CN212112232U - Safety monitoring device for unmanned carrier - Google Patents
Safety monitoring device for unmanned carrier Download PDFInfo
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- CN212112232U CN212112232U CN202021119747.6U CN202021119747U CN212112232U CN 212112232 U CN212112232 U CN 212112232U CN 202021119747 U CN202021119747 U CN 202021119747U CN 212112232 U CN212112232 U CN 212112232U
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Abstract
The utility model relates to a safety monitoring device for unmanned transport vehicle, open stop switch and safety monitoring circuit including carrier the control unit, carrier, the safety monitoring circuit includes: the circuit board comprises a terminal board P1, a first optical coupling isolation chip U1, a watchdog chip U6, a 4-input OR gate chip U2, a second optical coupling isolation chip U3 and a relay K2; the output end of the truck control unit is connected into a terminal board P1 and is electrically connected with a first optical coupling isolation chip U1 through a terminal board P1; the first optical coupling isolation chip U1 is connected with a first resistor R17 in series and is electrically connected with the watchdog chip U6 through a first resistor R17; the watchdog chip U6 is electrically connected with the 4-input or gate chip U2; the 4 input or gate chip U2 is electrically connected with the second optical coupling isolation chip U3; the second optical coupling isolation chip U3 is electrically connected with the relay K2; the output end of the relay K2 is connected to a terminal board P1 and electrically connected to the carrier start/stop switch through a terminal board P1.
Description
Technical Field
The utility model relates to an unmanned transport vehicle field, in particular to a safety monitoring device for unmanned transport vehicle.
Background
At present unmanned transport vehicle all uses embedded control, and PLC, MCU controller conduct navigation control as the control unit, and at the debugging in-process, because the imperfection of procedure, or the circumstances such as the control unit crash can cause unmanned transport vehicle's traveling system to be in the state of walking out of control, triggers the carrier derail, hits the people, hits the thing and fall to cause the incident.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: the utility model discloses to prior art's not enough, provide a safety monitoring device for unmanned transport vehicle.
The technical scheme is as follows: a safety monitoring device for an unmanned transport vehicle comprises a transport vehicle control unit, a transport vehicle start-stop switch and a safety monitoring circuit;
the safety monitoring circuit includes: the circuit board comprises a terminal board P1, a first optical coupling isolation chip U1, a watchdog chip U6, a 4-input OR gate chip U2, a second optical coupling isolation chip U3 and a relay K2;
the output end of the truck control unit is connected into the terminal board P1 and is electrically connected with the first light-coupling isolation chip U1 through the terminal board P1; the first optical coupling isolation chip U1 is connected with a first resistor R17 in series and is electrically connected with the watchdog chip U6 through the first resistor R17; the watchdog chip U6 is electrically connected with the 4-input OR gate chip U2; the 4-input or gate chip U2 is electrically connected with the second optical coupling isolation chip U3; the second optically coupled isolation chip U3 is electrically connected with the relay K2; the output end of the relay K2 is connected to the terminal board P1 and is electrically connected with the truck start-stop switch through the terminal board P1.
As an optimal mode of the utility model, still including setting up the safe limit of touching on the unmanned transport vehicle, the safe output that touches the limit inserts terminal board P1 and pass through terminal board P1 with chip U1 electricity is kept apart to first opto-coupler is connected, and passes through chip U1 is kept apart to first opto-coupler with 4 input or door chip U2 electricity is connected.
As a preferred mode of the utility model, still including setting up the diffuse reflection sensor on unmanned transport vehicle, diffuse reflection sensor's output inserts terminal board P1 and pass through terminal board P1 with chip U1 electricity is kept apart to first opto-coupler is connected, and passes through chip U1 is kept apart to first opto-coupler with 4 input or door chip U2 electricity is connected.
As a preferable mode of the present invention, the terminal board P1 has first to eleventh pins; the first optically coupled isolation chip U1 is provided with a twelfth pin to a twenty-seventh pin;
the output end of the carrier control unit is electrically connected with a fourth pin and is electrically connected with a thirteenth pin of the first optical coupling isolation chip U1 through the fourth pin;
the output end of the safety contact edge is electrically connected with the fifth pin and is electrically connected with the fifteenth pin of the first optical coupling isolation chip U1 through the fifth pin;
the diffuse reflection sensor is provided with a first output end and a second output end, the first output end is electrically connected with a sixth pin and is electrically connected with a seventeenth pin of the first optical coupling isolation chip U1 through the sixth pin; the second output end is electrically connected with a seventh pin and is electrically connected with a nineteenth pin of the first optical coupling isolation chip U1 through the seventh pin;
the eighth pin is grounded;
the ninth pin is connected with 3.3V voltage and is electrically connected with the twenty-first pin, the twenty-third pin, the twenty-fifth pin and the twenty-seventh pin of the first optical coupling isolation chip U1 to supply power to the ninth pin;
the tenth pin is grounded;
the eleventh pin is connected with 12V voltage and is electrically connected with the twelfth pin, the fourteenth pin, the sixteenth pin and the eighteenth pin of the first optical coupling isolation chip U1 to supply power to the pins;
the full monitoring circuit further comprises a capacitor C5, wherein the capacitor C5 is used as a bypass capacitor of the first optical coupling isolation chip U1, one end of the capacitor C5 is grounded, and the other end of the capacitor C5 is electrically connected with a twelfth pin of the first optical coupling isolation chip U1.
