CN102141813B - Inductive tracking trolley and tracking method thereof - Google Patents
Inductive tracking trolley and tracking method thereof Download PDFInfo
- Publication number
- CN102141813B CN102141813B CN2011100948602A CN201110094860A CN102141813B CN 102141813 B CN102141813 B CN 102141813B CN 2011100948602 A CN2011100948602 A CN 2011100948602A CN 201110094860 A CN201110094860 A CN 201110094860A CN 102141813 B CN102141813 B CN 102141813B
- Authority
- CN
- China
- Prior art keywords
- tracking
- circuit module
- metal detector
- control circuit
- inductive probe
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Toys (AREA)
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 advances and breasting the tape, 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: the 2011.02.16 invention disclosed all is to adopt photoelectric sensor as the tracking device, utilizes 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 receives 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 comprises that car body, car body are 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, and said power motor, power supply are connected with control circuit module through first winding displacement, and 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 through connecting line, and the metal detector circuit is connected with control circuit module through second winding displacement, and the car body below is provided with the track band.
Said 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.
Said inductive probe is installed on the car body through support, and support is provided with screw rod.
Said track band is an aluminum foil and adhesive tape.
Said track band is description paper or the spray painting cloth that the back side is provided with aluminum foil and adhesive tape.
Said inductive probe is formed by coiling enameled wire coil on the magnetic core.
Said 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 through 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, and when inductive probe during near 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 following:
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, and the size of adjustment 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 movable space of tracking dolly.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
Below in conjunction with accompanying drawing and embodiment the present invention is described further:
1, Fig. 1 is metal detection circuit theory diagrams of the present invention;
2, Fig. 2 is control circuit module figure of the present invention;
3, Fig. 3 is a tracking circuit module figure of the present invention;
4, Fig. 4 is a dolly side view of the present invention;
5, Fig. 5 is apparatus of the present invention structural drawing;
6, 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 that car body 9, car body 9 are provided with control circuit module 7, car body 9 is equipped with power motor 10, power wheel 12, angle sheave 11, power supply 13, and control circuit module 7 is provided with single-chip microcomputer IC; Said power motor 10, power supply 13 are connected with control circuit module 7 through first winding displacement 8; Car body 9 is provided with tracking circuit module 4, and tracking circuit module 4 is provided with metal detector circuit 5, and metal detector circuit 5 is connected with inductive probe L through connecting line 3; Metal detector circuit 5 is connected with control circuit module 7 through second winding displacement 6, and car body 9 belows are provided with track band 1.
Said 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.
Said inductive probe L is installed on the car body 9 through support 2, and support 2 is provided with screw rod 15.
Said track band 1 is an aluminum foil and adhesive tape.
Said track band 1 is provided with the description paper or the spray painting cloth of aluminum foil and adhesive tape for the back side.
Said inductive probe L is formed by coiling enameled wire coil on the magnetic core.
Said 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 through 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, and as inductive probe L during near 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; Through 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 inductive with metal aluminum foil.Used metal detector is made up of with inductive probe L metal detector circuit 5; An electromagnetic oscillation circuit is arranged in the metal detector; This oscillator signal radiate through 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 according to the 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 serious or at track circuit corner, the tracking probe that is in tracking probe or the left side on right side can be near the track circuit, and the level signal of metal inductive 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, and 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 base voltage and the conducting of certain amplitude, 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), and 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.The size of adjustment potentiometer RP resistance can change the positive feedback amplitude of circuit, thereby realize the adjustment to 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 through connecting line 3, then regulator potentiometer RP; 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 through second winding displacement 6; Single-chip microcomputer IC circuit on the control circuit module 7 changes through the signal that detects this input port; Produce control signal; Through the connecting line 8 of 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 this 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 through support 2; The height of support 2 can be adjusted through screw rod 15 is installed, and makes the height on end distance ground under the probe be not less than 5mm, and 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 (7)
1. induction type tracking dolly; Comprise that car body (9), car body (9) are provided with control circuit module (7); Car body (9) is equipped with power motor (10), power wheel (12), angle sheave (11), power supply (13), and control circuit module (7) is provided with single-chip microcomputer IC, and said power motor (10), power supply (13) are 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), and metal detector circuit (5) is connected with inductive probe (L) through connecting line (3), and metal detector circuit (5) is connected with control circuit module (7); Car body (9) below is provided with track band (1); Said metal detector circuit (5) is a plurality of, and each metal detector circuit (5) connects an inductive probe (L), and said track band (1) is an aluminum foil and adhesive tape.
