CN105022392A - Granary environment trolley control method - Google Patents
Granary environment trolley control method Download PDFInfo
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- CN105022392A CN105022392A CN201410165428.1A CN201410165428A CN105022392A CN 105022392 A CN105022392 A CN 105022392A CN 201410165428 A CN201410165428 A CN 201410165428A CN 105022392 A CN105022392 A CN 105022392A
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Abstract
The invention relates to a granary environment trolley control method and a corresponding control system. The control system is mainly composed of an upper computer (PC/mobile phone), a single-chip microcomputer, a wireless transmission module, a motor driving module, a tracking module, an obstacle avoidance module, a camera, a temperature and humidity sensor, a liquid crystal display screen and a power supply. The tracking module and the obstacle avoidance module continuously output detection signals to the single-chip microcomputer to judge. The single-chip microcomputer outputs PWM wave and corresponding level to the motor driving module to adjust speed and movement direction of a trolley so that automatic tracking and automatic obstacle avoidance functions are finally realized. When the trolley turns into a blind angle for certain reason and cannot go out, a control instruction is transmitted by means of the camera and the upper computer, and instruction transmission is preformed via the wireless transmission module so that artificial intervention can be performed on the environment trolley and an objective of "intelligent + artificial" control can be achieved. Meanwhile, data acquired by the temperature and humidity sensor are transmitted via the wireless transmission module and displayed on the upper computer.
Description
Technical field
The present invention relates to mobile robot control field, be specifically related to a kind of be applied to silo environmental monitoring dolly control method and corresponding control system.
Background technology
Intelligent carriage is an important branch of mobile robot, and being characterized in can automatic cognitive disorders thing in complex environment, and advances along predetermined road.And the control system based on intelligent carriage, have response fast, control simple, dirigibility is good, control accuracy high, have very strong adaptability to silo environment, easily can complete every given task.It is reported, in general college students ' colony newly manufacturing invention dolly not within minority, and some related to automatically advance and Monitoring Data time, can not accomplish when keeping away barrier and advancing " intelligence ", sometimes keep away barrier toward a directional steering, to be easy to forward dead angle to and can not walk out.The dolly of our design just well overcomes this difficult problem, intelligence advance be hampered and cannot get around time operating personnel can upper computer end receive camera send return real-time pictures remote control dolly advance, the traveling that " intelligence+artificial " control method just well can complete dolly controls, and finally reaches Real-Time Monitoring effect.
Summary of the invention
The present invention is deficiency in order to solve above-mentioned technology and a kind of easy to use, the silo environment dolly control method that can monitor Temperature-humidity at any time that provide.
In order to reach goal of the invention, the technical solution used in the present invention is:
Control system comprises host computer (PC or mobile phone), single-chip microcomputer, wireless transport module, motor drive module, camera, keeps away barrier module, tracking module, Temperature Humidity Sensor, LCDs, acoustic-optic alarm and power supply.Described tracking module and keep away barrier module constantly output detections signal judge to single-chip microcomputer, single-chip microcomputer then exports PWM and involves corresponding level to motor drive module, the speed of dolly and direction of motion are adjusted, finally realizes automatic tracking and automatic obstacle avoidance functions.When dolly can not be walked out because certain reason proceeds to dead angle, utilize host computer sending controling instruction by camera, carry out command by wireless transport module, then can carry out human intervention to environment dolly, reach the object that " intelligence+artificial " controls.The data that Temperature Humidity Sensor collects simultaneously carry out data transmission by wireless transport module, and host computer shows.
Described wireless transport module is Wi-Fi transport module, it is the bridge of communication between single-chip microcomputer and host computer, for transmitting data and steering order, and the video of camera is encoded then pass host computer back by Wi-Fi transport module, namely realize transmission of video function.
Described motor drive module adopts L298N driving chip, its effect is exactly receive the instruction from Wi-Fi transport module, and by single-chip microcomputer decision instruction, then controls driving chip output port and export corresponding level, reach and rotating is carried out to motor, the object of the operation of stopping.
