CN104914861A - Double-steering engine four-wheel drive omnidirectional ultrasonic detection trolley - Google Patents
Double-steering engine four-wheel drive omnidirectional ultrasonic detection trolley Download PDFInfo
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- CN104914861A CN104914861A CN201510180144.4A CN201510180144A CN104914861A CN 104914861 A CN104914861 A CN 104914861A CN 201510180144 A CN201510180144 A CN 201510180144A CN 104914861 A CN104914861 A CN 104914861A
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Abstract
The invention discloses a double-steering engine four-wheel drive omnidirectional ultrasonic detection trolley. The trolley comprises two front wheels, two rear wheels, four motors, two steering engines, four ultrasonic sensors, a central data processing module and a support; the four motors are used to provide drive forces of rotation of the vehicle wheels; one of the two steering engines is used to control a travelling direction of the two front wheels, and the other one of the two steering engines is used to control a travelling direction of the two rear wheels; two of the four ultrasonic sensors are respectively disposed on two sides of the support and are used to induce obstacles on two sides of the trolley, and the other two of the four ultrasonic sensors are respectively disposed on two steering engines and are used to induce obstacles in the travelling direction of the two front wheels of the trolley and obstacles in the travelling direction of the two rear wheels of the trolley; and the central processing module is used to control the four motors and the two steering engines to work according to induction results of the four ultrasonic sensors. Ultrasonic sensors omnidirectional detection is achieved through adoption of the steering engines, oblique movement and minimum radius turning functions can be achieved, and maneuverability of the trolley is increased.
Description
Technical field
The present invention relates to intelligent vehicle double steering engine 4 wheel driven to turn to and automatic control technology field, the dolly of particularly a kind of double steering engine four-wheel drive omnidirectional ultrasonic detection.
Background technology
At present, the steering technique of intelligent vehicle is generally that single steering engine two-wheel drive turns to, and single steering engine two-wheeled turns to the space of needs large, underaction and the maneuverability shortcoming such as comparatively.And four steering wheel four-wheel steering technology are not yet ripe, and there is the shortcomings such as complex structure and algorithm be complicated and can not fully be applied on vehicle.Intelligent carriage is by various sensing system sensing external environment and oneself state, and autonomous in the known of complexity or circumstances not known also completes response task.Adopt multisensor pattern can avoid detecting dead angle.Therefore obstacle avoidance apparatus becomes the equipment of intelligent carriage indispensability.
Summary of the invention
Technical matters to be solved by this invention is for defect involved in background technology, provides the dolly that a kind of double steering engine four-wheel drive omnidirectional ultrasonic detects.
The present invention is for solving the problems of the technologies described above by the following technical solutions:
A dolly for double steering engine four-wheel drive omnidirectional ultrasonic detection, comprises two front-wheels, two trailing wheels, four motors, two steering wheels, four ultrasonic sensors, central data processing module and supports;
Described support is used for fixing four wheels, four motors, two steering wheels, four ultrasonic sensors and central data processing modules;
Described four motors respectively with two front-wheels, two trailing wheels connect one to one, for providing the driving force of vehicle wheel rotation;
One in described two steering wheels for controlling the direct of travel of two front-wheels, another is for controlling the direct of travel of two trailing wheels;
Two in described four ultrasonic sensors both sides being separately positioned on described support, for responding to the barrier of dolly both sides; Two other is separately positioned on two steering wheels, for responding to the barrier on dolly two front-wheel direct of travels and on two trailing wheel direct of travels;
Described central processing module respectively with four motors, two steering wheels, four ultrasonic sensors are electrically connected, for according to induction output control four motors of four ultrasonic sensors and two steering wheel work.
As the further prioritization scheme of dolly of a kind of double steering engine of the present invention four-wheel drive omnidirectional ultrasonic detection, described motor is direct current deceleration motor.
As the further prioritization scheme of dolly of a kind of double steering engine of the present invention four-wheel drive omnidirectional ultrasonic detection, described central data processing module adopts Arduino single-chip microcomputer.
As the further prioritization scheme of dolly of a kind of double steering engine of the present invention four-wheel drive omnidirectional ultrasonic detection, the model of described Arduino single-chip microcomputer is Arduino Mega 2560.
The present invention adopts ultrasonic sensor as the location of barrier and measuring element, and it has highly sensitive, and take measurement of an angle large, antijamming capability is strong, not by advantages such as the external environments such as sunshine affect, is more suitable for outdoor use.
Central data processing module adopts Arduino single-chip microcomputer as processor, and it is low in energy consumption, and operating temperature range is wide, stable performance.
When two steering wheels turn to and angle is identical, diagonal can be realized; When two steering wheels turn to contrary, radius of turn during low speed driving can be reduced largely, be convenient to narrow road surface and carry out U-shaped turning.
The present invention adopts above technical scheme compared with prior art, has following technique effect:
1. structure is simple, easy to use, stable and reliable operation;
2. double steering engine four-wheel drive can increase vehicle and moves the accuracy controlled with the dirigibility turned to and information, thus realizes diagonal, the functions such as least radius turning;
3. radius of turn when can reduce low vehicle speeds, steering stability when improving high vehicle speeds, the maneuverability of vehicle of increasing.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
In figure, 1-wheel, 2-support, 3-ultrasonic sensor, 4-Arduino single-chip microcomputer, 5-steering wheel, 6-drive motor.
