CN105425788A - Intelligent boosting book cart - Google Patents
Intelligent boosting book cart Download PDFInfo
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- CN105425788A CN105425788A CN201510167483.9A CN201510167483A CN105425788A CN 105425788 A CN105425788 A CN 105425788A CN 201510167483 A CN201510167483 A CN 201510167483A CN 105425788 A CN105425788 A CN 105425788A
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Abstract
The invention provides a library cart intelligently providing an assisting force. The cart comprises a mechanical part, a circuit part and an adaptive control algorithm part. The main key of the cart is the control algorithm part. When a person gives the cart a push force (pull force), the fact that the cart bears a push force (pull force) F given by the person is detected through four sensors at the lower part of a vehicle handle; and, when the force F exceeds a set critical value and reaches a set time limit, a control module judges the force F to be effective, a motor is started rapidly to reach a set stable value, and the cart goes forward (backward) at the moment. So the intelligent force-saving effort of the library cart is achieved.
Description
Technical field
The invention belongs to intelligent Application field, relate to Electric Traction control theory, singlechip technology, multiple automatic field such as digital signal processing, combine with intelligent control algorithm, invented a kind of intelligent assist device that can be applied to library's go-cart, can intelligent-induction hold in the palm the weight of books goods, and according to the setting of the laborsaving degree of user, what alleviate librarian pushes burden.The thrust of this device intelligent-induction staff, just triggers electric drive and produces corresponding power, achieve the effect of intelligent power saving after thrust reaches certain limit.
Background technology
Along with the development of science and technology and the progress of human society, intellectualized technology is deep in the middle of the daily life of people day by day, brings great convenience to the life of people.In the middle of intelligentized main forces, the field of intelligent power-assisted still belongs to blank at present at home, and intelligent power-assisted is lived inseparable with the facility of people, and in the case, the intelligent boosting car for library arises at the historic moment.
Intelligence boosting car integrates automatic control technology, singlechip technology, Power Electronic Technique, electric drive technology and adaptive control algorithm (see Fig. 1).On current market, traditional mechanical type trolley is still in occupation of the most market share, even if the trolley of the manpower saved having part to improve, the hand of also just similar electric motor car controls, not intelligent.More and more universal instantly at intelligent equipment, trolley field must will welcome a field technology revolution.But intelligent field is different from field in the past, be an emerging subject, the traditional robotization of this subject convergence, electric machine theory and research, power electronics specialty etc., and this talent interdisciplinary is few.So under current background, there is great market has openings in trolley field.
Library's trolley of traditional type relies on physical construction, and become and slide as rolling, save manpower, present mechanical modification type is centered around the muting function of wheel more, or on wheel, add the function of lockwheel.
DYN dynamic library trolley, relies on manual adjusting controller to realize.Controller is made up of peripheral devices and master chip (or single-chip microcomputer).Peripheral devices is some function elements, and as execution, sampling etc., they are resistance, sensor, bridge switching circuit, and assistant SCM or special IC complete the device of control procedure; Single-chip microcomputer also claims microcontroller, be on one piece of integration slice memory, have the code translator of figure signal language, saw-toothed wave generator and width modulation functional circuit and the conducting of on-off circuit power tube or cut-off can be made, controlled by square wave power tube ON time integrate with the driving circuit, input/output port etc. that control motor speed, and the calculating Bigpian of formation.The intelligent controller of Here it is books trolley.
Library's trolley of above-mentioned two kinds of working methods does not all have can intelligent power-assisted, needs manual adjustments.The control algolithm of in addition intelligence that what we did is exactly on the basis of traditional controlled adjuster, realizes the intelligent functions of intelligent boosting.
Summary of the invention
The present invention is directed to the intelligent field of current trolley, propose several main subject of a kind of fusion and solve the intelligentized method of books trolley, in order to this invention can be made more intelligent, the present invention takes adaptive control algolithm, and product is fitted the needs of user more.
The invention provides one can Intellisense user power thrusts, and then the torque producing this direction is to save the system of manpower, comprises mechanical part, circuit part, adaptive control algorithm part.
