一种多功能AGV车身域控制器及AGV车辆

Abstract

本实用新型公开了一种多功能AGV车身域控制器及AGV车辆，控制器包括：MCU模块、串口通讯模块、网络交换模块、继电控制模块和CAN通讯模块，所述串口通讯模块、网络交换模块、继电控制模块和CAN通讯模块均与所述MCU模块电连接，所述网络交换模块用于与IPC工控设备相连，所述CAN通讯模块用于与电池模块、电机驱动器和编码器相连，所述继电控制模块用于与车载示宽灯、三色灯和充电接触器相连，所述串口通讯模块用于与语音播报器相连。本实用新型的车身域控制器除能实现传统控制器的功能外，还集成了网络交换模块和继电控制模块，网络交换模块能够实现各模块与IPC设备的无缝通讯，继电控制模块可实现IPC设备对AGV电气部件的开关控制，更加适用于AGV控制场景。

Claims

1. A multi-functional AGV vehicle body domain controller, characterized by, include: The system includes an MCU module, a serial communication module, a network switching module, a relay control module, and a CAN communication module. The serial communication module, network switching module, relay control module, and CAN communication module are all electrically connected to the MCU module. The network switching module is used to connect to IPC industrial control equipment. The CAN communication module is used to connect to the battery module, motor driver, and encoder. The relay control module is used to connect to the vehicle parking lights, tri-color lights, and charging contactor. The serial communication module is used to connect to a voice broadcaster.

2. The multi-functional AGV body domain controller according to claim 1, characterized in that, The relay control module includes a first multi-channel optocoupler switch circuit. Each channel of the first multi-channel optocoupler switch circuit includes a first input interface unit for limiting input current, a first optocoupler isolation unit for electrical isolation, a first drive unit for amplifying signals, a first output interface unit for connecting loads, and a protection unit for suppressing back electromotive force.

3. The multi-functional AGV body domain controller according to claim 2, wherein, The first input interface unit includes a first resistor, one end of which is used to receive external control signals, and the other end of which is connected to the first optocoupler isolation unit. The first optocoupler isolation unit includes a first optocoupler, the anode of the light-emitting diode of the first optocoupler is connected to the other end of the first resistor, the cathode of the light-emitting diode of the first optocoupler is grounded, and the collector of the phototransistor of the first optocoupler is connected to the input side of the first driving unit. The first driving unit includes an NPN transistor for amplifying signals and a second resistor for limiting base current. The base of the NPN transistor is connected to the emitter of the phototransistor of the first optocoupler. The emitter of the NPN transistor is connected to the emitter of the phototransistor of the first optocoupler through the second resistor. The collector of the NPN transistor is connected to the collector of the phototransistor and the first output interface unit. The first output interface unit includes an output terminal and a common terminal for connecting to a load. The output terminal of the first output interface unit is connected to the collector of the NPN transistor, and the common terminal of the first output interface unit is connected to the emitter of all the NPN transistors for outputting a drive signal to an external load. The protection unit includes a freewheeling diode, the anode of which is connected to the common terminal of the first output interface unit, and the cathode of which is connected to the output terminal of the first output interface unit.

4. The multi-functional AGV body domain controller according to claim 1, wherein, The network switching module includes a PHY chip unit and peripheral functional units. The peripheral functional units include a crystal oscillator and clock unit, a reset control unit, and a power management unit. The crystal oscillator and clock unit, the reset control unit, and the power management unit are electrically connected to the corresponding pin groups of the PHY chip unit.

5. The multi-functional AGV body domain controller according to claim 4, wherein, The crystal oscillator and clock unit includes a 25MHz crystal oscillator, a frequency stabilizing capacitor, and a pull-down resistor; the reset control unit includes a reset signal input terminal, a current limiting resistor, and an energy storage capacitor; the power management unit includes an input port, a ferrite bead filter circuit, and multiple sets of power filter capacitors with different capacitance values.

6. The multi-functional AGV body domain controller according to claim 4, wherein, The network switching module further comprises an Ethernet interface circuit, which comprises an Ethernet interface for transmitting and receiving differential signals, a PHY chip connecting end for connecting a PHY chip unit to realize Ethernet physical layer communication, and an isolation transformer connected between the Ethernet interface and the PHY chip connecting end.

7. The multi-functional AGV body domain controller according to claim 1, wherein, The MCU chip model of the MCU module comprises an STM32F407, and the serial communication module comprises an RS-232 serial communication module and an RS-485 serial communication module.

8. An AGV vehicle characterized by The AGV vehicle comprises the multifunctional AGV body area controller according to any one of claims 1-7.

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