Automatic guiding vehicle

Abstract

The embodiment of the utility model provides an automatic guide vehicle which comprises a front control board card, a main control board card and a rear control board card. The front control board card comprises a front control processor and a front interface module; the main control board card comprises a main control processor and a middle interface module; the rear control board card comprises a rear control processor and a rear interface module; the front control board card is arranged on the front portion of the automatic guiding vehicle, the main control board card is arranged in the middle of the automatic guiding vehicle, the rear control board card is arranged on the rear portion of the automatic guiding vehicle, and the front control board card, the main control board card and the rear control board card are connected through a communication bus. Even if the function is changed, only the interface module needs to be used for accessing the corresponding function module, the whole device does not need to be redesigned, and the design cost can be reduced. Besides, the front control board card, the main control board card and the rear control board card are communicated through the communication bus, so that cables among the modules are greatly reduced, the cable design is simple, and the material cost and the maintenance cost are reduced.

Description

Technical Field

[0001] The utility model relates to the field of automatic control, and particularly to an automated guided vehicle. Background Art

[0002] An automated guided vehicle (AGV), also known as an automated guided cart or an automatic guided cart, is an industrial vehicle that loads goods automatically or manually, travels automatically along a set route or tow a load-carrying trolley to a designated location, and then unloads the goods automatically or manually. In the prior art, the minimum modules of an AGV are designed according to different functions, such as a pressure sensor module, a light strip control module, a TOF (Time of Flight) sensor control module, etc. After connecting these functional modules with cables, they are all added to the automated guided vehicle to achieve corresponding functions.

[0003] However, in the way of designing corresponding modules for different functions respectively, when the number of modules in the automated guided vehicle is large, in the process of integrated vehicle design, the layout space occupied by multiple modules is also large; in addition, the connection between each module with cables makes the cable design relatively complex, ultimately increasing the material cost and maintenance cost; and due to numerous modules, when customizing AGVs with different functions, it is necessary to frequently add or subtract and change modules, resulting in a relatively high design cost for AGVs. Summary of the Utility Model

[0004] The purpose of the embodiments of the utility model is to provide an automated guided vehicle to reduce the cost of the automated guided vehicle. The specific technical solutions are as follows:

[0005] The embodiments of the utility model provide an automated guided vehicle, including:

[0006] A front control board, a main control board, and a rear control board;

[0007] The front control board includes a front control processor and a front interface module; the main control board includes a main control processor and a middle interface module; the rear control board includes a rear control processor and a rear interface module;

[0008] The front control board is arranged at the front of the automated guided vehicle, the main control board is arranged in the middle of the automated guided vehicle, the rear control board is arranged at the rear of the automated guided vehicle, and the front control board, the main control board, and the rear control board are connected through a communication bus.

[0009] In a possible implementation manner, the front interface module includes at least one of a front analog signal communication module, a front input / output module, a front power control module, a front constant current drive module, and a front universal asynchronous transceiver module;

[0010] The front analog signal communication module includes a first interface and a first analog-to-digital conversion circuit. The first analog-to-digital conversion circuit is connected to the first interface and is also connected to the front control processor.

[0011] The front input / output module includes a second interface and a first input / output circuit. The first input / output circuit is connected to the second interface and is also connected to the front control processor.

[0012] The front power control module includes a third interface and a first power control circuit. The first power control circuit is connected to the third interface and is also connected to the front control processor.

[0013] The front constant current drive module includes a fourth interface and a first constant current drive circuit. The first constant current drive circuit is connected to the fourth interface and is also connected to the front control processor.

[0014] The front universal asynchronous transceiver module includes a fifth interface and a first universal asynchronous transceiver. The first universal asynchronous transceiver is connected to the fifth interface and is also connected to the front control processor.

[0015] In a possible implementation, the front control board further includes a first clock circuit and a second clock circuit. The front control processor includes a first micro control unit and a second micro control unit.

[0016] The first micro control unit is connected to the first clock circuit, and the second micro control unit is connected to the second clock circuit.

[0017] The first micro control unit and the second micro control unit are connected through a first communication line. The first micro control unit is also connected to the communication bus through a second communication line, and the second micro control unit is also connected to the communication bus through a third communication line.

[0018] In a possible implementation, the front control board further includes a first DC power module and a first voltage regulator module.

[0019] The first DC power module is connected to the power supply of the automated guided vehicle and is also connected to the first voltage regulator module.

[0020] The first voltage regulator module is connected to the power supply access terminal of the front control processor and the power supply access terminal of the front interface module.