Described camera is USB camera, and its advantage detects look-ahead distance far, and sensing range is wide.
Described to keep away barrier module be 3 road IR evading obstacle sensors, and whether be used for identification 3 directions has barrier.
Described tracking module is the 4 infrared tracking sensors in tunnel, is used for identifying predetermined black rail.
Described Temperature Humidity Sensor is DS18B20 and DHT11 combination, and DS18B20 is used for collecting temperature, and DHT11 is for gathering humidity.
Described LCDs is Nokia5110 LCDs, is characterized in that volume is little, easy to use, and the I/O port taking single-chip microcomputer is less.
Beneficial effect of the present invention: dolly is independently according to rail running predetermined on ground, if track exists barrier, automatically get around barrier and back on track and continue to travel, if dolly cannot continue to run because certain reason proceeds to dead angle, then host computer can be utilized to send instruction by wireless transport module and to carry out manual control.Detect Temperature-humidity in real time by Temperature Humidity Sensor simultaneously, measured temperature and humidity data is demonstrated by LCDs, and use Wi-Fi transport module to carry out transmission of video, make the user away from silo also can monitor silo environment in time by PC or mobile phone, when humiture parameter exceeds standard and alarm.
Accompanying drawing explanation
Fig. 1 system construction drawing.
Embodiment
Be described in detail below in conjunction with the technical scheme of accompanying drawing to invention:
As shown in Figure 1, it comprises host computer, single-chip microcomputer, wireless transport module, motor drive module, tracking module, keeps away barrier module, camera, acoustic-optic alarm, Temperature Humidity Sensor and power supply silo environment cart system structure.
As shown in Figure 1, trolley control system is made up of jointly host computer and single-chip microcomputer.Host computer and PC or mobile phone, for sending controling instruction, display humiture and video etc.Single-chip microcomputer processes the humiture data that sensor collects, tracking sensor and the signal keeping away barrier sensor are analyzed, when dolly is advanced along planned orbit and barrier detected, control system exits tracking pattern and enters barrier pattern of keeping away, and realizes automatic tracking and automatic obstacle avoidance functions.When dolly can not be walked out because certain reason proceeds to dead angle, utilize host computer sending controling instruction by camera, carry out command by wireless transport module, then can carry out human intervention to environment dolly, reach the object that " intelligence+artificial " controls.The data that Temperature Humidity Sensor collects simultaneously carry out data transmission by wireless transport module, and host computer shows.
Claims (4)
1. the control method of silo environment dolly and a corresponding control system, it comprises host computer (PC/ mobile phone), single-chip microcomputer, wireless transport module, motor drive module, tracking module, keeps away barrier module, camera, Temperature Humidity Sensor, LCDs and power supply.It is characterized in that: single-chip microcomputer judges from tracking module and the detection signal of keeping away barrier module receiving, and then exports corresponding PWM ripple to motor drive module, adjusts, realize automatic tracking and automatic obstacle avoidance functions to the speed of dolly and direction of motion.When dolly can not be walked out because certain reason proceeds to dead angle, utilize host computer sending controling instruction by camera, carry out command by wireless transport module, human intervention is carried out to dolly, finally reach the object that " intelligence+artificial " controls.The data that Temperature Humidity Sensor collects simultaneously are transmitted by wireless transport module, and host computer shows.
2. the control method of silo environment dolly according to claim 1 and corresponding control system, is characterized in that described barrier module of keeping away adopts 3 road IR evading obstacle sensors.
3. the control method of silo environment dolly according to claim 1, is characterized in that described tracking module adopts the 4 infrared tracking sensors in tunnel.
