AGV wireless handle control circuit

Abstract

According to the AGV wireless handle control circuit of the utility model, a control system circuit composed of a wireless handle transceiver and a plurality of AGV end transceivers is provided, each AGV end transceiver has a unique number or address, and pairing and control instruction execution between a handle and a plurality of AGVs are realized through wireless signal communication. Therefore, the design purpose of adapting to severe environments, different scenes, long distance and one-to-many control of the AGV is achieved. Comprising a wireless handle end transceiver and an AGV end transceiver which are connected through wireless communication, the wireless handle end transceiver is composed of a first microprocessor chip, a first RF module chip, a first radio frequency switch module chip, a first AGV number selection coding switch, a second AGV number selection coding switch, a handle control knob and a filter capacitor; the AGV end transceiver is composed of a second microprocessor chip, a second RF module chip, a second RF switch module, a third AGV number setting coding switch, a fourth AGV number setting coding switch, an AGV controller and a filter capacitor.

Description

Technical Field

[0001] The utility model relates to a control circuit which uses a wireless handle to communicate with a plurality of AGVs, and belongs to the field of electrical and automation control. Background Art

[0002] AGV wireless control technology is increasingly being used. In the automatic operation state, it is usually controlled by the robot scheduling software. However, the current wireless control technology still has defects such as short control distance and high requirements for application site environmental conditions. In addition, existing wireless control generally uses Bluetooth technology, and the number of controls is small and usually limited to one-to-one operation, so it cannot meet actual use needs.

[0003] In view of this, this patent application is proposed. Utility Model Content

[0004] The AGV wireless handle control circuit described in the utility model aims to solve the problems existing in the above-mentioned prior art and proposes a control system circuit composed of a wireless handle transceiver and multiple AGV-end transceivers. Each AGV-end transceiver has a unique number or address, and the handle and multiple AGVs are paired and control instructions are executed through wireless signal communication, thereby achieving the design purpose of adapting to harsh environments, different scenarios, long distances and one-to-many control of AGVs.

[0005] To achieve the above-mentioned design purpose, the AGV wireless handle control circuit includes a wireless handle end transceiver and an AGV end transceiver connected by wireless communication, and each AGV end transceiver has a unique number or address; the wireless handle end transceiver is composed of a first microprocessor chip (U6), a first RF module chip (U7), a first radio frequency switch module chip (U8), a first AGV number selection coding switch (U9), a second AGV number selection coding switch (U10), a handle control knob (U11) and a filter capacitor; the AGV end transceiver is composed of a second microprocessor chip (U1), a second RF module chip (U4), a second radio frequency switch module (U5), a third AGV number setting coding switch (U2), a fourth AGV number setting coding switch (U3), an AGV controller (U0) and a filter capacitor.

[0006] Furthermore, in the wireless handle end transceiver, the first microprocessor chip (U6) adopts the STM32F103T6 chip of ST Company, the first 8M crystal oscillator (Y3) is connected to the 5th and 6th pins of the first microprocessor chip (U6), and the power supply filter capacitor (C37) is connected in parallel with the first microprocessor chip (U6) between the power supply VCC and GND; the first RF module chip (U7) adopts the CMT2300A chip of HOPERF Company, the first 26M crystal oscillator (Y2) is connected to the 13th and 14th pins of the first RF module chip (U7), and several power supply filter capacitors are connected in parallel with the first RF module chip (U7) between the power supply VCC and GND; the first RF switch module chip (U8) adopts the AS129-92LF chip; The first AGV number selection coding switch (U9) and the second AGV number selection coding switch (U10) are two rotary coding switches, each of which has a coding selection of 0-9, the first AGV number selection coding switch (U9) is used as the unit digit value of the coding data, and the second AGV number selection coding switch (U10) is used as the tens digit value of the coding data; the first AGV number selection coding switch (U9) is respectively connected to the PB8-PB11 pins of the first microprocessor chip (U6), and the second AGV number selection coding switch (U10) is connected to the PB12-PB15 pins of the first microprocessor chip U6; the handle control knob (U11) is respectively connected to the PB0, PB1, PA8 to PA15 pins of the first microprocessor chip (U6).

