A multifunctional AGV fork arm industrial controller

Abstract

The utility model discloses a multifunctional AGV fork arm industry controller, including MCU module, network exchange interface, IO input module, serial module, CAN communication module, sensor module, IO input module connects IO photoelectric signal input end of fork arm to IO photoelectric signal transmission of gathering is to MCU module, sensor module is connected through serial module connection and CAN communication module connection, and CAN communication module is used for receiving sensor data of sensor module collection and will sensor data transmission to MCU module, network exchange interface is connected with IPC system, is used for transmission MCU module handles the data to IPC system, the utility model discloses through adopting IO photoelectric signal, data transmission to MCU module, IO photoelectric signal, data transmission to IPC system again through network exchange interface, need not set up very long equipment data line, has improved serial module, CAN communication module's communication stability.

Description

Technical Field

[0001] This utility model relates to the field of AGV forklift technology, and in particular to a multifunctional AGV forklift industrial controller. Background Technology

[0002] AGV (Automated Guided Vehicle) is an automated device that does not require human driver and can travel along a preset path or autonomously planned path to complete tasks such as material handling and transportation. Its core features are automated operation, precise positioning and guidance, flexible adaptation, and safe collaboration. It has safety protection and various transfer functions and is widely used in industrial logistics and manufacturing. Existing AGVs often use PLCs as industrial controllers. However, PLCs have problems such as large size, high cost, and poor flexibility and customization.

[0003] The existing AGV industrial control system routes the wiring of the underlying modules through the cable trays of the fork arm guide rails to the main control IPC system. This method has the problem that the data cables of the equipment at the fork arm position are not long enough when facing AGVs that need to be lifted 5-10 meters. In addition, if the communication cables of some serial and CAN communication devices are too long, communication instability may occur. Utility Model Content

[0004] The main purpose of this invention is to propose a multifunctional AGV forklift industrial controller, which aims to solve the problem that the data cable of the equipment at the forklift position is not long enough in the existing technology, and that communication instability will occur if the communication cable of some serial port and CAN communication equipment is too long.

[0005] To achieve the above objectives, this utility model proposes a multifunctional AGV forklift industrial controller, comprising an MCU module, a network exchange interface, an I / O input module, a serial port module, a CAN communication module, and a sensor module. The MCU module is connected to the I / O input module, the CAN communication module, and the network exchange interface. The I / O input module is connected to the I / O photoelectric signal input terminal of the forklift and transmits the collected I / O photoelectric signals to the MCU module. The sensor module is connected to the CAN communication module via the serial port module. The CAN communication module is used to receive sensor data collected by the sensor module and transmit the sensor data to the MCU module. The network exchange interface is connected to an IPC system and is used to transmit data processed by the MCU module to the IPC system.

[0006] In one embodiment, the sensor module includes a laser ranging module connected to the serial port module. The laser ranging module is used to measure the distance data between the object being measured and the laser ranging module through laser reflection and transmit the distance data to the MCU module through the serial port module and the CAN communication module.

[0007] In one embodiment, the sensor module further includes an encoder module connected to the serial port module. The encoder module is used to measure the rotation angle data or linear displacement data of the AGV and transmit the rotation angle data or linear displacement data to the MCU module through the serial port module and the CAN communication module.

[0008] In one embodiment, the sensor module further includes a magnetic ruler module, which is connected to the serial port module and is used to collect position data of the fork arm movement.

[0009] In one embodiment, the AGV forklift industrial controller further includes a power supply system connected to the MCU module, the power supply system being used to supply power to the AGV forklift industrial controller.

[0010] In one embodiment, the AGV forklift industrial controller further includes a photoelectric module connected to the power supply system. The photoelectric module is used to detect reflected light beams to determine the position information of the AGV and transmit the position information to the MCU module.

[0011] In one embodiment, the AGV forklift industrial controller further includes a radar module connected to the power supply system. The radar module is used to detect dynamic target information around the AGV and transmit the dynamic target information to the MCU module.

[0012] In one embodiment, the AGV forklift industrial controller further includes a TCP module, which establishes a communication connection with peripheral devices through the network exchange interface.

