CN207676211U - A kind of AGV trolleies using broadcast communication - Google Patents

Abstract

The utility model provides a kind of AGV trolleies using broadcast communication, linear CCD sensor, broadcast communication module, steering engine module, single-chip microcomputer integrated circuit plate module, power module, drive circuit board and display module are installed, single-chip microcomputer integrated circuit plate module is separately connected ccd sensor module, steering engine module, power module, drive circuit board and display module on car body；The linear CCD sensor is set to car body front end, and steering engine module is located in the middle part of front vehicle wheel, and the steering gear of steering engine module is connected with car body front-wheel, and broadcast communication module, which is installed in the middle part of car body, to be connected with single-chip microcomputer integrated circuit plate module by the interface of extraction；Drive circuit board is installed in the middle part of car body trailing wheel, is connect with motor.The utility model, into the communication between driving vehicle and between vehicle and host computer, passes through broadcast communication mode using broadcast communication module so that AGV small workshops data transmission faster, is not limited by a space, and improves working efficiency, and cost is cheaper.

Description

A kind of AGV trolleies using broadcast communication

Technical field

The utility model is related to it is a kind of can with tracking it is specific guide circuit automated guided vehicle, specifically a kind of utilization AGV (Automated Guided Vehical) trolley of broadcast communication.

Background technology

The application distribution face of current AGV trolleies is boundless, there is auto industry, aircraft industry, white goods industry, cigarette Careless industry, mechanical processing, warehouse, postal and telecommunication entities etc..AGV trolleies are realized solves people releasing from heavy pipelining Come, and greatly reduce faulty operation, improves working efficiency.And for AGV trolleies itself, have good communication mode can To accomplish preferably to dispatch, to realize the raising of efficiency.

With the development of technology, the communication mode of AGV trolleies requires further improvement, it is intended that researches and develops a kind of communication party The simpler AGV trolleies of formula, for realizing processes such as more efficient production, transports.It is how simpler with communication mode AGV trolleies complete continuous-flow type work instead of people, are an important topics of this field.

Invention content

The purpose of this utility model is to improve the deficiency of existing AGV trolleies communication mode, provide it is a kind of utilize broadcast communication AGV trolleies provide one under overall cost and the considerations of accurately control AGV trolleies solved based on microcontroller control and drawing Black and white line road automatic tracking is determined to complete the Appendage Task that artificial danger level is high or reliability is weaker.

According to technical solution provided by the utility model, a kind of AGV trolleies using broadcast communication include trolley, vehicle There is body wheel, wheel to be driven by the motor on car body, and linear CCD sensor, broadcast communication mould are equipped on the car body Block, steering engine module, single-chip microcomputer integrated circuit plate module, power module, drive circuit board and display module, the integrated electricity of microcontroller Road plate module is separately connected ccd sensor, steering engine module, power module, drive circuit board and display module；The linear CCD Sensor is set to car body front end, and steering engine module is located in the middle part of front vehicle wheel, and the steering gear of steering engine module is connected with car body front-wheel, extensively It broadcasts communication module and is installed in the middle part of car body and be connected by the interface of extraction with single-chip microcomputer integrated circuit plate module；Drive circuit board It is installed in the middle part of car body trailing wheel, is connect with motor.

Specifically, the linear CCD sensor is installed on the carbon bar of car body front end, it is integrated by conducting wire and microcontroller Circuit board module is connected.

Specifically, the broadcast communication module uses SI4432 chips, broadcast communication module directly to pass through interface and monolithic Machine integrated circuit plate module patches.

Specifically, the motor is installed under drive circuit board, including revolver motor and right wheel motor, respectively with behind left and right Wheel is connected.

Specifically, the drive circuit board includes two panels BTN7971B driving chips and a piece of LS244 isolating chips, monolithic 4 road pwm signal output ends of machine integrated circuit plate module connect isolating chip LS244, and the revolver of isolating chip LS244 just transfers Outlet, revolver inversion output terminal, right wheel rotate forward output end and right wheel inversion output terminal is connected respectively to 4 road BTN7971B drivings Chip, wherein two-way driving chip connect the input terminal of revolver motor, the input terminal of another two-way driving chip connection right wheel motor.