Embodiment
Below in conjunction with accompanying drawing, technical scheme of the present invention is described in further detail:
As shown in Figure 1, the invention discloses the dolly of a kind of double steering engine four-wheel drive omnidirectional ultrasonic detection, comprise two front-wheels, two trailing wheels, four motors, two steering wheels, four ultrasonic sensors, central data processing module and supports;
Described support is used for fixing four wheels, four motors, two steering wheels, four ultrasonic sensors and central data processing modules;
Described four motors respectively with two front-wheels, two trailing wheels connect one to one, for providing the driving force of vehicle wheel rotation;
One in described two steering wheels for controlling the direct of travel of two front-wheels, another is for controlling the direct of travel of two trailing wheels;
Two in described four ultrasonic sensors both sides being separately positioned on described support, for responding to the barrier of dolly both sides; Two other is separately positioned on two steering wheels, for responding to the barrier on dolly two front-wheel direct of travels and on two trailing wheel direct of travels;
Described central processing module respectively with four motors, two steering wheels, four ultrasonic sensors are electrically connected, for according to induction output control four motors of four ultrasonic sensors and two steering wheel work.
Described motor preferentially adopts direct current deceleration motor.
Described central data processing module adopts Arduino single-chip microcomputer, preferential employing Arduino Mega 2560.
The present invention adopts ultrasonic sensor as the location of barrier and measuring element, and it has highly sensitive, and take measurement of an angle large, antijamming capability is strong, not by advantages such as the external environments such as sunshine affect, is more suitable for outdoor use.
Central data processing module adopts Arduino single-chip microcomputer as processor, and it is low in energy consumption, and operating temperature range is wide, stable performance.
When an obstacle is detected, ultrasonic sensor can receive the ultrasonic signal returned, and high for the ultrasonic signal simulation new peak that is converted into is passed to Arduino single-chip microcomputer, single-chip microcomputer is according to the position of the simulating signal dyscalculia thing received and distance, select suitable route to run according to Robot dodge strategy, reach the object of keeping away barrier.
When two steering wheels turn to and angle is identical, diagonal can be realized; When two steering wheels turn to contrary, radius of turn during low speed driving can be reduced largely, be convenient to narrow road surface and carry out U-shaped turning.
Those skilled in the art of the present technique are understandable that, unless otherwise defined, all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
Above-described embodiment; object of the present invention, technical scheme and beneficial effect are further described; be understood that; the foregoing is only the specific embodiment of the present invention; be not limited to the present invention; within the spirit and principles in the present invention all, any amendment made, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (4)
1. a dolly for double steering engine four-wheel drive omnidirectional ultrasonic detection, is characterized in that, comprise two front-wheels, two trailing wheels, four motors, two steering wheels, four ultrasonic sensors, central data processing module and supports;
Described support is used for fixing four wheels, four motors, two steering wheels, four ultrasonic sensors and central data processing modules;
Described four motors respectively with two front-wheels, two trailing wheels connect one to one, for providing the driving force of vehicle wheel rotation;
One in described two steering wheels for controlling the direct of travel of two front-wheels, another is for controlling the direct of travel of two trailing wheels;
Two in described four ultrasonic sensors both sides being separately positioned on described support, for responding to the barrier of dolly both sides; Two other is separately positioned on two steering wheels, for responding to the barrier on dolly two front-wheel direct of travels and on two trailing wheel direct of travels;
Described central processing module respectively with four motors, two steering wheels, four ultrasonic sensors are electrically connected, for according to induction output control four motors of four ultrasonic sensors and two steering wheel work.
2. the dolly of double steering engine four-wheel drive omnidirectional ultrasonic detection according to claim 1, it is characterized in that, described motor is direct current deceleration motor.
3. the dolly of double steering engine four-wheel drive omnidirectional ultrasonic detection according to claim 1, it is characterized in that, described central data processing module adopts Arduino single-chip microcomputer.
4. the dolly of double steering engine four-wheel drive omnidirectional ultrasonic detection according to claim 3, it is characterized in that, the model of described Arduino single-chip microcomputer is Arduino Mega 2560.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510180144.4A CN104914861A (en) | 2015-04-16 | 2015-04-16 | Double-steering engine four-wheel drive omnidirectional ultrasonic detection trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510180144.4A CN104914861A (en) | 2015-04-16 | 2015-04-16 | Double-steering engine four-wheel drive omnidirectional ultrasonic detection trolley |
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| CN104914861A true CN104914861A (en) | 2015-09-16 |
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| CN201510180144.4A Pending CN104914861A (en) | 2015-04-16 | 2015-04-16 | Double-steering engine four-wheel drive omnidirectional ultrasonic detection trolley |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105565211A (en) * | 2015-12-23 | 2016-05-11 | 南京航空航天大学 | Smart carrying trolley capable of automatically identifying cargos |
| CN108099593A (en) * | 2017-12-28 | 2018-06-01 | 南京工程学院 | It is a kind of to apply dual drive system mechanical structure more |
| CN108415417A (en) * | 2018-01-19 | 2018-08-17 | 华南理工大学 | A kind of robot obstacle-avoiding system and method based on the prediction of barrier motion state |
| CN112606899A (en) * | 2016-07-29 | 2021-04-06 | 深圳市大疆创新科技有限公司 | Chassis, chassis control system and chassis control method |
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| CN108415417A (en) * | 2018-01-19 | 2018-08-17 | 华南理工大学 | A kind of robot obstacle-avoiding system and method based on the prediction of barrier motion state |
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Application publication date: 20150916 |
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| RJ01 | Rejection of invention patent application after publication |