CN104898673A - Intelligent tracking trolley based on infrared sensors and tracking method thereof - Google Patents
Intelligent tracking trolley based on infrared sensors and tracking method thereof Download PDFInfo
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- CN104898673A CN104898673A CN201510261322.6A CN201510261322A CN104898673A CN 104898673 A CN104898673 A CN 104898673A CN 201510261322 A CN201510261322 A CN 201510261322A CN 104898673 A CN104898673 A CN 104898673A
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Abstract
The invention discloses an intelligent tracking trolley based on infrared sensors. The trolley body is also internally provided with a single-chip microcomputer and a power supply module. A motor driving module is connected on the single-chip microcomputer. The output end of the motor driving module is electrically connected with a left wheel driving motor and a right wheel driving motor respectively. An undercarriage is also provided with a first infrared sensor and a second infrared sensor. A reset circuit is also connected on the single-chip microcomputer. The invention also discloses a tracking method of the intelligent tracking trolley based on the infrared sensors. The trolley is placed on a track area of white ground black lines, track lines below the trolley are detected by the first infrared sensor and the second infrared sensor, and left turning, right turning or straight movement of the trolley are controlled by the single-chip microcomputer so that the trolley can be prevented from deviating from the track lines.
Description
Technical field
The present invention relates to a kind of Intelligent tracking trolley based on infrared sensor, also relate to a kind of tracking method of the Intelligent tracking trolley based on infrared sensor, belong to control technology field, navigation channel.
Background technology
As the significant achievement in 20th century, robot is inseparable with the production of human society, life.Intelligent carriage, namely wheeled robot, mainly contain password identification and phonetic synthesis, robot self-localization, dynamic random keep away hinder, the function such as multi-sensor information fusion, real-time adaptive Navigation Control.
But intelligent robot of the prior art, its tracking does not gather entirely truely and identifies, easily causes steering wheel accurately, timely not turn to, and causes model car seriously to be shaken and even departs from racing track; And not strong to speech recognition controlled, accurately, timely cannot carry out Intelligent Recognition; Also there is complex structure, volume is large, runs the defects such as dumb simultaneously.
Summary of the invention
The object of the invention is to overcome deficiency of the prior art, a kind of Intelligent tracking trolley based on infrared sensor be provided, its structure is simple, flexible and convenient operation, reliable.
For achieving the above object, the technical scheme adopted based on the Intelligent tracking trolley of infrared sensor provided by the invention is: based on the Intelligent tracking trolley of infrared sensor, comprise car body, be located at the hull of vehicle bottom, be arranged on the left wheel on the left of hull, be located at the right wheel on the right side of hull and be located at the track band that car body drawn beneath has trajectory, single-chip microcomputer and power module is also provided with in described car body, described single-chip microcomputer is connected with motor drive module, the output terminal of described motor drive module respectively with left wheel drive motor, right wheel drive motors electrical connection, described hull is also provided with: for detecting the first infrared sensor and second infrared sensor of trajectory, first infrared sensor is corresponding with left wheel to be arranged, and the second infrared sensor is corresponding with right wheel to be arranged,
Described single-chip microcomputer is also connected with reset circuit, and described power module is electrically connected with single-chip microcomputer, the first infrared sensor, the second infrared sensor, motor drive module and reset circuit respectively.
Described first infrared sensor, the second infrared sensor adopt reflective infrared line walking sensor, comprise: comparer, potentiometer, the first infrared transmitter, the second infrared transmitter and infrared remote receiver, the power pins of described comparer is electrically connected with the output terminal of power module, power pins is connected after the first infrared transmitter, the first current-limiting resistance and is connected with the output terminal of comparer, and the output terminal of comparer is connected with single-chip microcomputer;
One end of described potentiometer is connected with the output terminal of power module, other end ground connection, and the slide plate of potentiometer is connected with the reverse input end of comparer;
Described second infrared transmitter one end is connected with the output terminal of power module by the second current-limiting resistance, and the other end passes through wired earth;
One end of described infrared remote receiver is connected with the output terminal of power module by the 3rd current-limiting resistance, and the other end is by wired earth, and infrared remote receiver is connected with the positive input of comparer with the electrical nodes of the 3rd current-limiting resistance.
Described power module comprises transformer, rectification circuit and voltage stabilizer, and the former limit of described transformer is electrically connected with three-phase alternating current, and secondary is connected with rectification circuit, and two output terminals of rectification circuit connect voltage input end and the earth terminal of voltage stabilizer respectively; Be respectively equipped with filtering circuit and voltage stabilizing diode between the voltage input end of voltage stabilizer and earth terminal, between voltage output end and earth terminal, voltage stabilizing diode is connected in parallel on filtering circuit two ends.
