CN104155978A - Target seeking method for intelligent trolley - Google Patents
Target seeking method for intelligent trolley Download PDFInfo
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- CN104155978A CN104155978A CN201410359854.9A CN201410359854A CN104155978A CN 104155978 A CN104155978 A CN 104155978A CN 201410359854 A CN201410359854 A CN 201410359854A CN 104155978 A CN104155978 A CN 104155978A
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Abstract
The invention provides a target seeking method for an intelligent trolley. The intelligent trolley comprises a trolley body; front wheels and rear wheels are arranged on the trolley body; the front wheels are steering wheels and connected with a driving motor; an infrared emitter is arranged at the position of a target; an infrared receiving sensor I is arranged on the front end surface of the trolley body; an infrared receiving sensor II is arranged on the left end surface of the trolley body; an infrared receiving sensor III is arranged on the right end surface of the trolley body; the three infrared receiving sensors are used for receiving infrared signals emitted by the infrared emitter; the infrared signals are converted through analog-digital conversion and then input into a microprocessor; the microprocessor controls a driving motor to drive the front wheels to move according to the strengths of the three infrared signals; when the strength of the infrared signal received by the infrared receiving sensor I is the largest, the front wheels are driven to run forwards; when the strength of the infrared signal received by the infrared receiving sensor II is the largest, the front wheels are turned left and run till the strength of the infrared signal received by the infrared receiving sensor I is the largest; when the strength of the infrared signal received by the infrared receiving sensor III is the largest, the front wheels are turned right and run till the strength of the infrared signal received by the infrared receiving sensor I is the largest.
Description
Technical field
The invention belongs to field of electronic design, particularly a kind of intelligent carriage is found order calibration method.
Background technology
For strengthening university student, put into practice, innovation ability and team-oriented cultivation, promote the reform of teaching in higher education institutions, the contest of national college students' intelligent automobile has started the upsurge of making intelligent carriage in national universities.In the making of intelligent carriage, what conventional tracking track was used is black tape or alive wire, lays track difficulty, and cost is expensive, and tracking is restricted by track.This design is not restricted by track, and cost of manufacture is cheap, finds target rapid.Can be applied to the Electronic Design of college student, particularly intelligent carriage control and electronics are followed the design of target.
Ultrared spectrum is positioned at outside red light, and wavelength is 0.76～1.5 μ m, also longer than red light wavelength.Infrared remote control is to utilize infrared ray to carry out a kind of control mode of transmission of information, and infrared remote control has plurality of advantages: strong interference immunity, simple, the easy Code And Decode, with low cost of circuit.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of intelligent carriage to find order calibration method, a kind of new departure of finding target is provided, can expand student and find the thinking that target is new in making intelligent carriage process, and can be applied to, in toy manufacturing process, realize the function that toy is followed target.
To achieve these goals, the technical solution used in the present invention is:
A kind of intelligent carriage is found order calibration method, described intelligent carriage comprises car body 1, on car body 1, there are front vehicle wheel 7 and rear wheel 8, wherein front vehicle wheel 7 is deflecting roller, be connected with drive motor, in target 10 positions, an infrared emitter 9 is set, front end face at car body 1 is provided with infrared receiving sensor 1, left surface at car body 1 is provided with infrared receiving sensor 23, right flank at car body 1 is provided with infrared receiving sensor 34, described infrared receiving sensor 1, infrared receiving sensor 23 and infrared receiving sensor 34 receive the infrared signal of infrared emitter 9 transmittings, and input to A/D modular converter 5 and carry out analog to digital conversion, the signal strength values obtaining after conversion inputs to microprocessor 6, the control end of microprocessor 6 connects described drive motor, microprocessor 6 is according to three infra-red intensities that receive, control drive motor and drive front vehicle wheel 7 actions, when the infra-red intensity of hot outer receiving sensor 1 is maximum, drive front vehicle wheel 7 to move ahead, when the infra-red intensity of hot outer receiving sensor 23 is maximum, drive front vehicle wheel 7 to turn left until the infra-red intensity of infrared receiving sensor 1 is maximum, when the infra-red intensity of hot outer receiving sensor 34 is maximum, drive front vehicle wheel 7 to turn right until the infra-red intensity of infrared receiving sensor 1 is maximum.
Compared with prior art, the invention has the beneficial effects as follows:
1. the method does not need to lay as seeking black line, seeking the tracks such as electromagnetic wire when intelligent carriage is found target, belongs to the category of wireless searching target.
2. infrared light belongs to human eye invisible light, at intelligent carriage, finds in object procedure, can not disturb people's sight line.
3. the method is simple in structure.Only need three infrared sensors, an A/D modular converter, an infrared launcher.For common intelligent carriage, very easily expansion.
4. the method range of application is very extensive.Can be applicable on intelligent electronic pet, realize the wireless of target followed.
5. for improving the precision of finding target, can further increase the number of integrated infrared sensor.
6. common infrared remote control receiver, generally only limits to judge the code value of Infrared Transmission, and does not judge the infrared intensity receiving.
Accompanying drawing explanation
Fig. 1 is the infrared receiving sensor scheme of installation of intelligent carriage.
Fig. 2 is that intelligent carriage is found target information transitive graph.
Fig. 3 is that intelligent carriage is found goal approach schematic diagram, and solid arrow is infrared emitting direction, and dotted arrow is intelligent carriage direction of motion.
Embodiment
Below in conjunction with drawings and Examples, describe embodiments of the present invention in detail.