As a preferred mode of the present invention, the watchdog chip U6 has a RESET pin, a GND pin, a WDI pin, and a VDD pin;
a twenty-sixth pin of the first optically coupled isolation chip U1 is connected in series with the first resistor R17 and is electrically connected with the WDI pin of the watchdog chip U6 through the first resistor R17;
the GND pin is electrically connected to an eighth pin of the terminal board P1 to be grounded;
the VDD pin is electrically connected to a ninth pin of the terminal board P1 to get electricity;
the safety monitoring circuit further comprises a capacitor C8, wherein the capacitor C8 is used as a bypass capacitor of the watchdog chip U6, one end of the capacitor C8 is grounded, and the other end of the capacitor C8 is electrically connected with the VDD pin of the watchdog chip U6.
As a preferred mode of the present invention, the 4-input or gate chip U2 has an ABCD pin, an a pin, a B pin, a C pin, a D pin, a VSS pin, and a VDD pin;
the RESET pin of the watchdog chip U6 is electrically connected with the A pin of the 4-input OR gate chip U2;
a twentieth pin of the first optically coupled isolation chip U1 is electrically connected with a D pin of the 4-input OR gate chip U2; a twenty-second pin of the first optically coupled isolation chip U1 is electrically connected with a pin C of the 4-input OR gate chip U2; a twenty-fourth pin of the first optically coupled isolation chip U1 is electrically connected with a pin B of the 4-input OR gate chip U2;
the 4-input or gate chip U2 summarizes the levels of the a pin, the B pin, the C pin and the D pin to the ABCD pin through an internal or logic circuit;
the VDD pin is electrically connected to an eighth pin of the terminal board P1 to be grounded;
the VSS pin is electrically connected to a ninth pin of the terminal board P1 to get electricity;
the safety monitoring circuit further comprises a capacitor C9, wherein the capacitor C9 is used as a bypass capacitor of the 4-input OR gate chip U2, one end of the capacitor C9 is grounded, and the other end of the capacitor C9 is electrically connected with the VSS pin of the 4-input OR gate chip U26.
As a preferable mode of the present invention, the second optical coupler isolation chip U3 has twenty-eighth pin to thirty-first pin;
wherein the ABCD pin of the 4-input OR gate chip U2 is electrically connected with the twenty-eighth pin;
a twenty-ninth pin of the second optically coupled isolator chip U3 is connected with a second resistor R9 in series and is grounded through the second resistor R9;
and the thirtieth pin of the second optically coupled isolation chip U3 is grounded.
As a preferred mode of the present invention, the relay K2 has a thirty-second pin, a thirty-third pin, a normally open end pin, a normally closed end pin, and a common end pin;
the thirty-first pin of the second optically coupled isolation chip U3 is electrically connected with the thirty-second pin of the relay K2;
an eleventh pin of the first optical coupling isolation chip U1 is electrically connected with a thirty-third pin of the second optical coupling isolation chip U3 to supply power to the first optical coupling isolation chip U1;
the safety monitoring circuit further comprises a diode D6, the diode D6 is connected in parallel with the thirty-second pin and the thirty-third pin;
the normally open end pin is electrically connected to a first pin of the terminal board P1; the common terminal pin is electrically connected with a second pin of the terminal board P1; the normally closed terminal pin is electrically connected to the third pin of the terminal board P1.
As a preferred mode of the present invention, the cart start/stop switch has a third output terminal, a fourth output terminal, and a fifth output terminal;
wherein the third output terminal is electrically connected with the first pin of the terminal board P1; the fourth output end is electrically connected with a second pin of the terminal board P1; the fifth output is electrically connected to the third pin of the terminal board P1.
As a preferred mode of the present invention, the model of the first optical coupling isolation chip U1 is TLP291-4, the model of the watchdog chip U6 is TPS3823, the model of the 4-input or gate chip U2 is CD4072, the model of the second optical coupling isolation chip U3 is TLP291-1, and the model of the relay K2 is G5V-1-12 VDC.
