CN105022390A - Intelligent line inspection dolly - Google Patents
Intelligent line inspection dolly Download PDFInfo
- Publication number
- CN105022390A CN105022390A CN201410164959.9A CN201410164959A CN105022390A CN 105022390 A CN105022390 A CN 105022390A CN 201410164959 A CN201410164959 A CN 201410164959A CN 105022390 A CN105022390 A CN 105022390A
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- China
- Prior art keywords
- dolly
- motor
- control system
- intelligent line
- line inspection
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses an intelligent line inspection dolly which comprises a dolly body. The left part, the middle part and the right part of the dolly body are respectively provided with an infrared ray photoelectric sensor. The dolly adopts a rear wheel driving way. The left side and the right side of a rear wheel are respectively provided with a motor for driving. The motor shafts are provided with photoelectric angle sensors. The front wheel of the dolly is a universal wheel. The infrared ray photoelectric sensors are connected with a control system which is further connected with a power supply module. The dolly which achieves automatic line inspection and controls the speed has a relatively low cost and further overcomes the defects in the prior art.
Description
Technical field
The present invention relates to a kind of Intelligent line patrolling dolly, belong to microchip technology field.
Background technology
Along with the development of the production automation, robot has been applied in the production automation more and more widely, and along with the development of science and technology, the sensory transducers kind of robot gets more and more, and wherein vision sensor becomes the vitals of walking and driving automatically.The typical field of application of vision is autonomous intelligent navigational system, for the various technology of vision, image processing techniques is quite flourishing, and also very backward based on the understanding technology of image, machine vision needs also can only identify the simple target of some structured environments by a large amount of computings.The core devices of vision sensor is pick-up tube or CCD, but its price, volume and use-pattern are not preponderated, and is not therefore requiring that picture rich in detail only needs consideration use proximity scnsor in the system of rough sensation to be a kind of method of practicability and effectiveness.Robot will realize homing guidance function just must perception guide wire, and perception guide wire quite gives robot visual performance.Therefore the research of robot is necessitated.
Summary of the invention
The technical problem to be solved in the present invention: provide a kind of Intelligent line patrolling dolly, can line walking and control rate automatically, and cost is lower, to overcome the deficiencies in the prior art.
Technical scheme of the present invention:
A kind of Intelligent line patrolling dolly, comprise car body, the left, center, right of described car body is respectively provided with an infrared optic-electric detects technique, described dolly adopts rear wheel drive, trailing wheel the right and left respectively drives with a motor, and the axle of motor is provided with optoelectronic angle sensor, and Trolley front wheel is universal wheel, infrared optic-electric detects technique is connected with control system, and control system is connected with supply module.
Described motor is DC speed-reducing.
Described control system is AT89S51 single-chip microcomputer.
Beneficial effect of the present invention:
Compared with prior art, the present invention detects the position of black line by infrared optic-electric detects technique, and corresponding travel speed and the direction revising dolly, the travel speed of dolly can be detected by optoelectronic angle sensor, be convenient to adjust travel speed.
accompanying drawing illustrates:
Fig. 1 is structural representation of the present invention.
embodiment:
Embodiment:
With reference to figure 1, middle infrared (Mid-IR) photoelectric sensor of the present invention and optoelectronic angle sensor are commercial products, and control system selects AT89S51 single-chip microcomputer, adopt dual processors design, the effect of two pieces of single-chip microcomputers: one piece of responsible sample rate also shows, the state of one piece of responsible detecting sensor also controls motor.Motor adopts DC speed-reducing, and the control section of motor adopts direct current H bridge integrated amplifier circuit, and direct current H bridge power amplifier is the basic circuit for controlling direct current generator bidirectional-movement, and this circuit makes motor can bidirectional movement under single power supply.
An infrared optic-electric detects technique is respectively provided with in the left, center, right of trolley, dolly adopts rear wheel drive, trailing wheel the right and left respectively drives with a motor, the axle of motor is provided with optoelectronic angle sensor, Trolley front wheel is universal wheel, be convenient to support turn to, infrared optic-electric detects technique is all connected with control system with optoelectronic angle sensor, and control system is connected with supply module.Supply module adopts storage battery power supply pattern, and 12 volts of voltages, can provide the drive current of maximum 1.2A.The power supply of motor drive power supply and control circuit is all provided by it.
During use, when the infrared optic-electric detects technique on the left side of dolly detects the border of black line, control system controls revolver motor and slows down, car is revised to the right, when the right infrared optic-electric detects technique of car detects black line, control system controls right turbin generator and slows down, car is revised left, middle infrared optic-electric detects technique plays subsidiary correction, black line is in the centre of car body, middle infrared optic-electric detects technique detects black line always, also starts to revise when departing from black line, thus makes dolly along the track travel of black.
The detection of car speed is the optoelectronic angle sensor leaned on, and optoelectronic angle sensor is contained on the axle of motor, and optoelectronic angle sensor rotates with motor.
Claims (3)
1. an Intelligent line patrolling dolly, comprise car body, it is characterized in that: the left, center, right of described car body is respectively provided with an infrared optic-electric detects technique, described dolly adopts rear wheel drive, trailing wheel the right and left respectively drives with a motor, and the axle of motor is provided with optoelectronic angle sensor, and Trolley front wheel is universal wheel, infrared optic-electric detects technique is all connected with control system with optoelectronic angle sensor, and control system is connected with supply module.
2. a kind of Intelligent line patrolling dolly according to claim 1, is characterized in that: described motor is DC speed-reducing.
3. a kind of Intelligent line patrolling dolly according to claim 1, is characterized in that: described control system is AT89S51 single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410164959.9A CN105022390A (en) | 2014-04-23 | 2014-04-23 | Intelligent line inspection dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410164959.9A CN105022390A (en) | 2014-04-23 | 2014-04-23 | Intelligent line inspection dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105022390A true CN105022390A (en) | 2015-11-04 |
Family
ID=54412431
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410164959.9A Pending CN105022390A (en) | 2014-04-23 | 2014-04-23 | Intelligent line inspection dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105022390A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828590A (en) * | 2019-03-15 | 2019-05-31 | 武汉理工大学 | A kind of motion positions device and method based on photoelectric sensor |
-
2014
- 2014-04-23 CN CN201410164959.9A patent/CN105022390A/en active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109828590A (en) * | 2019-03-15 | 2019-05-31 | 武汉理工大学 | A kind of motion positions device and method based on photoelectric sensor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20151104 |
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| WD01 | Invention patent application deemed withdrawn after publication |