CN105373126A - Tracking barrier avoiding dolly controller - Google Patents
Tracking barrier avoiding dolly controller Download PDFInfo
- Publication number
- CN105373126A CN105373126A CN201510894451.9A CN201510894451A CN105373126A CN 105373126 A CN105373126 A CN 105373126A CN 201510894451 A CN201510894451 A CN 201510894451A CN 105373126 A CN105373126 A CN 105373126A
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- module
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- computer module
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- 230000004888 barrier function Effects 0.000 title claims abstract description 33
- 239000013078 crystal Substances 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000000306 component Substances 0.000 description 1
- 239000008358 core component Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Electromagnetism (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a tracking barrier avoiding dolly controller. The tracking barrier avoiding dolly controller is characterized by comprising a single-chip microcomputer module; a tracking module connected with the single-chip microcomputer module for detecting road information and transmitting the detected information to the single-chip microcomputer module; a barrier avoiding module connected with the single-chip microcomputer module for detecting whether a barrier exists in front of a dolly and transmitting detected information to the single-chip microcomputer module; and a motor driving module connected with the single-chip microcomputer module for executing corresponding operation after receiving a command of a single-chip microcomputer. When the dolly runs, the tracking module and the barrier avoiding module work to transmit the road information and the front barrier information to the motor driving module, the single-chip microcomputer, after receiving signals, performs processing and determining and emitting the control command to control the motor driving module to work to perform such motion as forwarding, retreating, turning and the like. The tracking barrier avoiding dolly controller is low in price, convenient to use and wide in application prospect.
Description
Technical field
What the present invention relates to is that tracking keeps away barrier agv controller.
Background technology
Intelligent carriage is all widely used in every field, as shopping guide provided to help for client, guide service, can complete the work such as the freight handling under various rugged surroundings.But expensive due to intelligent carriage, cause its range of application to be restricted.
The major function of intelligent carriage is tracking and keeps away barrier, and controller is the core component of intelligent carriage, is to control the critical component that dolly advances, retreats, turns, and controller expensive is also that intelligence is got off the reason held at high price.Thus meeting under tracking and barrier avoiding function, reducing the cost of controller further, is extremely urgent work.
Summary of the invention
The present invention is directed to existing deficiency, provide a kind of cheap tracking to keep away barrier agv controller.For achieving the above object, the present invention adopts technical scheme to be:
Tracking keeps away barrier agv controller, it is characterized in that, comprises an one-chip computer module; The one tracking module be connected with one-chip computer module, for detecting information of road surface, and passes to one-chip computer module by the information detected; One be connected with one-chip computer module keep away barrier module, whether have barrier for detecting dolly front, and the information detected passed to one-chip computer module; One motor drive module be connected with one-chip computer module, for receive single-chip microcomputer order after perform corresponding operation; During trolley travelling, tracking module and keep away barrier module work, passes to one-chip computer module by information of road surface and preceding object thing information, single-chip microcomputer deals with after receiving signal and judges, and send control command, control motor drive module work, make the actions such as advance, retrogressing, turning.
One-chip computer module comprises STC89C51, and the crystal oscillator of 11.0592 is connected in parallel on No. 18 pin and No. 19 pin of STC89C51, and No. 18 pin and No. 19 pin are respectively through 30pF capacity earth, and No. 9 paralleling switches between pin and+5V and 10uF electric capacity, No. 9 pin are through 10K resistance eutral grounding.Tracking module comprises two groups of infrared transmitters and infrared remote receiver, the infrared transmitter of each group is all connected on power supply, between 220 Europe resistance and ground, infrared remote receiver is all connected between power supply 1.5K resistance and ground, and the Received signal strength of infrared remote receiver sends into P3.5 and the P3.6 mouth of one-chip computer module respectively.Keep away barrier module and comprise one group of infrared transmitter, infrared remote receiver and LM393, infrared transmitter is connected on power supply, between 220 Europe resistance and ground, infrared remote receiver is connected between power supply 1.5K resistance and ground, received IR signal delivers to No. 3 pin of LM393, and output No. 1 pin of LM393 delivers to the P3.7 mouth of one-chip computer module, No. 4 pin ground connection of LM393, No. 8 pin connect power supply, No. 1 pin connects power supply through 15K resistance, and No. 2 pin are through 4.7K resistance eutral grounding, and power supply connects No. 2 pin through 4.7K resistance.Motor drive module comprises L293D and 2 motor, P0.0, P0.1, P0.2, P0.3, P1.0, P1.1 of one-chip computer module access 2,7,10,15,1, No. 9 pin of L293D respectively, 4,5,12, No. 13 pin ground connection of L293D, No. 16 pin connect power supply, No. 8 pin through 104 capacity earths, between 3, No. 6 pin and 11, No. 14 pin 104 electric capacity in parallel and motor respectively.