At mechanical part, the present invention is directed to trolley in use car in situation above, adopt front-wheel drive, the mode of rear-axle steering.Such design can make car when turning, and user better controls the travel direction of trolley.For realizing the practicality, attractive in appearance of product, physical construction is divided into 3 layers and hollow outs, overall in white.3 layers of mechanism can make disposable carrying capacity meet actual use, and hollow out and entirety can make the present invention attractive in appearance in white.Considering the volume and weight of accumulator, be arranged in trolley orlop near rear wheel position, car so also can being made to rely on when turning battery weight more stable.
Circuit part comprises DC voltage-stabilizing, motor driving part divides, digital control part.
The DC voltage-stabilizing part of circuit, is converted by DC-DCbuck, and a 24V voltage part for accumulator is depressured to 5V and uses for digital circuits section, a part is depressured to 3.3V for man-machine interaction liquid crystal, and a part of step-down 12V power supply machine driving chip uses.Digital control part, under 5V powers, reads the current value of Hall current sensor by SPI protocol, is read the value of pressure transducer by ADC analog to digital conversion, and produces corresponding PWM by intelligent control algorithm and pass to motor driving part and divide, and produces corresponding torque.
The control algolithm that in the present invention, digital control part have employed intelligence achieves startup to library's vehicle using motor, advances, retreats, accelerate, slow down, stop the control having carried out.By the pressure information that pressure transducer and modulus conversion chip HX711 change, and the velocity reversal information that scrambler detects with chip 74LS74, come velocity information that intelligent identification go-cart person wants library's vehicle using motor to move and directional information.Produce a corresponding speed preset by pressure sensor information, thus control the operation of vehicle using motor.
Accompanying drawing explanation
The technical field schematic diagram that Fig. 1 merges for the present invention;
Fig. 2 is the structural representation of electronic circuitry part of the present invention;
Fig. 3 is the strain resistor bridge schematic diagram of pressure transducer of the present invention;
Fig. 4 is profile mechanical construction drawing of the present invention;
Fig. 5 is intelligent control algorithm schematic flow sheet of the present invention;
Embodiment
Be described further below in conjunction with the embodiment of accompanying drawing to invention.It should be noted that at this, the explanation for these embodiments understands the present invention for helping, but does not form limitation of the invention.In addition, if below in described each embodiment of the present invention involved technical characteristic do not form conflict each other and just can combine mutually.
The present invention proposes a kind of can the firmly size of intelligent-induction books trolley user, and produce corresponding driving force according to the setting of laborsaving requirement and realize labour-saving system, native system converts 2 by 24VDC-DC and powers to MCU, DC-DC conversion 5 is powered to HX711, pressure size and Orientation sent back by main control chip MCU detected pressures sensor 8, obtain user stir the laborsaving degree of toggle switch 12 setting and shown by LCDs, produce corresponding PWM11 drive motor 4 and then save manpower.
Specifically, the present invention is by voltage dependent resistor bridge decomposition pressure sensor 8, principle of work as shown in Figure 2, voltage dependent resistor bridge is made up of four strain resistors, two resistance of a bridge change on the contrary when being subject to identical power, when two resistance at two bridge same position places are stressed, change is also contrary, so just a pressure signal can be transformed into voltage signal.
Voltage signal was transferred to main control chip by SPI protocol after entering HX7119 signal filtering process and amplification.
The accumulator 1 of 24V converts 2 one-tenth 5V by LM2596-5BUCK and powers to single-chip microcomputer, and BUCK conversion 3 is powered to HX7119.MCU6 to be connected with NOKIA5110 display screen 3 by parallel port and to show current duty, identify that the code value of toggle switch 12 determines the labour-saving degree that user sets by I/O, and produce according to the laborsaving degree of setting the torque output that different PWM supply motor drive ic IR2104 driving power MOSFET realizes motor.
Be described below in conjunction with the embodiment of accompanying drawing to mechanical part of the present invention.At this it is to be understood that, for the explanation of mechanical part embodiment for helping the understanding to this patent, but do not form the restriction to this patent.