[0007] Furthermore, in the AGV-end transceiver, the second microprocessor chip (U1) adopts the STM32F103T6 chip of ST Company, the second 8M crystal oscillator (Y4) is connected to the 5th and 6th pins of the second microprocessor chip (U1), the power supplies VDD and VSS are powered by the AGV controller (U0) and respectively power the second microprocessor chip (U1) and the second RF module chip (U4); the second RF module chip (U4) adopts the CMT2300A chip of HOPERF Company, the second 26M crystal oscillator (Y1) is connected to the 13th and 14th pins of the second RF module chip (U4), and several power supply filter capacitors are respectively connected in parallel with the second RF module chip (U4) between the power supply VCC and GND; the second RF switch module (U5) adopts AS129-92LF chip; the third AGV number setting coding switch (U2) and the fourth AGV number setting coding switch (U3) are two rotary coding switches, each of which has a coding selection of 0-9, the third AGV number setting coding switch (U2) is used as the unit digit value of the coding data, and the fourth AGV number setting coding switch (U3) is used as the tens digit value of the coding data; the third AGV number setting coding switch (U2) is respectively connected to the PB8-PB11 pins of the second microprocessor chip (U1), and the fourth AGV number setting coding switch (U3) is connected to the PB12-PB15 pins of the second microprocessor chip (U1); serial port communication is adopted between the AGV controller (U0) and the second microprocessor chip (U1).

[0008] In summary, the AGV wireless handle control circuit proposed in this application has the following advantages:

[0009] 1. This application realizes the technical means of using one wireless handle to control multiple AGVs at the same time, with low overall management environment cost and high operating efficiency;

[0010] 2. The wireless control distance of this application is long, and it can be applied to various scenarios and has strong adaptability to the on-site environment;

[0011] 3. This application realizes remote control, effectively increases the AGV operating area, and makes the control flexible and efficient, which correspondingly improves the safety performance of the production site. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The present application will now be further described with reference to the following drawings;

[0013] Figure 1 It is an overall schematic diagram of the AGV wireless handle control circuit described in this application;

[0014] Figure 2 This is the module diagram of the wireless controller transceiver;

[0015] Figure 3 This is the module diagram of the transceiver on the AGV side;

[0016] Figure 4 This is a schematic diagram of the circuit structure of the wireless handle end transceiver;

[0017] Figure 5 It is a schematic diagram of the circuit structure of the transceiver at the AGV end; DETAILED DESCRIPTION

[0018] Embodiment 1, as Figures 1 to 5 As shown, the present application proposes an AGV wireless handle control circuit, which includes a wireless handle end transceiver and an AGV end transceiver connected via wireless communication, and each AGV end transceiver has a unique number or address.

[0019] like Figure 1 As shown, you can select and input the AGV to be controlled on the wireless handle. The command sent out through the wireless signal contains the number or address of the AGV transceiver, which can complete the pairing with multiple AGVs at the same time. When the AGV end feeds back information to the handle end, the pairing is successful if the AGV number or address data is confirmed to be consistent. At this time, the operator can control multiple AGVs with one wireless handle.

[0020] like Figure 2 As shown, the wireless handle-end transceiver includes a microprocessor, and an RF module, a power module, a radio frequency switch module, an AGV number selection module and a handle control module respectively connected to the microprocessor.

[0021] Among them, the handle control module converts the operator's hand movements (such as controlling the AGV to move forward, backward, turn left, turn right, etc.) into input signals and sends them to the microprocessor;

[0022] The AGV number selection module sends the AGV selection result information input by the operator to the microprocessor;

[0023] The microprocessor outputs a signal to switch the RF switch module to the output mode, and sends the selected AGV number or address to the RF module via SPI communication. The RF module transmits the above information data via the RF switch module in the form of a wireless signal;

[0024] Subsequently, the microprocessor switches the RF switch module to input mode to receive information fed back by the transceiver at the AGV end.

[0025] like Figure 4As shown, the wireless handle end transceiver is composed of a first microprocessor chip U6, a first RF module chip U7, a first RF switch module chip U8, a first AGV number selection coding switch U9, a second AGV number selection coding switch U10, a handle control knob U11 and a filter capacitor;

[0026] The first microprocessor chip U6 adopts the STM32F103T6 chip of ST Company, the first 8M crystal oscillator Y3 is connected to the 5th and 6th pins of the first microprocessor chip U6 to realize external crystal oscillator input, the power supply filter capacitor C37 and the first microprocessor chip U6 are connected in parallel between the power supply VCC and GND, and the power supply VCC and GND are respectively connected to the first microprocessor chip U6 and the first RF module chip U7 to realize power supply;

[0027] The first RF module chip U7 adopts the CMT2300A chip of HOPERF Company, which uses the 433MH frequency band to transmit and receive data. The first 26M crystal oscillator Y2 is connected to the 13th and 14th pins of the first RF module chip U7 to realize external crystal oscillator input. The power supply filter capacitors C19, C20, C21 and C22 are respectively connected in parallel with the first RF module chip U7 between the power supply VCC and GND;

