CN101603830A - Self-navigation cart system and multi-task controlling method - Google Patents
Self-navigation cart system and multi-task controlling method Download PDFInfo
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- CN101603830A CN101603830A CNA2009100406739A CN200910040673A CN101603830A CN 101603830 A CN101603830 A CN 101603830A CN A2009100406739 A CNA2009100406739 A CN A2009100406739A CN 200910040673 A CN200910040673 A CN 200910040673A CN 101603830 A CN101603830 A CN 101603830A
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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
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- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
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Abstract
Self-navigation cart system of the present invention and multi-task controlling method thereof belong to field of transport vehicles, the self-navigation cart system comprises dolly part and leader, and the dolly part is made of car body, electric cabinet, central controller, electric battery, driving mechanism, hitch, road surface magnetic stripe signal transducer, road surface RFID RFID tag card reader, anticollision mechanism etc.Leader is made up of magnetic stripe on the road surface that is laid in and RFID RFID tag card, road surface magnetic stripe signal transducer is installed on car body, road surface RFID RFID tag card reader is installed on car body, road surface magnetic stripe signal transducer directly is connected with the AD module of central controller, and the simulating signal of road surface magnetic stripe signal transducer output is handled.Magnetic stripe and RFID RFID tag that employing is laid on the road surface stick into the row navigation, can change route flexibly, can well be applicable to flexible manufacturing system.
Description
Technical field
Self-navigation cart system of the present invention and multi-task controlling method thereof belong to field of transport vehicles.
Background technology
In 2007 years, the China Logistics expense accounts for 18% in GDP, occupy high-order.Manufacturing industry logistics total value accounts for 74.7% in the social logistics total value.And the handling of material is an occurrence frequency height in the logistics progress, and the consumption time is long, the activity that required expense is big.In order to reduce the manufacturing industry cost and to raise the efficiency, the technology of carrying will be a kind of good methods automatically.In addition, the independent navigation carrier is the effective means of logistics transportation in current flexible manufacturing system and the automated warehouse storage system.The independent navigation carrier transports goods by the utilization automated transport system, and can be under non-interfering situation with the goods high efficient and reliable send to the destination.The use of independent navigation carrier can greatly alleviate people's labour intensity, has improved logistics operational paradigm and service quality, has reduced logistics cost.
At present, have the automatic running trolley system of navigate modes such as vision, laser and GPS on the market, the costing an arm and a leg of these products, cost performance is not high, is not easy to promote.The automatic running trolley system cost that adopts the magnetic stripe mode to navigate is low, and the cost performance height is convenient to popularize in various industries.Adopt the magnetic stripe mode to navigate automatic running trolley when carrying out system's control, adopt usually and lay 1,2,3 magnetic stripes in the side of walking magnetic stripe and assist control, it is few that this method has quantity of information, can only carry out simple task; And lay many magnetic stripes, it is bigger to take up room, and causes defectives such as bearing accuracy is low.
Summary of the invention
The present invention be directed to weak point of the prior art, and provide a kind of independent navigation automatically guiding trolley system and multi-task controlling method, this method mainly adopts and lays magnetic stripe and RFID label on the ground, central controller is by combining to analog information and numerical information hybrid processing and with wireless data transmission technology, realizes control and multitask distribution flexibly in the complicated automatic running trolley system; This method can change flexibly, and can store various control information, well meets the flexible demand of various systems and the control of complex task.
The objective of the invention is to reach by following measure, the self-navigation cart system comprises dolly part and leader, and the dolly part is made of car body, electric cabinet, central controller, electric battery, driving mechanism, hitch, road surface magnetic stripe signal transducer, road surface RFID RFID tag card reader, anticollision mechanism etc.Leader is made up of magnetic stripe on the road surface that is laid in and RFID RFID tag card.The installation electric cabinet is set on car body, central controller is installed in the electric cabinet, electric battery is installed on car body, driving mechanism is installed on car body, hitch is installed on car body, anticollision mechanism is installed on car body, road surface magnetic stripe signal transducer is installed on car body, road surface RFID RFID tag card reader is installed on car body, road surface magnetic stripe signal transducer and road surface RFID RFID tag card reader are installed on the interior center line of the vertical symmetric section of car body, and road surface magnetic stripe signal transducer is installed in the place ahead of drive part travel direction in the car body, and road surface RFID RFID tag card reader is installed in the head or the afterbody of car body.
