CN216561450U - AGV dolly control system - Google Patents

AGV dolly control system Download PDF

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Publication number
CN216561450U
CN216561450U CN202122733906.2U CN202122733906U CN216561450U CN 216561450 U CN216561450 U CN 216561450U CN 202122733906 U CN202122733906 U CN 202122733906U CN 216561450 U CN216561450 U CN 216561450U
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module
main control
control module
serial
communication chip
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覃丽清
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Guangdong Jaten Robot and Automation Co Ltd
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Guangdong Jaten Robot and Automation Co Ltd
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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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    • Y02P90/60—Electric or hybrid propulsion means for production processes

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Abstract

The utility model discloses an AGV trolley control system which comprises a main control module, a plurality of functional modules, a debugging interface circuit, a serial port expansion circuit and a serial port expansion circuit, wherein the main control module is provided with a CAN bus interface and a plurality of serial ports, each functional module is respectively connected with the CAN bus interface or the serial port of the main control module so as to enable the main control module to realize serial communication with each functional module, the debugging interface circuit is connected with the main control module and is used for being externally connected with an online debugger or a programmer so as to enable the main control module to be communicated with the online debugger or the programmer, and the serial port expansion circuit is connected with one serial port of the main control module so as to enable the group of serial ports of the main control module to be simultaneously connected with the functional modules and the serial port expansion circuit. This AGV dolly control system uses serial ports or CAN bus interface to replace the IO mouth and communicates to realize that data passes each other between host system and the functional module, reduced the quantity of connecting the pencil, practice thrift IO mouth resource.