Described reset circuit comprises reset button S1, reset capacitance C6 and reset resistor R13, and reset capacitance C6 is connected in parallel on the two ends of reset button S1, and the positive pole of reset capacitance C6 is connected with power module, and negative pole is by reset resistor R13 ground connection.
Preferably, AT89C51 type single-chip microcomputer selected by described single-chip microcomputer.
Preferably, described motor drive module selects ULN2003 type driver module.
Compared with prior art, the Intelligent tracking trolley based on infrared sensor provided by the invention produces
beneficial effect: structure is simple, volume is little can realize trolley travelling flexible, and reliable stable; When Infrared irradiation is on the track band of regions of different colours, the infrared light power difference of reflection, according to this principle, adopt infrared sensor to carry out collection and the identification in noncontact path, the data of collection and identification are timely, accurate, avoid dolly off-track.
Another object of the present invention is to the tracking method that a kind of Intelligent tracking trolley based on infrared sensor is provided, comprise the following steps:
Step one: judge whether that the first infrared sensor be only positioned on the left of dolly detects trajectory: if so, perform dolly left-hand rotation instruction, controls the stall of left wheel drive motor, right wheel drive motors running; Otherwise, enter step 2;
Step 2: judge whether that the second infrared sensor being only positioned at right side detects trajectory: if so, perform dolly right-hand rotation instruction, control right wheel drive motors stall, left wheel drive motor operates; Otherwise, enter step 3;
Step 3: judge whether the first infrared sensor, the second infrared sensor detect the region outside trajectory simultaneously, if so, perform advancement commands, controls right wheel drive motors, the run-in synchronism of left wheel drive motor, and returns step one; Otherwise, enter step 4;
Step 4: judge the first infrared sensor, whether the second infrared sensor detect trajectory simultaneously, if so, perform halt instruction, control right wheel drive motors, the stall of left wheel drive motor; Otherwise, return step one.
Compared with prior art, the tracking method of the Intelligent tracking trolley based on infrared sensor provided by the invention reaches
beneficial effectbe: infrared sensor red-emitting, when being radiated at the region outside trajectory and trajectory, the infrared light intensity of reflection is different, the present invention is according to this principle, infrared electronic technology is adopted to carry out collection and the identification in noncontact path, the data gathered and identify are timely, accurate, effectively avoid dolly off-track.
Accompanying drawing explanation
Fig. 1 is the circuit diagram of the Intelligent tracking trolley based on infrared sensor provided by the invention.
Fig. 2 is the circuit diagram of power module in Fig. 1.
Fig. 3 is the control flow chart of the tracking method of the Intelligent tracking trolley based on infrared sensor provided by the invention.
Embodiment
Below in conjunction with accompanying drawing, the invention will be further described.Following examples only for technical scheme of the present invention is clearly described, and can not limit the scope of the invention with this.
As shown in Figure 1, based on the Intelligent tracking trolley of infrared sensor, comprise car body, be located at the hull of vehicle bottom, be arranged on left wheel on the left of hull, be located at the right wheel on the right side of hull and be located at the track band that car body drawn beneath has trajectory, as most preferred embodiment of the present invention, trajectory selects black, region outside trajectory adopts white, and when Infrared irradiation is on black and white, the infrared light intensity difference of reflection is obvious.Also be provided with singlechip CPU 1 and power module in the car body of dolly, singlechip CPU 1 be connected with motor drive module U3, the output terminal of motor drive module U3 is electrically connected with left wheel drive motor M1, right wheel drive motors M2 respectively.Motor drive module U3 preferred ULN2003 type driver module.
Hull is also provided with: for detecting the first infrared sensor and second infrared sensor of trajectory; First infrared sensor is corresponding with left wheel to be arranged, and the second infrared sensor is corresponding with right wheel to be arranged.First infrared sensor, the second infrared sensor adopt reflective infrared line walking sensor.For the first infrared sensor, it comprises: comparer U2A, potentiometer R4, the first infrared transmitter LED1, the second infrared transmitter LED2 and infrared remote receiver D1, the power pins of comparer U2A is electrically connected with the output terminal VCC of power module, power pins is connected after the first infrared transmitter LED1, the first current-limiting resistance R1 and is connected with the output terminal of comparer U2A, and the output terminal of comparer U2A is connected with singlechip CPU 1; One end of potentiometer R4 is connected with the output terminal VCC of power module, other end ground connection, and the slide plate of potentiometer R4 is connected with the reverse input end of comparer U2A; Second infrared transmitter LED2 one end is connected with the output terminal VCC of power module by the second current-limiting resistance R11, and the other end passes through wired earth; One end of infrared remote receiver D1 is connected with the output terminal VCC of power module by the 3rd current-limiting resistance R9, and the other end is by wired earth, and infrared remote receiver D1 is connected with the positive input of comparer U2A with the electrical nodes of the 3rd current-limiting resistance R9.