Compared with the prior art, the utility model discloses following beneficial effect can be realized:
1. the utility model can control the unmanned carrier to stop walking through the design of the safety monitoring circuit when the program of the control unit of the carrier is imperfect, the carrier is halted, the program runs away and the like; and the safety monitoring circuit in this application is pure circuit structure setting, need not to carry out parking control through carrier control unit, and fundamentally has stopped the safety problem that the procedure is incomplete, the dead halt etc. produced.
2. The utility model discloses can meet when the collision at unmanned transport vehicle, stop the walking through the unmanned transport vehicle of safety monitoring circuit control to ensure unmanned transport vehicle parks.
3. The utility model discloses can stop the walking through the unmanned transport vehicle of safety monitoring circuit control when diffuse reflection sensor on the unmanned transport vehicle can not detect the ground to guarantee that unmanned transport vehicle prevent falling, ensure in time to park before falling.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and together with the description, serve to explain the principles of the disclosure.
Fig. 1 is a schematic circuit diagram of a safety monitoring device provided by the present invention;
fig. 2 is a schematic circuit diagram of a safety monitoring circuit provided by the present invention;
FIG. 3 is a schematic diagram of a periodic pulse signal output by a control unit of a transport vehicle according to the present invention;
fig. 4 is a schematic structural view of the automated guided vehicle provided by the present invention.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and the following detailed description.
Example one
As shown with reference to fig. 1-4. The embodiment provides a safety monitoring device for an unmanned transport vehicle, which comprises a transport vehicle control unit, a transport vehicle start-stop switch and a safety monitoring circuit.
The safety monitoring circuit includes: the circuit board comprises a terminal board P1, a first light coupling isolation chip U1, a watchdog chip U6, a 4-input OR gate chip U2, a second light coupling isolation chip U3 and a relay K2.
The output end of the truck control unit is connected into the terminal board P1 and is electrically connected with the first light-coupling isolation chip U1 through the terminal board P1; the first optical coupling isolation chip U1 is connected with a first resistor R17 in series and is electrically connected with the watchdog chip U6 through the first resistor R17; the watchdog chip U6 is electrically connected with the 4-input OR gate chip U2; the 4-input or gate chip U2 is electrically connected with the second optical coupling isolation chip U3; the second optically coupled isolation chip U3 is electrically connected with the relay K2; the output end of the relay K2 is connected to the terminal board P1 and is electrically connected with the truck start-stop switch through the terminal board P1.
In this embodiment, the model of the first optocoupler isolation chip U1 is TLP291-4, the model of the watchdog chip U6 is TPS3823, the model of the 4 input or gate chip U2 is CD4072, the model of the second optocoupler isolation chip U3 is TLP291-1, and the model of the relay K2 is G5V-1-12 VDC.
Preferably, the terminal board P1 has first to eleventh pins; the first optically coupled isolator chip U1 has a twelfth pin through a twenty-seventh pin.
Wherein the first pin to the eleventh pin of the terminal board P1 refer to pins 1 to 11 identified in the terminal board P1 in fig. 2; that is, the first pin corresponds to the 1 pin identified in terminal board P1 in fig. 2, the second pin corresponds to the 2 pin identified in terminal board P1 in fig. 2, and so on.
The twelfth pin to the twenty-seventh pin of the first optical coupling isolation chip U1 refer to pins 1 to 16 identified in the first optical coupling isolation chip U1 in fig. 2; that is, the twelfth pin corresponds to the 1 pin identified in the first optical coupler isolation chip U1 in fig. 2, the thirteenth pin corresponds to the 2 pin identified in the first optical coupler isolation chip U1 in fig. 2, and so on.
The output end of the carrier control unit is electrically connected with a fourth pin and is electrically connected with a thirteenth pin of the first optical coupling isolation chip U1 through the fourth pin.
The eighth pin is grounded.
And the ninth pin is connected with 3.3V voltage and is electrically connected with the twenty-first pin, the twenty-third pin, the twenty-fifth pin and the twenty-seventh pin of the first optical coupling isolation chip U1 to supply power to the chip.
The tenth pin is grounded.
The eleventh pin is connected with 12V voltage and is electrically connected with the twelfth pin, the fourteenth pin, the sixteenth pin and the eighteenth pin of the first optical coupling isolation chip U1 to supply power to the pins.
The full monitoring circuit further comprises a capacitor C5, wherein the capacitor C5 is used as a bypass capacitor of the first optical coupling isolation chip U1, one end of the capacitor C5 is grounded, and the other end of the capacitor C5 is electrically connected with a twelfth pin of the first optical coupling isolation chip U1.
Preferably, the watchdog chip U6 has a RESET pin, a GND pin, a WDI pin, and a VDD pin.
