of motor 20;

The link HALL_V_A of PC3 pin AXIS_A_HALL_V is the Hall element feedback signal of motor 20;

The link HALL_U_A of PC5 pin AXIS_A_HALL_U is the Hall element feedback signal of motor 20;

PC19 pin AXIS_A_ENC_S through resistance be 10K Ω, sensitivity be 1% reference resistance R43 be connected with power end+5V_A;

PC20 pin AXIS_A_ENC_/S puts sky, does not use in this scheme;

The link ENC_A_P_A of PC21 pin AXIS_A_ENC_A is the A phase output difference sub-signal of motor encoder 30;

The link ENC_A_N_A of PC22 pin AXIS_A_ENC_/A is the A phase output difference sub-signal of motor encoder 30;

The link ENC_B_P_A of PC23 pin AXIS_A_ENC_B is the B phase output difference sub-signal of motor encoder 30;

The link ENC_B_N_A of PC24 pin AXIS_A_ENC_/B is the B phase output difference sub-signal of motor encoder 30;

The link ENC_X_P_A of PC25 pin AXIS_A_ENC_X is the X phase output difference sub-signal of scrambler 30;

The link ENC_X_N_A of PC26 pin AXIS_A_ENC_/X is the X phase output difference sub-signal of motor encoder 30;

PC27 pin AXIS_A_COS_N, PC28 pin AXIS_A_COS_P, PC29 pin AXIS_A_SIN_N and PC30 pin AXIS_A_SIN_P all puts sky, does not use in this scheme;

PC17 pin AXIS_A_+5VENC meets power end+5V_A;

PC18 pin SIGNAL_GND_1 is connected with digital grounding end DGND.

As shown in Figure 4, when U1C is connected with one of them motor 20 and motor encoder 30 by double-row needle CON6, the circuit connection of each pin of CON6 is as follows:

No. 2 pins are connected with digital grounding end DGND;

No. 4 pin HALL_U_A receive the Hall element feedback signal of motor 20, and pass to U1C by the link HALL_U_A of the PC5 pin AXIS_A_HALL_U of U1C;

No. 6 pin HALL_W_A receive the Hall element feedback signal of motor 20, and pass to U1C by the link HALL_W_A of the PC1 pin AXIS_A_HALL_W of U1C;

No. 8 pin ENC_A_N_A receive the A phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_A_N_A of the PC22 pin AXIS_A_ENC_/A of U1C;

No. 10 pin ENC_B_N_A receive the B phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_B_N_A of the PC24 pin AXIS_A_ENC_/B of U1C;

No. 12 pin ENC_X_N_A receive the X phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_X_N_A of the PC26 pin AXIS_A_ENC_/X of U1C;

No. 1 pin meets power end+5V_A;

No. 3 pin MOTEMP_A are the temperature detection pins measuring motor 20 temperature;

No. 5 pin HALL_V_A receive the Hall element feedback signal of motor 20, and pass to U1C by the link HALL_V_A of the PC3 pin AXIS_A_HALL_V of U1C;

No. 7 pin ENC_A_P_A receive the A phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_A_P_A of the PC21 pin AXIS_A_ENC_A of U1C, No. 7 pin ENC_A_P_A and No. 8 pin ENC_A_N_A two ends are parallel with the resistance R33 that resistance is 120 Ω, No. 7 pin ENC_A_P_A also through resistance be 10K Ω, sensitivity be 1% reference resistance R37 be connected with power end+5V_A;

No. 9 pin ENC_B_P_A receive the B phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_B_P_A of the PC23 pin AXIS_A_ENC_B of U1C, No. 9 pin ENC_B_P_A and No. 10 pin ENC_B_N_A two ends are parallel with the resistance R32 that resistance is 120 Ω, No. 9 pin ENC_B_P_A also through resistance be 10K Ω, sensitivity be 1% reference resistance R38 be connected with power end+5V_A;

No. 11 pin ENC_X_P_A receive the X phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_X_P_A of the PC25 pin AXIS_A_ENC_X of U1C, No. 11 pin ENC_X_P_A and No. 12 pin ENC_X_N_A two ends are parallel with the resistance R29 that resistance is 120 Ω, No. 11 pin ENC_X_P_A also through resistance be 10K Ω, sensitivity be 1% reference resistance R39 be connected with power end+5V_A.