4. the control method of silo environment dolly according to claim 1, is characterized in that described wireless transport module is Wi-Fi transport module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410165428.1A CN105022392A (en) | 2014-04-22 | 2014-04-22 | Granary environment trolley control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410165428.1A CN105022392A (en) | 2014-04-22 | 2014-04-22 | Granary environment trolley control method |
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| Publication Number | Publication Date |
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| CN105022392A true CN105022392A (en) | 2015-11-04 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410165428.1A Pending CN105022392A (en) | 2014-04-22 | 2014-04-22 | Granary environment trolley control method |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606157A (en) * | 2016-03-16 | 2016-05-25 | 河南工业大学 | Multifunctional grain depot and grain condition intelligent patrol robot |
| CN105739579A (en) * | 2016-03-16 | 2016-07-06 | 河南工业大学 | Grain bin grain condition intelligent detection and monitoring system based on mobile robot technology |
| CN105807822A (en) * | 2016-03-16 | 2016-07-27 | 河南工业大学 | Intelligent detection and monitoring system for grain condition of grain depot |
| CN106873677A (en) * | 2017-03-01 | 2017-06-20 | 连京华 | A kind of pouity dwelling place environment is patrolled and examined and regulator control system |
| CN107065870A (en) * | 2017-03-31 | 2017-08-18 | 深圳诺欧博智能科技有限公司 | Mobile robot autonomous navigation system and method |
| CN107346111A (en) * | 2017-05-25 | 2017-11-14 | 苏州大学 | A kind of intelligent robot system based on Multi-sensor Fusion |
| CN110146127A (en) * | 2019-05-14 | 2019-08-20 | 湖北烟草金叶复烤有限责任公司 | Mobile environment detection platform |
| CN110262519A (en) * | 2019-07-23 | 2019-09-20 | 克拉玛依油城数据有限公司 | A kind of data acquisition in silo garden merges management system with robot inspection |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
| CN113155290A (en) * | 2021-03-09 | 2021-07-23 | 广州大学 | Patrol temperature measurement robot and patrol temperature measurement method |
| CN114857867A (en) * | 2022-05-01 | 2022-08-05 | 抚州梦一环保科技有限公司 | Robot for directly drying grains in granary |
-
2014
- 2014-04-22 CN CN201410165428.1A patent/CN105022392A/en active Pending
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105606157A (en) * | 2016-03-16 | 2016-05-25 | 河南工业大学 | Multifunctional grain depot and grain condition intelligent patrol robot |
| CN105739579A (en) * | 2016-03-16 | 2016-07-06 | 河南工业大学 | Grain bin grain condition intelligent detection and monitoring system based on mobile robot technology |
| CN105807822A (en) * | 2016-03-16 | 2016-07-27 | 河南工业大学 | Intelligent detection and monitoring system for grain condition of grain depot |
| CN105739579B (en) * | 2016-03-16 | 2017-11-10 | 河南工业大学 | A kind of grain conditions in grain depot Intelligent Measurement monitoring system based on mobile robot technology |
| CN106873677A (en) * | 2017-03-01 | 2017-06-20 | 连京华 | A kind of pouity dwelling place environment is patrolled and examined and regulator control system |
| CN107065870A (en) * | 2017-03-31 | 2017-08-18 | 深圳诺欧博智能科技有限公司 | Mobile robot autonomous navigation system and method |
| CN107346111A (en) * | 2017-05-25 | 2017-11-14 | 苏州大学 | A kind of intelligent robot system based on Multi-sensor Fusion |
| CN110146127A (en) * | 2019-05-14 | 2019-08-20 | 湖北烟草金叶复烤有限责任公司 | Mobile environment detection platform |
| CN110262519A (en) * | 2019-07-23 | 2019-09-20 | 克拉玛依油城数据有限公司 | A kind of data acquisition in silo garden merges management system with robot inspection |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
| CN113155290A (en) * | 2021-03-09 | 2021-07-23 | 广州大学 | Patrol temperature measurement robot and patrol temperature measurement method |
| CN114857867A (en) * | 2022-05-01 | 2022-08-05 | 抚州梦一环保科技有限公司 | Robot for directly drying grains in granary |
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Application publication date: 20151104 |