[0021] In a possible implementation, the middle interface module includes at least one of a level conversion module, a universal serial bus module, and an external signal interface module;

[0022] The level conversion module includes a sixth interface and a level conversion circuit. The level conversion circuit is connected to the sixth interface and is also connected to the main control processor;

[0023] The universal serial bus module includes a seventh interface and a universal serial bus circuit. The universal serial bus circuit is connected to the seventh interface and is also connected to the main control processor;

[0024] The external signal interface module includes an eighth interface and a network external signal interface circuit. The network external signal interface circuit is connected to the eighth interface and is also connected to the main control processor.

[0025] In a possible implementation, the main control board further includes a third clock circuit and a power supply circuit, and the main control processor includes a system on chip;

[0026] The power supply circuit is connected to the power supply of the automated guided vehicle. The system on chip is respectively connected to the third clock circuit and the power supply circuit, and the system on chip is also connected to the communication bus through a fourth communication line.

[0027] In a possible implementation, the main control board further includes a first image processing circuit and a second image processing circuit, and the main control processor is respectively connected to the first image processing circuit and the second image processing circuit.

[0028] In a possible implementation, the rear interface module includes at least one of a rear analog signal communication module, a rear input / output module, a rear power control module, a rear constant current drive module, and a front universal asynchronous transceiver module;

[0029] The rear analog signal communication module includes a ninth interface and a second analog-to-digital conversion circuit. The second analog-to-digital conversion circuit is connected to the ninth interface and is also connected to the rear control processor;

[0030] The rear input / output module includes a tenth interface and a second input / output circuit. The second input / output circuit is connected to the tenth interface and is also connected to the rear control processor;

[0031] The rear power control module includes an eleventh interface and a second power control circuit. The second power control circuit is connected to the eleventh interface and is also connected to the rear control processor;

[0032] The rear constant current drive module includes a twelfth interface and a second constant current drive circuit. The second constant current drive circuit is connected to the twelfth interface and is also connected to the rear control processor.

[0033] The rear universal asynchronous transceiver module includes a thirteenth interface and a second universal asynchronous transceiver. The second universal asynchronous transceiver is connected to the thirteenth interface and is also connected to the rear control processor.

[0034] In a possible implementation, the rear control board further includes a second DC power module, a second voltage regulator module, and a third clock circuit. The rear control processor includes a third micro control unit.

[0035] The second DC power module is connected to the power supply of the automated guided vehicle and is also connected to the second voltage regulator module.

[0036] The second voltage regulator module is connected to the power supply access terminal of the third micro control unit and the power supply access terminal of the rear interface module.

[0037] The third micro control unit is connected to the third clock circuit and is also connected to the communication bus through a fifth communication line.

[0038] In a possible implementation, the rear control board further includes a fourth clock circuit and a fifth clock circuit. The rear control processor includes a fourth micro control unit and a fifth micro control unit.

[0039] The fourth micro control unit is connected to the fourth clock circuit, and the fifth micro control unit is connected to the fifth clock circuit.

[0040] The fourth micro control unit and the fifth micro control unit are connected to each other through a sixth communication line. The fourth micro control unit is also connected to the communication bus through a seventh communication line, and the fifth micro control unit is also connected to the communication bus through an eighth communication line.

[0041] In a possible implementation, the automated guided vehicle further includes a button module, and the button module is connected to the front interface module or the rear interface module.

[0042] Advantages of the embodiments of the present utility model:

[0043] An embodiment of the present utility model provides an automatic guided vehicle, which includes: a front control board, a main control board, and a rear control board; the front control board includes a front control processor and a front interface module; the main control board includes a main control processor and a middle interface module; the rear control board includes a rear control processor and a rear interface module; the front control board is arranged at the front of the automatic guided vehicle, the main control board is arranged in the middle of the automatic guided vehicle, and the rear control board is arranged at the rear of the automatic guided vehicle. The front control board, the main control board, and the rear control board are connected through a communication bus. By arranging three boards, namely the front control board, the main control board, and the rear control board, in the automatic guided vehicle, and respectively arranging a front interface module, a middle interface module, and a rear interface module in the three boards, functional modules required for the front part of the automatic guided vehicle can be connected to the front control board through the front interface module, functional modules required for the middle part of the automatic guided vehicle can be connected to the main control board through the middle interface module, and functional modules required for the rear part of the automatic guided vehicle can be connected to the rear control board through the rear interface module. In this way, even if the functions of the AGV change, only the corresponding functional modules need to be connected through the interface module, without the need to redesign the entire AGV, which can reduce the design cost and meet the ever-changing customer requirements. In addition, the front control board, the main control board, and the rear control board communicate through a communication bus, greatly reducing the cables between modules, simplifying the cable design, and reducing the material cost and maintenance cost.

[0044] Of course, it is not necessary for any product implementing the present utility model to achieve all the above-mentioned advantages simultaneously. Brief Description of the Drawings

[0045] In order to more clearly illustrate the technical solutions in the embodiments of the present utility model or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present utility model, and those of ordinary skill in the art can also obtain other drawings based on these drawings.

