Motor driver, automatic guide equipment and motion control system

Abstract

The utility model provides a motor driver, automatic guide equipment and a motion control system. The motor driver comprises a shell, a driving plate arranged in the shell, an infrared photoelectric transceiving unit and a control unit, the infrared photoelectric transceiving unit is at least partially exposed out of the shell; the infrared photoelectric transceiving unit is used for receiving an infrared control signal and transmitting the infrared control signal to the control unit, and is also used for sending an infrared operation state signal to the outside; and the control unit is arranged on the driving plate and is used for controlling the motion state of the automatic guide carrier according to the infrared control signal received by the infrared photoelectric transceiving unit. The driver is provided with the infrared photoelectric transceiving unit, so that the driver can be in bidirectional wireless communication with the control equipment, accurate motion control of the automatic guide carrier is realized, wiring is not needed, the installation and maintenance cost is reduced, and the communication quality is ensured due to the fact that infrared communication has relatively strong anti-interference capability.

Description

Technical Field

[0001] The present application relates to the field of motion control, and in particular to a motor driver, an automatic guidance device and a motion control system. Background Art

[0002] With the rapid development of the logistics industry, automated sorting systems have gradually become one of the key technologies to improve logistics efficiency. As an important part of the automated sorting system, the performance and stability of the Automated Guided Vehicle (AGV) are directly related to the operating efficiency of the entire system. The motor driver of the traditional AGV is usually connected to the external control system using wired communication. This method is not only complex in wiring and difficult to maintain, but also easily interfered by environmental factors, resulting in unstable communication. Summary of the invention

[0003] The present application provides a driver, an automatic guided vehicle and a motion control system, aiming to solve the problems of complex wiring, difficult maintenance and unstable communication of the wired communication method of the automatic guided vehicle in the prior art.

[0004] According to one aspect of the present application, an embodiment provides a motor driver, comprising:

[0005] A housing, a driving board, an infrared photoelectric transceiver unit and a control unit arranged in the housing;

[0006] The infrared photoelectric transceiver unit is at least partially exposed outside the housing; the infrared photoelectric transceiver unit is used to receive infrared control signals and transmit them to the control unit, and is also used to send infrared operation status signals to the outside;

[0007] The control unit is arranged on the driving board, and is used for controlling the motion state of the automatic guided vehicle according to the infrared control signal received by the infrared photoelectric transceiver unit.

[0008] In one embodiment, the infrared photoelectric transceiver unit includes an infrared photoelectric signal light group and a processing unit; the infrared photoelectric signal light group is used to send and receive infrared light signals, and the processing unit is used to convert the infrared light signals into signals that can be recognized by the control unit.

[0009] In one embodiment, the infrared photoelectric signal light group includes at least two infrared photoelectric signal lights, at least one of which is used to emit infrared light signals, and at least one of which is used to receive infrared light signals.

[0010] In one embodiment, the infrared photoelectric transceiver unit is fixedly disposed on the housing and is electrically connected to the driving board via a signal connection line, or the infrared photoelectric transceiver unit is integrated into the driving board.

[0011] In one embodiment, the driving board further includes an interface unit, the interface unit includes at least one of a power interface, an encoder interface, a motor interface, and a communication interface, and the interface unit is exposed outside the shell.

[0012] An embodiment of the present application also provides an automatic guided device, including an automatic guided vehicle and the above-mentioned motor driver, wherein the motor driver is fixedly connected to the automatic guided vehicle, and the motor driver is used to control the movement state of the automatic guided vehicle.

[0013] An embodiment of the present application also provides a motion control system, including an infrared control device and the above-mentioned automatic guidance device; the infrared control device is used to send infrared control signals to the infrared photoelectric transceiver unit, and is also used to receive infrared operating status signals sent by the infrared photoelectric transceiver unit.

[0014] In one embodiment, the infrared control device includes an infrared photoelectric transceiver and a controller, and the controller is communicatively connected to the infrared photoelectric transceiver; the controller is used to send an operation control signal to the infrared photoelectric transceiver so that the infrared photoelectric transceiver sends a corresponding infrared control signal to the infrared photoelectric transceiver unit; the controller is also used to receive the infrared operation status signal sent by the infrared photoelectric transceiver.

[0015] In one embodiment, the infrared photoelectric transceiver and the motor driver are arranged opposite to each other, and the vertical distance between the two is between 50mm and 200mm.

