CN102141813A - Inductive tracking trolley and tracking method thereof - Google Patents
Inductive tracking trolley and tracking method thereof Download PDFInfo
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- CN102141813A CN102141813A CN 201110094860 CN201110094860A CN102141813A CN 102141813 A CN102141813 A CN 102141813A CN 201110094860 CN201110094860 CN 201110094860 CN 201110094860 A CN201110094860 A CN 201110094860A CN 102141813 A CN102141813 A CN 102141813A
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Abstract
The invention discloses an inductive tracking trolley and a tracking method thereof. A plurality of metal detector circuits with the same function are arranged on a tracking circuit module, the output port of each circuit is connected with a control circuit module through a connecting wire, the input end of each circuit is connected with an inductive probe, and each metal detector circuit is provided with a potentiometer RP capable of adjusting the detection sensitivity; and when the inductive probe closes to a metal object, the level of the output port of the metal detector circuit is changed, the level signal is input to the control circuit module, and the control circuit module outputs control instructions to the trolley body. An aluminum foil rubber belt replaces the black rubber belt and is used as a trolley locus line, so that the running stability and reliability of the tracking trolley are improved, and the action space of the tracking trolley is broadened. Meanwhile, the aluminum foil rubber belt can be stuck on the back of pictorial paper or spray painting cloth drawn with different patterns to form an invisible locus line. The inductive tracking trolley can be applied to demonstration of various dynamic house models, commercial models and military models.
Description
Technical field
The present invention relates to a kind of electronics automatic control equipment and control method thereof, specifically is a kind of induction type tracking dolly and tracking method thereof.
Background technology
The tracking dolly is used comparatively general in the activity of teenager's scientific practice, and Operations Requirements tracking dolly is following a track circuit and advancing up to terminal point, and the track circuit sticks on white ground with black belt usually and forms.Chinese patent wherein, patent announcement number: CN6484303, the day for announcing: 2005.03.09; Chinese patent, patent announcement number: CN101976075A, the day for announcing: 2011.02.16 invention disclosed, all be to adopt photoelectric sensor as the tracking device, utilize the Strength Changes of black trajectory and white ground return light, detect the position of tracking circuit, make dolly follow the trajectory operation.The shortcoming of this tracking scheme is the interference that the photoelectric sensor of dolly very easily is subjected to ambient light, and the stability of its operation, reliability are not high, is not suitable for environment and the more intense place operation of illumination in the open.
Summary of the invention
Technical matters to be solved by this invention provides a kind of induction type tracking dolly and tracking method thereof, and the tracking dolly is not disturbed by light, and is easy to use, reliable, can reach operation under the high light environment in the open.
For solving the problems of the technologies described above, the technical scheme that the present invention takes is: a kind of induction type tracking dolly, comprise car body, car body is provided with control circuit module, car body is equipped with power motor, power wheel, angle sheave, power supply, control circuit module is provided with single-chip microcomputer IC, described power motor, power supply is connected with control circuit module by first winding displacement, car body is provided with the tracking circuit module, the tracking circuit module is provided with the metal detector circuit, the metal detector circuit is connected with inductive probe by connecting line, the metal detector circuit is connected with control circuit module by second winding displacement, and the car body below is provided with the track band.
Described metal detector circuit is a plurality of, and each metal detector circuit connects an inductive probe, and each metal detector circuit is equipped with potentiometer RP and LED lamp.
Described inductive probe is installed on the car body by support, and support is provided with screw rod.
Described track band is an aluminum foil and adhesive tape.
Described track band is description paper or the spray painting cloth that the back side is provided with aluminum foil and adhesive tape.
Described inductive probe is formed by coiling enameled wire coil on the magnetic core.
Described magnetic core is E type magnetic core, jar type magnetic core or I-shaped magnetic core.
A kind of induction type tracking dolly tracking method, the identical metal detector circuit of a plurality of functions is installed on the tracking circuit module, the output port of each circuit by connecting line be connected with control circuit module, input end is connected with inductive probe, each metal detector circuit all is provided with a potentiometer RP that can regulate detection sensitivity, when inductive probe when the metal object, the level of metal detector circuit output end mouth can change, level signal input control circuit module, control circuit module output steering order is given car body.
The beneficial effect of the present invention's a kind of induction type tracking dolly and tracking method thereof is as follows:
The identical metal detector circuit of a plurality of functions has been installed above the tracking circuit module, and each circuit is all connecting an inductive probe, utilizes inductive probe to detect road surface track line information.Can detect the line status in a plurality of sites simultaneously, improve the control accuracy of trolley travelling.
Each metal detector circuit is equipped with potentiometer RP and LED lamp, adjusts the size of potentiometer RP, can change the positive feedback amplitude of circuit, thereby realizes the adjustment to metal detector sensitivity.