Car body adopts the monolithic devices structure, and is simple for structure; The mode of loading variation can be carried out the afterbody traction, the direct load in back etc.
Central controller is to be main body controller based on microprocessor, and the interface of outfit various protocols is connected with external various functional modules.Central controller is monitored in real time to battery status.
Road surface magnetic stripe signal transducer directly is connected with the AD module of central controller; the simulating signal of road surface magnetic stripe signal transducer output is carried out delivering to after overvoltage protection and signal filtering are handled the AD input port of microprocessor, be converted in the digital signal by microprocessor and handle.Microprocessor not timing road pavement magnetic stripe signal transducer resets, and makes road surface magnetic stripe signal transducer working stability.
RFID RFID tag card reader is connected with central controller by the RS232 serial port protocol, and the inner MAX232 of employing of central controller carries out level conversion to be handled.
The multilevel security device of system is connected with central controller by the IO point, and extraneous undesired signal is eliminated to drawing processing on the IO level point in central controller inside.
Wireless lan controller is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.
The wireless data communications module is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The wireless data communications module adopts the 433MHz ifd module, adopts frequency modulation technology to carry out anti-interference process, makes the data transmission of module have good stability.
Eeprom memory is connected with central controller by High Speed I IC data protocol.
Drive motor is connected with central controller by DA module and IO point, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded.The inner DAC5573 that adopts of central controller is converted into simulating signal with 8 bit-serial digital signals, realizes drive motor is accurately controlled.
Man-machine massaging device is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.
Operating switch is connected with central controller by the IO point with warning device, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded.
Central controller is also reserved a plurality of IO points and can be connected with function expanding module with RS485 serial port protocol interface.Central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded; Adopting MAX481 to carry out the RS485 serial port protocol handles.
The guidance method of self-navigation dolly: dolly is powered by electric battery in the process of moving, detect magnetic stripe signal on the road surface that is laid in by the road surface magnetic stripe signal transducer of dolly part, and be decomposed in the AD module that left and right sides two-way simulating signal is transported to central controller, central controller calculates the departure of two-way magnetic stripe signal, handle through FUZZY ALGORITHMS FOR CONTROL and pid control algorithm then, road surface RFID RFID tag card reader gets access to the information conveyance of road surface RFID RFID tag card to central controller, central controller reads the RFID RFID tag and is stuck in mission bit stream corresponding in the route table, after comprehensive, central controller sends command signal driving mechanism is controlled, drive motor is walked according to desired trajectory, and the realization system carries out independent navigation according to the magnetic stripe that lays and two kinds of simulations of RFID RFID tag card with the mixed signal of numeral on the road surface.
In the independent navigation process, carry out safety feature and detect, when collision safety device had signal, dolly stopped immediately; The non-collision safety feature has signal, carries out deceleration control or the control etc. of stopping.
Self-navigation dolly multi-task controlling method is:
The EEPROM reservoir is set on central controller, the EEPROM reservoir is connected with microprocessor by the IIC data protocol, the setting of storage route table is used for writing down the each task that dolly is carried out in the EEPROM reservoir, and the column of route table has the sequence number of RFID RFID tag card, instruction 1, instruction 2, instruction n, relevant parameter 1, relevant parameter 2, relevant parameter n.
By the man-machine massaging device that is connected with central controller executing the task of each bar route table is set, and is stored in the eeprom memory of central controller.Dolly in the process of moving, arrive RFID RFID tag Ka Chu, read the sequence number of RFID RFID tag card, the sequence number of the pairing instruction of sequence number of this RFID RFID tag card in the route table that stores in the eeprom memory according to central controller, relevant parameter and destination RFID RFID tag card is carried out the task that the sequence number of this RFID RFID tag card is given.Information by route table realizes acceleration and deceleration adjustment in the automatic running trolley driving process; Satisfy the task needs of carrying out, carry out routing.