As shown in Figure 3 and Figure 5, when U1C is connected with another motor 20 and motor encoder 30 by double-row needle CON7, the circuit connection of each pin of U1C is as follows:

The link HALL_W_B of PC2 pin AXIS_B_HALL_W is the Hall element feedback signal of motor 20;

The link HALL_V_B of PC4 pin AXIS_B_HALL_V is the Hall element feedback signal of motor 20;

The link HALL_U_B of PC6 pin AXIS_B_HALL_U is the Hall element feedback signal of motor 20;

PC9 pin AXIS_B_ENC_S through resistance be 10K Ω, sensitivity be 1% reference resistance R44 be connected with power end+5V_B;

PC10 pin AXIS_B_ENC_/S puts sky, does not use in this scheme;

The link ENC_A_P_B of PC11 pin AXIS_B_ENC_A is the A phase output difference sub-signal of motor encoder 30;

The link ENC_A_N_B of PC12 pin AXIS_B_ENC_/A is the A phase output difference sub-signal of motor encoder 30;

The link ENC_B_P_B of PC13 pin AXIS_B_ENC_B is the B phase output difference sub-signal of motor encoder 30;

The link ENC_B_N_B of PC14 pin AXIS_B_ENC_/B is the B phase output difference sub-signal of motor encoder 30;

The link ENC_X_P_B of PC15 pin AXIS_B_ENC_X is the X phase output difference sub-signal of scrambler 30;

The link ENC_X_N_B of PC16 pin AXIS_B_ENC_/X is the X phase output difference sub-signal of motor encoder 30;

PC31 pin AXIS_B_COS_N, PC32 pin AXIS_B_COS_P, PC33 pin AXIS_B_SIN_N and PC34 pin AXIS_B_SIN_P all puts sky, does not use in this scheme;

The link RS232_RXD2 of PE39 pin RS232_RXD2 is connected with the link RS232_RXD2 of No. 8 pin R2IN of interface conversion chip U5;

The link RS232_TXD of PE40 pin RS232_TXD2 is connected with the link RS232_TXD2 of No. 27 pin T2OUT of interface conversion chip U5;

PC7 pin AXIS_B_+5VENC meets power end+5V_B;

PC8 pin SIGNAL_GND_0 is connected with digital grounding end DGND.

As shown in Figure 4, when U1C is connected with another motor 20 and motor encoder 30 by double-row needle CON7, the circuit connection of each pin of CON7 is as follows:

No. 2 pins are connected with digital grounding end DGND;

No. 4 pin HALL_U_B receive the Hall element feedback signal of motor 20, and pass to U1C by the link HALL_U_B of the PC6 pin AXIS_B_HALL_U of U1C;

No. 6 pin HALL_W_B receive the Hall element feedback signal of motor 20, and pass to U1C by the link HALL_W_B of the PC2 pin AXIS_B_HALL_W of U1C;

No. 8 pin ENC_A_N_B receive the A phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_A_N_B of the PC12 pin AXIS_B_ENC_/A of U1C;

No. 10 pin ENC_B_N_B receive the B phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_B_N_B of the PC14 pin AXIS_B_ENC_/B of U1C;

No. 12 pin ENC_X_N_B receive the X phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_X_N_B of the PC16 pin AXIS_B_ENC_/X of U1C;

No. 1 pin meets power end+5V_B;

No. 3 pin MOTEMP_B are the temperature detection pins measuring motor 20 temperature;

No. 5 pin HALL_V_B receive the Hall element feedback signal of motor 20, and pass to U1C by the link HALL_V_B of the PC4 pin AXIS_B_HALL_V of U1C;

No. 7 pin ENC_A_P_B receive the A phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_A_P_B of the PC11 pin AXIS_B_ENC_A of U1C

No. 9 pin ENC_B_P_B receive the B phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_B_P_B of the PC13 pin AXIS_B_ENC_B of U1C

No. 11 pin ENC_X_P_B receive the X phase output difference sub-signal of motor encoder 30, and pass to U1C by the link ENC_X_P_B of the PC15 pin AXIS_B_ENC_X of U1C;

No. 7 pin ENC_A_P_B and No. 8 pin ENC_A_N_B two ends are parallel with the resistance R26 that resistance is 120 Ω;

No. 9 pin ENC_B_P_B and No. 10 pin ENC_B_N_B two ends are parallel with the resistance R27 that resistance is 120 Ω;

No. 11 pin ENC_X_P_B and No. 12 pin ENC_X_N_B two ends are parallel with the resistance R28 that resistance is 120 Ω.