Wherein a twenty-sixth pin of the first optically coupled isolation chip U1 is connected in series with the first resistor R17 and is electrically connected with the WDI pin of the watchdog chip U6 through the first resistor R17.
The GND pin is electrically connected to the eighth pin of the terminal board P1 to be grounded.
The VDD pin is electrically connected to the ninth pin of the terminal board P1 to get electricity.
The safety monitoring circuit further comprises a capacitor C8, wherein the capacitor C8 is used as a bypass capacitor of the watchdog chip U6, one end of the capacitor C8 is grounded, and the other end of the capacitor C8 is electrically connected with the VDD pin of the watchdog chip U6.
Preferably, the 4-input or gate chip U2 has an ABCD pin, an a pin, a B pin, a C pin, a D pin, a VSS pin, and a VDD pin.
Wherein, the RESET pin of the watchdog chip U6 is electrically connected with the A pin of the 4-input OR gate chip U2.
A twentieth pin of the first optically coupled isolation chip U1 is electrically connected with a D pin of the 4-input OR gate chip U2; a twenty-second pin of the first optically coupled isolation chip U1 is electrically connected with a pin C of the 4-input OR gate chip U2; and a twenty-fourth pin of the first optical coupling isolation chip U1 is electrically connected with a pin B of the 4-input OR gate chip U2.
The 4-input or gate chip U2 summarizes the levels of the a pin, the B pin, the C pin, and the D pin to the ABCD pin through an internal or logic circuit.
The VDD pin is electrically connected to the eighth pin of the terminal board P1 to be grounded.
The VSS pin is electrically connected to the ninth pin of the terminal board P1 to get electricity.
The safety monitoring circuit further comprises a capacitor C9, wherein the capacitor C9 is used as a bypass capacitor of the 4-input OR gate chip U2, one end of the capacitor C9 is grounded, and the other end of the capacitor C9 is electrically connected with the VSS pin of the 4-input OR gate chip U26.
Preferably, the second optically coupled isolator chip U3 has a twenty-eighth pin to a thirty-first pin.
The twenty-eighth pin to the thirty-first pin of the second optical coupling isolation chip U3 refer to pins 1 to 4 identified in the second optical coupling isolation chip U3 in fig. 2; that is, the twenty-eighth pin corresponds to the 1 pin identified in the second optical coupler isolation chip U3 in fig. 2, the twenty-ninth pin corresponds to the 2 pin identified in the second optical coupler isolation chip U3 in fig. 2, and so on.
Wherein the ABCD pin of the 4-input OR-gate chip U2 is electrically connected with the twenty-eighth pin.
The twenty-ninth pin of the second optically coupled isolator chip U3 is connected in series with a second resistor R9 and grounded through the second resistor R9.
And the thirtieth pin of the second optically coupled isolation chip U3 is grounded.
Preferably, the relay K2 has a thirty-second pin, a thirty-third pin, a normally-open end pin, a normally-closed end pin, and a common end pin.
The thirty-second pin and the thirty-third pin of the relay K2 refer to the 9 pin and the 2 pin identified in the relay K2 in fig. 2; that is, the thirty-second pin corresponds to the 9 pin identified in the relay K2 in fig. 2, and the thirty-third pin corresponds to the 2 pin identified in the relay K2 in fig. 2.
The thirty-first pin of the second optically coupled isolation chip U3 is electrically connected with the thirty-second pin of the relay K2.
An eleventh pin of the first optical coupling isolation chip U1 is electrically connected with a thirty-third pin of the second optical coupling isolation chip U3 to supply power to the second optical coupling isolation chip U3.
The safety monitoring circuit further comprises a diode D6, the diode D6 is connected in parallel with the thirty-second pin and the thirty-third pin; diode D6 acts as a freewheeling to prevent the opening and closing of the relay K2 coil from interfering with the power supply.
The normally open end pin CH1 is electrically connected with the first pin of the terminal board P1; the common terminal pin COM is electrically connected to a second pin of the terminal board P1; the normally closed terminal pin CH2 is electrically connected to the third pin of the terminal board P1.
Preferably, the carrier start-stop switch has a third output terminal, a fourth output terminal, and a fifth output terminal.
Wherein the third output terminal is electrically connected with the first pin of the terminal board P1; the fourth output end is electrically connected with a second pin of the terminal board P1; the fifth output is electrically connected to the third pin of the terminal board P1.
In the present embodiment, the carrier control means refers to a master motion control system (PLC, a single chip microcomputer controller, an industrial personal computer, etc.) of the automated guided vehicle.
The carrier start-stop switch is a switch for controlling the start or stop of the unmanned carrier, and can be a system power switch or an enabling switch; when the switch is closed, the unmanned transport vehicle is started; when the switch is turned off, the automated guided vehicle stops traveling.
