Control circuit for AGV steering zero calibration

Abstract

The utility model discloses a control circuit for AGV steering zero calibration. The control circuit comprises a steering electric controller, a VCU controller, a steering motor and a proximity switch. The steering electric controller is in communication connection with the VCU controller through a CAN bus, and the output end of the steering electric controller is in signal connection with the control end of the steering motor; the proximity switch is arranged right in front of the end face of the steering motor and is in signal connection with a calibration port of the steering electric controller. And the steering electric controller is used for controlling the steering motor to steer according to a trigger signal, detected by the proximity switch, of mounting the 90-degree circular ring on the rotary support gear, so as to carry out zero calibration. According to the utility model, the convenience and accuracy of AGV operation control can be improved, and the safety of operation is improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to the technical field of AGV control, more particularly to a control circuit for AGV steering zero calibration. BACKGROUND

[0002] AGV is automatic guided vehicle, and the main function of AGV is to realize unmanned and automatic carrying of logistics transfer in industrial application, so as to reduce production cost and improve economic efficiency of industry. When AGV is started, zero position of steering needs to be calibrated, and steering motor rotates to a certain position, then sends a signal to the calibration port of steering control, and the steering control receives the signal and defaults the position as zero position and works normally. If the calibration port of steering control does not receive the signal, the steering control reports an error, and the steering motor stops running. However, the zero position is inaccurate, which may cause inaccurate control action of AGV for picking and placing goods and safety hazards. Therefore, how to accurately calibrate the zero position of AGV steering has important significance. SUMMARY

[0003] The utility model provides a kind of control circuit for AGV steering zero calibration, solve the inaccurate problem of the steering zero calibration of existing AGV, easily cause safety hazard, can improve the convenience and accuracy of AGV operation control, increase the safety of operation.

[0004] To achieve the above purpose, the utility model provides the following technical scheme:

[0005] A kind of control circuit for AGV steering zero calibration, comprising: steering control, VCU controller, steering motor and proximity switch;

[0006] The steering control is connected with the VCU controller in communication by CAN bus, and the output end of the steering control is connected with the control end signal of the steering motor;

[0007] The proximity switch is arranged at the front of the end face of the steering motor, and is connected with the calibration port signal of the steering control;

[0008] The steering control controls the steering motor to steer according to the trigger signal of the proximity switch detecting that the rotation support gear is installed 90 ° ring, to calibrate zero position.

[0009] Preferably, the proximity switch triggers when the rotation support gear is installed 90 ° ring, and the calibration port of the steering control detects high level signal, then controls the steering motor to rotate in reverse direction until the calibration port is low level, and then stops, at this time, the position of the steering motor is default zero position.

[0010] Preferably, it further comprises an absolute value encoder.

[0011] The absolute value encoder is connected with the VCU controller through CAN bus, the absolute value encoder is arranged on the end surface of the steering motor and meshes with the slewing support gear to feed back the steering wheel angle;

[0012] The first output end of the VCU controller is connected with the calibration port signal of the steering control, the VCU controller controls the level signal of the first output end according to the value of the absolute value encoder, so that the steering control controls the steering of the steering motor according to the level signal of the first output end to calibrate the zero position.

[0013] Preferably, the selection switch is further included;

[0014] The output end of the selection switch is connected with the second input end of the VCU controller;

[0015] The VCU controller shields the output of the first output end when the selection switch is in the open state, so that the steering control calibrates the zero position according to the trigger signal detected by the proximity switch;

[0016] The VCU controller controls the level signal output by the first output end according to the value of the absolute value encoder when the selection switch is in the closed state, so that the steering control calibrates the zero position according to the value of the absolute value encoder.

[0017] Preferably, the button switch is further included;

[0018] The output end of the button switch is connected with the first input end of the VCU controller;

[0019] The VCU controller calculates the difference between the value of the read absolute value encoder and the value of the actual absolute value encoder when the button switch is in the closed state, and calibrates the difference result as zero, so that the first output end of the VCU controller outputs high level.