In a particular application, the operation pavement detection system of described automatic guided vehicle can comprise multiple motor drivers of multiple motor and correspondence, motor encoder and connection stand, and concrete connecting circuit is identical with the circuit diagram principle of above-mentioned Fig. 4.

When Fig. 6 and Fig. 7 is the motor of the motor-drive circuit control automatic guided vehicle that preferred embodiment of the present utility model provides, the electrical block diagram of motor driver.

As shown in Figure 6, when motor drive ic 41 connects with two motors 20 and corresponding two motor encoders 30 respectively, U1A is the funtion part that motor drive ic 41 is connected with one of them motor, and the circuit connection of each pin of U1A is as follows:

PD1 pin MOT_U_0, PD3 pin MOT_U_1, PD5 pin MOT_U_2, PD2 pin MOT_U_3, PD4 pin MOT_U_4 and PD6 pin MOT_U_5 is connected to MOT_U_A end altogether, the inductance L 1 being 60 μ H through inductance value is again connected with motor, to provide U phase drive current to motor, inductance L 1 is also connected with earth terminal EGND through semiconductor discharge tube 1D1;

PD7 pin NC_0, PD8 pin NC_1, PD9 pin NC_2 and PD10 pin NC_3 all puts sky, does not use in this scheme;

PD11 pin MOT_V_0, PD13 pin MOT_V_1, PD15 pin MOT_V_2, PD12 pin MOT_V_3, PD14 pin MOT_V_4 and PD16 pin MOT_V_5 is connected to MOT_V_A end altogether, the inductance L 2 being 60 μ H through inductance value is again connected with motor, to provide V phase drive current to motor, inductance L 2 is also connected with earth terminal EGND through semiconductor discharge tube 1D2;

PD17 pin NC_4, PD18 pin NC_5, PD19 pin NC_6 and PD20 pin NC_7 all puts sky, does not use in this scheme;

PD21 pin MOT_W_0, PD23 pin MOT_W_1, PD25 pin MOT_W_2, PD22 pin MOT_W_3, PD24 pin MOT_W_4 and PD26 pin MOT_W_5 is connected to MOT_W_A end altogether, the inductance L 3 being 60 μ H through inductance value is again connected with motor, to provide W phase drive current to motor, inductance L 3 is also connected with earth terminal EGND through semiconductor discharge tube 1D3;

MOT_U_A end, MOT_V_A end and MOT_W_A end also respectively through electric capacity be 1000pF, rated voltage is that electric capacity C2, C1 of 100V is connected with earth terminal EGND with C3, electric capacity C1 ~ C3 forms the filter capacitor group 432 of motor driver 40 jointly;

The reverse voltage that semiconductor discharge tube 1D1 ~ 1D3 forms motor driver 40 drives protector 431.

As shown in Figure 7, when motor drive ic 41 connects with two motors 20 and corresponding two motor encoders 30 respectively, U1B is the funtion part that motor drive ic 41 is connected with another motor, and the circuit connection of each pin of U1B is as follows:

PF1 pin MOT_U_0, PF3 pin MOT_U_1, PF5 pin MOT_U_2, PF2 pin MOT_U_3, PF4 pin MOT_U_4 and PF6 pin MOT_U_5 is connected to MOT_U_B end altogether, the inductance L 6 being 60 μ H through inductance value is again connected with motor, to provide U phase drive current to motor, inductance L 6 is also connected with earth terminal EGND through semiconductor discharge tube 1D8;

PF7 pin NC_0, PF8 pin NC_1, PF9 pin NC_2 and PF10 pin NC_3 all puts sky, does not use in this scheme;

PF11 pin MOT_V_0, PF13 pin MOT_V_1, PF15 pin MOT_V_2, PF12 pin MOT_V_3, PF14 pin MOT_V_4 and PF16 pin MOT_V_5 is connected to MOT_V_B end altogether, the inductance L 5 being 60 μ H through inductance value is again connected with motor, to provide V phase drive current to motor, inductance L 5 is also connected with earth terminal EGND through semiconductor discharge tube 1D7;

PF17 pin NC_4, PF18 pin NC_5, PF19 pin NC_6 and PF20 pin NC_7 all puts sky, does not use in this scheme;

PF21 pin MOT_W_0, PF23 pin MOT_W_1, PF25 pin MOT_W_2, PF22 pin MOT_W_3, PF24 pin MOT_W_4 and PF26 pin MOT_W_5 is connected to MOT_W_A end altogether, the inductance L 4 being 60 μ H through inductance value is again connected with motor, to provide W phase drive current to motor, inductance L 4 is also connected with earth terminal EGND through semiconductor discharge tube 1D6;

MOT_U_B end, MOT_V_B end and MOT_W_B end also respectively through electric capacity be 1000pF, rated voltage is that electric capacity C9, C8 of 100V is connected with earth terminal EGND with C7, electric capacity C7 ~ C9 forms the filter capacitor group 432 of motor driver 40 jointly;

The reverse voltage that semiconductor discharge tube 1D6 ~ 1D8 forms motor driver 40 drives protector 431.