On central controller, be connected with wireless lan controller by the RS485 serial port protocol, can receive the communication data of external system by wireless lan function in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in eeprom memory, also can not cover original route table setting.By WLAN (wireless local area network) be implemented in the branch crossing preferentially by, dodge and carry out functions such as isochronous schedules with other related systems.
On central controller, be connected with the wireless data communications module by the RS485 serial port protocol, can receive the communication data of external system by wireless data transfer module in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in eeprom memory, also can not cover original route table setting.By wireless data communications be implemented in the branch crossing preferentially by, dodge and carry out functions such as isochronous schedules with other related systems.
Reliability and stability by wireless lan controller or wireless data communications module controls self-navigation dolly raising system automatically switch between two kinds of methods.
Self-navigation dolly hitch is made up of top board, bearing pin, compression spring, elevator bolt, allen key, spacing shim, driving wheel, hinged-support.Allen key is installed on the elevator bolt, and top board is connected on the car body, and compression spring is installed on the bearing pin, and spacing shim is installed on the hinged-support, and driving wheel is installed on the spacing shim, and spacing shim makes the driving mechanism built on stilts along the rotation of hinged-support center.It is comprehensive mobile flexibly to realize that dolly is undertaken by manual intervention.
Beneficial effect of the present invention: adopt magnetic stripe and RFID RFID tag on the road surface that is laid in to stick into the row navigation, can change route flexibly, can well be applicable to flexible manufacturing system.Adopt WLAN (wireless local area network) and wireless data communication technology to cooperate the control method of route table, have very big information capacity and good dynamic property.Adopt hitch, under the situation of manual intervention, dolly can comprehensively move flexibly.
Description of drawings
Accompanying drawing 1 is a vehicle structure synoptic diagram of the present invention.
Accompanying drawing 2 is schematic top plan view of accompanying drawing 1.
Accompanying drawing 3 is leader synoptic diagram of the present invention.
Accompanying drawing 4 is hitch synoptic diagram of the present invention.
Accompanying drawing 5 is central controller framework synoptic diagram of the present invention.
Accompanying drawing 6 is navigation synoptic diagram of the present invention.
Accompanying drawing 7 is RFID RFID tag card schematic layout patterns of the present invention.
Accompanying drawing 8 is road surface magnetic stripe signal transducer and road surface RFID RFID tag card reader partial circuit figure in the central processing unit of the present invention.
Accompanying drawing 9 is drive motor partial circuit figure in the central processing unit of the present invention.
Accompanying drawing 10 is eeprom memory partial circuit figure in the central processing unit of the present invention.
Accompanying drawing 11 is RS485 serial communication partial circuit figure in the central processing unit of the present invention.
Accompanying drawing 13 is safety feature partial circuit figure in the central processing unit of the present invention.
Embodiment
The invention will be further described below in conjunction with accompanying drawing.
Shown in accompanying drawing 1, accompanying drawing 2, accompanying drawing 3, the present invention includes dolly part and leader, the dolly part is made of car body 1, electric cabinet 2, central controller 3, electric battery 4, driving mechanism 5, hitch 6, road surface magnetic stripe signal transducer 7, road surface RFID RFID tag card reader 8, anticollision mechanism 9 etc.Leader is made up of magnetic stripe on the road surface that is laid in 10 and RFID RFID tag card 11.Dolly is powered by electric battery 4 in the process of moving, the installation electric cabinet is set on car body, central controller is installed in the electric cabinet, driving mechanism is installed on the car body, electric battery is installed on the car body, anticollision mechanism is installed in the car body edge, hitch is being installed in the car body middle part, road surface magnetic stripe signal transducer and road surface RFID RFID tag card reader are installed on the interior center line of the vertical symmetric section of car body, and the place ahead of road surface magnetic stripe signal transducer drive part travel direction in car body, road surface RFID RFID tag card reader is at the head or the afterbody of car body, between road surface RFID RFID tag card reader and the RFID RFID tag card apart from more than the 35mm.Magnetic stripe adopts 50mm wide, the specification that 1mm is thick; RFID RFID tag card adopts nail type, 125KHz low frequency passive read write tag card.RFID RFID tag card is installed in magnetic stripe and transfers, and has easy installation, protection against the tide, anti-compression functions.Between road surface RFID RFID tag card reader and the RFID RFID tag card apart from more than the 35mm.Car body adopts the monolithic devices structure, and is simple for structure; The mode of loading variation can be carried out the afterbody traction, the direct load in back etc.