[0016] In one embodiment, the controller includes a programmable logic controller, and the infrared photoelectric transceiver is communicatively connected to the programmable logic controller via at least one of a 485 bus, a 232 bus or an IO bus.

[0017] According to the motor driver, automatic guided device and motion control system of the above embodiments, since the motor driver is provided with an infrared photoelectric transceiver unit, it can perform two-way wireless communication with the control device to achieve precise motion control of the automatic guided vehicle without the need for wiring, thereby reducing installation and maintenance costs. In addition, since infrared communication itself has strong anti-interference capabilities, the communication quality is guaranteed. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 Schematic diagram of the composition of the automatic guided vehicle in the embodiment of the present application.

[0019] Figure 2 Schematic diagram of the motor driver structure in an embodiment of the present application.

[0020] Figure 3 Schematic diagram of the motor driver in the embodiment of the present application.

[0021] Figure 4 This is a schematic diagram of the motion control system in the embodiment of the present application.

[0022] Figure 5 It is a schematic diagram of the structure of the motor driver and infrared control device in the embodiment of the present application.

[0023] Description of reference numerals:

[0024] 1-motor driver; 10-housing; 11-infrared photoelectric transceiver unit; 12-driving board; 13-control unit; 14-infrared photoelectric signal light group; 15-processing unit; 16-interface unit; 17-infrared photoelectric signal light;

[0025] 2-Automated guided vehicle;

[0026] 3-Automatic guided vehicle equipment;

[0027] 4-infrared control equipment; 41-infrared photoelectric transceiver; 42-controller; 43-infrared signal transceiver light group. DETAILED DESCRIPTION

[0028] The present application is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are intended to enable the present application to be better understood. However, those skilled in the art can easily recognize that some of the features can be omitted in different situations, or can be replaced by other elements, materials, and methods. In some cases, some operations related to the present application are not shown or described in the specification, in order to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations based on the description in the specification and the general technical knowledge in the art.

[0029] In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations, and the operation steps involved in each embodiment can also be replaced or adjusted in a sequence in a manner that is obvious to those skilled in the art. Therefore, the specification and drawings are only for the purpose of clearly describing a certain embodiment and do not mean that the composition and / or sequence are necessary.

[0030] The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

[0031] Please refer to Figure 1-3 In an embodiment of the present application, an automatic guided device is provided, which includes an automatic guided vehicle 2 and a motor driver 1; the motor driver 1 is fixedly connected to the automatic guided vehicle 2, and the motor driver 1 is used to control the movement state of the automatic guided vehicle 2.

[0032] The motor driver 1 in the embodiment of the present application specifically includes: a housing 10 , a driving board 12 arranged in the housing 10 , an infrared photoelectric transceiver unit 11 , and a control unit 13 .

[0033] The infrared photoelectric transceiver unit 11 is at least partially exposed to the shell 10; the infrared photoelectric transceiver unit 11 is used to receive infrared control signals and transmit them to the control unit 13, and is also used to send infrared operating status signals to the outside; the control unit 13 is arranged on the driving board 12, and is used to control the movement state of the automatic guided vehicle 2 according to the infrared control signal received by the infrared photoelectric transceiver unit 11.

[0034] With the rapid development of the logistics industry, automated sorting systems have gradually become one of the key technologies to improve logistics efficiency. As an important component of the automated sorting system, the performance and stability of the automated guided vehicle 2 for logistics cross-belt sorting is directly related to the operating efficiency of the entire system. At present, the application of motor drivers 1 on automated guided vehicles 2 is already quite common. In the logistics cross-belt sorting system, automated guided vehicles 2 play a vital role. They are responsible for transporting goods from one sorting port to another to realize automated sorting of goods. As the core component of the automated guided vehicle 2, the performance of the motor driver 1 directly affects the operating efficiency and stability of the vehicle.

[0035] The components of the motor driver 1 include a housing 10 that serves as the outer contour of the driver and supports the components disposed therein, a drive board 12 for realizing the drive control function, and a control unit 13 for controlling the motion state of the automatic guided vehicle 2. The housing 10 can be set in a specific shape according to the space provided on the automatic guided vehicle 2 on which the motor driver 1 is installed, and the material of the housing 10 can be set in accordance with the material cost and the working environment requirements. For example, the housing 10 can be made of metal, which can enhance its heat dissipation effect and thus improve its heat dissipation performance. According to the production and assembly process requirements of the housing 10, the housing 10 can be formed by an integrated molding process, or the housing 10 can be formed by a plurality of components fixedly connected to each other.