As shown in Figure 8, primary controller 60 comprises main control chip U2, the crystal oscillation clock circuit 62 be connected with main control chip U2, programming interface 63, electric source filter circuit 64, reset circuit 65 and LED display circuit 66.

As shown in figures 3 and 8, the circuit connection of each pin of main control chip U2 is as follows:

No. 1 pin VBAT, No. 13 pin VDDA, No. 19 pin VDD_4, No. 32 pin VDD_1, No. 64 pin VDD_3 and No. 48 pin VDD_2 are connected to power control terminal 3V3_MCU altogether;

No. 2 pin PC13-ANTI_TAMP, No. 3 pin PC14-OSC32_IN and No. 4 pin PC15-OSC32_OUT all put sky, do not use in this scheme;

No. 5 pin PD0/OSC_IN connect the MCU_CLK_8M end of crystal oscillation clock circuit 62, to input the crystal oscillation signal that crystal oscillation clock circuit 62 frequency is 8MHZ;

No. 6 pin PD1/OSC_OUT put sky, do not use in this scheme;

No. 7 pin NRST meet the reset terminal NRST of reset circuit 65, to input the reset signal of reset circuit 65;

No. 8 pin PC0/ADC_IN10 put sky, do not use in this scheme;

No. 9 pin PC1/ADC_IN11 connect the LED0 end of LED display circuit 66, with to LED display circuit 66 input control signal, control LED and light or extinguish;

No. 10 pin PC2/ADC_IN12 connect the LED1 end of LED display circuit 66, with to LED display circuit 66 input control signal, control LED and light or extinguish;

No. 11 pin PC3/ADC_IN13 put sky, do not use in this scheme;

No. 12 pin VSSA, No. 18 pin VSS_4, No. 31 pin VSS_1, No. 63 pin VSS_3 and No. 47 pin VSS_2 are connected to altogether and digitally hold DGND;

No. 14 pin PA0-WKUP/USART2_CTS/ADC_IN0/TIM2_CH1_ETR and No. 15 pin PA1/USART2_RTS/ADC_IN1/TIM2_CH2 all put sky, do not use in this scheme;

No. 16 pin PA2/USART2_TX/ADC_IN2/TIM2_CH3 are connected with the link UART2_TXD of No. 10 pin T2IN of interface conversion chip U5;

No. 17 pin PA3/USART2_RX/ADC_IN3/TIM2_CH4 are connected with the link UART2_RXD of No. 9 pin R2OUT of interface conversion chip U5;

No. 20 pin PA4/SP11_NSS/USART2_CK/ADC_IN4, No. 21 pin PA5/SP11_SCK/ADC_IN5, No. 22 pin PA6/SP11_MISO/ADC_IN6/TIM3_CH1, No. 23 pin PA7/SP11_MOS1/ADC_IN7/TIM3_CH2, No. 24 pin PC4/ADC_IN14, No. 25 pin PC5/ADC_IN15, No. 26 pin PB0/ADC_IN8/TIM3_CH3, No. 27 pin PB1/ADC_IN9/TIM3_CH4, No. 28 pin PB2/BOOT1, No. 29 pin PB10/I2C2_SCL/USRT3_TX, No. 30 pin PB11/I2C2_SDA/USRT3_RX, No. 62 pin PB9/TIM4_CH4 and No. 61 pin PB8/TIM4_CH3 all put sky, do not use in this scheme,

No. 60 pin BOOT0 through resistance be 4.7K Ω, precision be 1% reference resistance R6 connect and digitally hold DGND;

No. 59 pin PB7/I2C1_SDA/TIM4_CH2 put sky, do not use in this scheme;

The link PB3_GPIO1 of link PB4_GPIO2 and No. 55 pin PB3/JTDO/TRACESWO of the link PB6_GPIO4 of No. 58 pin PB6/I2C1_SCL/YIM4_CH1, the link PB5_GPIO3 of No. 57 pin PB5/I2C1_SMBAL, No. 56 pin PB4/JNRTRST is universal input/output interface, does not use in this scheme;