[0013] In one embodiment, the MCU module includes an STM32F407.

[0014] In one embodiment, at least three network switching interfaces are provided.

[0015] This invention uses an IO input module to collect the IO photoelectric signals of the fork arm and transmit them to the MCU module. The collected data is then transmitted to the MCU module via a serial port module and a CAN communication module. Finally, the IO photoelectric signals and data are transmitted to the IPC system via a network exchange interface. This eliminates the need for long device data cables and improves the communication stability of the serial port module and the CAN communication module. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0017] Figure 1 This is a schematic diagram of the module of the AGV forklift industrial controller. Figure 2 This is the circuit diagram of the MCU module; Figure 3 This is a circuit diagram of a network switching interface. Figure 4 Circuit diagram of CAN communication module Figure 5 This is the circuit diagram of the serial port module.

[0018] Explanation of icon numbers: 1. MCU module; 2. Network switching interface; 3. IO input module; 4. Serial port module; 5. CAN communication module; 6. Sensor module; 7. IPC system; 61. Laser ranging module; 62. Encoder module; 63. Magnetic scale module; 8. Power supply system; 9. Photoelectric module; 10. Radar module; 11. TCP module.

[0019] The realization of the purpose, functional features and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0020] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0021] It should be noted that if the embodiments of this utility model involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0022] Furthermore, if the embodiments of this utility model involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, features defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, if the word "and / or" appears throughout the text, it means including three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution that simultaneously satisfies A and B. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this utility model.

[0023] This utility model proposes a multifunctional AGV forklift industrial controller.

[0024] The performance of AGV controllers directly determines the accuracy, efficiency, and safety of AGVs, and is the core breakthrough for AGV technology upgrades. As AGVs develop towards intelligence and flexibility, AGV controllers are also developing towards intelligence, modularity, and networking.

[0025] In the embodiments of this utility model, such as Figure 1 , Figure 3 , Figure 4 , Figure 5 As shown, this multifunctional AGV forklift industrial controller includes an MCU module 1, a network exchange interface 2, an IO input module 3, a serial port module 4, a CAN communication module 5, and a sensor module 6. The MCU module 1 is connected to the IO input module 3, the CAN communication module 5, and the network exchange interface 2. The IO input module 3 is connected to the IO photoelectric signal input terminal of the forklift and transmits the collected IO photoelectric signals to the MCU module 1. The sensor module 6 is connected to the CAN communication module 5 through the serial port module 4. The CAN communication module 5 is used to receive the sensor data collected by the sensor module 6 and transmit the sensor data to the MCU module 1. The network exchange interface 2 is connected to an IPC system 7 and is used to transmit the data processed by the MCU module 1 to the IPC system 7.

[0026] In this embodiment, as Figure 2As shown, the MCU module 1 uses an STM32F407 microcontroller, and at least three network switching interfaces 2 are provided. Multiple network switching interfaces 2 can support the connection of more devices. In industrial control systems, it may be necessary to connect multiple sensors, control modules, or other network devices. At least three network switching interfaces 2 can handle data exchange between multiple devices simultaneously, avoiding the data transmission bottleneck caused by a single interface, improving the system's scalability and flexibility. The network switching interfaces 2 support high-speed data transmission and network connectivity. This network switching interface 2 enables high-speed data exchange between internal modules and seamless connection with external devices or other network systems. By integrating network switch functionality, this system effectively reduces the need for external switching equipment, lowers hardware costs, improves data transmission efficiency, and reduces the overall latency of the AGV forklift industrial controller.

[0027] This invention uses an IO input module 3 to collect the IO photoelectric signals of the fork arm and transmit them to the MCU module 1. The collected data is then transmitted to the MCU module 1 via a serial port module 4 and a CAN communication module 5. Finally, the IO photoelectric signals and data are transmitted to the IPC system 7 via a network exchange interface 2. This eliminates the need for long device data cables, improves the communication stability of the serial port module 4 and the CAN communication module 5, and provides good communication protocol compatibility, system stability and reliability. It also offers high real-time data interaction and precise control capabilities.

[0028] The sensor module 6 includes a laser ranging module 61, which is connected to the serial port module 4. The laser ranging module 61 is used to measure the distance data between the object being measured and the laser ranging module 61 through laser reflection and transmit the distance data to the MCU module 1 through the serial port module 4 and the CAN communication module 5.

[0029] The high precision of laser ranging can effectively improve the navigation ability of AGVs in complex environments, reduce errors, and ensure their stable operation. Data is transmitted through the CAN communication module 5, which has high anti-interference ability, adapts to relatively complex industrial environments, and ensures the stability and reliability of data transmission.

[0030] The sensor module 6 also includes an encoder module 62, which is connected to the serial port module 4. The encoder module 62 is used to measure the rotation angle data or linear displacement data of the AGV and transmit the rotation angle data or linear displacement data to the MCU module 1 through the serial port module 4 and the CAN communication module 5.

[0031] The encoder module 62 comprehensively collects the rotation angle data and the linear displacement data, which helps to improve the motion accuracy of the AGV, especially in complex environments, enabling more precise path tracking and control.

[0032] The sensor module 6 also includes a magnetic scale module 63, which is connected to the serial port module 4. The magnetic scale module 63 is used to collect position data of the fork arm movement. For example, in the horizontal forward movement and position recovery of the reach truck fork arm, the magnetic scale module 63 measures the forward movement of the fork arm.

[0033] Data from the laser ranging module 61, encoder module 62, and magnetic ruler module 63 are transmitted to the MCU module 1 via the IO input module 3 and CAN communication module 5, enabling the AGV to receive environmental information in real time, optimize path planning, avoid obstacles, and improve the level of automation.

[0034] Interfacing with the upper-level main control IPC system 7: The AGV forklift industrial controller establishes a communication protocol with the IPC system 7 through its own gigabit network exchange interface 2, and reports the measurement data from the integrated electronic ruler, laser ranging module 61, encoder module 62, etc.

[0035] The AGV forklift industrial controller also includes a power supply system 8, which is connected to the MCU module 1 and is used to supply power to the AGV forklift industrial controller.

[0036] The power supply system 8 is connected to the MCU module 1 to ensure stable power support for the entire system during operation. Both the photoelectric module 9 and the radar module 10 can maintain good performance during long-term operation, avoiding system interruptions or failures due to insufficient power and improving the reliability of the AGV forklift industrial controller.

[0037] The AGV forklift industrial controller also includes a photoelectric module 9, which is connected to the power supply system 8. The photoelectric module 9 is used to detect the reflected light beam to determine the position information of the AGV and transmit the position information to the MCU module 1.

[0038] The photoelectric module 9 can accurately determine the position of the AGV by detecting reflected light beams. This information can effectively help the AGV to perform self-positioning and navigation, ensuring that it can accurately control the movement of the forklift in complex environments, avoid collisions and path deviations, and improve work efficiency.

[0039] The AGV forklift industrial controller also includes a radar module 10, which is connected to the power supply system 8. The radar module 10 is used to detect dynamic target information around the AGV and transmit the dynamic target information to the MCU module 1.

[0040] The radar module 10 can detect dynamic target information around the AGV in real time, such as other moving objects and obstacles. By transmitting the dynamic target information to the MCU module 1, the system can react in a timely manner, avoid obstacles or adjust the path, thereby enhancing the safety and intelligence level of the AGV.

[0041] The combination of photoelectric module 9 and radar module 10 provides multiple information sources under different environmental conditions (such as changes in lighting and diverse obstacles), enhancing the AGV's adaptability in complex and uncertain environments and ensuring stable operation in various scenarios. Through the collaboration of photoelectric module 9 and radar module 10, the system can acquire environmental information in real time and make autonomous decisions, making AGV operation more intelligent. Especially in industrial environments requiring precise control of forklift operation, the system can automatically adjust according to position information and dynamic changes in the surrounding environment, thereby significantly improving work efficiency and safety.

[0042] Interconnection of lower-level modules: Power the obstacle avoidance radar module 10 with photoelectric power at the fork tip or fork root through the 12V power supply system 8; collect the upper and lower limit signals of the fork arm, the cargo detection signal, and the obstacle avoidance photoelectric signal through the input IO module 3; and collect and report the data of the fork arm modules through the gigabit network switching interface 2.

[0043] The AGV forklift industrial controller also includes a TCP module 11, which establishes a communication connection with peripheral devices through the network exchange interface 2.

[0044] Even in complex network environments, the TCP module 11 ensures stable information transmission, preventing data loss or errors and enhancing system reliability. Through the TCP module 11, the AGV forklift industrial controller can effectively connect to other industrial control equipment, host computers, or servers. Using a unified communication protocol, multiple devices can work collaboratively, supporting complex industrial automation tasks and improving system cooperation and efficiency.

[0045] The above description is merely a preferred embodiment of this utility model and is not intended to limit the scope of this utility model. For those skilled in the art, this utility model can have various modifications, combinations, and variations. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this utility model should be included within the scope of the claims of this utility model.

Claims

1. A multifunctional AGV forklift industrial controller, characterized in that, Includes MCU module (1), network exchange interface (2), IO input module (3), serial port module (4), CAN communication module (5), and sensor module (6); The MCU module (1) is connected to the IO input module (3), the CAN communication module (5), and the network exchange interface (2) respectively. The IO input module (3) is connected to the IO photoelectric signal input terminal of the fork arm and transmits the collected IO photoelectric signal to the MCU module. The sensor module (6) is connected to the CAN communication module (5) through the serial port module (4). The CAN communication module (5) is used to receive the sensor data collected by the sensor module (6) and transmit the sensor data to the MCU module (1). The network switching interface (2) is connected to the IPC system (7) and is used to transmit the data processed by the MCU module (1) to the IPC system (7).

2. The multifunctional AGV forklift industrial controller as described in claim 1, characterized in that, The sensor module (6) includes a laser ranging module (61), which is connected to the serial port module (4). The laser ranging module (61) is used to measure the distance data between the object being measured and the laser ranging module (61) by laser reflection and transmit the distance data to the MCU module through the serial port module (4) and the CAN communication module (5).

3. The multifunctional AGV forklift industrial controller as described in claim 1, characterized in that, The sensor module (6) further includes an encoder module (62), which is connected to the serial port module (4). The encoder module (62) is used to measure the rotation angle data or linear displacement data of the AGV and transmit the rotation angle data or linear displacement data to the MCU module through the serial port module (4) and the CAN communication module (5).

4. The multifunctional AGV forklift industrial controller as described in claim 1, characterized in that, The sensor module (6) also includes a magnetic ruler module (63), which is connected to the serial port module (4). The magnetic ruler module (63) is used to collect position data of the fork arm movement.

5. The multifunctional AGV forklift industrial controller as described in claim 1, characterized in that, The AGV forklift industrial controller also includes a power supply system (8), which is connected to the MCU module (1) and is used to supply power to the AGV forklift industrial controller.

6. The multifunctional AGV forklift industrial controller as described in claim 5, characterized in that, The AGV forklift industrial controller also includes a photoelectric module (9), which is connected to the power supply system (8). The photoelectric module (9) is used to detect the reflected beam to determine the position information of the AGV and transmit the position information to the MCU module (1).

7. The multifunctional AGV forklift industrial controller as described in claim 5, characterized in that, The AGV forklift industrial controller also includes a radar module (10), which is connected to the power supply system (8). The radar module (10) is used to detect dynamic target information around the AGV and transmit the dynamic target information to the MCU module (1).

8. The multifunctional AGV forklift industrial controller as described in claim 1, characterized in that, The AGV forklift industrial controller also includes a TCP module (11), which establishes a communication connection with peripheral devices through the network exchange interface (2).

9. The multifunctional AGV forklift industrial controller as described in claim 1, characterized in that, The MCU module (1) includes the STM32F407.

10. The multifunctional AGV forklift industrial controller as described in claim 1, characterized in that, At least three network switching interfaces (2) shall be provided.

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