Referring to Fig. 1, it is the infrared receiving sensor installation diagram of intelligent carriage.Intelligent carriage comprises car body 1, has front vehicle wheel 7 and rear wheel 8 on car body 1, and wherein front vehicle wheel 7 is deflecting roller, is connected with drive motor.Front end face at car body 1 is provided with infrared receiving sensor 1, at the left surface of car body 1, is provided with infrared receiving sensor 23, at the right flank of car body 1, is provided with infrared receiving sensor 34.Infrared receiving sensor 1, infrared receiving sensor 23 and the output terminal of infrared receiving sensor 34 are connected the input end of A/D modular converter 5, the output terminal of A/D modular converter 5 connects the input end of microprocessor 6, the control end of microprocessor 6 connects above-mentioned drive motor, to drive motor, sends control command signal.
The infrared receiving sensor 1 of the present invention, infrared receiving sensor 23 and infrared receiving sensor 34 models identical (HS0038), all have three pins, is respectively VCC, GND, OUT.VCC meets direct current 5V, GND ground connection, and OUT, when not receiving infrared light, keeps high level; Receive after infrared light output low level.
Referring to Fig. 2, for intelligent carriage is found object delineation.In target 10 positions, an infrared emitter 9 is set, microprocessor 6, according to three infra-red intensities that receive, is exported corresponding control signal, controls drive motor and drives front vehicle wheel 7 actions, when the infra-red intensity of hot outer receiving sensor 1 is maximum, drive front vehicle wheel 7 to move ahead; When the infra-red intensity of hot outer receiving sensor 23 is maximum, drive front vehicle wheel 7 to turn left until the infra-red intensity of infrared receiving sensor 1 is maximum; When the infra-red intensity of hot outer receiving sensor 34 is maximum, drive front vehicle wheel 7 to turn right until the infra-red intensity of infrared receiving sensor 1 is maximum.Guarantee that thus intelligent carriage moves ahead to the position of target 10 (being infrared emitter 9).
The present invention also can adopt a plurality of Electric Machine Control cartwheels, as shown in Figure 3, left front Electric Machine Control front left wheel, right front Electric Machine Control right front wheel, the left back wheel of left back Electric Machine Control, right back Electric Machine Control right rear wheel, its algorithm principle is consistent,, adjusts intelligent carriage angle that is, make the infrared signal intensity that infrared receiving sensor 1 receives maximum, guarantee that thus intelligent carriage advances to the direction of target 10.
Claims (1)
1. an intelligent carriage is found order calibration method, described intelligent carriage comprises car body (1), on car body (1), there are front vehicle wheel (7) and rear wheel (8), wherein front vehicle wheel (7) is deflecting roller, be connected with drive motor, it is characterized in that, in target (10) position, an infrared emitter (9) is set, front end face at car body (1) is provided with infrared receiving sensor one (2), left surface at car body (1) is provided with infrared receiving sensor two (3), right flank at car body (1) is provided with infrared receiving sensor three (4), described infrared receiving sensor one (2), infrared receiving sensor two (3) and infrared receiving sensor three (4) receive the infrared signal of infrared emitter (9) transmitting, and input to A/D modular converter (5) and carry out analog to digital conversion, the signal strength values obtaining after conversion inputs to microprocessor (6), the control end of microprocessor (6) connects described drive motor, microprocessor (6) is according to three infra-red intensities that receive, control drive motor and drive front vehicle wheel (7) action, when the infra-red intensity of hot outer receiving sensor one (2) is maximum, drive front vehicle wheel (7) to move ahead, when the infra-red intensity of hot outer receiving sensor two (3) is maximum, drive front vehicle wheel (7) to turn left until the infra-red intensity of infrared receiving sensor one (2) is maximum, when the infra-red intensity of hot outer receiving sensor three (4) is maximum, drive front vehicle wheel (7) to turn right until the infra-red intensity of infrared receiving sensor one (2) is maximum.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410359854.9A CN104155978A (en) | 2014-07-25 | 2014-07-25 | Target seeking method for intelligent trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410359854.9A CN104155978A (en) | 2014-07-25 | 2014-07-25 | Target seeking method for intelligent trolley |
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| CN104155978A true CN104155978A (en) | 2014-11-19 |
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| CN201410359854.9A Pending CN104155978A (en) | 2014-07-25 | 2014-07-25 | Target seeking method for intelligent trolley |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105005307A (en) * | 2015-08-07 | 2015-10-28 | 武汉运驰智能科技有限责任公司 | Control method of intelligent following luggage case |
| CN107976995A (en) * | 2016-10-24 | 2018-05-01 | 苏州宝时得电动工具有限公司 | Intelligent mobile system, intelligent mobile device and its moving method |
| CN109671329A (en) * | 2019-02-18 | 2019-04-23 | 成都众志天成科技有限公司 | Direction-finding station simulation system and method |
| CN109765904A (en) * | 2019-02-28 | 2019-05-17 | 上海木木聚枞机器人科技有限公司 | A kind of guidance control method and mobile device of mobile device disengaging narrow space |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105005307A (en) * | 2015-08-07 | 2015-10-28 | 武汉运驰智能科技有限责任公司 | Control method of intelligent following luggage case |
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| CN109671329A (en) * | 2019-02-18 | 2019-04-23 | 成都众志天成科技有限公司 | Direction-finding station simulation system and method |
| CN109671329B (en) * | 2019-02-18 | 2020-12-08 | 成都众志天成科技有限公司 | Radio direction finding simulation system and method |
| CN109765904A (en) * | 2019-02-28 | 2019-05-17 | 上海木木聚枞机器人科技有限公司 | A kind of guidance control method and mobile device of mobile device disengaging narrow space |
| CN112987738A (en) * | 2021-02-26 | 2021-06-18 | 深圳易行机器人有限公司 | Physical parameter checking method of AGV motion navigation core controller and AGV |
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Application publication date: 20141119 |
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