[0046] Figure 1 A schematic diagram of the automatic guided vehicle according to an embodiment of the present utility model;

[0047] Figure 2 The first schematic diagram of the front control board in the automatic guided vehicle according to an embodiment of the present utility model;

[0048] Figure 3 The second schematic diagram of the front control board in the automatic guided vehicle according to an embodiment of the present utility model;

[0049] Figure 4 The third schematic diagram of the front control board in the automatic guided vehicle according to an embodiment of the present utility model;

[0050] Figure 5 The fourth schematic diagram of the front control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0051] Figure 6 The first schematic diagram of the main control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0052] Figure 7 The second schematic diagram of the main control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0053] Figure 8 The third schematic diagram of the main control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0054] Figure 9 The fourth schematic diagram of the main control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0055] Figure 10 The first schematic diagram of the rear control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0056] Figure 11 The second schematic diagram of the rear control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0057] Figure 12 The third schematic diagram of the rear control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0058] Figure 13 The fourth schematic diagram of the rear control board card in the automatic guided vehicle according to the embodiment of the present utility model;

[0059] Figure 14 A schematic diagram of the button module in the automatic guided vehicle according to the embodiment of the present utility model. Detailed implementation manners

[0060] Next, the technical solutions in the embodiments of the present utility model will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art based on this application belong to the scope of protection of the present utility model.

[0061] In the related art, the automatic guided vehicle designs modules separately according to different functions, and adds all these modules to the automatic guided vehicle after connecting them with cables, so as to realize corresponding functions. However, when there are many modules, in the process of integrated vehicle design, multiple modules occupy a large layout space, and the modules are connected by cables, resulting in a more complex cable design, increasing the material cost and maintenance cost. Due to the large number of modules, when customizing automatic guided vehicles with different functions, it is necessary to frequently add and subtract modules, making the customization design steps of automatic guided vehicles more cumbersome, and the cost of designing and producing automatic guided vehicles is also very high.

[0062] At the same time, in order to meet the CE certification (Conformite Europeenne Certification) in most AGVs, it is necessary to add multiple modules that meet the SIL certification (Safety Integrity Level) during design, which affects the development efficiency of customized AGVs, is difficult to quickly deliver to customers, meet the customized needs of customers, and also increases the design and production costs of AGVs.

[0063] In order to simplify the module design of the automatic guided vehicle, reduce the design cost, and adapt to the changing customer needs, the embodiment of the utility model provides an automatic guided vehicle, which is described in detail below:

[0064] See Figure 1 , Figure 1 which is a schematic diagram of the automatic guided vehicle according to the embodiment of the utility model, including:

[0065] A front control board 100, a main control board 200, and a rear control board 300;

[0066] The front control board 100 includes a front control processor 101 and a front interface module 102; the main control board 200 includes a main control processor 201 and a middle interface module 202; the rear control board 300 includes a rear control processor 301 and a rear interface module 302;

[0067] The front control board 100 is arranged at the front part of the automatic guided vehicle, the main control board 200 is arranged in the middle part of the automatic guided vehicle, the rear control board 300 is arranged at the rear part of the automatic guided vehicle, and the front control board 100, the main control board 200, and the rear control board 300 are connected through a communication bus 401.

[0068] The automatic guided vehicle is divided into three parts: the front part, the middle part, and the rear part according to the functional areas. The functional components / modules of each part can be connected to the corresponding boards in the vicinity and controlled by the corresponding processors. The functional components of the front part of the vehicle are connected to the front interface module 102 of the front control board 100, the functional components of the middle part of the vehicle are connected to the middle interface module 202 of the main control board 200, and the functional components of the rear part of the vehicle are connected to the rear interface module 302 of the rear control board 300. By using three boards to access the functional components in different areas, even if the functions of the AGV change, only the functional components connected to the interface module need to be changed, without the need to redesign the entire AGV. This simplifies the module design of the automatic guided vehicle, facilitates subsequent adjustment of the functional modules, and reduces the cost of directional design.

[0069] The three boards are connected through a communication bus 401, which simplifies the wiring of the automatic guided vehicle while meeting the communication requirements, reduces the frequency of faults, and improves the quality and stability of the product.

[0070] In a possible implementation, refer to Figure 2 , the front interface module 102 includes at least one of: a front analog signal communication module 1021, a front input / output module 1022, a front power control module 1023, a front constant current drive module 1024, and a front universal asynchronous transceiver module 1025;

[0071] The front analog signal communication module 1021 is used to access the functional components / modules for analog signal communication. In one example, refer to Figure 3 , the front analog signal communication module 1021 includes a first interface 501 and a first analog-to-digital conversion circuit 10211. The first analog-to-digital conversion circuit 10211 is connected to the first interface 501 and is also connected to the front control processor 101; the first interface 501 is used to access the functional components / modules for analog signal communication, and the first analog-to-digital conversion circuit 10211 is used to convert the analog signal into a digital signal and send the digital signal to the front control processor 101.