[0028] The first RF switch module chip U8 adopts AS129-92LF chip, which is used to switch RF output and RF input; for example, when the 6th pin is set high and the 4th pin is set low, J1 of the 5th pin and J2 of the 1st pin are connected, and the chip is in the output state; when the 6th pin of U8 is set low and the 4th pin is set high, J1 of the 5th pin and J3 of the 3rd pin are connected, and the first RF switch module chip U8 is in the input state;

[0029] The first AGV number selection coding switches U9 and U10 are two rotary coding switches, each of which has a coding selection of 0-9. The coding switch U9 is used as the unit digit value of the coding data, and the coding switch U10 is used as the tens digit value of the coding data. In this way, the two coding switches together form a digital combination of 0-99, which is the number information for selecting the AGV; therefore, the above-mentioned wireless handle end transceiver can control up to 100 AGVs; the first AGV number selection coding switch U9 is respectively connected to the PB8-PB11 pins of the first microprocessor chip U6, and the second AGV number selection coding switch U10 is connected to the PB12-PB15 pins of the first microprocessor chip U6 as the selection of each AGV number or address;

[0030] The handle control knob U11 is used to control the AGV's forward / backward speed, left / right speed, as well as forward, backward, left turn, right turn, enable, emergency stop, take over, and release actions. It is respectively connected to the PB0, PB1, PA8 to PA15 pins of the first microprocessor chip U6, where the PB0 and PB1 pins are analog input ports, and the PA8 to PA15 pins are switch input interfaces, which are implemented using potentiometers and switch buttons, respectively.

[0031] like Figure 3 As shown, the AGV-end transceiver includes a microprocessor, and an RF module, a radio frequency switch module, an AGV number setting module and an AGV controller respectively connected to the microprocessor.

[0032] The AGV number setting module presets and outputs a unique AGV number or address information to the microprocessor.

[0033] By default, each AGV is in the state of receiving wireless information. When the wireless handle sends the number or address information of the AGV, each AGV will receive it.

[0034] The number or address information is input to the microprocessor through the radio frequency switch module and the RF module;

[0035] The microprocessor compares the received number or address information with the information provided by the AGV number setting module; if they are inconsistent, the microprocessor will not respond; if they are consistent, the microprocessor will switch the RF switch module to the transmitting state to feed back the number or address information provided by the AGV number setting module to the handle control end through the RF module and the RF switch module, thereby achieving successful pairing (handshake), and the wireless handle end can now control the AGV.

[0036] Subsequently, the operator's hand movements sent by the wireless handle-end transceiver (such as controlling the AGV to move forward, backward, turn left, turn right, etc.) are input into the microprocessor via the AGV-end transceiver RF switch module and RF module. The microprocessor outputs the above information to the AGV controller through a 232 communication signal. The AGV controller ultimately controls the AGV to execute operating instructions and change the AGV's own operating status according to the information requirements.

[0037] like Figure 5 As shown, the AGV-end transceiver is composed of a second microprocessor chip U1, a second RF module chip U4, a second RF switch module U5, a third AGV number setting coding switch U2, a fourth AGV number setting coding switch U3, an AGV controller U0 and a filter capacitor;

[0038] Among them, the second microprocessor chip U1 adopts the STM32F103T6 chip of ST Company, the second 8M crystal oscillator Y4 is connected to the 5th and 6th pins of the second microprocessor chip U1 as an external crystal oscillator input, and the power supply VDD and VSS are taken from the AGV controller U0 and power the second microprocessor chip U1 and the second RF module chip U4 respectively;

[0039] The second RF module chip U4 adopts the CMT2300A chip of HOPERF Company, which is suitable for various RF transceivers of 127 to 1020MHz wireless applications. In this embodiment, the 433MH band is used to transmit and receive data; the second 26M crystal oscillator Y1 is connected to the 13th and 14th pins of the second RF module chip U4 as an external crystal oscillator input, and the power supply filter capacitors C11, C12, C13, and C14 are respectively connected in parallel with the second RF module chip U4 between the power supply VCC and GND;

[0040] The second RF switch module U5 adopts AS129-92LF chip, and its function is to switch RF output and RF input; for example, when the 6th pin of the second RF switch module U5 is set high and the 4th pin is set low, the J1 of the 5th pin and the J2 of the 1st pin are connected, and the second RF switch module U5 is in the output state; when the 6th pin is set low and the 4th pin is set high, the J1 of the 5th pin and the J3 of the 3rd pin are connected, and the second RF switch module U5 is in the input state;