Singlechip CPU 1 is also connected with reset circuit, reset circuit comprises reset button S1, reset capacitance C6 and reset resistor R13, reset capacitance C6 is connected in parallel on the two ends of reset button S1, and the positive pole of reset capacitance C6 is connected with power module, and negative pole is by reset resistor R13 ground connection.
As shown in Figure 2, be the circuit diagram of power module.The output terminal VCC of power module is electrically connected with the power input of singlechip CPU 1, first infrared sensor, the second infrared sensor, motor drive module U3 and reset circuit respectively.Power module comprises transformer T1, rectification circuit and voltage stabilizer.The former limit of transformer is electrically connected with three-phase alternating current, and secondary is connected with rectification circuit.Two output terminals of rectification circuit connect voltage input end Vin and the earth terminal GND of voltage stabilizer respectively; Between the voltage input end Vin of voltage stabilizer and earth terminal GND, be respectively equipped with filtering circuit and voltage stabilizing diode between voltage output end Vout and earth terminal GND, voltage stabilizing diode is connected in parallel on filtering circuit two ends.
Preferably, singlechip CPU 1 selects AT89C51 type singlechip CPU 1.MC78M05CT selected by voltage stabilizer.Singlechip CPU 1 is also connected with crystal oscillating circuit.
As shown in Figure 3, with black in track band for trajectory, white is background color citing, based on the tracking method of the Intelligent tracking trolley of infrared sensor, comprises the following steps:
Step one: judge whether that the first infrared sensor being only positioned at left side detects black trace line: if so, perform dolly left-hand rotation instruction, controls left wheel drive motor M1 stall, right wheel drive motors M2 running; Otherwise, enter step 2;
Step 2: judge whether that the second infrared sensor being only positioned at right side detects black trace line: if so, perform dolly right-hand rotation instruction, control right wheel drive motors M2 stall, left wheel drive motor M1 operates; Otherwise, enter step 3;
Step 3: judge the first infrared sensor, whether the second infrared sensor detect white portion simultaneously, if so, perform advancement commands, control right wheel drive motors M2, left wheel drive motor M1 run-in synchronism, and return step one; Otherwise, enter step 4;
Step 4: judge whether the first infrared sensor, the second infrared sensor detect black trace line simultaneously, if so, perform halt instruction, controls right wheel drive motors M2, left wheel drive motor M1 stall; Otherwise, return step one.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the prerequisite not departing from the technology of the present invention principle; can also make some improvement and distortion, these improve and distortion also should be considered as protection scope of the present invention.
Claims (7)
1. based on the Intelligent tracking trolley of infrared sensor, comprise car body, be located at the hull of vehicle bottom, be arranged on left wheel on the left of hull, be located at the right wheel on the right side of hull and be located at the track band that car body drawn beneath has trajectory, it is characterized in that, single-chip microcomputer and power module is also provided with in described car body, described single-chip microcomputer is connected with motor drive module, and the output terminal of described motor drive module is electrically connected with left wheel drive motor, right wheel drive motors respectively; Described hull is also provided with: for detecting the first infrared sensor and second infrared sensor of trajectory; First infrared sensor is corresponding with left wheel to be arranged, and the second infrared sensor is corresponding with right wheel to be arranged;
Described single-chip microcomputer is also connected with reset circuit, and described power module is electrically connected with single-chip microcomputer, the first infrared sensor, the second infrared sensor, motor drive module and reset circuit respectively.
2. the Intelligent tracking trolley based on infrared sensor according to claim 1, it is characterized in that: described first infrared sensor, the second infrared sensor adopt reflective infrared line walking sensor, comprise: comparer, potentiometer, the first infrared transmitter, the second infrared transmitter and infrared remote receiver, the power pins of described comparer is electrically connected with the output terminal of power module, power pins is connected after the first infrared transmitter, the first current-limiting resistance and is connected with the output terminal of comparer, and the output terminal of comparer is connected with single-chip microcomputer;
One end of described potentiometer is connected with the output terminal of power module, other end ground connection, and the slide plate of potentiometer is connected with the reverse input end of comparer;
Described second infrared transmitter one end is connected with the output terminal of power module by the second current-limiting resistance, and the other end passes through wired earth;
One end of described infrared remote receiver is connected with the output terminal of power module by the 3rd current-limiting resistance, and the other end is by wired earth, and infrared remote receiver is connected with the positive input of comparer with the electrical nodes of the 3rd current-limiting resistance.