As shown in Figure 4, the dolly hitch is made up of top board 21, bearing pin 22, compression spring 23, elevator bolt 24, allen key 25, spacing shim 26, driving wheel 27, hinged-support 28.Allen key 25 is installed on the elevator bolt 24, compression spring 23 is installed on the bearing pin 22, hinged-support 28 is installed on the top board 21, top board 21 is connected on the car body, driving wheel 27 is connected on the top board 21, spacing shim 26 is installed on the elevator bolt 24, when the artificial travelling car of needs, with allen key 25, clockwise direction rotary lifting bolt 24, spacing shim 26 is raised, and whole driving mechanism rotates along hinged-support 28 centers, the driving wheel 27 of dolly is built on stilts thereupon also, so just can make dolly carry out comprehensive moving; When needs normally move, use allen key 25 again, counter clockwise direction rotary lifting bolt 24, at this moment dolly driving wheel 27 is put down, and dolly promptly carries out operate as normal.
As shown in Figure 5, central controller is equipped with AD module interface, RS485 serial port protocol interface, IIC data protocol interface, DA module interface and IO interface to be main body controller based on the PIC18F8527 microcontroller.Road surface magnetic stripe signal transducer directly is connected with the AD module of central controller, RFID RFID tag card reader is connected with central controller by the RS232 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.Safety feature is connected with central controller by the IO point, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded.Wireless lan controller is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The wireless data communications module is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The wireless data communications module adopts the 433MHz ifd module, adopts frequency modulation technology to carry out anti-interference process, makes the data transmission of module have good stability.EEPROM is connected with central controller by the IIC data protocol, and eeprom memory is connected with the PIC18F8527 microprocessor by High Speed I IC data protocol.Drive motor is connected with central controller by IO point and DA module, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded.Man-machine massaging device is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.Operating switch is connected with central controller by the IO point with warning device, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded.Central controller is also reserved a plurality of IO points and can be connected with function expanding module with multichannel RS485 serial port protocol interface, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded; Adopting MAX481 to carry out the RS485 serial port protocol handles.Central controller can be a main body controller based on the high-performance 32 digit RISC micro controller LPC2131 of ARM7TDMI-S also, and the interface of outfit various protocols is connected with external various functional modules.
Show as accompanying drawing 6, in the dolly driving process, the track following module begins, detect magnetic stripe signal on the road surface that is laid in by the road surface magnetic stripe signal transducer of dolly part, carry out the identification of two-way tape signal, and be decomposed in the AD module that left and right sides two-way simulating signal is transported to central controller, the tape signal analog to digital conversion, central controller calculates the departure of two-way magnetic stripe signal, determine the trajector deviation amount, the track FUZZY ALGORITHMS FOR CONTROL is handled then, handle through FUZZY ALGORITHMS FOR CONTROL and track pid control algorithm, judged whether the RFID label signal, road surface RFID RFID tag card reader reads the rfid card sequence number, information conveyance is to central controller, central controller reads and is stored in eeprom memory Intermediate Course table, whether decision instruction reads finishes, whether reading command, decision instruction relevant parameter, has parameter just to read relevant parameter, instruction number adds 1, printenv adds 1 with regard to the direct instruction number, and after route table read and finishes, central controller was through the drive motor algorithm process, send command signal drive motor is carried out control, the track following module finishes.