[0072] The front input / output module 1022 is used to access the functional components / modules for I / O (Input / Output) communication. In one example, the front input / output module 1022 includes a second interface 502 and a first input / output circuit 10221. The first input / output circuit 10221 is connected to the second interface 502 and is also connected to the front control processor 101; the second interface 502 is used to access the functional components / modules for I / O communication, and the first input / output circuit 10221 is used to realize the transmission of I / O data between the second interface 502 and the front control processor 101.

[0073] The front power control module 1023 is used to connect functional components / modules that require power control. In one example, the front power control module 1023 includes a third interface 503 and a first power control circuit 10231. The first power control circuit 10231 is connected to the third interface 503, and the first power control circuit 10231 is also connected to the front control processor 101. The third interface 503 is used to connect functional components / modules that require power control. The first power control circuit 10231 is used to output or cut off the control power through the third interface 503 in response to the control signal of the front control processor 101. For example, if the functional component / module that requires power control is a buzzer, under normal circumstances of the AGV, the buzzer does not need to sound, and the first power control circuit 10231 will not output the control power through the third interface 503, so the buzzer does not sound. When the AGV encounters an abnormal situation (such as being stuck and unable to move), the buzzer needs to sound an alarm. The front control processor 101 sends an enabling signal to the first power control circuit 10231, and the first power control circuit 10231 outputs the control power through the third interface 503 to trigger the buzzer to sound an alarm.

[0074] The front constant current drive module 1024 is used to connect functional components / modules that require constant current and always-on. In one example, the front constant current drive module 1024 includes a fourth interface 504 and a first constant current drive circuit 10241. The first constant current drive circuit 10241 is connected to the fourth interface 504, and the first constant current drive circuit 10241 is also connected to the front control processor 101. The fourth interface 504 is used to connect functional components / modules that require constant current and always-on, and the first constant current drive circuit 10241 is used to output a constant current signal through the fourth interface 504 in response to the control of the front control processor 101. For example, if the functional component / module that requires constant current and always-on is an indicator light, the indicator light is used to indicate the working state of the AGV. After the front control processor 101 is powered on, the front control processor 101 sends an enabling signal to the first constant current drive circuit 10241, and the first constant current drive circuit 10241 outputs a constant current signal through the fourth interface 504, so that the indicator light is always on. For example, when the AGV is in a normal working state, the green indicator light is always on.

[0075] The front Universal Asynchronous Receiver / Transmitter (UART) module 1025 is used to access the functional components / modules for asynchronous transceiver communication (UART). In one example, the front UART module 1025 includes a fifth interface 505 and a first UART 10251. The first UART 10251 is connected to the fifth interface 505, and the first UART 10251 is also connected to the front control processor 101. The fifth interface 505 is used to access the functional components / modules for UART communication, and the first UART 10251 is used to implement the transmission of UART data between the fifth interface 505 and the front control processor 101.

[0076] The front control processor 101 has multiple pins and can be respectively connected to different interface modules through traces. The front interface module 102 can support various forms of interfaces and protocols, including but not limited to UART (Universal Asynchronous Receiver / Transmitter), CAN (Controller Area Network), I / O (input / output), and ADC (Analog-to-Digital Converter). The external functional components connected to the interface can be LEDs (light-emitting diodes), pressure sensors, laser lights, buzzers, indicator lights, power supplies, air pressure detection devices, or others, covering all the functional requirements of the front part of the automated guided vehicle. The functional components can be adjusted according to actual needs, and the present utility model does not make any limitations.

[0077] The functional components can be adjusted according to actual needs, facilitating the customization of the automated guided vehicle according to customer requirements, reducing the customization cost, and improving the efficiency of customized design.

[0078] To reduce the cost of the AGV, the front control board can adopt the form of a single processor. In other possible embodiments, the front control board can also adopt the form of a dual processor. Refer to Figure 4 , the front control board 100 further includes a first clock circuit 601 and a second clock circuit 602, and the front control processor 101 includes a first microcontroller unit 1011 and a second microcontroller unit 1012;

[0079] The first microcontroller unit 1011 is connected to the first clock circuit 601, and the second microcontroller unit 1012 is connected to the second clock circuit 602;

[0080] The first microcontroller unit 1011 is connected to the second microcontroller unit 1012 through the first communication line 4011. The first microcontroller unit 1011 is also connected to the communication bus 401 through the second communication line 4012, and the second microcontroller unit 1012 is also connected to the communication bus 401 through the third communication line 4013.