The present invention replaces black belt to make dolly track circuit with aluminum foil and adhesive tape, has fundamentally solved the influence of ambient light to the tracking trolley travelling, has improved the stability and the reliability of tracking trolley travelling greatly, has widened the space of tracking dolly activity.Simultaneously, can stick on aluminum foil and adhesive tape to draw has the description paper of different pattern or the back side of spray painting cloth, forms stealthy track circuit, and the competition field of tracking dolly will be more rich and varied.Can also be applied to various dynamic building models, business prototype, the demonstration of military model.
Description of drawings
The invention will be further described below in conjunction with drawings and Examples:
Fig. 1 is metal detection circuit theory diagrams of the present invention;
Fig. 2 is control circuit module figure of the present invention;
Fig. 3 is a tracking circuit module figure of the present invention;
Fig. 4 is a dolly side view of the present invention;
Fig. 5 is apparatus of the present invention structural drawing;
Fig. 6 is the outside drawing of used inductive probe in the embodiment of the invention.
Embodiment
A kind of induction type tracking dolly, comprise car body 9, car body 9 is provided with control circuit module 7, car body 9 is equipped with power motor 10, power wheel 12, angle sheave 11, power supply 13, control circuit module 7 is provided with single-chip microcomputer IC, described power motor 10, power supply 13 is connected with control circuit module 7 by first winding displacement 8, car body 9 is provided with tracking circuit module 4, tracking circuit module 4 is provided with metal detector circuit 5, metal detector circuit 5 is connected with inductive probe L by connecting line 3, metal detector circuit 5 is connected with control circuit module 7 by second winding displacement 6, and car body 9 belows are provided with track band 1.
Described metal detector circuit 5 is a plurality of, and each metal detector circuit 5 connects an inductive probe L, and each metal detector circuit 5 is equipped with potentiometer RP and LED lamp.
Described inductive probe L is installed on the car body 9 by support 2, and support 2 is provided with screw rod 15.
Described track band 1 is an aluminum foil and adhesive tape.
Described track band 1 is provided with the description paper or the spray painting cloth of aluminum foil and adhesive tape for the back side.
Described inductive probe L is formed by coiling enameled wire coil on the magnetic core.
Described magnetic core is E type magnetic core, jar type magnetic core or I-shaped magnetic core.
A kind of induction type tracking dolly tracking method, the identical metal detector circuit 5 of a plurality of functions is installed on tracking circuit module 4, the output port of each circuit by connecting line be connected with control circuit module 7, input end is connected with inductive probe L, each metal detector circuit 5 all is provided with a potentiometer RP that can regulate detection sensitivity, when inductive probe L when the metal object, the level of metal detector circuit 5 output ports can change, level signal input control circuit module 7, control circuit module 7 output steering orders are given car body 9.
Embodiment 1:
Principle of work:
Parts such as control circuit module 7, tracking circuit module 4, inductive probe L are installed on the car body 9, be separately installed with two power motors 10 in the left and right sides of car body 9, by running speed and the direction of controlling two motors, control the travelling speed and the traffic direction of car body 9.
The present invention adopts metal detector to make the tracking device, and as track band 1, that is: track circuit is realized the tracking function of dolly with the mode of metal induction with metal aluminum foil.Used metal detector is made up of metal detector circuit 5 and inductive probe L, an electromagnetic oscillation circuit is arranged in the metal detector, this oscillator signal radiate by the L shaped one-tenth alternating magnetic field of inductive probe, if near have metal object, alternating magnetic field can go out eddy current at the metal object internal induction, the energy consumption of inductive probe L increases, and the vibration of metal detector circuit 5 can weaken until the failure of oscillations.Inductive probe L is during near metal object, and the level of metal detector circuit 5 output ports can change, and is low level or is high level by low transition by the high level saltus step.Tracking circuit module 4 involved in the present invention has been installed the identical metal detector circuit 5 of a plurality of functions above it, each circuit is all connecting an inductive probe L, utilizes inductive probe L to detect road surface track line information.Inductive probe L of the present invention is the inductance element that coiling enameled wire coil is made on magnetic core, and used magnetic core adopts E type magnetic core and jar type magnetic core.Several inductive probes L by certain requirements arrangement after, be installed in the subaerial position of dolly front end, stick on ground with the metal aluminum foil adhesive tape and form aluminium foil track circuit, dolly bridges on the track circuit, during operation, be arranged in middle inductive probe L position near aluminium foil above the track circuit, the level signal of tracking circuit module 4 outputs this moment is given control circuit and is sold the instruction that dolly normally advances, when dolly off-track line, middle inductive probe L have one from the left side or the right leave the track circuit, the level signal of tracking circuit module 4 outputs is given control circuit and is sold the steering order that dolly is turned right or turned left, when dolly off-track circuit is relatively more serious or at track circuit corner, the tracking probe that is in the tracking probe on right side or left side can be near the track circuit, and the level signal of metal induction module output can make control circuit give and sell the instruction that dolly is turned by a relatively large margin.Single-chip microcomputer IC is installed in the control circuit module 7, wherein is loaded with the circuit Control Software, realize detection and operation control the dolly sensor signal.
