CN211786760U - Magnetic navigation differential drive trolley control system - Google Patents
Magnetic navigation differential drive trolley control system Download PDFInfo
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- CN211786760U CN211786760U CN202020351747.2U CN202020351747U CN211786760U CN 211786760 U CN211786760 U CN 211786760U CN 202020351747 U CN202020351747 U CN 202020351747U CN 211786760 U CN211786760 U CN 211786760U
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Abstract
The magnetic navigation differential drive trolley control system comprises a main control unit, wherein the main control unit is connected with a magnetic sensor and is used for sending the identified road surface magnetic stripe information to the main control unit; the main control unit is connected with the motor driver, and the motor driver is used for controlling the driving motor to drive the trolley to run; the main control unit is connected with the upper computer through a network communication module and receives information of the upper computer; the main control unit is connected with the external equipment through the USB interface module and communicates with the external equipment; the main control unit is connected with the ultrasonic sensor, and the ultrasonic sensor detects obstacle information on a trolley traveling path; the master control unit is connected with the RFID module, reads an RFID card arranged on the ground and realizes parking at a specific station; the main control unit is connected with the safety contact edge through a relay, and the vehicle can be stopped in time when collision occurs; the power module supplies power for the power utilization module in the system. The utility model has the characteristics of maintain convenient, with low costs, the structure is reliable, be fit for the secondary development.
Description
Technical Field
The utility model relates to an automatic control field especially relates to magnetic navigation differential drive dolly control system.
Background
With the fast reading development of logistics systems such as an automatic storage system and a flexible manufacturing system, the requirements of modern enterprises on production efficiency and production automation degree are higher and higher, and in such an environment, the AGV comes into production. Magnetic navigation AGVs are more widely used in industry.
The traditional magnetic navigation AGV control system has the problems of inconvenience in expansion, low stability and the like. Embedded systems will become more and more popular in the future, so the more and more AGV control systems use MCUs. For domestic AGV, a single chip microcomputer, a Programmable Logic Controller (PLC) and an embedded engineering machine are mostly adopted as controllers. The industrial personal computer scheme is adopted, so that the cost is too high and the stability is poor; by adopting the PLC scheme, the expansion is inconvenient and the realization of a scheduling algorithm is difficult to transplant.
Disclosure of Invention
In order to overcome the problems, the utility model provides a simple and reliable magnetic navigation differential drive dolly control system.
The utility model adopts the technical proposal that: the magnetic navigation differential drive trolley control system comprises a main control unit, a magnetic sensor, an RFID (radio frequency identification) radio frequency identification module, a motor driver, a network communication module, a USB (universal serial bus) interface module and a power supply module;
the main control unit is connected with the magnetic sensor and sends the recognized road surface magnetic stripe information to the main control unit;
the main control unit is connected with the motor driver, and the motor driver is used for controlling the driving motor to drive the trolley to run;
the main control unit is connected with the upper computer through a network communication module and receives information of the upper computer;
the main control unit is connected with the external equipment through the USB interface module and communicates with the external equipment;
the main control unit is connected with the ultrasonic sensor, and the ultrasonic sensor detects obstacle information on a trolley traveling path;
the master control unit is connected with the RFID module, reads an RFID card arranged on the ground and realizes parking at a specific station;
the main control unit is connected with a safety contact edge through a relay, and the safety contact edge is a strip-shaped pressure-sensitive switch and is used for detecting collision or extrusion signals; when the main control unit receives a collision or extrusion signal, an emergency stop instruction is sent to the motor driver;
the power supply module supplies power to the main control module, the magnetic sensor, the motor driver, the driving motor, the RFID module, the USB interface module, the network communication module, the relay and the safety contact edge.
Further, the safe touch edges are respectively arranged on the front side and the rear side of the trolley.
Further, the ultrasonic sensors are respectively arranged on the front side and the rear side of the trolley.
Furthermore, emergency stop buttons are arranged on the periphery of the trolley respectively and connected with the power module, and the emergency stop buttons are used for emergency stop of people from the front, the back, the left and the right of the trolley.
Furthermore, the main control unit and the upper computer are connected with an LCD display screen, and the LCD display screen is used for displaying the running route and the running speed of the trolley.
The utility model has the advantages that: the navigation system realizes high-precision navigation in a single-magnetic strip mode and a double-magnetic strip mode, and simultaneously realizes the functions of fixed-point parking, obstacle-meeting parking, emergency parking and the like. Through WIFI or bluetooth communication, wireless control and state information feedback are realized with the help of mobile devices such as mobile phones, tablets and notebook computers. The control system has the advantages of being high in safety, convenient to maintain, low in cost and reliable in structure, and is suitable for secondary development.