In the independent navigation process, when the collision safety device signal is arranged, send command signal drive motor is carried out control, dolly stops immediately; The non-collision safety feature has signal, and the motor speed feedback signal is sent command signal drive motor is carried out control, carries out deceleration control or the control etc. of stopping.
Show that as accompanying drawing 7 RFID RFID tag card is laid on the road surface, when reading the 30# label, carry out and slow down that the speed after the deceleration is 30m/min, runs to position of rest, feed, after charging is finished, continue to travel with the production system interlock.Drive to 31# label place, turn right; When reading the 33# label, owing to be that left car is preferential,, judge whether the left side has vehicle, if there is not vehicle then to pass through so intercept by wireless earlier; Otherwise wait for.Drive to 34# label place, keep straight on, and quicken, the speed after the acceleration is 50m/min; When reading the 36# label, carry out to slow down, the speed after the deceleration is 20m/min, runs to position of rest, carries out discharging with the production system interlock, unloading after charging finishes, and continues to travel.
Dolly is when coming into operation, on the road surface, lay magnetic stripe and RFID RFID tag card, and be connected with central controller by the RS485 serial port protocol by the man-machine massaging device of dolly self, input is provided with route table, route table is stored in the EEPROM reservoir, the EEPROM reservoir is connected with central controller by the IIC data protocol, route table is used for writing down the each task that dolly is carried out, the column of route table has the sequence number of RFID RFID tag card, instruction 1, instruction 2, instruction n, relevant parameter 1, relevant parameter 2, relevant parameter n.Dolly by reading the sequence number of RFID label card, is carried out each task according to task corresponding in the route table and parameter in motion.
A dolly route table
| Label | Instruction | 1 | |
Instruction n | |
|
|
| 30 | Slow down | Charging | 30m/ |
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| 31 | Turn right | ||||||
| 32 | |||||||
| 33 | Left side car is preferential | ||||||
| 34 | Keep straight on | Quicken | 50m/ |
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| 35 | |||||||
| 36 | Slow down | Discharging | Preferentially | 20m/ |
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| 37 | Quicken | 50m/min | |||||
B dolly route table
| Label | Instruction | 1 | |
Instruction n | |
|
|
| 30 | Slow down | Charging | 30m/ |
||||
| 31 | Keep straight on | Quicken | 50m/ |
||||
| 32 | Slow down | Discharging | Preferentially | 20m/ |
|||
| 33 | |||||||
| 34 | Slow down | Turn left | 30m/ |
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| 35 | |||||||
| 36 | Right car is preferential | ||||||
| 37 | Quicken | 50m/min | |||||
Can carry out Real-time and Dynamic change route table by wireless data communications module and WLAN (wireless local area network) in the trolley travelling process.On central controller, be connected with wireless lan controller by the RS485 serial port protocol, can receive the communication data of external system by wireless lan function in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in EEPROM, also can not cover original route table setting.By WLAN (wireless local area network) be implemented in the branch crossing preferentially by, function such as dodge, carry out the isochronous schedules function with other related systems.On central controller, be connected with the wireless data communications module by the RS485 serial port protocol, can receive the communication data of external system by wireless data transfer module in real time, dynamically adjust the setting of route table, adjusted route table setting can cover route table setting original in the dolly as required in EEPROM, also can not cover original route table setting.By wireless data communications be implemented in the branch crossing preferentially by, function such as dodge, carry out the isochronous schedules function with other related systems.
Dolly by reading the sequence number of RFID label card, is carried out each task according to task corresponding in the route table and parameter in motion.2 automatic running trolleys, 8 RFID label cards, the route table configuration of 2 automatic running trolleys, in operational process, the A dolly is when reading the 30# label, carry out and slow down, speed after the deceleration is 30m/min, runs to position of rest, feeds with the production system interlock, after charging is finished, continue to travel.Drive to 31# label place, turn right; When reading the 33# label, owing to be that left car is preferential,, judge whether the left side has vehicle, if there is not vehicle then to pass through so intercept by wireless earlier; Otherwise wait for.Drive to 34# label place, keep straight on, and quicken, the speed after the acceleration is 50m/min; When reading the 36# label, carry out to slow down, the speed after the deceleration is 20m/min, runs to position of rest, carries out discharging with the production system interlock, unloading after charging finishes, and continues to travel; Owing to be that this car is preferential, directly by finishing a duty cycle.The similar A dolly of the operation of B dolly.