Fig. 1 is the metal detection circuit theory diagrams that are used for present embodiment, telefault L, capacitor C 1, C2, C3, triode VT1 etc. has formed an inductance of three-point oscillatory circuit, during work, the sine wave signal of generation is by the output of VT1 emitter, after VT2 amplifies, by voltage multiplying rectifier, filtering such as D1, D2, C6, make the base stage of triode VT3 obtain the base voltage of certain amplitude and conducting, its collector output low level, the LED conducting is luminous.If near metal object, the variation magnetic field of coil can go out eddy current and produce iron loss at the metal object internal induction telefault L, the Q value of coil descends, Q=XL(induction reactance)/R(resistance), circuit oscillation weakens until the failure of oscillations.Act on the loss of voltage on the VT3 base stage, triode VT3 is become by conducting and ends, its collector output high level, and LED extinguishes.Adjust the size of potentiometer RP resistance, can change the positive feedback amplitude of circuit, thereby realize adjustment metal detector sensitivity.On dolly, a plurality of metal detector circuit 5 are installed, just can detect the line status in a plurality of sites simultaneously, improve the control accuracy of trolley travelling.
Fig. 3 is a tracking circuit module of the present invention, on tracking circuit module 4, four metal detector circuit 5 that function is identical has been installed, and can detect the trajectory line state in four sites simultaneously.During installation, earlier the detector circuit on the tracking circuit module 4 is coupled together with inductive probe L by connecting line 3, regulator potentiometer RP then, make LED just in time luminous, with one piece of coin from the below slowly near inductive probe L, just in time extinguish until LED, at this moment, distance between inductive probe L and the coin is presented as the detection sensitivity of detector, and distance is big more, and sensitivity is high more.Regulator potentiometer RP repeatedly, the sensitivity that makes several detector circuits is about 10mm.The output terminal of metal detector circuit 5 is connected to Fig. 2 control circuit module 7 by second winding displacement 6, single-chip microcomputer IC circuit on the control circuit module 7 changes by the signal that detects this input port, produce control signal, connecting line 8 by output port, power motor 10 runnings on the driving trolley car body realize the detection of tracking line information and the control of trolley travelling state.
Fig. 5 has further showed the installation situation of each module the present embodiment from the dolly front, the installation site situation of inductive probe L particularly, four inductive probe L are installed to dolly the place ahead near ground location by support 2, the height of support 2 can be adjusted by screw rod 15 is installed, make the height on end distance ground under the probe be not less than 5mm, two middle probes will be according to the width decision distance between the two of the aluminum foil and adhesive tape that sticks on ground, this distance should be less than the width of adhesive tape, and the probe of both sides is installed near wheel position.
Fig. 6 is the outside drawing of used inductive probe L in the present embodiment, and it uses the enameled wire coiling on the E13 magnetic core, and inductance value is about 1mH.
Claims (8)
1. induction type tracking dolly, comprise car body (9), car body (9) is provided with control circuit module (7), car body (9) is equipped with power motor (10), power wheel (12), angle sheave (11), power supply (13), control circuit module (7) is provided with single-chip microcomputer IC, described power motor (10), power supply (13) is connected with control circuit module (7), it is characterized in that: car body (9) is provided with tracking circuit module (4), tracking circuit module (4) is provided with metal detector circuit (5), metal detector circuit (5) is connected with inductive probe (L) by connecting line (3), metal detector circuit (5) is connected with control circuit module (7), and car body (9) below is provided with track band (1).
2. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described metal detector circuit (5) is for a plurality of, each metal detector circuit (5) connects an inductive probe (L), and each metal detector circuit (5) is equipped with potentiometer RP and LED lamp.
3. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described inductive probe (L) is installed on the car body (9) by support (2), and support (2) is provided with screw rod (15).
4. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described track band (1) is an aluminum foil and adhesive tape.
5. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described track band (1) is provided with the description paper or the spray painting cloth of aluminum foil and adhesive tape for the back side.
6. according to claim 1 or 2 or 3 described a kind of induction type tracking dollies, it is characterized in that: described inductive probe (L) is formed by coiling enameled wire coil on the magnetic core.
7. according to the described a kind of induction type tracking dolly of claim 6, it is characterized in that: described magnetic core is E type magnetic core, jar type magnetic core or I-shaped magnetic core.