[0081] The first clock circuit 601 provides a clock signal for the first microcontroller unit 1011, and the second clock circuit 602 provides a clock signal for the second microcontroller unit 1012. The first microcontroller unit 1011 and the second microcontroller unit 1012 are connected through the first communication line 4011, and they can be backup for each other. Both of them are connected to the communication bus 401 through communication lines. When one of them fails, the other can be used for service processing, thereby improving the safety of the AGV. In an embodiment of the present invention, the first microcontroller unit 1011 and the second microcontroller unit 1012 communicate directly through the UART line and use a dual-channel CAN bus for external communication to reduce the occurrence of AGV failures.

[0082] The dual MCU (Microcontroller Unit) design meets the standard requirements of ISO 3691-4 (ISO 3691-4 is an international standard for automated guided vehicles and vehicle systems (Automated Guided Vehicle System, AGVS), which defines the safety function requirements of AGVs and AGVSs, such as personnel detection settings, operation modes, and braking systems, etc., and describes the procedures for reducing risks and verifying automated functions), supports dual-loop inputs such as emergency stop buttons, and the module internal undergoes dual MCU redundancy verification to ensure the safe operation of the automated guided vehicle.

[0083] In a possible implementation manner, refer to Figure 5 , the front control board 100 further includes a first DC power supply module 103 and a first voltage regulator module 104;

[0084] The first DC power supply module 103 is connected to the power supply of the automated guided vehicle, and the first DC power supply module 103 is also connected to the first voltage regulator module 104;

[0085] The first voltage regulator module 104 is connected to the power supply access terminals of the front control processor 101 and the front interface module 102.

[0086] In an embodiment of the present utility model, the first voltage regulator module 104 includes a low dropout linear regulator (LDO) for controlling the main current channel, and has functions such as overcurrent protection, over-temperature protection, precision reference source, differential amplifier, and delay. At the same time, the low dropout linear regulator usually has extremely low self-noise and a high power supply rejection ratio, and has little impact on the circuit.

[0087] In a possible implementation manner, referring to Figure 6 , the middle interface module 202 includes at least one of a level conversion module 2021, a universal serial bus module 2022, and an external signal interface module 2023;

[0088] The level conversion module 2021 is used to access a function component / module controlled by high / low levels. In an example, referring to Figure 7 , the level conversion module 2021 includes a sixth interface 506 and a level conversion circuit 20211. The level conversion circuit 20211 is connected to the sixth interface 506, and the level conversion circuit 20211 is also connected to the main control processor 201; the sixth interface 506 is used to access a function component / module controlled by high / low levels, and the level conversion circuit 20211 is used to output a high / low level signal through the sixth interface 506 in response to the control of the main control processor 201.

[0089] The universal serial bus module 2022 is used to access a function component / module for USB (Universal Serial Bus) transmission. In an example, the universal serial bus module 2022 includes a seventh interface 507 and a universal serial bus circuit 20221. The universal serial bus circuit 20221 is connected to the seventh interface 507, and the universal serial bus circuit 20221 is also connected to the main control processor 201; the seventh interface 507 is used to access a function component / module for USB communication, and the universal serial bus circuit 20221 is used to realize data transmission between the seventh interface 507 and the main control processor 201.

[0090] The external signal interface module 2023 is used to access a function component / module that needs to be connected to the network. In an example, the external signal interface module 2023 includes an eighth interface 508 and a network external signal interface circuit 20231. The network external signal interface circuit 20231 is connected to the eighth interface 508, and the network external signal interface circuit 20231 is also connected to the main control processor 201. The eighth interface 508 is used to access a function component / module that needs to be connected to the network, and the network external signal interface circuit 20231 is used to realize network signal transmission between the eighth interface 508 and the main control processor 201.

[0091] The main control board 200, as the core processing module of the whole vehicle, integrates the middle interface module 202 of the automated guided vehicle, and at the same time controls the movement of the entire automated guided vehicle, responsible for the comprehensive scheduling and processing of all functions. The interface of the middle interface module 202 supports sensors and external modules with multiple communication protocols, including but not limited to Ethernet data processing, USB 3.0 signal processing, CAN communication, RS485 communication, RS232 communication, etc., and can cover services such as lidar access, binocular camera access, screen control, code reading, etc. It can meet various functional requirements and is convenient for timely adjustment according to customer requirements.

[0092] In a possible implementation manner, refer to Figure 8 , the main control board 200 further includes a third clock circuit 603 and a power supply circuit 203, and the main control processor 201 includes a system on chip (SOC) 2011;

[0093] The power supply circuit 203 is connected to the power supply of the automated guided vehicle. The system on chip 2011 is respectively connected to the third clock circuit 603 and the power supply circuit 203, and the system on chip 2011 is also connected to the communication bus 401 through the fourth communication line 4014.