Providing an example below is described:
More than one automatic running trolley system comprises 2 automatic running trolleys, 8 RFID label cards, and the route table configuration of 2 automatic running trolleys is shown in A dolly route table, B dolly route table.In operational process, the A dolly is carried out and is slowed down when reading the 30# label, and the speed after the deceleration is 30m/min, runs to position of rest, feeds with the production system interlock, after charging is finished, continues to travel.Drive to 31# label place, turn right; When reading the 33# label, owing to be that left car is preferential,, judge whether the left side has vehicle, if there is not vehicle then to pass through so intercept by wireless earlier; Otherwise wait for.Drive to 34# label place, keep straight on, and quicken, the speed after the acceleration is 50m/min; When reading the 36# label, carry out to slow down, the speed after the deceleration is 20m/min, runs to position of rest, carries out discharging with the production system interlock, unloading after charging finishes, and continues to travel; Owing to be that this car is preferential, directly by finishing a duty cycle.The similar A dolly of the operation of B dolly.
The above example is a kind of of concrete enforcement of the present invention.Common variation that those skilled in the art carries out in technical solution of the present invention and replacement all should be included in protection scope of the present invention.
As shown in Figure 8; road surface magnetic stripe signal transducer directly is connected with the AD module of central controller; the simulating signal of road surface magnetic stripe signal transducer J26 output is carried out delivering to after overvoltage protection and signal filtering are handled the defeated AD inlet of PIC18F8527 microprocessor, be converted in the digital signal by the PIC18F8527 microprocessor and handle.PIC18F8527 microprocessor not timing road pavement magnetic stripe signal transducer resets, and makes road surface magnetic stripe signal transducer working stability.RFID RFID tag card reader J16 is connected with central controller by the RS232 serial port protocol, and the inner MAX232 of employing of central controller carries out level conversion to be handled.Battery voltage signal carries out delivering to after overvoltage protection and signal filtering are handled the AD input port of PIC18F8527 microprocessor, carries out the battery status monitoring.
As shown in Figure 9, drive motor is connected with central controller by DA module and IO point, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded.The inner DAC5573 that adopts of central controller is converted into simulating signal with 8 bit-serial digital signals, realizes drive motor is accurately controlled.
As shown in Figure 10, eeprom memory is connected with the PIC18F8527 microprocessor by High Speed I IC data protocol.
As shown in Figure 11, wireless lan controller is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The wireless data communications module is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.The wireless data communications module adopts the 433MHz ifd module, adopts frequency modulation technology to carry out anti-interference process, makes the data transmission of module have good stability.Man-machine massaging device is connected with central controller by the RS485 serial port protocol, and the inner MAX481 of employing of central controller carries out the RS485 serial port protocol to be handled.Reserving RS485 serial port protocol interface can be connected with function expanding module.
As shown in Figure 12, operating switch is connected with central controller by the IO point with warning device, and central controller inside adopts ULN2003 to carry out level translation to the IO point, and driving force is expanded.Reserve a plurality of IO points and be connected with function expanding module, the IO point of reservation has two kinds of patterns that adopt relay output and level output.
As shown in Figure 13, the multilevel security device of system is connected with central controller by the IO point, and extraneous undesired signal is eliminated to drawing processing on the IO level point in central controller inside.
Claims (10)
1, a kind of self-navigation cart system, comprise dolly part and leader, the dolly part is by car body, electric cabinet, central controller, electric battery, driving mechanism, hitch, road surface magnetic stripe signal transducer, anticollision mechanism constitutes, leader is made up of the magnetic stripe on the road surface that is laid in, the installation electric cabinet is set on car body, central controller is installed in the electric cabinet, electric battery is installed on car body, driving mechanism is installed on car body, hitch is installed on car body, anticollision mechanism is installed on car body, road surface magnetic stripe signal transducer is installed on car body, it is characterized in that road surface RFID RFID tag card reader is installed on car body, leader is made up of magnetic stripe on the road surface that is laid in and RFID RFID tag card.