8. induction type tracking dolly tracking method, it is characterized in that: the identical metal detector circuit (5) of a plurality of functions is installed on tracking circuit module (4), the output port of each circuit is connected with control circuit module (7) by connecting line, input end is connected with inductive probe (L), each metal detector circuit (5) all is provided with a potentiometer RP that can regulate detection sensitivity, when inductive probe (L) when the metal object, the level of metal detector circuit (5) output port can change, level signal input control circuit module (7), control circuit module (7) output steering order is given car body (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100948602A CN102141813B (en) | 2011-04-15 | 2011-04-15 | Inductive tracking trolley and tracking method thereof |
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011100948602A CN102141813B (en) | 2011-04-15 | 2011-04-15 | Inductive tracking trolley and tracking method thereof |
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| CN102141813A true CN102141813A (en) | 2011-08-03 |
| CN102141813B CN102141813B (en) | 2012-07-25 |
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Cited By (11)
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| CN102542824A (en) * | 2012-01-19 | 2012-07-04 | 何志斌 | Automatic vehicle guidance system and method based on colorized ribbons |
| CN106157782A (en) * | 2016-08-24 | 2016-11-23 | 合肥凌翔信息科技有限公司 | A kind of teaching test carriage tracking system |
| CN106774311A (en) * | 2016-12-01 | 2017-05-31 | 成都市宏德永兴养殖有限公司 | The air navigation aid of farmland forest land unmanned vehicle |
| CN107688341A (en) * | 2016-08-05 | 2018-02-13 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of electric power tunnel lamp automatic detecting |
| CN107943035A (en) * | 2017-11-23 | 2018-04-20 | 安徽师范大学 | Navigate mobile devices |
| CN108549393A (en) * | 2018-06-22 | 2018-09-18 | 洛阳理工学院 | Orbit determination tracking vehicle system and orbit determination tracking method |
| CN111176303A (en) * | 2020-03-11 | 2020-05-19 | 深圳市筑汀智能科技有限公司 | Tracking walking robot with single-bus device |
| CN111521202A (en) * | 2020-05-08 | 2020-08-11 | 量一度(苏州)传感科技有限公司 | Adjustable distance inductive sensor |
| CN111538016A (en) * | 2020-05-08 | 2020-08-14 | 量一度(苏州)传感科技有限公司 | Integrated frequency modulation ultrasonic sensor |
| CN113534798A (en) * | 2021-07-13 | 2021-10-22 | 南京苏美达智能技术有限公司 | Tracking return control method, automatic walking device and readable storage medium |
| CN111176303B (en) * | 2020-03-11 | 2024-06-28 | 深圳市筑汀智能科技有限公司 | Tracking walking robot with single bus device |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102542824A (en) * | 2012-01-19 | 2012-07-04 | 何志斌 | Automatic vehicle guidance system and method based on colorized ribbons |
| CN107688341B (en) * | 2016-08-05 | 2021-05-04 | 深圳市朗驰欣创科技股份有限公司 | Control method and control system for automatic inspection of electric tunnel lamp |
| CN107688341A (en) * | 2016-08-05 | 2018-02-13 | 深圳市朗驰欣创科技股份有限公司 | The control method and control system of electric power tunnel lamp automatic detecting |
| CN106157782A (en) * | 2016-08-24 | 2016-11-23 | 合肥凌翔信息科技有限公司 | A kind of teaching test carriage tracking system |
| CN106774311A (en) * | 2016-12-01 | 2017-05-31 | 成都市宏德永兴养殖有限公司 | The air navigation aid of farmland forest land unmanned vehicle |
| CN107943035A (en) * | 2017-11-23 | 2018-04-20 | 安徽师范大学 | Navigate mobile devices |
| CN108549393A (en) * | 2018-06-22 | 2018-09-18 | 洛阳理工学院 | Orbit determination tracking vehicle system and orbit determination tracking method |
| CN108549393B (en) * | 2018-06-22 | 2024-01-26 | 洛阳理工学院 | Track-setting tracking vehicle system and track-setting tracking method |
| CN111176303A (en) * | 2020-03-11 | 2020-05-19 | 深圳市筑汀智能科技有限公司 | Tracking walking robot with single-bus device |
| CN111176303B (en) * | 2020-03-11 | 2024-06-28 | 深圳市筑汀智能科技有限公司 | Tracking walking robot with single bus device |
| CN111521202A (en) * | 2020-05-08 | 2020-08-11 | 量一度(苏州)传感科技有限公司 | Adjustable distance inductive sensor |
| CN111538016A (en) * | 2020-05-08 | 2020-08-14 | 量一度(苏州)传感科技有限公司 | Integrated frequency modulation ultrasonic sensor |
| CN113534798A (en) * | 2021-07-13 | 2021-10-22 | 南京苏美达智能技术有限公司 | Tracking return control method, automatic walking device and readable storage medium |
| CN113534798B (en) * | 2021-07-13 | 2023-08-04 | 南京苏美达智能技术有限公司 | Tracking return control method, automatic walking device, and readable storage medium |
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