[0020] Preferably, the VCU controller controls the first output end to output low level when the value of the read absolute value encoder is not equal to the value of the actual absolute value encoder and the difference result is not calibrated as zero.

[0021] Preferably, the lithium battery and the DCDC converter are further included;

[0022] The lithium battery is respectively connected with the steering control and the DCDC converter, and the output end of the DCDC converter is connected with the VCU controller to supply 24V power supply to the VCU controller.

[0023] Preferably, the first fuse is further included;

[0024] The first fuse is connected in series between the positive electrode of the lithium battery and the steering electric control.

[0025] Preferably, further comprising: a second fuse;

[0026] The second fuse is connected in series between the output end of the DCDC converter and the VCU controller.

[0027] Preferably, further comprising: a key switch;

[0028] The key switch is connected in series on the positive electrode output end of the lithium battery, and is used for controlling the whole vehicle power-on or whole vehicle power-off of the AGV.

[0029] The utility model provides a kind of control circuit of AGV steering zero position calibration, and steering electric control is connected with VCU controller by CAN bus, and the calibration port of steering electric control is respectively connected with the output end of proximity switch and the first output end signal of VCU controller, and steering electric control controls steering motor to carry out zero position calibration according to the level signal received by calibration port.Solve the problem that the existing AGV's steering zero position calibration is inaccurate, and easily causes security risk, can improve the convenience and accuracy of AGV operation control, increase the security of operation. BRIEF DESCRIPTION OF DRAWINGS

[0030] In order to more clearly illustrate the specific embodiments of the utility model, the following will be needed to use the drawings in the embodiment briefly introduced.

[0031] Figure 1 It is a kind of control circuit schematic diagram of AGV steering zero position calibration provided by the utility model. DETAILED DESCRIPTION

[0032] In order to make the personnel in the technical field better understand the scheme of the embodiment of the utility model, the embodiment of the utility model will be further described in detail in the following with reference to the drawings and implementation.

[0033] In view of the problem that the current AGV's steering zero position calibration is inaccurate, and easily causes security risk, the utility model provides a kind of control circuit of AGV steering zero position calibration, solves the problem that the existing AGV's steering zero position calibration is inaccurate, and easily causes security risk, can improve the convenience and accuracy of AGV operation control, increase the security of operation.

[0034] As Figure 1As shown, a control circuit for AGV steering zero position calibration includes: a lithium battery, a key switch, a DC-DC converter, a first fuse, a second fuse, a steering motor, a steering electric control, an absolute value encoder, a VCU controller, a button switch, a proximity switch, a selection switch, etc. The lithium battery supplies power to the controller and other electrical devices. The VCU controller sends instructions to the steering electric control through CAN communication. The steering electric control controls the operation of the steering motor. The absolute value encoder feeds back the steering wheel angle. The button switch is connected to the first input end of the VCU controller to control the recording of the absolute value encoder value. The calibration port of the steering electric control is respectively connected to the output end of the proximity switch and the first output end of the VCU controller. The VCU controller controls the level signal of the first output end according to the value of the absolute value encoder. After the AGV is powered on, the steering electric control controls the steering motor to rotate. When the zero position calibration port receives a high level signal, the steering motor rotates in the opposite direction to the zero position calibration port receiving a low level signal. At this time, the position of the steering motor is the zero position.