3. the Intelligent tracking trolley based on infrared sensor according to claim 1, it is characterized in that: described power module comprises transformer, rectification circuit and voltage stabilizer, the former limit of described transformer is electrically connected with three-phase alternating current, secondary is connected with rectification circuit, and two output terminals of rectification circuit connect voltage input end and the earth terminal of voltage stabilizer respectively; Be respectively equipped with filtering circuit and voltage stabilizing diode between the voltage input end of voltage stabilizer and earth terminal, between voltage output end and earth terminal, voltage stabilizing diode is connected in parallel on filtering circuit two ends.
4. the Intelligent tracking trolley based on infrared sensor according to claim 1, it is characterized in that: described reset circuit comprises reset button S1, reset capacitance C6 and reset resistor R13, reset capacitance C6 is connected in parallel on the two ends of reset button S1, the positive pole of reset capacitance C6 is connected with power module, and negative pole is by reset resistor R13 ground connection.
5. the Intelligent tracking trolley based on infrared sensor according to claim 1, is characterized in that: AT89C51 type single-chip microcomputer selected by described single-chip microcomputer.
6. the Intelligent tracking trolley based on infrared sensor according to claim 1, is characterized in that: described motor drive module selects ULN2003 type driver module.
7. based on the tracking method of the Intelligent tracking trolley of infrared sensor, it is characterized in that, comprise the following steps:
Step one: judge whether that the first infrared sensor be only positioned on the left of dolly detects trajectory: if so, perform dolly left-hand rotation instruction, controls the stall of left wheel drive motor, right wheel drive motors running; Otherwise, enter step 2;
Step 2: judge whether that the second infrared sensor being only positioned at right side detects trajectory: if so, perform dolly right-hand rotation instruction, control right wheel drive motors stall, left wheel drive motor operates; Otherwise, enter step 3;
Step 3: judge whether the first infrared sensor, the second infrared sensor detect the region outside trajectory simultaneously, if so, perform advancement commands, controls right wheel drive motors, the run-in synchronism of left wheel drive motor, and returns step one; Otherwise, enter step 4;
Step 4: judge the first infrared sensor, whether the second infrared sensor detect trajectory simultaneously, if so, perform halt instruction, control right wheel drive motors, the stall of left wheel drive motor; Otherwise, return step one.
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Cited By (10)
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| CN105629978A (en) * | 2016-03-21 | 2016-06-01 | 珠海市杰理科技有限公司 | Intelligent dolly and control system thereof |
| CN105867393A (en) * | 2016-06-28 | 2016-08-17 | 王玉华 | Intelligent trolley system |
| CN105929830A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system based on infrared sensor |
| CN105929831A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system |
| CN106625686A (en) * | 2017-03-20 | 2017-05-10 | 电子科技大学中山学院 | Embedded tracking robot able to programme |
| CN110032109A (en) * | 2019-04-17 | 2019-07-19 | 苏州工业职业技术学院 | A kind of full landform intelligent robot |
| CN111939009A (en) * | 2020-07-01 | 2020-11-17 | 南京伟思医疗科技股份有限公司 | Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method |
| CN112817303A (en) * | 2019-11-18 | 2021-05-18 | 鸿富锦精密电子(天津)有限公司 | Self-propelled triangular warning frame and advancing control method thereof |
| CN113133399A (en) * | 2021-04-15 | 2021-07-20 | 武汉琴台生态环境建设有限公司 | Road afforestation maintenance measurement and control device |
| CN113769136A (en) * | 2021-08-21 | 2021-12-10 | 刘刚民 | Intelligent tracking multifunctional disinfection robot |
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| CN105929831A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system |
| CN106625686A (en) * | 2017-03-20 | 2017-05-10 | 电子科技大学中山学院 | Embedded tracking robot able to programme |
| CN110032109A (en) * | 2019-04-17 | 2019-07-19 | 苏州工业职业技术学院 | A kind of full landform intelligent robot |
| CN112817303A (en) * | 2019-11-18 | 2021-05-18 | 鸿富锦精密电子(天津)有限公司 | Self-propelled triangular warning frame and advancing control method thereof |
| CN112817303B (en) * | 2019-11-18 | 2024-04-30 | 富联精密电子(天津)有限公司 | Self-propelled triangular warning frame and travelling control method thereof |
| CN111939009A (en) * | 2020-07-01 | 2020-11-17 | 南京伟思医疗科技股份有限公司 | Double-track tracking rehabilitation weight-reduction walking training vehicle and tracking method |
| CN113133399A (en) * | 2021-04-15 | 2021-07-20 | 武汉琴台生态环境建设有限公司 | Road afforestation maintenance measurement and control device |
| CN113769136A (en) * | 2021-08-21 | 2021-12-10 | 刘刚民 | Intelligent tracking multifunctional disinfection robot |
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Application publication date: 20150909 |