[0094] The system on chip 2011 is small in size and high in performance, and can coordinate and schedule the functional modules of the entire automated guided vehicle to ensure the normal operation of the automated guided vehicle.

[0095] In an embodiment of the present utility model, the main control processor further includes a single-chip microcomputer, and the third clock circuit 603 and the power supply circuit 203 are also connected to the single-chip microcomputer to provide timing signals and power supply circuits for the single-chip microcomputer.

[0096] In a possible implementation manner, refer to Figure 9 , the main control board 200 further includes a first image processing circuit 204 and a second image processing circuit 205, and the main control processor 201 is respectively connected to the first image processing circuit 204 and the second image processing circuit 205.

[0097] The first image processing circuit 204 and the second image processing circuit 205 integrate upper and lower sets of code reading camera systems through other interface modules of the main control board 200. Among them, one set of code reading camera system is used to capture images of the shelf positions, and the other set of code reading camera system is used to capture images on the AGV traveling road.

[0098] The first image processing circuit 204 and the second image processing circuit 205 quickly process and transfer the images scanned by the code reading cameras of the automated guided vehicle nearby, reducing errors caused by too long data transmission routes and improving the accuracy of code reading.

[0099] In a possible implementation, refer to Figure 10 , the rear interface module 302 includes at least one of a rear analog signal communication module 3021, a rear input / output module 3022, a rear power control module 3023, a rear constant current drive module 3024, and a rear universal asynchronous transceiver module 3025;

[0100] The rear analog signal communication module 3021 is used to access functional components / modules for analog signal communication. In one example, refer to Figure 11 , the rear analog signal communication module 3021 includes a ninth interface 509 and a second analog-to-digital conversion circuit 30211. The second analog-to-digital conversion circuit 30211 is connected to the ninth interface 509, and the second analog-to-digital conversion circuit 30211 is also connected to the rear control processor 301; the ninth interface 509 is used to access functional components / modules for analog signal communication, and the second analog-to-digital conversion circuit 30211 is used to convert an analog signal into a digital signal and send the digital signal to the rear control processor 301.

[0101] The rear input / output module 3022 is used to access functional components / modules for I / O communication. In one example, the rear input / output module 3022 includes a tenth interface 510 and a second input / output circuit 30221. The second input / output circuit 30221 is connected to the tenth interface 510, and the second input / output circuit 30221 is also connected to the rear control processor 301; the tenth interface 510 is used to access functional components / modules for I / O communication, and the second input / output circuit 30221 is used to implement the transmission of I / O data between the tenth interface 510 and the rear control processor 301.

[0102] The rear power control module 3023 is used to connect to the functional components / modules that require power control. In one example, the rear power control module 3023 includes an eleventh interface 511 and a second power control circuit 30231. The second power control circuit 30231 is connected to the eleventh interface 511, and the second power control circuit 30231 is also connected to the rear control processor 301. The eleventh interface 511 is used to connect to the functional components / modules that require power control, and the second power control circuit 30231 is used to output or disconnect the control power through the eleventh interface 511 in response to the control signal of the rear control processor 301. For example, the functional component / module that requires power control is a laser lamp, which is used to outline the AGV. In one example, the laser lamps can be installed on both sides of the AGV body to display the width of the vehicle body when the AGV is moving, so as to prompt personnel to prevent collisions. When the AGV stops moving, the second power control circuit 30231 will not output the control power through the eleventh interface 511, and the laser lamps do not emit light. When the AGV is moving, the laser lamps need to emit light. The rear control processor 301 sends an enable signal to the second power control circuit 30231, and the second power control circuit 30231 outputs the control power through the eleventh interface 511 to turn on the laser lamps.

[0103] The rear constant current drive module 3024 is used to connect to the functional components / modules that require constant current and normally open. In one example, the rear constant current drive module 3024 includes a twelfth interface 512 and a second constant current drive circuit 30241. The second constant current drive circuit 30241 is connected to the twelfth interface 512, and the second constant current drive circuit 30241 is also connected to the rear control processor 301. The twelfth interface 512 is used to connect to the functional components / modules that require constant current and normally open, and the second constant current drive circuit 30241 is used to output a constant current signal through the twelfth interface 512 in response to the control of the rear control processor 301.

[0104] The rear universal asynchronous transceiver module 3025 is used to connect to the functional components / modules for UART communication. In one example, the rear universal asynchronous transceiver module 3025 includes a thirteenth interface 513 and a second universal asynchronous transceiver 30251. The second universal asynchronous transceiver 30251 is connected to the thirteenth interface 513, and the second universal asynchronous transceiver 30251 is also connected to the rear control processor 301. The thirteenth interface 513 is used to connect to the functional components / modules for UART communication, and the second universal asynchronous transceiver 30251 is used to implement the transmission of UART data between the thirteenth interface 513 and the rear control processor 301.