Mechanical part such as the accompanying drawing 4 of this patent can be divided into 3 subdivisions: handlebar 1, vehicle body 2, chassis 3.To be described in detail each part below.
Mechanical part handlebar 1.This position is the place that staff promotes, and in order to realize trolley labour-saving function, we need thrust size and the direction of detecting promotion personnel.Therefore, the present invention has employing 4 sensors altogether, sensor is placed on position 3.
Mechanical part vehicle body 2.For meeting the demand in library, body portion is divided into 3 layers, can hollow out to seem attractive in appearance.
Mechanical part chassis 3.Chassis upper position 5, is used for laying lead accumulator, 2 pieces.Trailing wheel is universal wheel 6, and front-wheel is driving wheel 7.Two driving wheels are connected by differential mechanism 9, and differential mechanism is driven by motor.Support member 8 is connected in rotating shaft, is supporting role.
Whole trolley, when pusher's driven forward, sensor 3 detects and obtains a power forward, electric motor starting, drives two front-wheels 7, reduce the thrust of pusher with this by differential mechanism.
Be described below in conjunction with the embodiment of accompanying drawing 5 to intelligent control algorithm part of the present invention.At this it is to be understood that, for the explanation of intelligent control algorithm part for helping the understanding to this patent, but do not form the restriction to this patent.
Accompanying drawing 5 is the process flow diagram of intelligent control algorithm.The motion conditions of library's vehicle using motor is mainly divided into two kinds: just marching forward and oppositely retreating.Below with regard to this from the acceleration both of these case, slow down, stop being described in detail intelligent control algorithm.
First the intelligent algorithm of part of just marching forward is described.As the positive pressure value F that pressure transducer sends
+be more than or equal to given critical value a, and F
+the time that>=a keeps, when being not less than 2s, motor forward started fast, and at this moment motor at the uniform velocity advances with the speed of 1m/s, simultaneously the continuous returning pressure value of pressure transducer.In the process of advancing forward, if the force value F of pressure transducer feedback
+when being more than or equal to setting critical value b, vehicle using motor will accelerate gradually, until F
+be less than critical value, the current speed of maintenance is at the uniform velocity advanced by vehicle using motor simultaneously.If in the process of advancing forward, the negative direction force value F of pressure transducer feedback
-exist, and when being more than or equal to critical value c, vehicle using motor will slow down gradually, until F
-be less than critical value, at this moment motor will keep present speed to advance or stop.
The intelligent algorithm explanation of reverse retrogressing.As the negative pressures value F that pressure transducer sends
-be more than or equal to given critical value a, and F
-the time that>=a keeps, when being not less than 2s, motor oppositely started fast, and at this moment motor at the uniform velocity retreats with the speed of 0.5m/s, simultaneously the continuous returning pressure value of pressure transducer.In the process oppositely retreated, if the force value F of pressure transducer feedback
-when being more than or equal to setting critical value b, vehicle using motor will accelerate to retreat, until F gradually
-be less than critical value, the current speed of maintenance at the uniform velocity retreats by vehicle using motor simultaneously.If in the process oppositely retreated, the negative direction force value F of pressure transducer feedback
+exist, and when being more than or equal to critical value c, vehicle using motor will slow down gradually, until F
+be less than critical value, at this moment motor will keep present speed to retreat or stop.
Claims (6)
1. can an Intellisense user power thrusts, and then produce this direction torque to save the cart system of manpower, comprise mechanical part, circuit part and intelligent control algorithm part.Mechanical part has comprised the front-wheel of driving effect, the trailing wheel of steering-effecting, the physical construction of multilayer hollow out, and battery is placed on orlop and takes turns the stability sentenced and promote entirety rearward.Circuit part mainly comprises accumulator, collecting sensor signal, and current and voltage signals is sampled, accessory power supply, motor-drive circuit, main control chip etc.Intelligent control algorithm part comprises speed and current double closed loop and controls, pressure transducer and voltage and current signal process, PWM drive singal realization etc.