Beneficial effect of the present invention: the invention provides tracking avoidance obstacle device, cheap, easy to use, application prospect is extensive.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention;
Fig. 2 is one-chip computer module circuit diagram of the present invention;
Fig. 3 is tracking module circuit diagram of the present invention;
Fig. 4 of the present inventionly keeps away barrier module circuit diagram;
Fig. 5 is motor drive module circuit diagram of the present invention.
Embodiment
The present invention is specifically introduced as follows below in conjunction with drawings and Examples:
Tracking keeps away barrier agv controller, it is characterized in that, comprises an one-chip computer module; The one tracking module be connected with one-chip computer module, for detecting information of road surface, and passes to one-chip computer module by the information detected; One be connected with one-chip computer module keep away barrier module, whether have barrier for detecting dolly front, and the information detected passed to one-chip computer module; One motor drive module be connected with one-chip computer module, for receive single-chip microcomputer order after perform corresponding operation; During trolley travelling, tracking module and keep away barrier module work, passes to one-chip computer module by information of road surface and preceding object thing information, single-chip microcomputer deals with after receiving signal and judges, and send control command, control motor drive module work, make the actions such as advance, retrogressing, turning.
One-chip computer module comprises STC89C51, and the crystal oscillator of 11.0592 is connected in parallel on No. 18 pin and No. 19 pin of STC89C51, and No. 18 pin and No. 19 pin are respectively through 30pF capacity earth, and No. 9 paralleling switches between pin and+5V and 10uF electric capacity, No. 9 pin are through 10K resistance eutral grounding.Tracking module comprises two groups of infrared transmitters and infrared remote receiver, the infrared transmitter of each group is all connected on power supply, between 220 Europe resistance and ground, infrared remote receiver is all connected between power supply 1.5K resistance and ground, and the Received signal strength of infrared remote receiver sends into P3.5 and the P3.6 mouth of one-chip computer module respectively.Keep away barrier module and comprise one group of infrared transmitter, infrared remote receiver and LM393, infrared transmitter is connected on power supply, between 220 Europe resistance and ground, infrared remote receiver is connected between power supply 1.5K resistance and ground, received IR signal delivers to No. 3 pin of LM393, and output No. 1 pin of LM393 delivers to the P3.7 mouth of one-chip computer module, No. 4 pin ground connection of LM393, No. 8 pin connect power supply, No. 1 pin connects power supply through 15K resistance, and No. 2 pin are through 4.7K resistance eutral grounding, and power supply connects No. 2 pin through 4.7K resistance.Motor drive module comprises L293D and 2 motor, P0.0, P0.1, P0.2, P0.3, P1.0, P1.1 of one-chip computer module access 2,7,10,15,1, No. 9 pin of L293D respectively, 4,5,12, No. 13 pin ground connection of L293D, No. 16 pin connect power supply, No. 8 pin through 104 capacity earths, between 3, No. 6 pin and 11, No. 14 pin 104 electric capacity in parallel and motor respectively.
Below disclose the present invention with preferred embodiment, so it is not intended to limiting the invention, and all technical schemes taking the form of equivalent replacement or equivalent transformation to obtain, all drop within protection scope of the present invention.