[0035] Specifically, a control circuit for AGV steering zero position calibration includes: a lithium battery 1, a series key switch 2, a first fuse 3 to supply power to a steering electric control 4, a steering motor 6 connected to the steering electric control 4 through a cable, the steering electric control 4 providing power and operation instructions, an absolute value encoder 10 installed on the end face of the steering motor 6 and engaged with the rotary support gear of the steering motor 6, connected to a VCU controller 9 through a CAN line to feed back the encoder value in real time. A proximity switch 5 is also installed on the end face of the steering motor 6 as close as possible to the front of the vehicle body. A 90° ring is installed on the rotary support gear. After triggering the proximity switch 5 signal, the output is sent to the steering electric control 4 calibration port HOME to provide the steering zero position calibration signal. A DC-DC converter 7 provides a 24V stable power supply for the VCU controller 9. The VCU controller 9 and the steering electric control 4 exchange information through CAN communication. The output OUT of the VCU controller 9 is connected to the input HOME of the steering electric control 4 to provide the steering zero position calibration signal. The input IN1 of the VCU controller 9 is connected to the button switch 11 to record the value of the absolute value encoder 10 after receiving the signal. The input IN2 of the VCU controller 9 is connected to the selection switch 12 to determine the steering zero position calibration method: pressing the switch uses the absolute value encoder to calibrate the zero position, and not pressing uses the proximity switch to calibrate the zero position.

[0036] The proximity switch zero position calibration is as follows:

[0037] The selection switch 12 is closed, the key switch 2 is closed, the VCU controller 9 is powered on, the input IN2 is high level, the control OUT output, the steering control 4 is powered on, the steering motor 6 is controlled to run, the proximity switch 5 detects the ring of the rotary support gear, and triggers when the proximity switch 5 detects the ring of the rotary support gear, and triggers, the signal is output to the calibration port HOME of the steering control 4, the calibration port HOME of the steering control 4 detects the high level signal, and controls the steering motor 6 to rotate in the opposite direction to the calibration port HOME of the steering control 4, and stops when the calibration port HOME of the steering control 4 detects the low level signal, that is, the proximity switch 5 is just from the triggering state to the non-triggering state, the steering control 4 sends an offset angle to the steering motor 6, and the angle is the angle of the proximity switch 5 and the front of the vehicle body, and the steering motor 6 stops after rotating the offset angle, and the position of the steering motor 6 is the default zero position, and the steering zero calibration is completed.

[0038] The absolute value encoder is calibrated as follows:

[0039] Step one: the selection switch 12 is closed, the key switch 2 is closed, the VCU controller 9 is powered on, the input IN2 is high level, the control OUT output, the steering control 4 is powered on, the steering motor 6 is controlled to run, the button switch 11 is pressed, the VCU controller 9 reads the absolute value encoder 10 data and the actual absolute value encoder 10 data through CAN communication, and the difference is zero as long as the button switch 11 is pressed, the VCU controller 9 controls the output OUT to be high level, the high level signal is output to the calibration port HOME of the steering control 4, the calibration port HOME of the steering control 4 detects the high level signal, and controls the steering motor 6 to rotate in the opposite direction, and slightly rotates a little, the VCU controller 9 reads the absolute value encoder 10 data and the actual absolute value encoder 10 data through the button switch 11, and the difference is not zero, the VCU controller 9 controls the output OUT to be low level, the low level signal is output to the input HOME of the steering control 4, the theoretical zero position is found, the AGV does not report an error, and can rotate normally, and the zero position is not in the front of the actual vehicle body, and the AGV is manually operated to rotate the steering motor 6 to the front of the vehicle body.

[0040] Step two: power off and then power on, at this time the button switch 11 is still in the closed state, and the steering motor 6 default zero position can be found according to step one, the zero position is basically in the front of the vehicle body, and the steering zero calibration is completed.

[0041] It can be seen that the utility model provides a kind of control circuit of AGV steering zero position calibration, steering electric control is connected with VCU controller communication by CAN bus, and the calibration port of steering electric control is respectively connected with the output end of proximity switch and the first output end signal of VCU controller, and steering electric control controls steering motor to carry out zero position calibration according to the level signal received by calibration port.Solve the problem that the steering zero position calibration of existing AGV is not accurate, and easily causes potential safety hazard, can improve the convenience and accuracy of AGV operation control, and increase the safety of operation.