No. 54 pin PD2/TIM3_ETR, No. 53 pin PC12, No. 52 pin PC11, No. 51 pin PC10 and No. 50 pin PA15/JTDI all put sky, do not use in this scheme;

No. 49 pin PA14/JTCK/SECLK connect the DEBUG_CLK end of programming interface 63;

No. 46 pin PA13/JTMS/SEDIO connect the DEBUG_DIO end of programming interface 63;

No. 45 pin PA12/USART1_RTS/CANTX/USBDP/TIM1_ETR put sky, do not use in this scheme;

No. 44 pin PA11/USART1_CTS/CANRX/USBDM/TIM1_CH4 put sky, do not use in this scheme;

The link UART1_RXD of No. 43 pin PA11/USART1_CTS/CANRX/USBDM/TIM1_CH4 is connected with No. 12 pin R1OUT of interface conversion chip U5;

The link UART1_TXD of No. 42 pin PA9/USART1_TX/TIM1_CH2 is connected with No. 11 pin T1IN of interface conversion chip U5;

No. 41 pin PA8/USART1_CK/TIM1_CH1/MCO put sky, do not use in this scheme;

No. 40 pin PC9, No. 39 pin PC8 and No. 38 pin PC7 put sky, do not use in this scheme;

No. 36 pin PB15/SPI2_MISO/TIM1_CH3N SPI_MOSI end through resistance be 22 Ω, precision be 1% reference resistance R9, the reference resistance R29 that resistance is 10K Ω, precision is 1% is connected with power end 3V3;

No. 35 pin PB14/SPI2_MISO/USART3_RTS/TIM1_CH2N SPI_MOS0 end through resistance be 10K Ω, precision be 1% reference resistance R30 be connected with power end 3V3;

No. 34 pin PB13/SPI2_SCK/USART3_CTS/TIM1_CH1N SPI_SCK end through resistance be 22 Ω, precision be 1% reference resistance R10, the reference resistance R31 that resistance is 10K Ω, precision is 1% is connected with power end 3V3;

No. 33 pin PB12/SPI2_NSS/I2C2_SMB/USART3_CK/TIM1_CBKIN SPI_CSN end through resistance be 22 Ω, precision be 1% reference resistance R13, the reference resistance R32 that resistance is 10K Ω, precision is 1% is connected with power end 3V3.

As shown in Figure 8, crystal oscillation clock circuit 62 comprises the 4 pin crystal oscillator chip Y1 that crystal oscillator frequency is 8MHZ, and the circuit connection of its each pin is as follows:

VCC pin meets power end 3V3 through magnetic bead B1, the two ends of magnetic bead B3 respectively through electric capacity be 0.1UF, rated voltage is that electric capacity C10, C11 of 50V connects and digitally hold DGND;

NC pin puts sky, does not use in this scheme;

OSC pin through resistance be 22 Ω, precision is that the reference resistance R5 of 1% is connected with No. 5 pin PD0/OSC_IN of main control chip U2;

GND pin connects digitally holds DGND.

As shown in Figure 8, programming interface 63 comprises 5 pin connecting interface CON2, and the circuit connection of each pin of CON2 is as follows:

No. 1 pin is connected with power end 3V3;

No. 2 pins connect and digitally hold DGND;

No. 3 pin NRST ends are connected with No. 7 pin NRST of main control chip U2;

No. 4 pin DEBUG_CLK ends are connected with No. 49 pin PA14/JTCK/SECLK of main control chip U2;

No. 5 pin DEBUG_DIO end is connected with No. 46 pin PA13/JTMS/SEDIO of main control chip U2, No. 5 pins also through resistance be 10K Ω, precision be 1% reference resistance R15 be connected with power end 3V3.

As shown in Figure 8, electric source filter circuit 64 comprises:

The electric capacity C21 that one termination power end 3V3, a termination digitally hold that the electric capacity of DGND is 1UF, the electric capacity C20 of rated voltage 16V and electric capacity are 0.1UF rated voltage 50V;

The bypass small capacitances group that the electric capacity of DGND is 0.1UF, the electric capacity C22 ~ C27 of rated voltage 50V forms digitally is held by the power control terminal 3V3_MCU of a termination main control chip U2, one end;

Be connected to the magnetic bead B3 between power end 3V3 and power control terminal 3V3_MCU.