[0036] The driving board 12 is used to integrate various components required by the motor driver 1, including but not limited to various interfaces, integrated circuits, etc. The control unit 13 is used to control the motion state of the automatic guided vehicle 2, and can control the running direction, speed, time, etc. of the automatic guided vehicle 2.

[0037] In order to avoid the influence of wired connection on the movement flexibility of the automatic guided vehicle 2, as well as to avoid the problem of unstable communication caused by the complicated wiring and difficult maintenance of wired connection, and the susceptibility to interference from factors such as line aging, the motor driver 1 in the embodiment of the present application includes an infrared photoelectric transceiver unit 11. The infrared photoelectric transceiver unit 11 is at least partially exposed to the housing 10; the infrared photoelectric transceiver unit 11 is used to receive infrared control signals and transmit them to the control unit 13, and is also used to send infrared operating status signals to the outside. By directly setting the infrared photoelectric transceiver unit 11 on the motor driver 1 in the embodiment of the present application, the motor driver 1 has infrared communication capabilities, which not only optimizes the structure of the automatic guided vehicle 2, but also reduces the number of external devices, thereby reducing costs.

[0038] As described above, the infrared photoelectric transceiver unit 11 in the embodiment of the present application can be used as a receiving end to receive the infrared control signal sent by the outside world to the motor driver 1, and forward it to the control unit 13 for the control unit 13 to control the automatic guided vehicle 2, or it can be used as a sending end to send an infrared operation status signal to the outside to reflect the current working state of the automatic guided vehicle 2 to the external infrared control device 4, so that the infrared control device 4 can determine the current state of the automatic guided vehicle 2 based on the infrared operation status signal, so that the state of the automatic guided vehicle 2 can be monitored and managed in real time according to the current state of the automatic guided vehicle 2, and the above-mentioned infrared control signal is generated correspondingly to achieve accurate control of the next operation state of the automatic guided vehicle 2. Among them, the infrared operation status signal can specifically include the current motion state of the automatic guided vehicle 2, such as the running speed, position information, etc., and the specific content of the infrared operation status signal is not limited in the embodiment of the present application.

[0039] In some optional embodiments, the specific composition structure of the infrared photoelectric transceiver unit 11 may include an infrared photoelectric signal light group 14 and a processing unit 15; wherein the infrared photoelectric signal light group 14 is used to send and receive infrared light signals, and the processing unit 15 is used to convert the infrared light signals into signals that can be recognized by the control unit 13. In order to realize the infrared transceiver function, the infrared photoelectric transceiver unit 11 includes two parts, namely, an infrared photoelectric signal light group 14 for directly sending and receiving infrared light signals, and a processing unit 15 for processing infrared light signals. The processing unit 15 can process the infrared light signals received by the infrared photoelectric signal light group 14 to form signals that can be recognized by the control unit 13, so that the control unit 13 can recognize and process them; the processing unit can also process the signals generated by the control unit 13 and convert them into infrared light signals to be emitted by the infrared photoelectric signal light group 14. For example, the processing unit 15 can process the infrared light signals and convert them into 485 signals for the control unit 13 to read and process them, so as to control the operation of the automatic guided vehicle 2.

[0040] In some optional embodiments, in order to realize the transmission and reception of infrared light signals, the infrared photoelectric signal lamp group 14 specifically includes at least two infrared photoelectric signal lamps 17, at least one of which is used to transmit infrared light signals, and at least one of which is used to receive infrared light signals. In order to facilitate transmission and reception, especially because the object of transmission and reception, that is, the infrared control device 4, is the same device, the two infrared photoelectric signal lamps 17 are set together so that there is no need to adjust the posture of the motor driver 1 too much during transmission and reception.