Description

AGV dolly control system
Technical Field
The utility model relates to the technical field of AGV control, in particular to an AGV trolley control system.
Background
The development of AGV carts has provided the basis for industrial applications, such as the use of self-guided carts in many buildings and warehouses to control the transport of goods from one location to another. The development of the AGV trolley control technology to date focuses more on the intellectualization of the trolley and the simplification of a hardware circuit, and focuses more on secondary development and version iteration. However, the current AGV control panel system lacks debugging and updating functions, and has great difficulty in maintenance and version iteration.
SUMMERY OF THE UTILITY MODEL
The present invention is directed to an AGV cart control system that solves one or more of the problems of the prior art, and provides at least one useful alternative or inventive feature.
An AGV cart control system comprising:
the main control module is provided with a CAN bus interface and a plurality of serial ports;
each functional module is respectively connected with a CAN bus interface or a serial port of the main control module so as to realize serial communication between the main control module and each functional module;
the debugging interface circuit is connected with the main control module and is used for being externally connected with an online debugger or programmer so as to enable the main control module to be communicated with the online debugger or programmer;
and the serial port expansion circuit is connected with one serial port of the main control module, so that the group of serial ports of the main control module is simultaneously connected with the functional module and the serial port expansion circuit.
Furthermore, the AGV trolley control system further comprises an intermediate communication circuit, one end of the intermediate communication circuit is connected with the main control module, and the other end of the intermediate communication circuit is connected with the function module.
Further, the intermediate communication circuit comprises a first serial communication chip, a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a first circuit breaker and a second circuit breaker;
the power taking end of the first serial communication chip is connected with direct-current voltage and grounded through a first capacitor, the receiver output end of the first serial communication chip is connected with the data receiving end of the main control module through a first resistor, the driver input end of the first serial communication chip is connected with the data sending end of the main control module through a second resistor, the enabling output end of the first serial communication chip is connected with the register end of the main control module and grounded through a third resistor, the receiver input end of the first serial communication chip is connected with one end of the function module through a first circuit breaker, the driver output end of the first serial communication chip is connected with the other end of the function module through a second circuit breaker, one end of a fourth resistor is connected with the receiver input end of the first serial communication chip, and the other end of the fourth resistor is connected with the driver output end of the first serial communication chip.
Further, the first serial communication chip adopts an SP3485 serial transceiver.
Further, the serial port expansion circuit comprises a second serial communication chip, a fifth resistor, a sixth resistor, a first inductor, a second inductor, a first bidirectional TVS (transient voltage suppressor) and a second bidirectional TVS;
the driver input end of the second serial communication chip is connected with the data sending end of the main control module through a fifth resistor, the receiver output end of the second serial communication chip is connected with the data receiving end of the main control module through a sixth resistor, the driver output end of the second serial communication chip is connected with one end of the functional module through a first inductor, the receiver input end of the second serial communication chip is connected with the other end of the functional module through a second inductor, one end of the first bidirectional TVS tube is connected with the driver output end of the second serial communication chip, the other end of the first bidirectional TVS tube is grounded, one end of the second bidirectional TVS tube is connected with the receiver input end of the second serial communication chip, and the other end of the second bidirectional TVS tube is grounded.
Further, the SP3232EEY serial transceiver is selected as the second serial communication chip.
Furthermore, the function module comprises a navigation module, a prompt module, a driving module, a hook driving module and/or a key module.
Further, the navigation module comprises an obstacle avoidance sensor and a tracking sensor.
Further, the prompting module comprises a prompting lamp and a prompting loudspeaker.
Furthermore, the main control module adopts an STM32 series control chip.
The utility model has the beneficial effects that: the serial port or the CAN bus interface is used for replacing the IO port for communication, so that data transmission between the main control module and the functional module is realized, the number of connecting wire harnesses is reduced, and the IO port resource is saved.
Drawings
FIG. 1 is a block diagram of an exemplary AGV cart control system.
Fig. 2 is a circuit schematic of an intermediate communication circuit provided by an embodiment.
Fig. 3 is a schematic circuit diagram of a serial port expansion circuit according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the present invention will be further described with reference to the embodiments and the accompanying drawings.
In the description of the present invention, it is to be understood that the features defined as "first" and "second" may explicitly or implicitly include one or more of the features, and thus, should not be taken as limiting the utility model. Furthermore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.
FIG. 1 is a block diagram of an exemplary AGV cart control system.
Referring to fig. 1, the AGV cart control system includes a main control module 100, a plurality of functional modules, a debugging interface circuit 300, and a serial port expansion circuit 400.
The main control module 100 has a CAN bus interface and a plurality of serial ports, and is used for realizing communication between the main control module 100 and other functional modules.
Each function module is connected with a CAN bus interface or a serial port of the main control module 100, and one function module is connected with a group of CAN bus interfaces or serial ports of the main control module 100, so that the main control module 100 and each function module realize serial communication, and data transmission is realized between the main control module 100 and the function modules.