As shown in Figure 6, the circuit connection of LED display circuit 66 is as follows:

No. 9 pin PC1/ADC_IN11 of green (green) light emitting diode D3 mono-termination main control chip U2, the other end through resistance be 47 Ω, precision be 1% reference resistance R11 be connected with power end 3V3;

No. 10 pin PC2/ADC_IN12 of green (green) light emitting diode D4 mono-termination main control chip U2, the other end through resistance be 47 Ω, precision be 1% reference resistance R12 be connected with power end 3V3;

As shown in Figure 8, reset circuit 65 comprises reset switch SW1, and the circuit connection of reset circuit 65 is as follows:

Reset switch SW1 one end through resistance be 4.7K Ω, precision be 1% reference resistance R7 meet power end 3V3, another termination digitally holds DGND, the connecing altogether to hold and digitally hold between DGND of No. 7 pin NRST meeting the company of end main control chip U2 altogether of reset switch SW1 and reference resistance R7, reset switch SW1 and reference resistance R7 is also parallel with the electric capacity C12 that electric capacity is 0.1UF, rated voltage 50V;

The reference resistance R8 mono-termination power end 3V3 that resistance is 4.7K Ω, precision is 1%, the other end and electric capacity are 0.1UF, the electric capacity C13 of rated voltage 50V is connected to RST_IMU altogether and holds, RST_IMU end is used for being resetted to other peripheral module circuit by program, in this programme, RST_IMU end only does compatible processing, will not use, another termination of electric capacity C13 digitally holds DGND.

The utility model embodiment also provides a kind of operation pavement detection method of automatic guided vehicle, and the method is performed by the operation pavement detection system of aforementioned automatic guided vehicle, and the method comprises:

Scattered reflection type laser range sensor launches n road detection laser beam, to detect n distance value S between n ground return point and scattered reflection type laser distance sensor by fixed frequency and constant tilt angle α to the operation road surface of automatic guided vehicle _n, the angle of described n road detection laser beam at same plane and between adjacent detection laser beam is θ;

Motor driver drives the motor rotation of automatic guided vehicle to drive vehicle wheel rotation;

Scrambler detects the current rotational speed omega of motor in real time and feeds back to motor driver;

Communication module is by described multiple distance value S _nprimary controller is passed to the current rotational speed omega of described motor;

Multiple distance value S that the n road detection laser beam controlling the same time transmitting of primary controller detection detects _nbe greater than or less than the quantity m of normalized distance distance values, and the distance value S that the detection laser beam detecting transmitting in multiple frequency cycle detects _ncontinue duration Δ T when being greater than or less than normalized distance distance values;

Primary controller is according to numerical value α, S _n, ω, m and Δ T calculate ground raceway groove or the size of barrier and maximum braking time when raceway groove or barrier being detected;

Wherein, 1≤n < π/θ, 1≤m≤n, and n be just whole odd number, m is positive integer.

In a particular application, the laser beam quantity that scattered reflection type laser range sensor sends earthward is odd number, intermediate beam restraints the intersecting lens of laser beam place plane and desirable level ground perpendicular to described n, following preferred embodiment all with described intermediate beam for reference to carrying out correlation computations, described intermediate beam, namely bundle detection laser beam.

In a preferred embodiment, described primary controller is according to numerical value α, S _n, ω, m and the Δ T computing method that calculate the size of ground raceway groove and maximum braking time when raceway groove being detected are specially:

A described m numerical value is greater than to the distance value S of normalized distance distance values _naverage S _m1;

According to formula L ₀₁=S _m1* the length L of tan (m* θ) preresearch estimates ground raceway groove ₀₁;

If described n road detection laser is intrafascicular, i-th to jth bundle laser detection to distance value be greater than normal value, then when or time, according to formula:

$L_1=|S_i*sin\&lsqb;(\frac{n+1}{2}-i)*\mathrm{\&theta;}\&rsqb;-S_j*sin\&lsqb;(\frac{n+1}{2}-j)*\mathrm{\&theta;}\&rsqb;|$

The length L of accurate Calculation ground raceway groove ₁;

When time, according to formula:

$L_1=|S_i*sin\&lsqb;(\frac{n+1}{2}-i)*\mathrm{\&theta;}\&rsqb;+S_j*sin\&lsqb;(j-\frac{n+1}{2})*\mathrm{\&theta;}\&rsqb;|$

The length L of accurate Calculation ground raceway groove ₁;

Wherein, S _ibe the distance value that the i-th bundle detection laser detects, S _jfor the distance value that jth bundle detection laser detects;