2. according to the said a kind of induction type tracking dolly of claim 1, it is characterized in that: said each metal detector circuit (5) is equipped with potentiometer RP and LED lamp.
3. according to the said a kind of induction type tracking dolly of claim 1, it is characterized in that: said inductive probe (L) is installed on the car body (9) through support (2), and support (2) is provided with screw rod (15).
4. according to the said a kind of induction type tracking dolly of claim 1, it is characterized in that: said track band (1) is provided with the description paper or the spray painting cloth of aluminum foil and adhesive tape for the back side.
5. according to claim 1 or 3 said a kind of induction type tracking dollies, it is characterized in that: said inductive probe (L) is formed by coiling enameled wire coil on the magnetic core.
6. according to the said a kind of induction type tracking dolly of claim 5, it is characterized in that: said magnetic core is E type magnetic core, jar type magnetic core or I-shaped magnetic core.
7. tracking method like any described induction type tracking dolly among the claim 1-6; 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 through 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) during near metal object; The level of metal detector circuit (5) output port can change, level signal input control circuit module (7), and 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 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011100948602A CN102141813B (en) | 2011-04-15 | 2011-04-15 | Inductive tracking trolley and tracking method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102141813A CN102141813A (en) | 2011-08-03 |
| CN102141813B true CN102141813B (en) | 2012-07-25 |
Family
ID=44409393
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011100948602A Expired - Fee Related CN102141813B (en) | 2011-04-15 | 2011-04-15 | Inductive tracking trolley and tracking method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102141813B (en) |
Families Citing this family (10)
| 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 |
| 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 |
| CN108549393B (en) * | 2018-06-22 | 2024-01-26 | 洛阳理工学院 | Track-setting tracking vehicle system and track-setting tracking method |
| 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 |
| 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 |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19749900A1 (en) * | 1997-11-12 | 1999-06-02 | Siemag Transplan Gmbh | Driverless, e.g. B. freely navigating transport vehicle for handling loads |
| CN2716794Y (en) * | 2004-09-10 | 2005-08-10 | 陕西老枪靶业有限公司 | Full-automatic target vehicle |
| CN202003229U (en) * | 2011-04-15 | 2011-10-05 | 三峡电力职业学院 | Induction type tracking cart |
-
2011
- 2011-04-15 CN CN2011100948602A patent/CN102141813B/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| CN102141813A (en) | 2011-08-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102141813B (en) | Inductive tracking trolley and tracking method thereof | |
| CN109131370B (en) | Suspension type magnetic-levitation traffic system | |
| CN104015723B (en) | A kind of intelligent vehicle control system and method based on intelligent transportation platform | |
| CN110492622B (en) | Electric automobile non-stop wireless charging system and control method thereof | |
| CN108973768B (en) | Guiding control method for suspension type magnetic suspension train system | |
| CN205945249U (en) | Adopt magnetic field principle to carry out wireless charging device who counterpoints | |
| CN105186593B (en) | A kind of electric automobile wireless charging transmitting receives Automatic Alignment System | |
| CN204431263U (en) | A kind of autonomous guest-meeting robot | |
| CN106627842A (en) | Mobile robot system | |
| CN104898673A (en) | Intelligent tracking trolley based on infrared sensors and tracking method thereof | |
| CN202383462U (en) | Electronic fence system for defining working range of automatic mower | |
| WO2015062553A1 (en) | Wireless traffic flow detector | |
| CN202003229U (en) | Induction type tracking cart | |
| CN106936225A (en) | A kind of alignment system and its method for electric automobile wireless charging | |
| CN207496493U (en) | For the vehicle alignment guide of wireless charging system for electric automobile | |
| CN112444403B (en) | Method for testing unmanned automobile by moving target | |
| CN206077030U (en) | A kind of wireless charging device of electric bus | |
| CN104810934A (en) | Multistage guide rail-based EV (electric vehicle) wireless power guide rail conversion control circuit and method | |
| CN105929366A (en) | Plane position sensing method in indoor environment | |
| CN105761502A (en) | Intelligent spike for road vehicle detection | |
| CN108549393A (en) | Orbit determination tracking vehicle system and orbit determination tracking method | |
| CN112444401B (en) | Unmanned vehicle testing device with controllable road surface moving target | |
| CN204719535U (en) | Based on the Intelligent tracking trolley of infrared sensor | |
| CN109501608A (en) | A kind of wireless electric vehicle charging device | |
| CN106168804A (en) | A kind of intelligent carriage control system based on laser automatic seeking footpath |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120725 Termination date: 20140415 |