Specifically, the power module includes sequentially connected battery, LM2940 voltage stabilizing chips and AMS1117-3.3V cores Piece, cell voltage connect drive circuit board power supply, and the 5V voltage output ends of LM2940 voltage stabilizing chips are connected to linear CCD sensing The 3.3V output ends of device, single-chip microcomputer integrated circuit plate module, display module, steering engine module, AMS1117-3.3V chips are connected to SI4432 chips.

Specifically, the power module is installed below single-chip microcomputer integrated circuit plate module.

Specifically, the single-chip microcomputer integrated circuit plate module connects coder module, coder module and motor axis connection.

The optical signal of acquisition is converted into electric signal by the linear CCD sensor, through external sampling amplification and analog-to-digital conversion Circuit conversion is at data image signal, then sends single-chip microcomputer integrated circuit plate module to；The SI4432 broadcast communications module can To realize the communication between AGV trolleies and the communication before trolley and host computer；The drive circuit board, which receives, comes from monolithic Signal and the driving motor rotation of machine.

The advantages of the utility model is：The utility model using SI4432 broadcast communications module between driving and vehicle and Communication between vehicle and host computer passes through broadcast communication mode so that and AGV small workshops data transmission faster, is not limited by a space, Can prodigious raising working efficiency, and this mode cost is cheaper, can be the profit that logistic industry bring bigger. The present invention carries out tracking with linear CCD sensor, carries out motor driving using plate is operated alone, is surveyed by encoder Speed feeds back to microcontroller, realizes and is accurately controlled to intelligent vehicle speed.

Description of the drawings

Fig. 1 is a kind of AGV vehicle structure schematic diagrames using broadcast communication of the present invention.

Fig. 2 is SI4432 broadcast communications module according to the present invention and microcontroller connection diagram.

Fig. 3 is that 7.2V according to the present invention turns 5V voltage stabilizing chip circuit diagrams.

Fig. 4 is that 5V according to the present invention turns 3.3V voltage stabilizing chip circuit diagrams.

Fig. 5 is drive circuit board driving chip circuit diagram according to the present invention.

Fig. 6 is drive circuit board isolating chip circuit diagram according to the present invention.

Specific implementation mode

The utility model is described further with reference to the accompanying drawings and examples.

As shown in Figure 1, the utility model includes trolley 8, car body 8 has wheel 10, and wheel is by the motor on car body 8 7 drive, and linear CCD sensor 1, broadcast communication module 2, steering engine module 3, single-chip microcomputer integrated circuit are equipped on the car body 8 Plate module 4, power module 5, drive circuit board 6 and display module 9, single-chip microcomputer integrated circuit plate module 4 are installed in vehicle body Portion is separately connected ccd sensor 1, steering engine module 3, power module 5, drive circuit board 6 and display module 9, to steering engine module 3 It is controlled with drive circuit board 6.The linear CCD sensor 1 is set to 8 front end of car body, obtains intelligent vehicle anterior approach linear light Electric signal, steering engine module 3 are located in the middle part of front vehicle wheel, for receiving the turn signal from single-chip microcomputer integrated circuit plate module 4, rudder The steering gear of machine module 3 is connected with 8 front-wheel of car body, and broadcast communication module 2 is installed in the middle part of car body and single-chip microcomputer integrated circuit plate Module 4 is connected by the interface of extraction, between AGV trolleies and the communication between trolley and host computer；Drive circuit board 6 It is installed in the middle part of 8 trailing wheel of car body, is connect with motor 7, receive the control signal from single-chip microcomputer integrated circuit plate module 4.Motor 7 It is installed under drive circuit board 6, be connected control rear wheel rotation speed with trailing wheel.Power module 5 (super capacitor, lithium battery etc.) is installed on 4 lower section of single-chip microcomputer integrated circuit plate module.

In embodiment, the main body of ccd sensor 1 is installed on the carbon bar of 8 front end of car body, can be linear using two CCD is connected by conducting wire with single-chip microcomputer integrated circuit plate module 4.Do not have to maintenance using carbon bar, it is not afraid of water, it is not afraid of tide, forever It is very straight and at low cost.

Collected photoelectric signal transformation is electric signal by ccd sensor 1, using amplifier and analog to digital conversion circuit It is converted into data image signal, then inputs to single-chip microcomputer integrated circuit plate module 4, then by single-chip microcomputer integrated circuit plate module 4 It sends out turn signal and inputs to steering engine module 3；Driving instruction is transferred to drive circuit board 6 by single-chip microcomputer integrated circuit plate module 4, The rotating speed of motor 7 is controlled by drive circuit board 6 again to regulation speed.Motor 7 is installed under drive circuit board 6, including revolver Motor and right wheel motor, are connected with left and right trailing wheel respectively.Single-chip microcomputer integrated circuit plate module 4 is also connected with coder module, coding Device module and 7 axis connection of motor.