[0042] The above describes the structure, features and effects of the utility model in detail according to the embodiments shown in the drawings, and the above is only a preferred embodiment of the utility model, but the utility model is not limited to the implementation range shown in the drawings, any change or modification made according to the concept of the utility model, or equivalent embodiment with equivalent change, as long as it does not exceed the spirit covered by the specification and drawings, should be within the protection scope of the utility model.

Claims

1. A control circuit for AGV steering zero-position calibration, characterized in that, include: Steering electronic control, VCU controller, steering motor and proximity switch; The steering electronic control unit communicates with the VCU controller via a CAN bus, and the output terminal of the steering electronic control unit is connected to the control terminal signal of the steering motor. The proximity switch is located directly in front of the end face of the steering motor and is connected to the calibration port signal of the steering electronic control. The steering electronic control system controls the steering motor to steer based on the trigger signal detected by the proximity switch when the slewing support gear is mounted on a 90° circular ring, in order to perform zero-position calibration.

2. The control circuit for AGV steering zero-position calibration according to claim 1, characterized in that, The proximity switch is triggered when the slewing support gear is installed with a 90° ring. After the calibration port of the steering electronic control detects a high-level signal, it controls the steering motor to rotate in the opposite direction until the calibration port is low-level and then stops. At this time, the position of the steering motor is the default zero position.

3. The control circuit for AGV steering zero-position calibration according to claim 2, characterized in that, Also includes: Absolute encoder; The absolute encoder is connected to the VCU controller via a CAN bus. The absolute encoder is set on the end face of the steering motor and meshes with the slewing support gear to provide feedback on the steering wheel angle. The first output terminal of the VCU controller is connected to the calibration port signal of the steering electronic control. The VCU controller controls the level signal of the first output terminal according to the value of the absolute encoder, so that the steering electronic control controls the steering motor according to the level signal of the first output terminal to perform zero-position calibration.

4. The control circuit for AGV steering zero-position calibration according to claim 3, characterized in that, Also includes: Select switch; The output terminal of the selection switch is connected to the second input terminal of the VCU controller. When the selector switch is in the off state, the VCU controller shields the output of the first output terminal, so that the steering electronic control performs zero-position calibration according to the trigger signal detected by the proximity switch; When the selector switch is closed, the VCU controller controls the level signal output from the first output terminal according to the value of the absolute encoder, so that the steering electronic control performs zero-position calibration according to the value of the absolute encoder.

5. The control circuit for AGV steering zero-position calibration according to claim 4, characterized in that, Also includes: Push button switch; The output terminal of the push-button switch is connected to the first input terminal of the VCU controller. When the push-button switch is in the closed state, the VCU controller calculates the difference between the value read from the absolute encoder and the actual value of the absolute encoder, and sets the difference result to zero, thereby causing the first output terminal of the VCU controller to output a high level.

6. The control circuit for AGV steering zero-position calibration according to claim 5, characterized in that, When the value read by the absolute encoder is not equal to the actual value of the absolute encoder, and the difference is not marked as zero, the VCU controller controls the first output terminal to output a low level.

7. The control circuit for AGV steering zero-position calibration according to claim 6, characterized in that, Also includes: Lithium-ion batteries and DC-DC converters; The lithium battery is electrically connected to the steering electronic control and the DC-DC converter respectively. The output terminal of the DC-DC converter is electrically connected to the VCU controller to supply 24V power to the VCU controller.

8. The control circuit for AGV steering zero-position calibration according to claim 7, characterized in that, Also includes: First fuse; The first fuse is connected in series between the positive terminal of the lithium battery and the steering control.

9. The control circuit for AGV steering zero-position calibration according to claim 8, characterized in that, Also includes: Second fuse; The second fuse is connected in series between the output of the DC-DC converter and the VCU controller.

10. The control circuit for AGV steering zero-position calibration according to claim 9, characterized in that, Also includes: Key switch; The key switch is connected in series with the positive output terminal of the lithium battery and is used to control the power-on or power-off of the AGV.

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