2, self-navigation cart system according to claim 1, it is characterized in that road surface RFID RFID tag card reader is installed on the interior center line of the vertical symmetric section of car body, road surface RFID RFID tag card reader is installed in the head or the afterbody of car body.
3, self-navigation cart system according to claim 1, it is characterized in that central controller is main body controller with the microcontroller, road surface magnetic stripe signal transducer directly is connected with the AD module of central controller, RFID RFID tag card reader is connected with central controller by the RS485 serial port protocol, safety feature is connected with central controller by the IO point, wireless lan controller is connected with central controller by the RS485 serial port protocol, the wireless data communications module is connected with central controller by the RS485 serial port protocol, eeprom memory is connected with central controller by the IIC data protocol, drive motor is connected with central controller by DA module and IO point, man-machine massaging device is connected with central controller by the RS485 serial port protocol, and operating switch is connected with central controller by the IO point with warning device.
4, self-navigation cart system according to claim 1 is characterized in that central controller has the expanded function of a plurality of IO points and multichannel RS485 serial port protocol interface.
5, self-navigation cart system according to claim 1, it is characterized in that hitch is made up of top board, bearing pin, compression spring, elevator bolt, allen key, spacing shim, driving wheel, hinged-support, allen key is installed on the elevator bolt, compression spring is installed on the bearing pin, hinged-support is installed on the top board, top board is connected on the car body, and driving wheel is connected on the top board, and spacing shim is installed on the elevator bolt.
6, a kind of self-navigation cart system multi-task controlling method, detect magnetic stripe signal on the road surface that is laid in by the road surface magnetic stripe signal transducer of dolly part, road surface RFID RFID tag card reader gets access to the information conveyance of road surface RFID RFID tag card to central controller, central controller reads the information of the route table of RFID RFID tag card setting, and central controller sends command signal driving mechanism is controlled.
7, self-navigation cart system multi-task controlling method according to claim 7, it is characterized in that on central controller, being provided with the EEPROM reservoir, the EEPROM reservoir is connected with microprocessor by the IIC data protocol, store route table in the EEPROM reservoir, be used for writing down the each task that dolly is carried out, the column of route table has the sequence number of RFID RFID tag card, instruction, relevant parameter.
8, self-navigation cart system multi-task controlling method according to claim 7, magnetic stripe and RFID RFID tag card on the road surface is characterized in that being laid in, be connected with central controller by the RS485 serial port protocol by the man-machine massaging device of dolly self, the setting of input route table, dolly is in driving process, road surface magnetic stripe signal transducer by dolly part detects the magnetic stripe signal on the road surface that is laid in, and be decomposed in the AD module that left and right sides two-way simulating signal is transported to central controller, central controller calculates the departure of two-way magnetic stripe signal, handle through FUZZY ALGORITHMS FOR CONTROL and pid control algorithm then, road surface RFID RFID tag card reader reads the rfid card sequence number, information conveyance is to central controller, central controller reads and is stored in eeprom memory Intermediate Course table, whether decision instruction reads finishes, reading command, whether decision instruction relevant parameter, there is parameter just to read relevant parameter, instruction number adds 1, printenv adds 1 with regard to the direct instruction number, after route table reads and finishes, central controller sends command signal and controls driving topworks through the drive motor algorithm process.
9, self-navigation cart system multi-task controlling method according to claim 7, it is characterized in that on central controller, being connected with wireless lan controller by the RS485 serial port protocol, receive the communication data of external system in real time by WLAN (wireless local area network), dynamically adjust the setting of route table.
10, self-navigation cart system multi-task controlling method according to claim 7, it is characterized in that on central controller, being connected with the wireless data communications module by the RS485 serial port protocol, receive the communication data of external system in real time by wireless data transfer module, dynamically adjust the setting of route table.
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