[0041] In some optional embodiments, in order to allow the infrared photoelectric transceiver unit 11 to receive and send infrared light signals, the infrared photoelectric transceiver unit 11 can be fixedly disposed on the housing 10 and electrically connected to the drive board 12 via a signal connection line, or the infrared photoelectric transceiver unit 11 can be integrated into the drive board 12. That is to say, in the embodiment of the present application, the infrared photoelectric transceiver unit 11 can be directly integrated into the housing 10, and the received infrared light signal can be transmitted to the control unit 13 on the drive board 12 via a signal connection line; or, the infrared photoelectric transceiver unit 11 can also be directly integrated into the drive board 12, so that there is no need to route the line between the infrared photoelectric transceiver unit 11 and the drive board 12. In order to expose the infrared photoelectric transceiver unit 11, an opening corresponding to the infrared photoelectric transceiver unit 11 can be provided on the housing 10, and the infrared photoelectric transceiver unit 11 can be exposed at the opening. When the infrared photoelectric transceiver unit 11 is integrated into the drive board 12, it can be stacked on the board surface of the drive board 12, or it can be provided on the side of the drive board 12. Please refer to Figure 2 As shown, the infrared photoelectric transceiver unit 11 can be exposed through any surface of the shell 10, including but not limited to the top of the shell 10, or the side wall of the shell 10, and is set on the same side as the interface unit 16 set on the shell 10.

[0042] In some optional embodiments, in order to connect the motor driver 1 with other devices, the driver board 12 may further include an interface unit 16, wherein the interface unit 16 includes at least one of a power interface, an encoder interface, a motor interface, and a communication interface, and the interface unit 16 is exposed from the housing 10. The power interface is used to power the motor driver 1, the encoder interface is used to access the motor encoder, the motor interface is used to connect to the motor, and the communication interface is used to communicate with other devices, and the types of communication interfaces include but are not limited to 232 interfaces, 485 interfaces, IO signal interfaces, and the like.

[0043] According to the motor driver 1 and automatic guided device provided in the embodiment of the present application, since the motor driver 1 is provided with an infrared photoelectric transceiver unit 11, it can perform two-way wireless communication with the control device to achieve precise motion control of the automatic guided vehicle 2 without the need for wiring, thereby reducing the cost of installation and maintenance. In addition, since infrared communication itself has strong anti-interference ability, the communication quality is guaranteed.

[0044] The present application also provides a motion control system. Figure 4 and Figure 5 , which includes an infrared control device 4 and an automatic guidance device 3 in an embodiment of the present application; wherein the infrared control device 4 is used to send infrared control signals to the infrared photoelectric transceiver unit 11, and is also used to receive infrared operating status signals sent by the infrared photoelectric transceiver unit 11.

[0045] The infrared control device 4 can interact with the automatic guidance device 3 by infrared communication, and can send infrared control signals to the automatic guidance device 3 to control the movement of the automatic guidance vehicle 2. In addition, the infrared control device 4 can also receive the infrared operation status signal sent by the infrared photoelectric transceiver unit 11 to obtain the current movement status of the automatic guidance vehicle 2, thereby realizing real-time control of the automatic guidance vehicle 2.

[0046] In some optional embodiments, the infrared control device 4 may specifically include an infrared photoelectric transceiver 41 and a controller 42, wherein the controller 42 is communicatively connected to the infrared photoelectric transceiver 41; wherein the controller 42 is used to send an operation control signal to the infrared photoelectric transceiver 41, so that the infrared photoelectric transceiver 41 sends a corresponding infrared control signal to the infrared photoelectric transceiver unit 11; the controller 42 may also be used to receive an infrared operation status signal sent by the infrared photoelectric transceiver 41. The controller 42 sends an operation control signal to the infrared photoelectric transceiver 41, wherein the operation control signal may be determined based on the infrared operation status signal received previously, wherein the infrared operation status signal reflects the motion state of the automatic guided vehicle 2. In order to realize the reception and transmission of infrared light signals, the infrared photoelectric transceiver 41 may specifically include an infrared signal transceiver light group 43, wherein the infrared photoelectric transceiver light group 43 may send infrared light signals to the infrared photoelectric signal light group 14 in the motor driver 1, and the infrared photoelectric transceiver light group 43 may also receive infrared light signals sent by the infrared photoelectric signal light group 14, such as Figure 5 shown.

[0047] In some optional embodiments, in order to ensure the reliability of infrared communication, the infrared photoelectric transceiver 41 is arranged relative to the motor driver 1, and the vertical distance between the two is between 50mm-200mm. Specifically, the infrared photoelectric transceiver 41 is arranged relative to the motor driver 1, which means that the infrared signal transceiver lamp group 43 is opposite to the infrared photoelectric signal lamp group 14, so that the infrared light signal sent by the infrared signal transceiver lamp group 43 can be directly received by the infrared photoelectric signal lamp group 14, and the infrared light signal sent by the infrared photoelectric signal lamp group 14 can also be directly received by the infrared signal transceiver lamp group 43, such as Figure 5 As shown; among them, Figure 5 What is shown is the situation that the infrared photoelectric signal light group 14 and the infrared signal transceiver light group 43 are arranged opposite to each other. As the automatic guided vehicle 2 moves, the infrared photoelectric signal light group 14 and the infrared signal transceiver light group 43 can also be misaligned with each other.