Drawings
Fig. 1 is a schematic block diagram of the present invention.
Fig. 2 is a schematic diagram of the present invention positioned on an AGV cart.
Fig. 3 is a schematic structural diagram of the present invention.
Fig. 4 is a schematic diagram of a 16-bit magnetic sensor according to the present invention.
Fig. 5 is a block flow diagram of the present invention.
Description of reference numerals: 1. an STM32 master control board; 2. a network communication module; 3. a motor driver; 4. a magnetic sensor; 5. an RFID radio frequency identification module; 6. a drive motor; 7. safe edge contact; 8. an RFID radio frequency identification module; 9. a switch and a socket; 10. an ultrasonic sensor; 11. An emergency stop button; 12. a magnetic strip.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of protection of the invention is not limited thereto:
referring to the attached drawings, the magnetic navigation differential drive trolley control system comprises a main control unit, a magnetic sensor, an RFID (radio frequency identification) module, a motor driver, a network communication module, a USB (universal serial bus) interface module and a power supply module; the method comprises the following steps that an STM32 main control board is selected as a main control chip of the AGV by a main control unit;
the main control unit is connected with the magnetic sensor and used for sending the identified road surface magnetic stripe information to the main control unit; 2 16-bit magnetic sensors are adopted, the 2 magnetic sensors are connected with a main control unit through RS485, and the 2 magnetic sensors are symmetrically arranged on the front side and the rear side of the bottom of the trolley respectively; the 16-bit magnetic sensor can improve the positioning accuracy, and the AGV can realize the switching of two modes of a single magnetic sensor and a double magnetic sensor; the AGV magnetic navigation operation control method comprises the following steps: receiving a feedback signal of a magnetic navigation sensor; determining information corresponding to the feedback signal, adjusting the AGV running pose according to the signal, sending an operation instruction and sending the operation instruction to an execution component; and thirdly, repeating the step 1 and the step 2, and generating a group of AGV operation instructions according to the continuous feedback models to continuously control the execution part.
The main control unit is connected with the motor driver and is used for controlling the driving motor to drive the trolley to run through the motor driver;
the main control unit is communicated with the outside through 2 serial ports, the main control unit is connected with the mobile phone through the Bluetooth communication module, the mobile phone opens the app connected with the Bluetooth and then reads and writes data; the main control unit is connected with external equipment through the USB interface module, opens special software, and can read and write data.
The main control unit is connected with 4 ultrasonic sensors, the front side and the rear side of the trolley are respectively provided with 2 ultrasonic sensors, and the ultrasonic sensors are used for detecting obstacle information on a travelling path of the trolley; the main control unit reads the numerical values returned by the front and the rear 2 ultrasonic sensors according to a certain frequency, and only reads the numerical values returned by the 2 ultrasonic sensors in the advancing direction according to the advancing direction of the trolley. Namely, when the AGV reaches the point A from the point B, the front 2 ultrasonic sensors are in action, and when the point B reaches the point A, the rear 2 ultrasonic sensors are in action; because the magnetic sensors of the AGV are symmetrically arranged front and back, when the AGV moves back and forth, the vehicle does not need to turn, only the program needs to be switched, the time is saved, and the working efficiency is improved. And abnormal value filtering is carried out on a group of data in a certain period of time, and individual abnormal data are removed. When a certain ultrasonic wave value is lower than a specified value, a stop instruction is sent out.
The master control unit is connected with the RFID module and used for reading an RFID card arranged on the ground to realize parking at a specific station; 1 RFID module is adopted and is connected with a main control unit through RS 232;
the main control unit is connected with a safety contact edge through a relay, and the safety contact edge is a strip-shaped pressure-sensitive switch and is used for detecting collision or extrusion signals; when the main control unit receives a collision or extrusion signal, an emergency stop instruction is sent to the motor driver; the safe contact edges are respectively arranged on the front edge and the rear edge of the advancing direction of the trolley. 2 safe edges of touching in front and back are anticollision strip, link to each other with the relay, and the main control board reads the level of relay output pin, and during unusual level, the main control board sends the instruction of stopping.
The periphery of the trolley is respectively provided with emergency stop buttons, the 4 emergency stop buttons are connected in series and are connected with the power module in series, and the emergency stop buttons are used for emergency stop of people from four directions of the trolley, namely front, back, left and right, and the trolley can be stopped when any one button is pressed down.