In embodiment, broadcast communication module 2 uses SI4432 chips, has the excellent of low cost using broadcast communication mode Gesture.Fig. 2 show broadcast communication module 2 and is connect with the pin of single-chip microcomputer integrated circuit plate module 4, and broadcast communication module 2 is direct It is patched by interface and single-chip microcomputer integrated circuit plate module 4.Microcontroller master chip in the single-chip microcomputer integrated circuit plate module 4 Using 32 bit processor MK60DN512ZVLL10 chips.

The power module includes motor-drive circuit power supply, the CPU of 5V, sensor and steering engine power supply, the 3.3V of 7.2V Communication module power supply.Specifically, power module 5 includes sequentially connected battery, LM2940 voltage stabilizing chips and AMS1117- 3.3V chips, cell voltage connect drive circuit board 6 and power, and the 5V voltage output ends of LM2940 voltage stabilizing chips are connected to linearly Ccd sensor 1, single-chip microcomputer integrated circuit plate module 4, display module 9, steering engine module 3, the 3.3V of AMS1117-3.3V chips are defeated Outlet is connected to SI4432 chips.

Power module 5 can be by a section 7.2V lithium battery power supplies, by voltage stabilizing chip LM2940 and AMS1117-3.3V mould Block is used for each module for power supply.7.2V lithium batteries obtain the different 5V power supplys in three tunnels after voltage stabilizing chip LM2940, respectively It powers to steering engine module 3, ccd sensor 1, single-chip microcomputer integrated circuit plate module 4；5V power supplys are after AMS1117-3.3V voltage stabilizings 3.3V power supplys are obtained to power to the SI4432 communication modules as shown in Fig. 2.

The T-type interface of 7.2V lithium batteries is connected by the AGV trolleies described in the present embodiment with single supply module first, first passes through Voltage stabilizing chip LM2940, as shown in figure 3, can be by the voltage stabilization of 7.2V in 5V or so, as the integrated electricity of power supply supply microcontroller Road plate module 4, steering engine module 3, motor 7 etc..As shown in figure 4,5V power supplys can be stablized by AMS1117-3.3V voltage stabilizing chips 3.3V or so gives the SI4432 chip power supplies of broadcast communication module.

As shown in Figure 5,6, the drive circuit board 6 includes that four BTN7971B driving chips and a piece of 74LS244 are isolated Chip.Four road pwm signal output ends of single-chip microcomputer integrated circuit plate module 4 connect isolating chip 74LS244, isolating chip The revolver of 74LS244 rotates forward output end Left up, revolver inversion output terminal Left down, right wheel and rotates forward output end Right up And right wheel inversion output terminal Right down are connected respectively to 4 road BTN7971B driving chip BTN1, BTN2, BTN3, BTN4, The wherein input terminal of output signal Out1, the Out2 connection revolver motor Motor Left of two-way driving core BTN1, BTN2, The input terminal of output signal Out3, the Out4 connection right wheel motor Motor Right of remaining two-way driving chip BTN3, BTN4.

The left motor Enable Pin EN motorL of single-chip microcomputer integrated circuit plate module 4 and right motor Enable Pin EN motorR points No. 3 ports of the two-way BTN7971B driving chips not connect with revolver motor and the two-way BTN7971B being connect with right wheel motor No. 3 ports of driving chip connect.Power interface provides 7.2V and M-GND signals, and wherein 7.2V is connected to a single-pole double throw Switch, one provides power supply for four BTN7971B, and one is reset.M-GND respectively with four road BTN7971B driving chips GND is connected.Each BTN7971B driving chips provide current detecting by the ports IS and diagnostic function, the ports IS pass through one Resistance is connected with M-GND；Each BTN7971B driving chips can be by the resistance tune that is connected between the ports SR and M-GND The conversion ratio of whole power switch, the wherein ports SR are connected by a RC network with M-GND.

The course of work of the utility model is as follows：

After photosignal of the linear CCD sensor to collecting black and white road, the conversion of sampled and analog to digital conversion circuit At data image signal, single-chip microcomputer integrated circuit plate module is transmitted a signal to by conducting wire.

