CN205594451U - Unmanned conveying vehicle magnetic navigation sensing device - Google Patents
Unmanned conveying vehicle magnetic navigation sensing device Download PDFInfo
- Publication number
- CN205594451U CN205594451U CN201620381990.2U CN201620381990U CN205594451U CN 205594451 U CN205594451 U CN 205594451U CN 201620381990 U CN201620381990 U CN 201620381990U CN 205594451 U CN205594451 U CN 205594451U
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- CN
- China
- Prior art keywords
- mcu
- gaussmeter
- sensing device
- agv controller
- magnetic navigation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
Unmanned conveying vehicle magnetic navigation sensing device relates to unmanned conveying vehicle. Be equipped with power module, MCU, 1 at least gaussmeter and AGV controller, power module is that MCU, gaussmeter and AGV controller provide the power, and MCU passes through the I2C bus and is connected with the gaussmeter, and the AGV controller passes through the CAN bus and is connected with MCU. With lay supporting use of magnetic stripe on the route, power module's power supply area be 4.4~26V, when receive the external interference, arouses that power supply voltage is undulant, because power supply area is wide, therefore the influence of reducible external interference production. Owing to adopt the I2C bus to link to each other between MCU and the gaussmeter, compare the reducible wiring at to a great extent with the SPI bus. That the conveying is data signal between AGV controller and the MCU, not only can improve its interference killing feature, and links to each other through the CAN bus, makes signal transmission more stable.
Description
Technical field
This utility model relates to automatic guided vehicle, especially relates to a kind of guide automatic guided vehicle to do along the magnetic stripe laid in advance
Automatically the automatic guided vehicle magnetic navigation sensing device of walking.
Background technology
Automatic guided vehicle (Automated Guided vehicle is called for short AGV) refers to that being equipped with electricity magnetically or optically grade guides dress automatically
Putting, the transport vehicle that the path of navigation along regulation travels, is the special applications of wheeled robot.The automatic guidance mode of AGV has a lot,
Such as rectilinear coordinates formula, vision guided navigation formula, laser guiding, tape guidance formula and GPS navigation formula etc..Tape guidance formula is exactly
Lay magnetic stripe on the ground, determined the position of AGV by induced field, thus reach the purpose automatically guided.
The most a lot of AGV producers are the automatic guiding using tape guidance formula to realize AGV, are the most much to use Hall
Element is read out magnetic signal, but Hall element is easily saturated, and this will affect its precision read；Power supply is adopted
With fixed voltage, this just makes its capacity of resisting disturbance reduce；And in hardware designs, magnetic navigation device is internal uses spi bus phase
Even, it is many that this allows for interconnector, the most just seems more numerous and diverse.
Summary of the invention
The technical problems to be solved in the utility model is: provide a kind of unmanned carrying that can improve positioning precision and capacity of resisting disturbance
Car magnetic navigation sensing device.
This utility model is provided with power module, MCU, at least 1 Gaussmeter and AGV controller；
Described power module is MCU, at least 1 Gaussmeter and AGV controller provide power supply, and described MCU passes through I2C is total
Line is connected with at least 1 Gaussmeter, and AGV controller is connected with MCU by CAN.
Described power module can use 4.4V～26V power supply.
Described MCU can use stm32MCU.
Described Gaussmeter can use 6 Gaussmeters.Described Gaussmeter can arrange along straight line.
By digital quantity transmission between described AGV controller and MCU.
This utility model supports the use with the magnetic stripe being laid on path, has the advantages that
1, the supply district of power module can be 4.4V～26V, when by external disturbance, causes mains ripple, owing to supplying
Electricity scope is wide, therefore can reduce the impact that external disturbance produces to a great extent.
2, owing to using I between MCU and Gaussmeter2C bus is connected, therefore compared with spi bus to a great extent
Wiring can be reduced, circuit composition will not seem loaded down with trivial details.
3, due between AGV controller and MCU transmit be digital signal, can improve the most to a certain extent its resist
Interference performance, and be to be connected by CAN between AGV controller and MCU, the transmission of signal can be made to become more stable.
Accompanying drawing explanation
Fig. 1 is the circuit composition schematic diagram of this utility model embodiment.
Detailed description of the invention
As it is shown in figure 1, this utility model embodiment is provided with power module 1,2,6 Gaussmeter 3 and AGV controllers 4 of MCU；
Described power module 1 provides power supply, described MCU 2 to pass through I for 2,6 Gaussmeter 3 and AGV controllers 4 of MCU2C
Bus is connected with at least 1 Gaussmeter 3, and AGV controller 4 is connected with MCU 2 by CAN.
Described power module 1 uses 4.4V～26V power supply.
Described MCU 2 uses stm32MCU.
By digital quantity transmission between described AGV controller and MCU.
In the present embodiment, this utility model can use rectangle, 6 Gaussmeters to arrange along straight line.When AGV dolly is in advance
When walking on the magnetic stripe L laid, the signal that each Gaussmeter is gathered can send AGV controller, warp to by CAN
After crossing the process of AGV controller, send instruction to corresponding motor module, AGV dolly driving path is corrected.
Claims (6)
1. automatic guided vehicle magnetic navigation sensing device, it is characterised in that be provided with power module, MCU, at least 1 Gaussmeter and
AGV controller；
Described power module is MCU, at least 1 Gaussmeter and AGV controller provide power supply, and described MCU passes through I2C is total
Line is connected with at least 1 Gaussmeter, and AGV controller is connected with MCU by CAN.
2. automatic guided vehicle magnetic navigation sensing device as claimed in claim 1, it is characterised in that described power module uses 4.4～26V
Power supply.
3. automatic guided vehicle magnetic navigation sensing device as claimed in claim 1, it is characterised in that described MCU uses stm32 MCU.
4. automatic guided vehicle magnetic navigation sensing device as claimed in claim 1, it is characterised in that described Gaussmeter uses 6 Gausses
Meter.
5. automatic guided vehicle magnetic navigation sensing device as claimed in claim 4, it is characterised in that described Gaussmeter is arranged along straight line
Row.
6. as claimed in claim 1 automatic guided vehicle magnetic navigation sensing device, it is characterised in that described AGV controller and MCU it
Between by digital quantity transmission.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620381990.2U CN205594451U (en) | 2016-04-29 | 2016-04-29 | Unmanned conveying vehicle magnetic navigation sensing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620381990.2U CN205594451U (en) | 2016-04-29 | 2016-04-29 | Unmanned conveying vehicle magnetic navigation sensing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205594451U true CN205594451U (en) | 2016-09-21 |
Family
ID=56933278
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620381990.2U Expired - Fee Related CN205594451U (en) | 2016-04-29 | 2016-04-29 | Unmanned conveying vehicle magnetic navigation sensing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205594451U (en) |
-
2016
- 2016-04-29 CN CN201620381990.2U patent/CN205594451U/en not_active Expired - Fee Related
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160921 Termination date: 20200429 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |