A kind of AGV controller I/O port multiplexing configuration systemTechnical field
The utility model belongs to AGV technical field, and in particular to a kind of AGV controller I/O port multiplexing configuration system.
Background technique
With the development of industrial automation, AGV in factory using more and more extensive, AGV has been increasingly becoming factory's objectThe important component of delivery system flow.The various operating attitudes of existing AGV switch, as advance start or stop, rotate in place,The operating attitudes such as emergency stop turning, emergency stop avoidance rely primarily on the sensor, control device or information read device being arranged on AGVTransmit signal；But the electronic signal that sensor, control device or information read device generate is needed by presetting on AGV controllerElementary instruction Program transformation be action signal just AGV can be made to make corresponding posture, specifically: controller be equipped with respectively withThe hard input port and corresponding hard output port of control module electrical connection；Sensor, control device or information read device and AGVThe hard input port connection of controller, the electric component of control AGV posture is connect with the hard output port of AGV controller, and is researched and developedElementary instruction program and the hard I/O port of each group in personnel's writing controller are fixed configurations.However, existing controllerThe quantity of input terminal and hard output port group number is limited firmly, and between different AGV, operating attitude can have intersection passSystem, the electric component type connected is also very much, therefore the configuration (collocation of electric component) of AGV is also very much, so that same controlDevice processed needs to modify the elementary instruction program with the hard I/O port configuration of each group repeatedly, just adapts to different electric components, appliesOn different AGV, this operation for modifying program repeatedly not only greatly wastes the time and efforts of research staff, and thisMode is not easy to the structuring of program, is not easy to the transplanting of program code.But it if not modifying program, can not just fillDivide the hardware resource for flexibly using AGV controller, it is made to be used for the AGV of other configurations.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of AGV for facilitating user configuration to useController I/O port is multiplexed configuration system.
In order to achieve the above object, the utility model uses following technical scheme:
A kind of AGV controller I/O port multiplexing configuration system, including AGV controller, the AGV controller include master control mouldIf block, several soft I/O instructions, soft I/O instruction library and stiff I/O port, if the stiff I/O port is electrically connected with the main control moduleIt connects, for controlling AGV car body, the soft I/O instruction is stored in the soft I/O instruction library main control module, described several softI/O instruction includes elementary instruction and soft IO input terminal, soft IO output end, the input of the soft IO input terminal and the hard I/O portIt is connected to the main control module after the correspondence mappings of end, the main control module is according to the signal condition of the input terminal of the hard I/O portThe elementary instruction is activated；After the output end correspondence mappings of the soft IO output end and the hard I/O port with the masterModule connection is controlled, the main control module is instructed according to elementary instruction to AGV output action.
Compared with prior art, the utility model AGV controller I/O port be multiplexed configuration system, AGV controller it is hardThe port IO can configure corresponding elementary instruction according to use demand, so that same AGV controller may be used on different AGV,It is not necessary to modify programs to be easy to use by same AGV controller application on different AGV by user.
It preferably, further include user terminal, the user terminal is connect with the AGV controller, and user passes through the useFamily end carries out mapping configuration with the input of corresponding hard I/O port, output port to the soft IO input terminal, soft IO output end；InstituteState user terminal be host computer comprising link block and human-computer interaction module, the link block respectively with the man-machine friendshipMutual module, the electrical connection of AGV controller, the human-computer interaction module are used for for user's operation and by the link block to describedAGV controller transmitting operational information；The link block is detachably connected with the AGV controller；It is arranged in this way, is convenient forUser configures corresponding soft I/O instruction to each hard I/O port directly from human-computer interaction module, is easy to use.
Preferably, the human-computer interaction module includes display interface, soft I/O instruction option, hard IO in display interfacePort option, low and high level valid option, setting button, delete button and changing interface key, the display interface are shown respectivelyThe mapping status of hard I/O port and soft I/O instruction, it is convenient convenient for directly choosing the soft I/O instruction of corresponding configuration to each hard I/O portOperation.
Preferably, the input terminal of the hard I/O port is used to connect sensor, control device or the information read device on AGVThe signal of sending.
Preferably, the sensor can be one of obstacle sensor, crash sensor and photo-resistor or moreKind.
Preferably, the input terminal of the hard I/O port is used to connect the electric component on AGV, and the electric component can beOne of sound report device, traveling driving mechanism, steering wheel driving mechanism, hoistable platform and hook driving mechanism are a variety of.
Detailed description of the invention
The schematic diagram of the AGV controller I/O port multiplexing configuration system of Fig. 1 the utility model；
Fig. 2 is the display interface of the soft IO input configuration of user terminal；
Fig. 3 is the display interface of the soft IO output configuration of user terminal.
Specific embodiment
Below in conjunction with Detailed description of the invention the technical solution of the utility model includes:
Embodiment one:
Referring to Fig. 1, the AGV controller I/O port of the utility model is multiplexed configuration system, including AGV controller, the AGVIf controller includes main control module, several soft I/O instructions, soft I/O instruction library and stiff I/O port, if the stiff I/O port and instituteMain control module electrical connection is stated, for the main control module for controlling AGV car body, the soft I/O instruction is stored in the soft I/O instructionIn library, several soft I/O instructions include elementary instruction and soft IO input terminal, soft IO output end, the soft IO input terminal and instituteIt is connected to the main control module after stating the input terminal correspondence mappings of hard I/O port, the main control module is according to the hard I/O portThe signal condition of input terminal activates the elementary instruction；The output end pair of the soft IO output end and the hard I/O portIt is connected to the main control module after should mapping, the main control module is instructed according to elementary instruction to AGV output action.
In addition, further including soft I/O instruction collection module, the soft I/O instruction collection module is made of one or more soft I/O instructions,The soft I/O instruction collection module is divided into function command collection module and executes instruction collection module, and the soft I/O instruction library includes that function refers toIt enables collection memory module and executes instruction collection memory module；The function command collection module respectively includes one with collection module is executed instructionA or multiple soft I/O instructions, the soft I/O instruction, which is specifically included, is converted to output action signal for the electronic signal of inputElementary instruction and the soft IO input terminal and soft IO output end for making the elementary instruction with corresponding hard I/O port mapping, it is described basicInstruction can be understood as the program of funtion part in soft I/O instruction, and soft IO input terminal and soft IO output end can be understood as soft IO and refer toThe program of coupling part in order.The soft IO input terminal and soft IO output end are the addressing with affiliated number, the hard IOAddressing and decision offset with affiliated number, i.e., when the soft IO input terminal and soft IO output end and hard I/O port mapWhen, the hard IO maps its addressing in fact with the addressing of corresponding soft IO input terminal and soft IO output end by increasing its offsetExisting soft I/O instruction is configured with corresponding hard I/O port.
The collection memory module that executes instruction is specially eeprom memory, executes instruction collection for storing one or moreModule；The upper different electric component of AGV may require that multiple soft I/O instructions according to service condition, for being stored in EEPROM storageDevice executes instruction the adjusting gathered and be related to electric component in data or parameter；For example, being driven for the traveling for controlling AGVMotivation structure executes instruction collection, according to different signals is received, can control AGV and execute the travel speed of various gears, stops at a slow speedThe different poses such as vehicle, Quick brake and direction switching, " the different signals " and " different poses ", are since this is heldRow instruction set module includes multiple soft I/O instructions, just can control a variety of poses movement of AGV traveling driving mechanism.
The main control module includes processor, several function command collection modules and the function command collection memory module, instituteIf stating stiff I/O port to be electrically connected with the processor, the function collection memory module is for storing one or more functions instructionCollect module, is connected to the processor after the soft IO input terminal and the input terminal correspondence mappings of the hard I/O port, it is described softIt is connected to the processor after IO output end and the output end correspondence mappings of the hard I/O port, in the present embodiment, the masterControl module is single-chip microcontroller, the processor and the corresponding central processing unit and flash being located in single-chip microcontroller of function collection memory moduleMemory only controls the starting of electric component or stops for the function command collection module being stored in flash memoryOnly, it will not relate to the adjusting to electric component in data or parameter；Such as the function of the traveling driving mechanism for controlling AGVInstruction set module, signal, can only control AGV and execute starting traveling or stop traveling based on the received, due to executing two states,So the function command collection module of control AGV traveling driving mechanism includes two soft I/O instructions.It is understood that function refers toEnabling collection module is the driver for electric component, and executing instruction collection module is for the various appearances of electric component after adjustment drivingThe control program of state.
Compared with prior art, the utility model AGV controller I/O port be multiplexed configuration system, AGV controller it is hardThe port IO can configure corresponding soft I/O instruction according to use demand, so that same AGV controller may be used on different AGV,It is not necessary to modify programs to be easy to use by same AGV controller application on different AGV by user.Pass through introducing " soft IOConfiguration system ", can be very good problems of the prior art.Research staff can be wholwe-hearted the logic for writing program, andWoth no need to be concerned about the configuration of AGV, because of the logic of program, " soft I/O port " is related only to, is controlled without regard to specific AGV" the hard I/O port " of device processed.When practical application, user determines the function of needing to use, and really according to the configuration of AGVThen " the soft I/O port " for needing to use calmly allows " soft I/O port " with " hard by " AGV controller I/O port is multiplexed configuration system "I/O port " mapping, it will be able to actual AGV electric component is controlled, woth no need to modify program.
In the present embodiment, the AGV controller can be used existing circuit board, the main control module and execute instruction collectionMemory module is integrated on circuit boards, and the hard I/O port input terminal is the input port on input socket, the hard IOPort output end is port on accessory power outlet, it is more than the input terminal and the settable multiple groups of output end of the hard I/O port,Such as 20 groups or 35 groups, facilitate AGV to execute a variety of instructions and realization multiple functions.
The soft I/O instruction includes one group of soft IO input terminal and soft IO output end, with the soft IO input terminal of group and soft IO outputThe configuration of each elementary instruction is realized at end with corresponding set of hard I/O port input terminal and output end one-to-one mapping, is set in this wayIt sets, in hard I/O port in the prior art, soft IO input terminal and soft IO output end is therefrom separated, realize that soft IO refers toThe portability and reusability of order, to realize that each soft I/O instruction can form configuration relation with each hard I/O port, in the present embodimentIn, the function command collection memory module and execute instruction collection memory module the soft I/O instruction for including quantity can be greater than orIt is far longer than the hard I/O port quantity of AGV controller, setting in this way can be convenient user and deploy more elementary instructions and using all kinds ofOn the AGV of different function, it is easy to use.
It preferably, further include user terminal, the user terminal is connect with the AGV controller, and user passes throughThe user terminal carries out mapping configuration with the input of corresponding hard I/O port, output port to soft IO input terminal, soft IO output end；The user terminal be host computer comprising link block and human-computer interaction module, the link block respectively with it is described man-machineInteractive module, the electrical connection of AGV controller, the human-computer interaction module are used for for user's operation and by the link block to instituteState AGV controller transmitting operational information；The link block is detachably connected with the AGV controller, the link block withExisting plug-in electric connection structure can be used in the connection type of AGV controller；It is arranged in this way, convenient for user directly from peopleCorresponding elementary instruction is configured to each hard I/O port in machine interactive module, is easy to use.
Referring to figs. 2 and 3, preferably, the human-computer interaction module includes display interface, is set in display interfaceSoft I/O instruction option, hard I/O port option, low and high level valid option, setting button, delete button, changing interface key andKey is returned to, the display interface is shown respectively convenient for the function command for directly choosing corresponding configuration to each hard I/O port, facilitates behaviourMake.When operation, user can select to enter soft IO input configuration interface, any column is selected to carry out first from main display interfaceEditor, first needs to configure the hard IO input port addressing of soft I/O instruction from the selection of hard IO input port option, and then refers to from soft IOIt enables choosing in option and be addressed with the soft IO input terminal of the hard IO input port configuration mapping, then select the hard IO input portReading in information is that high level is effective or low level is effective, is completed finally by setting button to the hard IO input port of this and soft IOThe mapping of input terminal configures, and returns to main display interface by returning to key.And then it selects to enter soft IO output configuration interface, choosingIt selects any column to be edited, first be compiled from the hard IO output port that the selection of hard IO output port option needs to configure soft I/O instructionLocation, and then choose from soft I/O instruction option and addressed with the soft IO output end of the hard IO output port configuration mapping, finally bySetting button is completed to configure the mapping of the hard IO output port of this and soft IO output end.Completion is repeated the above process to each hard IOThe soft I/O instruction of port configures.
Preferably, sensor, control device or the information that the input terminal of the hard I/O port is used to connect on AGV are readTake device；The input terminal of the hard I/O port is used to connect the electric component on AGV；Further, it is set on the AGV controllerThere are the first connector and the second connector, first connector is equipped with the first slot, and second connector is equipped with theThe input terminal of two slots, the hard I/O port is set in first slot, and the output end of the hard I/O port is set to second and insertsIn slot；The AGV is equipped with the first socket and the second socket, and the connection of the sensor, control device or information read device connectsMouth is set in first socket, and the connecting interface of the electric component is set in the second socket, first socket and firstSlot is detachably electrically connected, and second socket is detachably electrically connected with the second slot.
Preferably, the sensor can be one in obstacle sensor, crash sensor and photo-resistorKind is a variety of, and the information read device can be RFID reader or code reader.
Preferably, the signal output end is the electric component on AGV, and the electric component can be soundReport one of device, traveling driving mechanism, steering wheel driving mechanism, hoistable platform and hook driving mechanism or a variety of.
In addition, in function command collection memory module and executing instruction to choose in collection memory module and holding with what hard I/O port configuredLine program should be selected according to the hard practical connection electric component of I/O port, for example, the signal input of the first hard I/O port connectionTerminal is electrically connected with the scram button on control device, and corresponding signal output terminal is electrically connected with AGV traveling driving mechanism, then shouldFirst hard I/O port should configure so that traveling driving mechanism is stopped working execute instruction collection module.
Embodiment two:
Referring to figs. 2 and 3, the purpose of the present embodiment is that providing a kind of AGV controller I/O port multiplexing configuration method: packetInclude following steps:
A. it user's login user terminal and is connect with the AGV controller by the user terminal.
B. in the main display interface of user terminal, selection enters soft IO and inputs configuration interface, and any column is selected to carry outEditor, first needs to configure the hard IO input port addressing of soft I/O instruction from the selection of hard IO input port option, and then refers to from soft IOIt enables choosing in option and be addressed with the soft IO input terminal of the hard IO input port configuration mapping, the hard IO input port is then selected to readEntering information is that high level is effective or low level is effective, completes to input the hard IO input port and soft IO finally by setting buttonThe mapping at end configures, and returns to main display interface by returning to key.
C. it and then selects to enter soft IO output configuration interface, selects any column to be edited, first from hard IO output portOption selection needs to configure the hard IO output port addressing of soft I/O instruction, and then chooses and the hard IO from soft I/O instruction optionThe soft IO output end addressing of output port configuration mapping, is completed finally by setting button to the hard IO output port and soft IOThe mapping of output end configures.
D. step step b and step c is repeated, completes to configure the soft I/O instruction of each hard I/O port.
Soft IO input terminal addressing described in step b and step c and the soft IO output end addressing, match for the hard I/O port of correspondenceThe soft IO input terminal and soft IO output end of the corresponding soft I/O instruction of mapping are set, i.e., by configuring soft IO input terminal addressing and described softThe addressing of IO output end is embodied as hard I/O port and configures corresponding soft I/O instruction.
AGV controller I/O port provided in this embodiment is multiplexed configuration method, and user only needs to assemble AGV controllerOn AGV, and user terminal is connected on AGV controller, each hard I/O port on AGV is configured by human-computer interaction moduleCorresponding soft I/O instruction, it is not necessary to modify programs to be easy to use by same controller application on different AGV by user.
According to the disclosure and teachings of the above specification, the utility model those skilled in the art can also be to above-mentioned realityThe mode of applying is changed and is modified.Therefore, the utility model is not limited to specific embodiment disclosed and described above, rightSome modifications and changes of the utility model should also be as falling into the protection scope of the claims of the present utility model.In addition, to the greatest extentIt is used some specific terms in pipe this specification, these terms are merely for convenience of description, not to the utility modelConstitute any restrictions.