[0105] The rear control processor 301 has multiple pins and can be respectively connected to different interface modules through traces. The rear interface module 302 can support various forms of interfaces and protocols, including but not limited to UART, CAN, I / O (input / output), and ADC. The external functional components connected to the interface can be LEDs, pressure sensors, laser lights, buzzers, indicator lights, power supplies, air pressure detection devices, or others, covering all the functional requirements of the front part of the automated guided vehicle. The functional components can be adjusted according to actual needs, and the present utility model does not make any limitations.

[0106] To reduce the cost of the AGV, the rear control board 300 can adopt the form of a single processor. In a possible implementation manner, see Figure 12 , the rear control board 300 further includes a second DC power module 303, a second voltage regulator module 304, and a third clock circuit 603. The rear control processor 301 includes a third microcontroller unit 3011; the second DC power module 303 is connected to the power supply of the automated guided vehicle, and the second DC power module 303 is also connected to the second voltage regulator module 304; the second voltage regulator module 304 is connected to the power supply access terminals of the third microcontroller unit 3011 and the rear interface module 302; the third microcontroller unit 3011 is connected to the third clock circuit 603, and the third microcontroller unit 3011 is also connected to the communication bus 401 through a fifth communication line 4015.

[0107] To increase the safety of the AGV, the rear control board 300 can adopt the form of a dual processor. In a possible implementation manner, see Figure 13 , the rear control board 300 further includes a fourth clock circuit 604 and a fifth clock circuit 605. The rear control processor 301 includes a fourth microcontroller unit 3012 and a fifth microcontroller unit 3013; the fourth microcontroller unit 3012 is connected to the fourth clock circuit 604, and the fifth microcontroller unit 3013 is connected to the fifth clock circuit 605; the fourth microcontroller unit 3012 and the fifth microcontroller unit 3013 are connected to each other through a sixth communication line 4016. The fourth microcontroller unit 3012 is also connected to the communication bus 401 through a seventh communication line 4017, and the fifth microcontroller unit 3013 is also connected to the communication bus 401 through an eighth communication line 4018.

[0108] The specific working process of the dual processors of the rear control board 300 is similar to that of the dual processors of the front control board 100, and will not be elaborated here.

[0109] To increase the safety performance of the automated guided vehicle, a button module 700 for implementing an emergency stop function is generally provided in the automated guided vehicle. The button module 700 can be connected to the front interface module 102 or the rear interface module 302. In one example, the button module 700 can be as Figure 14As shown, it includes an emergency stop button 701, a manual / automatic button 702 and a reset button 703. Among them, the emergency stop button 701 is used to implement the emergency stop of the AGV, the manual / automatic button 702 is used to implement the switching between the manual control and the automatic control of the AGV, and the reset button 703 is used to implement the reset of the AGV. In one example, in order to increase the safety of the AGV, the button module 700 can be connected to the interface module of the dual-processor board. For example, when the current control board 100 is a dual-processor board (that is, the front control board 100 includes a first micro-control unit 1011 and a second micro-control unit 1012), the button module 700 is connected to the front interface module 102; when the rear control board 300 is a dual-processor board (that is, the rear control board 300 includes a fourth micro-control unit 3012 and a fifth micro-control unit 3013), the button module 700 is connected to the rear interface module 302.

[0110] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising", "including" or any other variation thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device comprising a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0111] Each embodiment in this specification is described in a related manner. The key point of each embodiment is to illustrate the differences from other embodiments. The same or similar parts among the embodiments can be referred to each other.

[0112] The above are only the preferred embodiments of the present invention and are not intended to limit the protection scope of the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention are included in the protection scope of the present invention.

Claims

1. An automatic guided vehicle, characterized in that, Including: A front control board, a main control board, and a rear control board; The front control board includes a front control processor and a front interface module; the main control board includes a main control processor and a middle interface module; the rear control board includes a rear control processor and a rear interface module; The front control board is arranged at the front part of the automatic guided vehicle, the main control board is arranged at the middle part of the automatic guided vehicle, the rear control board is arranged at the rear part of the automatic guided vehicle, and the front control board, the main control board, and the rear control board are connected through a communication bus.

2. The automatic guided vehicle according to claim 1, characterized in that, The front interface module includes at least one of: a front analog signal communication module, a front input / output module, a front power control module, a front constant current drive module, and a front universal asynchronous transceiver module; The front analog signal communication module includes a first interface and a first analog-to-digital conversion circuit, the first analog-to-digital conversion circuit is connected to the first interface, and the first analog-to-digital conversion circuit is also connected to the front control processor; The front input / output module includes a second interface and a first input / output circuit, the first input / output circuit is connected to the second interface, and the first input / output circuit is also connected to the front control processor; The front power control module includes a third interface and a first power control circuit, the first power control circuit is connected to the third interface, and the first power control circuit is also connected to the front control processor; The front constant current drive module includes a fourth interface and a first constant current drive circuit, the first constant current drive circuit is connected to the fourth interface, and the first constant current drive circuit is also connected to the front control processor; The front universal asynchronous transceiver module includes a fifth interface and a first universal asynchronous transceiver, the first universal asynchronous transceiver is connected to the fifth interface, and the first universal asynchronous transceiver is also connected to the front control processor.