In this embodiment, specifically, the output end of the truck control unit outputs a periodic pulse signal to the fourth pin, and the periodic pulse signal is sent to the first optical coupler isolation chip U1 through the thirteenth pin electrically connected to the fourth pin, and then sent to the watchdog chip U6 through the WDI pin electrically connected to the twenty-sixth pin, which is referred to as a dog feeding operation for short; under the condition that the control unit of the transport vehicle normally feeds dogs, a RESET pin of the watchdog chip U6 outputs a low-level signal to a pin A of a 4-input or gate chip U2; when the program of the control unit of the transport vehicle is incomplete, crashed, run off, etc., the normal dog feeding operation cannot be performed, and the RESET pin of the watchdog chip U6 outputs a 3.3V high level signal to the pin a of the 4-input or gate chip U2.
When the RESET pin of the watchdog chip U6 outputs a low level signal to the A pin of the 4-input OR gate chip U2, the ABCD pin of the 4-input OR gate chip U2 outputs a low level signal; when the RESET pin of the watchdog chip U6 outputs a 3.3V high signal to the a pin of the 4-input or gate chip U2, the ABCD pin of the 4-input or gate chip U2 outputs a 3.3V high signal.
The second optical coupling isolation chip U3 is used for converting a signal output by an ABCD pin of the 4-input or gate chip U2 into an NPN triode switching signal: that is, the 4-input or gate chip U2 outputs the signal of the a pin (low level signal or 3.3V high level signal) through the ABCD pin, outputs the signal to the second optical coupler isolation chip U3 through the twenty-eighth pin electrically connected thereto, converts the signal into an NPN triode switching signal through the second optical coupler isolation chip U3, and correspondingly outputs the signal to the thirty-second pin of the relay K2 through the thirty-eleventh pin.
When the signal input by the 4 input or output by the ABCD pin of the door chip U2 is a low level signal, the normally closed end pin CH2 of the relay K2 is connected with the common end pin COM, the normally open end pin CH1 of the relay K2 is disconnected with the common end pin COM, namely the second pin of the terminal board P1 is disconnected with the first pin and is electrically connected with the third pin, at the moment, the carrier start-stop switch is closed, and the unmanned carrier is controlled to start to normally travel; when the signal input by 4 or output by the ABCD pin of the door chip U2 is a 3.3V high-level signal, the normally closed terminal pin CH2 of the relay K2 is disconnected from the common terminal pin COM, and the normally open terminal pin CH1 of the relay K2 is connected to the common terminal pin COM, that is, the second pin of the terminal board P1 is disconnected from the third pin and electrically connected to the first pin, and at this time, the carrier start-stop switch is disconnected, so that the automated guided vehicle is controlled to stop traveling.
Through the implementation of above-mentioned scheme, can be in carrier control unit procedure imperfect, crash, the procedure run away when the normal dog feeding operation can't be carried out promptly, stop the walking through unmanned carrier of safety monitoring circuit control to guarantee that unmanned carrier parks.
And the safety monitoring circuit in this application is pure circuit structure setting, need not to carry out parking control through carrier control unit, and fundamentally has stopped the incomplete, the dead halt scheduling problem of procedure.
Example two
As shown with reference to fig. 1-4. The present embodiment is substantially identical to the first embodiment, except that the safety monitoring device further includes a safety contact edge disposed on the automated guided vehicle, an output end of the safety contact edge is connected to the terminal board P1 and electrically connected to the first optical coupler isolation chip U1 through the terminal board P1, and is electrically connected to the 4-input or door chip U2 through the first optical coupler isolation chip U1.
And the output end of the safety contact edge is electrically connected with the fifth pin and is electrically connected with the fifteenth pin of the first optical coupling isolation chip U1 through the fifth pin.
In this embodiment, specifically, when the automated guided vehicle travels normally, the safety contact edge outputs a high level signal to the fifth pin of the terminal board P through the output end, and outputs the high level signal to the first optical coupling isolation chip U1 through the fifteenth pin electrically connected to the fifth pin, and the first optical coupling isolation chip U1 isolates and outputs a low level signal and outputs the low level signal to the pin B of the 4-input or gate chip U2 through the twenty-four pins; when the unmanned transport vehicle is out of control and collides, the safe contact edge can output a low level signal to the fifth pin of the terminal board P through the output end and output the low level signal to the first optical coupling isolation chip U1 through the fifteenth pin electrically connected with the fifth pin, and the first optical coupling isolation chip U1 isolates and outputs a 3.3V high level signal and outputs the 3.3V high level signal to the pin B of the 4-input or door chip U2 through the twenty-four pins.