It is inputed to as shown in figure 5, singlechip chip forms PWM waves all the way after handling linear CCD sensor signal Steering engine module controls steering engine and front-wheel is driven to be turned in turn；Simultaneously single-chip microcomputer integrated circuit plate module formed PWM1 waves, PWM2, PWM3, PWM4 wave, which input to drive circuit board and then controls motor, drives rear wheel.Pass through in PWM wave transmission process 74LS244 isolating chips prevent from surprisingly burning out microcontroller.Microcontroller separately has interface to connect OLED liquid crystal screen, can show in real time The road information of the small front sides AGV separately has coder module that can be carried out to intelligent vehicle speed in single-chip microcomputer integrated circuit plate module Regulation and control.

The utility model uses broadcast communication, which has the characteristics that high efficiency in inexpensive, short distance, It is suitble to AGV trolley communications.In addition, the utility model uses brush direct current motor, there is good startup and speed adjusting performance, Control circuit is also relatively easy, and uniform installation site distribution is but also AGV trolleies are more stablized.

Claims (8)

1. a kind of AGV trolleies using broadcast communication, including trolley (8), car body (8) has wheel (10), and wheel is by vehicle Motor (7) driving on body (8), characterized in that be equipped with linear CCD sensor (1), broadcast communication mould on the car body (8) Block (2), steering engine module (3), single-chip microcomputer integrated circuit plate module (4), power module (5), drive circuit board (6) and display mould Block (9), single-chip microcomputer integrated circuit plate module (4) are separately connected ccd sensor (1), steering engine module (3), power module (5), drive Dynamic circuit board (6) and display module (9)；The linear CCD sensor (1) is set to car body (8) front end, steering engine module (3) position In the middle part of front vehicle wheel, the steering gear of steering engine module (3) is connected with car body (8) front-wheel, and broadcast communication module (2) is installed in car body Portion is connected with single-chip microcomputer integrated circuit plate module (4) by the interface of extraction；After drive circuit board (6) is installed on car body (8) Wheel middle part, connect with motor (7).

2. the AGV trolleies according to claim 1 using broadcast communication, which is characterized in that the linear CCD sensor (1) it is installed on the carbon bar of car body (8) front end, is connected with single-chip microcomputer integrated circuit plate module (4) by conducting wire.

3. the AGV trolleies according to claim 1 using broadcast communication, which is characterized in that the broadcast communication module (2) Using SI4432 chips, broadcast communication module (2) is directly patched by interface and single-chip microcomputer integrated circuit plate module (4).

4. the AGV trolleies according to claim 1 using broadcast communication, which is characterized in that the motor (7) is installed on drive Under dynamic circuit board (6), including revolver motor and right wheel motor, it is connected respectively with left and right trailing wheel.

5. the AGV trolleies according to claim 4 using broadcast communication, which is characterized in that drive circuit board (6) packet Include four BTN7971B driving chips and a piece of 74LS244 isolating chips, the 4 road PWM letters of single-chip microcomputer integrated circuit plate module (4) Number output end connects isolating chip 74LS244, and the revolver of isolating chip 74LS244 rotates forward output end, revolver inversion output terminal, the right side Wheel rotates forward output end and right wheel inversion output terminal is connected respectively to 4 road BTN7971B driving chips, wherein two-way driving chip Connect the input terminal of revolver motor, the input terminal of another two-way driving chip connection right wheel motor.

6. the AGV trolleies according to claim 3 using broadcast communication, which is characterized in that the power module (5) includes Sequentially connected battery, LM2940 voltage stabilizing chips and AMS1117-3.3V chips, cell voltage connect drive circuit board (6) and supply The 5V voltage output ends of electricity, LM2940 voltage stabilizing chips are connected to linear CCD sensor (1), single-chip microcomputer integrated circuit plate module (4), display module (9), steering engine module (3), the 3.3V output ends of AMS1117-3.3V chips are connected to SI4432 chips.

7. the AGV trolleies according to claim 1 using broadcast communication, which is characterized in that power module (5) installation Below single-chip microcomputer integrated circuit plate module (4).

8. the AGV trolleies according to claim 1 using broadcast communication, which is characterized in that the single-chip microcomputer integrated circuit Plate module (4) connects coder module, coder module and motor (7) axis connection.