[0048] In some optional embodiments, the specific type of the controller 42 may include a programmable logic controller 42, and the infrared photoelectric transceiver 41 is communicatively connected to the programmable logic controller 42 via at least one of a 485 bus, a 232 bus or an IO bus.

[0049] According to the motion control system provided in the embodiment of the present application, since the infrared control device 4 and the motor driver 1 are respectively provided with an infrared photoelectric transceiver 41 and an infrared photoelectric transceiver unit 11, two-way wireless communication can be performed between the infrared control device 4 and the motor driver 1, thereby realizing precise motion control of the automatic guided vehicle 2 without the need for wiring, thereby reducing the cost of installation and maintenance, and since infrared communication itself has strong anti-interference ability, the communication quality is guaranteed.

[0050] The above specific examples are used to illustrate the present invention, which are only used to help understand the present invention and are not intended to limit the present invention. For those skilled in the art of the present invention, some simple deductions, deformations or substitutions can be made based on the idea of ​​the present invention.

Claims

1. A motor driver, characterized in that: include: A housing, a driving board, an infrared photoelectric transceiver unit and a control unit arranged in the housing; The infrared photoelectric transceiver unit is at least partially exposed outside the housing; The infrared photoelectric transceiver unit is used to receive infrared control signals and transmit them to the control unit, and is also used to send infrared operation status signals to the outside; The control unit is arranged on the driving board, and is used for controlling the motion state of the automatic guided vehicle according to the infrared control signal received by the infrared photoelectric transceiver unit.

2. The motor driver according to claim 1, characterized in that: The infrared photoelectric transceiver unit includes an infrared photoelectric signal light group and a processing unit; the infrared photoelectric signal light group is used to send and receive infrared light signals, and the processing unit is used to convert infrared light signals into signals that can be recognized by the control unit.

3. The motor driver according to claim 2, characterized in that: The infrared photoelectric signal lamp group includes at least two infrared photoelectric signal lamps, at least one of which is used to emit infrared light signals, and at least one of which is used to receive infrared light signals.

4. The motor driver according to claim 1, characterized in that: The infrared photoelectric transceiver unit is fixedly arranged on the housing and is electrically connected to the driving board via a signal connection line, or the infrared photoelectric transceiver unit is integrated into the driving board.

5. The motor driver according to any one of claims 1 to 4, characterized in that: The driving board further includes an interface unit, which includes at least one of a power supply interface, an encoder interface, a motor interface, and a communication interface, and the interface unit is exposed outside the housing.

6. An automatic guided vehicle, characterized in that: It comprises an automatic guided vehicle and a motor driver as described in any one of claims 1 to 5, wherein the motor driver is fixedly connected to the automatic guided vehicle and is used to control the motion state of the automatic guided vehicle.

7. A motion control system, characterized in that: It comprises an infrared control device and an automatic guidance device as described in claim 6; the infrared control device is used to send infrared control signals to the infrared photoelectric transceiver unit, and is also used to receive infrared operating status signals sent by the infrared photoelectric transceiver unit.

8. The motion control system according to claim 7, characterized in that: The infrared control device includes an infrared photoelectric transceiver and a controller, and the controller is communicatively connected to the infrared photoelectric transceiver; the controller is used to send an operation control signal to the infrared photoelectric transceiver so that the infrared photoelectric transceiver sends a corresponding infrared control signal to the infrared photoelectric transceiver unit; the controller is also used to receive the infrared operation status signal sent by the infrared photoelectric transceiver.

9. The motion control system according to claim 8, characterized in that: The infrared photoelectric transceiver and the motor driver are arranged opposite to each other, and the vertical distance between the two is between 50mm and 200mm.

10. The motion control system according to claim 8 or 9, characterized in that: The controller comprises a programmable logic controller, and the infrared photoelectric transceiver is communicatively connected with the programmable logic controller via at least one of a 485 bus, a 232 bus or an IO bus.

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