The 4-input or gate chip U2 outputs a signal (a low level signal or a 3.3V high level signal) from the pin B through the ABCD pin, outputs the signal to the second opto-isolator chip U3 through the twenty-eighth pin electrically connected thereto, converts the signal into an NPN triode switching signal through the second opto-isolator chip U3, and correspondingly outputs the signal to the thirty-second pin of the relay K2 through the thirty-eleventh pin.
When the signal input by the 4 input or output by the ABCD pin of the door chip U2 is a low level signal, the normally closed end pin CH2 of the relay K2 is connected with the common end pin COM, the normally open end pin CH1 of the relay K2 is disconnected with the common end pin COM, namely the second pin of the terminal board P1 is disconnected with the first pin and is electrically connected with the third pin, at the moment, the carrier start-stop switch is closed, and the unmanned carrier is controlled to start to normally travel; when the signal input by 4 or output by the ABCD pin of the door chip U2 is a 3.3V high-level signal, the normally closed terminal pin CH2 of the relay K2 is disconnected from the common terminal pin COM, and the normally open terminal pin CH1 of the relay K2 is connected to the common terminal pin COM, that is, the second pin of the terminal board P1 is disconnected from the third pin and electrically connected to the first pin, and at this time, the carrier start-stop switch is disconnected, so that the automated guided vehicle is controlled to stop traveling.
Through the implementation of above-mentioned scheme, can meet when the collision at unmanned transport vehicle, stop the walking through safety monitoring circuit control unmanned transport vehicle to the guarantee unmanned transport vehicle parks.
EXAMPLE III
As shown with reference to fig. 1-4. The present embodiment is substantially identical to the first embodiment, except that the safety monitoring device further includes a diffuse reflection sensor disposed on the automated guided vehicle, an output end of the diffuse reflection sensor is connected to the terminal board P1 and electrically connected to the first optical coupler isolation chip U1 through the terminal board P1, and electrically connected to the 4-input or door chip U2 through the first optical coupler isolation chip U1.
The diffuse reflection sensor is provided with a first output end and a second output end, the first output end is electrically connected with a sixth pin and is electrically connected with a seventeenth pin of the first optical coupling isolation chip U1 through the sixth pin; the second output end is electrically connected with a seventh pin and is electrically connected with a nineteenth pin of the first optical coupling isolation chip U1 through the seventh pin.
In this embodiment, specifically, when the diffuse reflection sensor can detect the ground, the diffuse reflection sensor outputs a high level signal to the sixth pin of the terminal board P through the first output terminal, and outputs the high level signal to the first optical coupling isolation chip U1 through the seventeenth pin electrically connected to the sixth pin, and the first optical coupling isolation chip U1 isolates and outputs a low level signal through the twenty-second pin and outputs the low level signal to the pin C of the 4-input or gate chip U2; when the diffuse reflection sensor cannot detect the ground, the diffuse reflection sensor can output a low level signal to the seventh pin of the terminal board P through the second output end and output the low level signal to the first optical coupling isolation chip U1 through the nineteenth pin electrically connected with the seventh pin, and the first optical coupling isolation chip U1 outputs a 3.3V high level signal in an isolation mode through the twentieth pin and outputs the high level signal to the pin D of the 4-input or gate chip U2.
The 4-input or gate chip U2 outputs a signal (low level signal) of the pin C and a signal (3.3V high level signal) of the pin D through the ABCD pin, outputs the signals to the second opto-isolator chip U3 through the twenty-eighth pin electrically connected with the second opto-isolator chip U3, converts the signals into NPN triode switching signals through the second opto-isolator chip U3, and correspondingly outputs the signals to the thirty-second pin of the relay K2 through the thirty-first pin.
When the signal input by the 4 input or output by the ABCD pin of the door chip U2 is a low level signal, the normally closed end pin CH2 of the relay K2 is connected with the common end pin COM, the normally open end pin CH1 of the relay K2 is disconnected with the common end pin COM, namely the second pin of the terminal board P1 is disconnected with the first pin and is electrically connected with the third pin, at the moment, the carrier start-stop switch is closed, and the unmanned carrier is controlled to start to normally travel; when the signal input by 4 or output by the ABCD pin of the door chip U2 is a 3.3V high-level signal, the normally closed terminal pin CH2 of the relay K2 is disconnected from the common terminal pin COM, and the normally open terminal pin CH1 of the relay K2 is connected to the common terminal pin COM, that is, the second pin of the terminal board P1 is disconnected from the third pin and electrically connected to the first pin, and at this time, the carrier start-stop switch is disconnected, so that the automated guided vehicle is controlled to stop traveling.