The main control unit and the upper computer are connected with an LCD display screen, and the LCD display screen is used for displaying the running route and the running speed related parameters of the trolley. The power supply module supplies power to the main control module, the magnetic sensor, the motor driver, the driving motor, the RFID module, the USB interface module, the network communication module, the relay and the safety contact edge.
The principle of magnetic navigation is: the magnetic sensor is a signal sensor that senses magnetic induction, such as a 16-bit signal magnetic sensor shown in FIG. 4, and is placed at the bottom of the AGV and opposite to the magnetic strip. The magnetic stripe pastes dress subaerial, and the width of magnetic stripe satisfies to make magnetic sensor produce four signals, guarantees to detect the magnetic stripe.
When the magnetic sensor senses the magnetic strip, if the feedback signal of the magnetic sensor is judged to be deviated to the right relative to the magnetic strip, the AGV operates to enable the driving angle of the AGV to be deviated to the left through an instruction; if the feedback signal of the magnetic sensor is judged to be deviated to the left relative to the magnetic stripe, the AGV runs to make the driving angle of the AGV deviate to the right through an instruction; and if the feedback signal of the magnetic sensor is judged to be not deviated from the magnetic strip, the AGV runs the instruction to enable the running angle of the AGV not to deflect.
The embodiments described in this specification are merely illustrative of implementations of the inventive concepts, and the scope of the invention should not be considered limited to the specific forms set forth in the embodiments, but rather the scope of the invention is intended to include equivalent technical means as would be understood by those skilled in the art from the inventive concepts.
Claims (5)
1. Magnetic navigation differential drive dolly control system, its characterized in that: the system comprises a main control unit, a magnetic sensor, an RFID (radio frequency identification) module, a motor driver, a network communication module, a USB (universal serial bus) interface module and a power supply module;
the main control unit is connected with the magnetic sensor and sends the recognized road surface magnetic stripe information to the main control unit;
the main control unit is connected with a driving motor through a motor driver, and the driving motor is controlled by the motor driver to drive the trolley to run;
the main control unit is connected with the upper computer through a network communication module and receives information of the upper computer;
the main control unit is connected with the external equipment through the USB interface module and communicates with the external equipment;
the main control unit is connected with the ultrasonic sensor, and the ultrasonic sensor detects obstacle information on a trolley traveling path;
the master control unit is connected with the RFID module, reads an RFID card arranged on the ground and realizes parking at a specific station;
the main control unit is connected with a safety contact edge through a relay, and the safety contact edge is a strip-shaped pressure-sensitive switch and is used for detecting collision or extrusion signals; when the main control unit receives a collision or extrusion signal, an emergency stop instruction is sent to the motor driver;
the power supply module supplies power to the main control module, the magnetic sensor, the motor driver, the driving motor, the RFID module, the USB interface module, the network communication module, the relay and the safety contact edge.
2. A magnetic navigation differential drive cart control system as claimed in claim 1, wherein: the safe touch edges are respectively arranged at the front side and the rear side of the trolley.
3. A magnetic navigation differential drive cart control system as claimed in claim 1, wherein: the ultrasonic sensors are respectively arranged on the front side and the rear side of the trolley.
4. A magnetic navigation differential drive cart control system as claimed in claim 1, wherein: the emergency stop buttons are arranged on the periphery of the trolley respectively and connected with the power module, and are used for emergency stop of people from the front, the back, the left and the right of the trolley.
5. A magnetic navigation differential drive cart control system as claimed in claim 1, wherein: the main control unit and the upper computer are connected with an LCD display screen, and the LCD display screen is used for displaying the running route and the running speed of the trolley.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020351747.2U CN211786760U (en) | 2020-03-19 | 2020-03-19 | Magnetic navigation differential drive trolley control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020351747.2U CN211786760U (en) | 2020-03-19 | 2020-03-19 | Magnetic navigation differential drive trolley control system |
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| Publication Number | Publication Date |
|---|---|
| CN211786760U true CN211786760U (en) | 2020-10-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020351747.2U Expired - Fee Related CN211786760U (en) | 2020-03-19 | 2020-03-19 | Magnetic navigation differential drive trolley control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104630A (en) * | 2021-11-30 | 2022-03-01 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
-
2020
- 2020-03-19 CN CN202020351747.2U patent/CN211786760U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114104630A (en) * | 2021-11-30 | 2022-03-01 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
| CN114104630B (en) * | 2021-11-30 | 2024-04-09 | 重庆华世丹农业装备制造有限公司 | Control system of agricultural machinery production assembly line |
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Granted publication date: 20201027 |