The debug interface circuit 300 is connected to the main control module 100 and is used for externally connecting an online debugger or programmer, so that the main control module 100 communicates with the online debugger or programmer. Because the AGV control system has very rich functions, in order to debug the AGV control system and quickly implement new functions, in this embodiment, the debug interface circuit 300 is used to connect the main control module 100 with the ST-LINK debug tool, and the AGV control system is debugged and upgraded on line through the ST-LINK debug tool.
The serial port expansion circuit 400 is connected to a serial port of the main control module 100, so that the set of serial ports of the main control module 100 is connected to the functional module and the serial port expansion circuit 400 at the same time. The serial port expansion circuit 400 is used for expanding the serial port of the main control module 100, so that the main control module 100 can connect more functional modules and control the functional modules, the main control module 100 can simultaneously control at least two functional modules through a group of serial ports, one of the functional modules is directly connected with the group of serial ports of the main control module 100, and the other functional module is connected with the group of serial ports of the main control module 100 through the serial port expansion circuit 400.
Compared with the prior art, the AGV trolley control system provided by the embodiment uses the serial port or the CAN bus interface to replace the IO port for communication, so that mutual data transmission between the main control module 100 and the functional module is realized, the number of connecting wire harnesses is reduced, and the IO port resource is saved.
The specific structure of the AGV car control system is explained below.
In this embodiment, the main control module 100 adopts an STM32 series control chip.
Referring to fig. 2, the AGV cart control system further includes an intermediate communication circuit 500, one end of the intermediate communication circuit 500 is connected to the main control module 100, and the other end of the intermediate communication circuit 500 is connected to the function module.
Specifically, the intermediate communication circuit 500 includes a first serial communication chip U1, a first resistor R1, a second resistor R2, a third resistor R3, a fourth resistor R4, a first capacitor C1, a first circuit breaker CB1, and a second circuit breaker CB2, wherein the first serial communication chip U1 is an SP3485 serial transceiver.
More specifically, the power-taking terminal of the first serial communication chip U1 is connected to a dc voltage and grounded through a first capacitor C1, the receiver output terminal (RO) of the first serial communication chip U1 is connected to the data receiving terminal (USART _ RX) of the main control module 100 through a first resistor R1, the driver input terminal (DI) of the first serial communication chip U1 is connected to the data transmitting terminal (USART _ TX) of the main control module 100 through a second resistor R2, the enable output terminal (RE) of the first serial communication chip U1 is connected to the register terminal (USART _ DIR) of the main control module 100 and grounded through a third resistor R3, the receiver input terminal of the first serial communication chip U1 is connected to one end of the function module through a first circuit breaker CB1, the driver output terminal of the first serial communication chip U1 is connected to the other end of the function module through a second circuit breaker CB2, one end of a fourth resistor R4 is connected to the receiver input terminal of the first serial communication chip U1, the other end of the fourth resistor R4 is connected to the driver output terminal of the first serial communication chip U1.
In this way, the main control module 100 realizes data transmission with the functional module through the intermediate communication circuit 500. Of course, the main control module 100 and the functional module may also be connected by other ways, which are not limited herein.
Referring to fig. 3, the serial port expansion circuit 400 includes a second serial communication chip U2, a fifth resistor R5, a sixth resistor R6, a first inductor L1, a second inductor L2, a first bidirectional TVS tube TVS1, and a second bidirectional TVS tube TVS2, and the second serial communication chip U2 selects an SP3232EEY serial transceiver.
Specifically, a driver input end (T1IN) of the second serial communication chip U2 is connected to a data transmitting end (USART _ TX) of the main control module 100 through a fifth resistor R5, a receiver output end (R1OUT) of the second serial communication chip U2 is connected to a data receiving end (USART _ RX) of the main control module 100 through a sixth resistor R6, a driver output end of the second serial communication chip U2 is connected to one end of the functional module through a first inductor L1, a receiver input end of the second serial communication chip U2 is connected to the other end of the functional module through a second inductor L2, one end of the first bidirectional TVS transistor TVS1 is connected to the driver output end of the second serial communication chip U2, the other end of the first bidirectional TVS transistor TVS1 is grounded, one end of the second bidirectional TVS transistor TVS2 is connected to the receiver input end of the second serial communication chip U2, and the other end of the second bidirectional TVS transistor TVS2 is grounded.
Referring to fig. 1 again, the function module includes a navigation module 210, a prompt module 220, a driving module 230, a hook driving module 240 and/or a key module 250, and the navigation module 210, the prompt module 220, the driving module 230, the hook driving module 240 and the key module 250 are respectively connected to the main control module 100 and controlled by the main control module 100 according to a predetermined control program. The navigation module 210 includes an obstacle avoidance sensor 211 and a tracking sensor 212, the prompt module 220 includes a prompt lamp 221 and a prompt speaker 222, the prompt lamp 221 and the prompt speaker 222 may be controlled by the same set of serial ports of the main control module 100, the prompt speaker 222 may be directly connected to the set of serial ports of the main control module 100 or connected to the set of serial ports through the intermediate communication circuit 500, the prompt lamp 221 is connected to the set of serial ports of the main control module 100 through the serial port extension circuit 400, and when a prompt signal needs to be sent, the prompt speaker 222 and the prompt lamp 221 perform audible and visual prompt.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
As used herein, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, including not only those elements listed, but also other elements not expressly listed.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the appended claims.