Claims (5)
1. tracking keeps away barrier agv controller, it is characterized in that, comprises
One one-chip computer module;
The one tracking module be connected with one-chip computer module, for detecting information of road surface, and passes to one-chip computer module by the information detected;
One be connected with one-chip computer module keep away barrier module, whether have barrier for detecting dolly front, and the information detected passed to one-chip computer module;
One motor drive module be connected with one-chip computer module, for receive single-chip microcomputer order after perform corresponding operation;
During trolley travelling, tracking module and keep away barrier module work, passes to one-chip computer module by information of road surface and preceding object thing information, single-chip microcomputer deals with after receiving signal and judges, and send control command, control motor drive module work, make the actions such as advance, retrogressing, turning.
2. keep away barrier agv controller according to the tracking shown in claim 1, it is characterized in that, one-chip computer module comprises STC89C51, the crystal oscillator of 11.0592 is connected in parallel on No. 18 pin and No. 19 pin of STC89C51, No. 18 pin and No. 19 pin are respectively through 30pF capacity earth, No. 9 paralleling switches between pin and+5V and 10uF electric capacity, No. 9 pin are through 10K resistance eutral grounding.
3. keep away barrier agv controller according to the tracking shown in claim 1, it is characterized in that, tracking module comprises two groups of infrared transmitters and infrared remote receiver, the infrared transmitter of each group is all connected on power supply, between 220 Europe resistance and ground, infrared remote receiver is all connected between power supply 1.5K resistance and ground, and the Received signal strength of infrared remote receiver sends into P3.5 and the P3.6 mouth of one-chip computer module respectively.
4. keep away barrier agv controller according to the tracking shown in claim 1, it is characterized in that, keep away barrier module and comprise one group of infrared transmitter, infrared remote receiver and LM393, infrared transmitter is connected on power supply, between 220 Europe resistance and ground, infrared remote receiver is connected between power supply 1.5K resistance and ground, received IR signal delivers to No. 3 pin of LM393, output No. 1 pin of LM393 delivers to the P3.7 mouth of one-chip computer module, No. 4 pin ground connection of LM393, No. 8 pin connect power supply, No. 1 pin connects power supply through 15K resistance, and No. 2 pin are through 4.7K resistance eutral grounding, and power supply connects No. 2 pin through 4.7K resistance.
5. keep away barrier agv controller according to the tracking shown in claim 1, it is characterized in that motor drive module comprises L293D and 2 motor, P0.0, P0.1, P0.2, P0.3, P1.0, P1.1 of one-chip computer module access 2,7,10,15,1, No. 9 pin of L293D respectively, 4,5,12, No. 13 pin ground connection of L293D, No. 16 pin connect power supply, No. 8 pin through 104 capacity earths, between 3, No. 6 pin and 11, No. 14 pin 104 electric capacity in parallel and motor respectively.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510894451.9A CN105373126A (en) | 2015-12-07 | 2015-12-07 | Tracking barrier avoiding dolly controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510894451.9A CN105373126A (en) | 2015-12-07 | 2015-12-07 | Tracking barrier avoiding dolly controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105373126A true CN105373126A (en) | 2016-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510894451.9A Pending CN105373126A (en) | 2015-12-07 | 2015-12-07 | Tracking barrier avoiding dolly controller |
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| CN (1) | CN105373126A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105929831A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system |
| CN107707892A (en) * | 2017-10-31 | 2018-02-16 | 无锡七百二十度科技有限公司 | A kind of tracking monitoring system |
-
2015
- 2015-12-07 CN CN201510894451.9A patent/CN105373126A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105929831A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system |
| CN107707892A (en) * | 2017-10-31 | 2018-02-16 | 无锡七百二十度科技有限公司 | A kind of tracking monitoring system |
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Application publication date: 20160302 |
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| WD01 | Invention patent application deemed withdrawn after publication |