2. intelligent boosting car according to claim 1, battery tension is carried out step-down by DC/DC circuit by accessory power supply, is respectively man-machine interaction liquid crystal, motor drive ic, and sampling modulate circuit, the modules such as main control chip provide required operating voltage.These modules can carry out combining according to the needs of user and also can increase new module.
3. intelligent boosting car according to claim 1, it is characterized in that intelligent control algorithm part implementation is: by the value of ADC sampled pressure sensor, and produce corresponding PWM drive singal by algorithm, the conducting of gauge tap pipe and shutoff after driving circuit, and then realize motor speed and direct torque.
4. intelligent boosting car according to claim 3, it is characterized in that the implementation of pressure transducer is: pressure transducer is made up of voltage dependent resistor bridge, resistance bridge is placed in the place that handlebar is connected with vehicle body, respectively resistance is had before and after junction, being used for induction respectively moves forward and backward pressure, the electrical resistance pressure change of sensor, and pressure signal is converted into electric signal.
5. intelligent boosting car according to claim 1, it is characterized in that the operation control mode of boost function is: laborsaving degree can be set to many grades, user is by the laborsaving degree required for the setting of man-machine interaction liquid crystal, produce PWM according to the setting of different laborsaving degree and supply motor drive ic, regulate motor driving power, thus realize controlling the operation of boost function.
6. intelligent boosting car according to claim 1, it is characterized in that intelligent control algorithm part: by detected pressures signal, and vehicle using motor direction signal, main control chip adopts speed and current double closed loop control algolithm, realizes advancing to boosting car, retreats, accelerate, slow down, the controls such as stopping, thus reach intelligent and labour-saving object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510167483.9A CN105425788A (en) | 2015-04-02 | 2015-04-02 | Intelligent boosting book cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510167483.9A CN105425788A (en) | 2015-04-02 | 2015-04-02 | Intelligent boosting book cart |
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| CN105425788A true CN105425788A (en) | 2016-03-23 |
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| CN201510167483.9A Pending CN105425788A (en) | 2015-04-02 | 2015-04-02 | Intelligent boosting book cart |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625541A (en) * | 2017-01-25 | 2017-05-10 | 金华市精工工具制造有限公司 | Tool car and control method |
| CN108018628A (en) * | 2017-11-09 | 2018-05-11 | 铜陵松宝智能装备股份有限公司 | A kind of doff robot and the ambulation control method of motion sensing control walking |
| CN108791447A (en) * | 2018-06-08 | 2018-11-13 | 上海师范大学 | A kind of control method of the medicinal intelligent cart based on distributed sensor |
| CN110091906A (en) * | 2019-04-28 | 2019-08-06 | 李佳 | A kind of intelligence cart and its progress control method |
| CN110632933A (en) * | 2019-10-18 | 2019-12-31 | 鱼越号机器人科技(上海)有限公司 | Path moving method, robot and computer readable storage medium |
-
2015
- 2015-04-02 CN CN201510167483.9A patent/CN105425788A/en active Pending
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625541A (en) * | 2017-01-25 | 2017-05-10 | 金华市精工工具制造有限公司 | Tool car and control method |
| CN108018628A (en) * | 2017-11-09 | 2018-05-11 | 铜陵松宝智能装备股份有限公司 | A kind of doff robot and the ambulation control method of motion sensing control walking |
| CN108791447A (en) * | 2018-06-08 | 2018-11-13 | 上海师范大学 | A kind of control method of the medicinal intelligent cart based on distributed sensor |
| CN110091906A (en) * | 2019-04-28 | 2019-08-06 | 李佳 | A kind of intelligence cart and its progress control method |
| CN110632933A (en) * | 2019-10-18 | 2019-12-31 | 鱼越号机器人科技(上海)有限公司 | Path moving method, robot and computer readable storage medium |
| CN110632933B (en) * | 2019-10-18 | 2022-05-20 | 鱼越号机器人科技(上海)有限公司 | Path moving method, robot and computer readable storage medium |
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