Through the implementation of the scheme, when the diffuse reflection sensor on the automatic guided vehicle cannot detect the ground, the automatic guided vehicle is controlled to stop walking through the safety monitoring circuit, so that the automatic guided vehicle is prevented from falling and is ensured to be stopped in time before falling.
It should be noted that the above-mentioned embodiments are only used for illustrating the technical solutions of the present invention and not for limiting the technical solutions, and although the applicant has described the present invention in detail with reference to the preferred embodiments, it should be understood by those skilled in the art that modifications or equivalent substitutions made on the technical solutions of the present invention can not be included in the spirit and scope of the technical solutions of the present invention, and all the modifications or equivalent substitutions should be included in the scope of the claims of the present invention.
Claims (10)
1. The utility model provides a safety monitoring device for automated guided vehicle, includes that carrier the control unit, carrier open and stop switch and safety monitoring circuit, its characterized in that:
the safety monitoring circuit includes: the circuit board comprises a terminal board P1, a first optical coupling isolation chip U1, a watchdog chip U6, a 4-input OR gate chip U2, a second optical coupling isolation chip U3 and a relay K2;
the output end of the truck control unit is connected into the terminal board P1 and is electrically connected with the first light-coupling isolation chip U1 through the terminal board P1; the first optical coupling isolation chip U1 is connected with a first resistor R17 in series and is electrically connected with the watchdog chip U6 through the first resistor R17; the watchdog chip U6 is electrically connected with the 4-input OR gate chip U2; the 4-input or gate chip U2 is electrically connected with the second optical coupling isolation chip U3; the second optically coupled isolation chip U3 is electrically connected with the relay K2; the output end of the relay K2 is connected to the terminal board P1 and is electrically connected with the truck start-stop switch through the terminal board P1.
2. The safety monitoring device for an automated guided vehicle according to claim 1, wherein: the safety contact edge is arranged on the automatic guided vehicle, the output end of the safety contact edge is connected into the terminal board P1 and is electrically connected with the first optical coupling isolation chip U1 through the terminal board P1, and is electrically connected with the 4-input or door chip U2 through the first optical coupling isolation chip U1.
3. The safety monitoring device for an automated guided vehicle according to claim 2, wherein: the output end of the diffuse reflection sensor is connected into the terminal board P1 and is electrically connected with the first optical coupling isolation chip U1 through the terminal board P1, and is electrically connected with the 4-input or door chip U2 through the first optical coupling isolation chip U1.
4. The safety monitoring device for an automated guided vehicle according to claim 3, wherein: the terminal board P1 has first to eleventh pins; the first optically coupled isolation chip U1 is provided with a twelfth pin to a twenty-seventh pin;
the output end of the carrier control unit is electrically connected with a fourth pin and is electrically connected with a thirteenth pin of the first optical coupling isolation chip U1 through the fourth pin;
the output end of the safety contact edge is electrically connected with a fifth pin and is electrically connected with a fifteenth pin of the first optical coupling isolation chip U1 through the fifth pin;
the diffuse reflection sensor is provided with a first output end and a second output end, the first output end is electrically connected with a sixth pin and is electrically connected with a seventeenth pin of the first optical coupling isolation chip U1 through the sixth pin; the second output end is electrically connected with a seventh pin and is electrically connected with a nineteenth pin of the first optical coupling isolation chip U1 through the seventh pin;
the eighth pin is grounded;
the ninth pin is connected with 3.3V voltage and is electrically connected with the twenty-first pin, the twenty-third pin, the twenty-fifth pin and the twenty-seventh pin of the first optical coupling isolation chip U1 to supply power to the ninth pin;
the tenth pin is grounded;
the eleventh pin is connected with 12V voltage and is electrically connected with the twelfth pin, the fourteenth pin, the sixteenth pin and the eighteenth pin of the first optical coupling isolation chip U1 to supply power to the pins;
the full monitoring circuit further comprises a capacitor C5, wherein the capacitor C5 is used as a bypass capacitor of the first optical coupling isolation chip U1, one end of the capacitor C5 is grounded, and the other end of the capacitor C5 is electrically connected with a twelfth pin of the first optical coupling isolation chip U1.
5. The safety monitoring device for an automated guided vehicle according to claim 4, wherein: the watchdog chip U6 is provided with a RESET pin, a GND pin, a WDI pin and a VDD pin; a twenty-sixth pin of the first optically coupled isolation chip U1 is connected in series with the first resistor R17 and is electrically connected with the WDI pin of the watchdog chip U6 through the first resistor R17;
the GND pin is electrically connected to an eighth pin of the terminal board P1 to be grounded;
the VDD pin is electrically connected to a ninth pin of the terminal board P1 to get electricity;
the safety monitoring circuit further comprises a capacitor C8, wherein the capacitor C8 is used as a bypass capacitor of the watchdog chip U6, one end of the capacitor C8 is grounded, and the other end of the capacitor C8 is electrically connected with the VDD pin of the watchdog chip U6.