[0041] The third AGV number setting coding switches U2 and U3 are two rotary coding switches, each of which has a coding selection of 0-9. The coding switch U2 is used as the unit digit value of the coding data, and the coding switch U3 is used as the tens digit value of the coding data. In this way, the two coding switches together form a digital combination of 0-99, which is the number information for selecting the AGV; the AGV number selection coding switch U2 is respectively connected to the PB8-PB11 pins of the second microprocessor chip U1, and the AGV number selection coding switch U3 is connected to the PB12-PB15 pins of the second microprocessor chip U1 to select each AGV number or address;

[0042] The AGV controller U0 is used to control the running state of the AGV, and serial communication is adopted between the AGV controller U0 and the second microprocessor chip U1; wherein, the AGV controller U0 is connected to the 24th pin and the 23rd pin of the second microprocessor chip U1 to power the second microprocessor chip U1, and the AGV controller U0 is connected to the 31st pin and the 30th pin of the second microprocessor chip U1 to realize data interaction between the two through serial communication;

[0043] The above contents and the embodiments given in the accompanying drawings are only preferred solutions for achieving the purpose of the utility model. Those skilled in the art can be inspired by this and directly deduce other alternative structures that conform to the design concept of the utility model. Other structural features obtained thereby should also belong to the scope of the solution described in the utility model.

Claims

1. An AGV wireless handle control circuit, characterized in that: It includes a wireless handle end transceiver and an AGV end transceiver connected by wireless communication, and each AGV end transceiver has a unique number or address; The wireless handle end transceiver is composed of a first microprocessor chip (U6), a first RF module chip (U7), a first radio frequency switch module chip (U8), a first AGV number selection coding switch (U9), a second AGV number selection coding switch (U10), a handle control knob (U11) and a filter capacitor; The AGV-end transceiver is composed of a second microprocessor chip (U1), a second RF module chip (U4), a second RF switch module (U5), a third AGV number setting coding switch (U2), a fourth AGV number setting coding switch (U3), an AGV controller (U0) and a filter capacitor.

2. The AGV wireless handle control circuit according to claim 1, characterized in that: The wireless handle end transceiver, the first microprocessor chip (U6) adopts the STM32F103T6 chip of ST Company, the first 8M crystal oscillator (Y3) is connected to the 5th and 6th pins of the first microprocessor chip (U6), and the power supply filter capacitor (C37) and the first microprocessor chip (U6) are connected in parallel between the power supply VCC and GND; The first RF module chip (U7) uses the CMT2300A chip of HOPERF, the first 26M crystal oscillator (Y2) is connected to the 13th and 14th pins of the first RF module chip (U7), and a plurality of power filter capacitors are connected in parallel with the first RF module chip (U7) between the power supply VCC and GND; The first RF switch module chip (U8) uses AS129-92LF chip; The first AGV number selection coding switch (U9) and the second AGV number selection coding switch (U10) are two rotary coding switches, each of which has a coding selection of 0-9, the first AGV number selection coding switch (U9) is used as the unit digit value of the coding data, and the second AGV number selection coding switch (U10) is used as the tens digit value of the coding data; the first AGV number selection coding switch (U9) is respectively connected to the PB8-PB11 pins of the first microprocessor chip (U6), and the second AGV number selection coding switch (U10) is connected to the PB12-PB15 pins of the first microprocessor chip U6; The handle control knob (U11) is respectively connected to the PB0, PB1, and PA8 to PA15 pins of the first microprocessor chip (U6).

3. The AGV wireless handle control circuit according to claim 2, characterized in that: The AGV-end transceiver, the second microprocessor chip (U1) adopts the STM32F103T6 chip of ST Company, the second 8M crystal oscillator (Y4) is connected to the 5th and 6th pins of the second microprocessor chip (U1), and the power supplies VDD and VSS are taken from the AGV controller (U0) and power the second microprocessor chip (U1) and the second RF module chip (U4) respectively; The second RF module chip (U4) uses the CMT2300A chip of HOPERF Company, the second 26M crystal oscillator (Y1) is connected to the 13th and 14th pins of the second RF module chip (U4), and several power filter capacitors are respectively connected in parallel with the second RF module chip (U4) between the power supply VCC and GND; The second RF switch module (U5) uses the AS129-92LF chip; The third AGV number setting coding switch (U2) and the fourth AGV number setting coding switch (U3) are two rotary coding switches, each of which has a coding selection of 0-9, the third AGV number setting coding switch (U2) is used as the unit digit value of the coding data, and the fourth AGV number setting coding switch (U3) is used as the tens digit value of the coding data; the third AGV number setting coding switch (U2) is respectively connected to the PB8-PB11 pins of the second microprocessor chip (U1), and the fourth AGV number setting coding switch (U3) is connected to the PB12-PB15 pins of the second microprocessor chip (U1); Serial communication is adopted between the AGV controller (U0) and the second microprocessor chip (U1).

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