3. The automatic guided vehicle according to claim 1, wherein The front control board further includes a first clock circuit and a second clock circuit, and the front control processor includes a first micro control unit and a second micro control unit; The first micro control unit is connected to the first clock circuit, and the second micro control unit is connected to the second clock circuit; The first micro control unit and the second micro control unit are connected through a first communication line, the first micro control unit is also connected to the communication bus through a second communication line, and the second micro control unit is also connected to the communication bus through a third communication line.

4. The automatic guided vehicle according to claim 1, characterized in that, The front control board further includes a first DC power module and a first voltage regulator module; The first DC power module is connected to the power supply of the automatic guided vehicle, and the first DC power module is also connected to the first voltage regulator module; The first voltage regulator module is connected to the power supply access terminal of the front control processor and the power supply access terminal of the front interface module.

5. The automatic guided vehicle according to claim 1, characterized in that, The middle interface module includes at least one of: a level conversion module, a universal serial bus module, and an external signal interface module; The level conversion module includes a sixth interface and a level conversion circuit, the level conversion circuit is connected to the sixth interface, and the level conversion circuit is also connected to the main control processor; The universal serial bus module includes a seventh interface and a universal serial bus circuit. The universal serial bus circuit is connected to the seventh interface and is also connected to the main control processor; The external signal interface module includes an eighth interface and a network external signal interface circuit. The network external signal interface circuit is connected to the eighth interface and is also connected to the main control processor.

6. The automatic guided vehicle according to claim 1, wherein The main control board further includes a third clock circuit and a power supply circuit. The main control processor includes a system on chip; The power supply circuit is connected to the power supply of the automated guided vehicle. The system on chip is respectively connected to the third clock circuit and the power supply circuit, and the system on chip is also connected to the communication bus through a fourth communication line.

7. The automatic guided vehicle according to claim 1, characterized in that The main control board further includes a first image processing circuit and a second image processing circuit. The main control processor is respectively connected to the first image processing circuit and the second image processing circuit.

8. The automatic guided vehicle according to claim 1, characterized in that, The rear interface module includes at least one of a rear analog signal communication module, a rear input / output module, a rear power control module, a rear constant current drive module, and a rear universal asynchronous transceiver module; The rear analog signal communication module includes a ninth interface and a second analog-to-digital conversion circuit. The second analog-to-digital conversion circuit is connected to the ninth interface and is also connected to the rear control processor; The rear input / output module includes a tenth interface and a second input / output circuit. The second input / output circuit is connected to the tenth interface and is also connected to the rear control processor; The rear power control module includes an eleventh interface and a second power control circuit. The second power control circuit is connected to the eleventh interface and is also connected to the rear control processor; The rear constant current drive module includes a twelfth interface and a second constant current drive circuit. The second constant current drive circuit is connected to the twelfth interface and is also connected to the rear control processor; The rear universal asynchronous transceiver module includes a thirteenth interface and a second universal asynchronous transceiver. The second universal asynchronous transceiver is connected to the thirteenth interface and is also connected to the rear control processor.

9. The automatic guided vehicle according to claim 1, wherein The rear control board further includes a second DC power module, a second voltage regulator module, and a third clock circuit. The rear control processor includes a third micro control unit; The second DC power module is connected to the power supply of the automated guided vehicle and is also connected to the second voltage regulator module; The second voltage regulator module is connected to the power supply access terminal of the third micro control unit and the power supply access terminal of the rear interface module; The third micro control unit is connected to the third clock circuit and is also connected to the communication bus through a fifth communication line.

10. The automatic guided vehicle according to claim 1, characterized in that, The rear control board further includes a fourth clock circuit and a fifth clock circuit. The rear control processor includes a fourth micro control unit and a fifth micro control unit; The fourth micro control unit is connected to the fourth clock circuit, and the fifth micro control unit is connected to the fifth clock circuit; The fourth micro control unit and the fifth micro control unit are connected through a sixth communication line. The fourth micro control unit is also connected to the communication bus through a seventh communication line, and the fifth micro control unit is also connected to the communication bus through an eighth communication line.

11. The automatic guided vehicle according to claim 3 or 10, characterized in that, The automatic guided vehicle further includes: a button module, and the button module is connected to the front interface module or the rear interface module.

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