According to formula W ₁=V* Δ T, calculate the width W of ground raceway groove ₁, wherein, V is the travelling speed of automatic guided vehicle, and π is circular constant, for the wheel diameter of known automatic guided vehicle;

According to formula H ₁=Δ S ₁* cos α, Δ S ₁=S _m1-S ₀calculate the depth H of ground raceway groove ₁, wherein, S ₀for known normalized distance distance values;

According to formula Δ T _1max=W _max/ V calculates maximum braking time Δ T when raceway groove being detected _1max, wherein, W _maxallow by known automatic guided vehicle the breadth extreme of raceway groove crossed over;

According to formula h _min=W _max/ tan α calculating scattered reflection type laser range sensor is arranged on the minimum constructive height h on automatic guided vehicle _min.

In another preferred embodiment, described primary controller is according to numerical value α, S _n, ω, m and the Δ T computing method that calculate the length of ground obstacle, width, height and maximum braking time when barrier being detected are specially:

A described m numerical value is less than to the distance value S of normalized distance distance values _naverage S _m2;

According to formula L ₀₂=S _m2* the length L of tan (m* θ) preresearch estimates ground obstacle ₀₂;

If described n road detection laser is intrafascicular, i-th to jth bundle laser detection to distance value be less than normal value, then when or time, according to formula:

$L_2=|S_i*sin\&lsqb;(\frac{n+1}{2}-i)*\mathrm{\&theta;}\&rsqb;-S_j*sin\&lsqb;(\frac{n+1}{2}-j)*\mathrm{\&theta;}\&rsqb;|$

The length L of accurate Calculation ground obstacle ₂;

When time, according to formula:

$L_2=|S_i*sin\&lsqb;(\frac{n+1}{2}-i)*\mathrm{\&theta;}\&rsqb;+S_j*sin\&lsqb;(j-\frac{n+1}{2})*\mathrm{\&theta;}\&rsqb;|$

The length L of accurate Calculation ground obstacle ₂;

Wherein, S _ibe the distance value that the i-th bundle detection laser detects, S _jfor the distance value that jth bundle detection laser detects;

According to formula W ₂=V* Δ T, calculate the width W of ground obstacle ₂, wherein, V is the travelling speed of automatic guided vehicle, and π is circular constant, for the wheel diameter of known automatic guided vehicle;

According to formula H ₂=Δ S ₂* cos α, Δ S ₂=S _m2-S ₀calculate the height H of ground obstacle ₂, wherein, S ₀for known normalized distance distance values;

Work as H ₂>=H _maxtime, according to formula Δ T _2max=(h-H ₂) tan α/V, calculate maximum braking time Δ T when barrier being detected _2max, wherein, H _maxallow by known automatic guided vehicle the maximum height of barrier of crossing over, h is the height that known scattered reflection type laser range sensor is arranged on automatic guided vehicle.

Fig. 9 is the operation pavement detection method utilizing automatic guided vehicle that preferred embodiment of the present utility model provides, and detects the principle schematic of the length of road surface raceway groove.

As shown in Figure 9, scattered reflection type laser range sensor 10 is fixed on the vehicle body upper portion of automatic guided vehicle, distance floor level is h, and launch detection laser by fixed frequency and constant tilt angle α to the operation road surface of automatic guided vehicle, described detection laser comprise 11 tunnels in same plane and between adjacent beams angle be the laser beam of θ=8 °, if distance value S4 ~ S6 that 4th, 5,6 bundle laser beam record is greater than normalized distance distance values, namely can judge that the 4th, 5,6 bundle laser beam flyings are to raceway groove, so to the distance value S that the 4th, 5,6 bundle laser beam detection arrive ₄~ S ₆average S ≈ S6, by formula L ₀₁=S _m1* the length L of tan (m* θ) preresearch estimates ground raceway groove ₀₁=S ₆* tan24 °; Wherein the 6th laser beam is intermediate beam;

Due to 4 < 5 < 6, according to formula:

$L_1=|S_i*sin\&lsqb;(\frac{n+1}{2}-i)*\mathrm{\&theta;}\&rsqb;-S_j*sin\&lsqb;(\frac{n+1}{2}-j)*\mathrm{\&theta;}\&rsqb;|$

The length L of accurate Calculation ground raceway groove ₁=S _i* sin16 °-S _j* sin8 °.

Figure 10 is the operation pavement detection method utilizing automatic guided vehicle that preferred embodiment of the present utility model provides, and detects the principle schematic of the degree of depth of road surface raceway groove.