6. The safety monitoring device for an automated guided vehicle according to claim 5, wherein: the 4-input OR gate chip U2 is provided with an ABCD pin, an A pin, a B pin, a C pin, a D pin, a VSS pin and a VDD pin;
the RESET pin of the watchdog chip U6 is electrically connected with the A pin of the 4-input OR gate chip U2;
a twentieth pin of the first optically coupled isolation chip U1 is electrically connected with a D pin of the 4-input OR gate chip U2; a twenty-second pin of the first optically coupled isolation chip U1 is electrically connected with a pin C of the 4-input OR gate chip U2; a twenty-fourth pin of the first optically coupled isolation chip U1 is electrically connected with a pin B of the 4-input OR gate chip U2;
the 4-input or gate chip U2 summarizes the levels of the a pin, the B pin, the C pin and the D pin to the ABCD pin through an internal or logic circuit;
the VDD pin is electrically connected to an eighth pin of the terminal board P1 to be grounded;
the VSS pin is electrically connected to a ninth pin of the terminal board P1 to get electricity;
the safety monitoring circuit further comprises a capacitor C9, wherein the capacitor C9 is used as a bypass capacitor of the 4-input OR gate chip U2, one end of the capacitor C9 is grounded, and the other end of the capacitor C9 is electrically connected with the VSS pin of the 4-input OR gate chip U26.
7. The safety monitoring device for an automated guided vehicle according to claim 5, wherein: the second optically coupled isolation chip U3 has a twenty-eighth pin to a thirty-first pin;
wherein the ABCD pin of the 4-input OR gate chip U2 is electrically connected with the twenty-eighth pin;
a twenty-ninth pin of the second optically coupled isolator chip U3 is connected with a second resistor R9 in series and is grounded through the second resistor R9;
and the thirtieth pin of the second optically coupled isolation chip U3 is grounded.
8. The safety monitoring device for an automated guided vehicle according to claim 7, wherein: the relay K2 is provided with a thirty-second pin, a thirty-third pin, a normally-open end pin, a normally-closed end pin and a common end pin;
the thirty-first pin of the second optically coupled isolation chip U3 is electrically connected with the thirty-second pin of the relay K2;
an eleventh pin of the first optical coupling isolation chip U1 is electrically connected with a thirty-third pin of the second optical coupling isolation chip U3 to supply power to the first optical coupling isolation chip U1;
the safety monitoring circuit further comprises a diode D6, the diode D6 is connected in parallel with the thirty-second pin and the thirty-third pin;
the normally open end pin is electrically connected to a first pin of the terminal board P1; the common terminal pin is electrically connected with a second pin of the terminal board P1; the normally closed terminal pin is electrically connected to the third pin of the terminal board P1.
9. The safety monitoring device for an automated guided vehicle of claim 8, wherein: the carrier start-stop switch is provided with a third output end, a fourth output end and a fifth output end;
wherein the third output terminal is electrically connected with the first pin of the terminal board P1; the fourth output end is electrically connected with a second pin of the terminal board P1; the fifth output is electrically connected to the third pin of the terminal board P1.
10. The safety monitoring device for an automated guided vehicle according to claim 1, wherein: the model of the first optocoupler isolation chip U1 is TLP291-4, the model of the watchdog chip U6 is TPS3823, the model of the 4-input OR gate chip U2 is CD4072, the model of the second optocoupler isolation chip U3 is TLP291-1, and the model of the relay K2 is G5V-1-12 VDC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021119747.6U CN212112232U (en) | 2020-06-17 | 2020-06-17 | Safety monitoring device for unmanned carrier |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202021119747.6U CN212112232U (en) | 2020-06-17 | 2020-06-17 | Safety monitoring device for unmanned carrier |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212112232U true CN212112232U (en) | 2020-12-08 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202021119747.6U Active CN212112232U (en) | 2020-06-17 | 2020-06-17 | Safety monitoring device for unmanned carrier |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212112232U (en) |
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2020
- 2020-06-17 CN CN202021119747.6U patent/CN212112232U/en active Active
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| TR01 | Transfer of patent right |
Effective date of registration: 20230704 Address after: No. 1888 Pangjin Road, Jiangling Street, Wujiang District, Suzhou City, Jiangsu Province, 215000 Patentee after: Suzhou Misong Intelligent Technology Co.,Ltd. Address before: 215600 room 503, building 14, Dongxingyuan, Tangshi, yangshe Town, Zhangjiagang City, Suzhou City, Jiangsu Province Patentee before: Chen Fengyang |