Claims (10)

1. An AGV cart control system, comprising:
the main control module is provided with a CAN bus interface and a plurality of serial ports;
each functional module is respectively connected with a CAN bus interface or a serial port of the master control module so as to realize serial communication between the master control module and each functional module;
the debugging interface circuit is connected with the main control module and is used for being externally connected with an online debugger or programmer so as to enable the main control module to be communicated with the online debugger or programmer;
and the serial port expansion circuit is connected with one serial port of the main control module, so that the group of serial ports of the main control module is simultaneously connected with the functional module and the serial port expansion circuit.
2. The AGV control system of claim 1, further comprising an intermediate communication circuit, one end of said intermediate communication circuit being connected to said master control module and the other end of said intermediate communication circuit being connected to said function module.
3. The AGV cart control system of claim 2, wherein the intermediate communication circuit includes a first serial communication chip, a first resistor, a second resistor, a third resistor, a fourth resistor, a first capacitor, a first circuit breaker, and a second circuit breaker;
the power taking end of the first serial communication chip is connected with direct current voltage and is grounded through a first capacitor, the receiver output end of the first serial communication chip is connected with the data receiving end of the main control module through a first resistor, the input end of the driver of the first serial communication chip is connected with the data transmitting end of the main control module through a second resistor, the enable output end of the first serial communication chip is connected with the register end of the main control module and is grounded through a third resistor, the receiver input end of the first serial communication chip is connected with one end of the function module through a first circuit breaker, the output end of the driver of the first serial communication chip is connected with the other end of the functional module through a second circuit breaker, one end of the fourth resistor is connected with the input end of the receiver of the first serial communication chip, and the other end of the fourth resistor is connected with the output end of the driver of the first serial communication chip.
4. The AGV control system of claim 3 wherein said first serial communication chip is implemented as an SP3485 serial transceiver.
5. The AGV car control system of claim 1, wherein said serial expansion circuit comprises a second serial communication chip, a fifth resistor, a sixth resistor, a first inductor, a second inductor, a first bidirectional TVS transistor and a second bidirectional TVS transistor;
the driver input end of the second serial communication chip is connected with the data sending end of the main control module through a fifth resistor, the receiver output end of the second serial communication chip is connected with the data receiving end of the main control module through a sixth resistor, the driver output end of the second serial communication chip is connected with one end of the function module through a first inductor, the receiver input end of the second serial communication chip is connected with the other end of the function module through a second inductor, one end of the first bidirectional TVS tube is connected with the driver output end of the second serial communication chip, the other end of the first bidirectional TVS tube is grounded, one end of the second bidirectional TVS tube is connected with the receiver input end of the second serial communication chip, and the other end of the second bidirectional TVS tube is grounded.
6. The AGV control system of claim 5 wherein said second serial communications chip is an SP3232EEY series serial transceiver.
7. The AGV control system of claim 1, wherein the function modules comprise a navigation module, a prompt module, a travel drive module, a hook drive module and/or a key module.
8. The AGV cart control system of claim 7, wherein the navigation module includes an obstacle avoidance sensor and a tracking sensor.
9. The AGV control system of claim 7, wherein the prompt module includes a prompt light and a prompt speaker.
10. The AGV cart control system of any one of claims 1-9, wherein said master control module employs an STM32 family control chip.
CN202122733906.2U 2021-11-09 2021-11-09 AGV dolly control system Active CN216561450U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202122733906.2U CN216561450U (en) 2021-11-09 2021-11-09 AGV dolly control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202122733906.2U CN216561450U (en) 2021-11-09 2021-11-09 AGV dolly control system

Publications (1)

Publication Number Publication Date
CN216561450U true CN216561450U (en) 2022-05-17

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Country Link
CN (1) CN216561450U (en)

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