As shown in Figure 10, known laser sensor is arranged on the top of motion car body, and distance floor level is h, and by fixed frequency and constant tilt angle α, the distance value S that detection laser beam detects ₁~ S ₁₁continue duration Δ T when being greater than normalized distance distance values; Scrambler detects the current rotational speed omega of motor in real time, according to formula the travelling speed calculating automatic guided vehicle is V;

According to formula W ₁=V* Δ T, calculate the width W of ground raceway groove ₁, wherein, V is the travelling speed of automatic guided vehicle, and π is circular constant, for the wheel diameter of known automatic guided vehicle;

According to formula H ₁=Δ S ₁* cos α, Δ S ₁=S _m1-S ₀calculate the depth H of ground raceway groove ₁=(S _m1-S ₀) * cos α, wherein, S ₀for known normalized distance distance values;

According to formula Δ T _1max=W _max/ V calculates maximum braking time Δ T when raceway groove being detected _1max, wherein, W _maxallow by known automatic guided vehicle the breadth extreme of raceway groove crossed over.

The foregoing is only preferred embodiment of the present utility model; not in order to limit the utility model; all do within spirit of the present utility model and principle any amendment, equivalent to replace and improvement etc., all should be included within protection domain of the present utility model.

Claims (9)

1. the operation pavement detection system of an automatic guided vehicle, it is characterized in that, comprise the motor encoder that laser range sensor is connected with the motor of automatic guided vehicle, the motor driver be connected with motor and the described motor encoder of automatic guided vehicle respectively, primary controller and be connected to described laser range sensor, communication module between described motor driver and described primary controller, described laser range sensor is scattered reflection type laser range sensor.

2. the operation pavement detection system of automatic guided vehicle as claimed in claim 1, it is characterized in that, described communication module comprises interface conversion chip, described interface conversion chip is connected with described laser range sensor by a RS232 interface, and be connected and two-way communication with described primary controller by the first Transistor-Transistor Logic level generic asynchronous serial communication interface corresponding with a described RS232 interface, described interface conversion chip is also connected with described motor driver by the 2nd RS232 interface, and be connected and two-way communication with described primary controller by the second Transistor-Transistor Logic level generic asynchronous serial communication interface corresponding with described 2nd RS232 interface.

3. the operation pavement detection system of automatic guided vehicle as claimed in claim 2; it is characterized in that; described communication module also comprises electrostatic protection unit, and described electrostatic protection unit one termination digitally, the other end is connected with a described RS232 interface and described 2nd RS232 interface respectively.

4. the operation pavement detection system of automatic guided vehicle as claimed in claim 2 or claim 3, it is characterized in that, described motor driver comprises the motor drive ic be connected with described motor and the connection stand be connected with described motor drive ic, described motor drive ic is connected with described communication module by a described RS232 interface, and described motor drive ic is connected with described motor encoder by described connection stand.

5. the operation pavement detection system of automatic guided vehicle as claimed in claim 4; it is characterized in that; described motor driver also comprises that one end and described motor and described motor drive ic connect altogether, the motor of other end ground connection drives protected location motor to drive protected location, and described motor drives protected location to comprise reverse voltage and drives protector and filter capacitor group.

6. the operation pavement detection system of automatic guided vehicle as claimed in claim 2 or claim 3, it is characterized in that, described primary controller comprises main control chip, the crystal oscillation clock circuit be connected with described main control chip and programming interface, and described main control chip is connected and two-way communication with described communication module with described second Transistor-Transistor Logic level generic asynchronous serial communication interface by described first Transistor-Transistor Logic level generic asynchronous serial communication interface.

7. the operation pavement detection system of automatic guided vehicle as claimed in claim 6, it is characterized in that, described primary controller also comprises with power supply, described main control chip and is digitally connected, to eliminate the electric source filter circuit of the high frequency noise of power supply, described electric source filter circuit comprises magnetic bead and bypass small capacitances group.

8. the operation pavement detection system of automatic guided vehicle as claimed in claim 7, it is characterized in that, described primary controller also comprises and connects with power supply, described main control chip and be digitally connected, and with the reset circuit of the described primary controller that resets, described reset circuit comprises reset switch.

9. the operation pavement detection system of automatic guided vehicle as claimed in claim 8, it is characterized in that, described primary controller also comprises and is connected between power supply and described main control chip, to indicate the LED display circuit of the duty of the operation pavement detection system of the operation automatic guided vehicle of described automatic guided vehicle.