CN105617677A - Intelligent trolley capable of being controlled by Bluetooth mobile phone - Google Patents
Intelligent trolley capable of being controlled by Bluetooth mobile phone Download PDFInfo
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- CN105617677A CN105617677A CN201610177650.2A CN201610177650A CN105617677A CN 105617677 A CN105617677 A CN 105617677A CN 201610177650 A CN201610177650 A CN 201610177650A CN 105617677 A CN105617677 A CN 105617677A
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- module
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- microprocessor
- mobile phone
- intelligent carriage
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- 238000004891 communication Methods 0.000 claims abstract description 11
- 238000012360 testing method Methods 0.000 claims description 8
- 238000012423 maintenance Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 7
- 238000005516 engineering process Methods 0.000 description 3
- 230000001276 controlling effect Effects 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 229910052739 hydrogen Inorganic materials 0.000 description 2
- 239000001257 hydrogen Substances 0.000 description 2
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- 230000001105 regulatory effect Effects 0.000 description 2
- 230000015572 biosynthetic process Effects 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
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Classifications
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
- A63H17/36—Steering-mechanisms for toy vehicles
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H30/00—Remote-control arrangements specially adapted for toys, e.g. for toy vehicles
- A63H30/02—Electrical arrangements
- A63H30/04—Electrical arrangements using wireless transmission
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- H04B5/72—
Abstract
The invention discloses an intelligent trolley capable of being controlled by a Bluetooth mobile phone. A main body comprises a microprocessor, an ultrasonic module, a Bluetooth communication module, a tracking module, an obstacle avoidance module, a power module, a motor driving module, a motor, a speed measuring module and a display module; the microprocessor is in both-way connection with the tracking module and the Bluetooth communication module respectively, the ultrasonic module, the power module and the display module are in one-way connection with the microprocessor, the microprocessor is in one-way connection with the obstacle avoidance module, the display module and the motor driving module, and the motor driving module is in separate connection with the motor. The intelligent trolley capable of being controlled by the Bluetooth mobile phone has the advantages that the modular scheme is adopted, the structure is simple, platform set-up and maintenance are easy, the measuring precision is high, the reliability is good, the functions of wireless Bluetooth communication passive control, automatic control, automatic tracking, automatic obstacle avoidance, speed measurement, speed adjustment, speed display and the like can be achieved, cruising can be automatically controlled, and artificial online control can be achieved.
Description
Technical field
The present invention relates to technical field of electric automation, particularly the intelligent carriage of a kind of usable bluetooth mobile phone control.
Background technology
Along with the development of science and technology, people are also more and more ripe to the utilization of intellectualized technology, intellectuality also not as existed in the past only with science fiction among, it has entered in our daily life, and we have just enjoyed the intelligent facility bringing us inadvertently.
Mentioning intellectuality, what first we expected is exactly the article come from our daily life, such as smart mobile phone, panel computer etc., particularly smart mobile phone, and the popularity rate in the life of people is very high, intelligent inseparable with our life.
On the whole, intelligence household is also in development at home, but has good prospects, it is possible to expect soon in the future, and intelligence household will become a part essential in our life.
Summary of the invention
It is an object of the invention to provide the intelligent carriage of lower, the simple and reasonable bluetooth cellular phone control of a kind of cost.
The technical solution used in the present invention is:
An intelligent carriage for usable bluetooth mobile phone control, its innovative point is: main body comprises microprocessor, ultrasonic wave module, bluetooth communication, follows mark module, obstacle module, power supply module, motor drive module, motor, the module that tests the speed and display module;
Described microprocessor respectively with follow mark module and bluetooth communication is bi-directionally connected, described ultrasonic wave module, power supply module and display module are connected with described microprocessor is unidirectional respectively, described microprocessor is connected with obstacle module, display module and motor drive module are unidirectional respectively, and described motor drive module is connected separately with described motor.
Described intelligent carriage adopts four-wheel drive, and each wheel is respectively with a DC motor Driver, and described intelligent carriage is equipped with four infrared tube sensors.
Further, described microprocessor adopts STC89C52CR chip.
Further, described motor drive module adopts L298N chip, comprises and drives power supply and motor to drive.
The useful effect of the present invention is as follows:
1) the present invention is based on close to feeling and STC89C52CR microprocessor, adopting modular arrangement, structure is simple, is easy to build platform and maintenance, measuring accuracy height, good reliability, it is possible to realize wireless blue tooth communication Passive Control, automatically control, automatic tracking, automatic obstacle-avoiding, test the speed, speed governing, the function such as speed display, can realize automatically controlling to cruise, artificial on-line Control can be realized again, in addition, ultrasonic ranging of the present invention devises temperature compensation, reaches the object of accurately range finding;
2) power acquisition 6 joint 1.2V nickel-hydrogen chargeable cells are driven, it is provided that 7.2V voltage, provides voltage of supply for motor drives, and other chip operating voltages+5V supplies by after 7.2V step-down; Motor drives and adopts L289N chip, and voltage of supply is 5V, and driving circuit has 4 pairs of input/output terminals, often pair of Terminal control 1 motor, and micro-chip exports control signal, is realized the rotating of motor by driving circuit;
3) governor circuit is taking STC89C52CR micro-chip as control core, completes the functions such as the movement velocity of the reception of sensor conversion circuit signal, road conditions and speed information process and intelligent carriage, direction controlling; STC89C52CR micro-chip belongs to super low-power consumption, and immunity from interference is strong, 8 micro-chips of low electromagnetic, ultralow price, working current only 4 ~ 7mA under normal mode of operation;
4) solution that mark module is mainly intelligent carriage and provides the Infrared detection system of multi-usage is followed, this module forms probe by the discrete component such as infrared emitting and receiving tube, and use LM339 voltage comparator (to add hysteresis circuitry, prevent critical output from shaking) as control circuit in core devices formation, native system has multiple detecting function, can greatly meeting the needs of intelligent carriage safe and reliable operation, this module 4 tunnel independently works;
5) US-100 ultrasonic distance measuring module is adopted, this module can realize the noncontact formula distance measurement function of 0 ~ 4.5m, there is the wide range input voltage of 2.4 ~ 5.5V, static power consumption is lower than 2mA, carry temperature sensor range finding result to be corrected, having the multiple signalling methods such as GPIO, serial ports, built-in dog circuit of guarding the gate, working stability is reliable simultaneously;
6) module that tests the speed adopts integration correlation infrared receiver tube WYCH206, and uses 74HC14(band schmitt trigger inverter, prevents critical output from shaking) form as core devices in control circuit. This module has highly sensitive, reacts the advantage such as rapid;
7) motor rotating speed peace steering procedure all at the uniform velocity is reduced in order to realize, this intelligent carriage motor driving circuit adopts PWM control techniques, the rotating of motor drive module major control four motors, and change the rotating speed of motor, module adopts the rotating speed of L298N chip controls 4 direct-current machine, the signal of interface microcontroller delivers to control input end, and realizes the State Transferring of the high and low level of each output terminal according to control signal, thus realizes PWM speed regulating control by high lower level. When intelligent carriage advances, driving wheel direct-current machine rotates forward, and when entering deceleration district, by micro-chip control PWM speed control by frequency variation, realizes speed governing by changing pulse duty factor;
8) module that communicates mainly adopts HC-06 bluetooth module, according to communication protocol coding, then with Android mobile phone control start and stop, the advance of intelligent carriage, retreat, turn left, the function such as turn right.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is described in further details.
Fig. 1 is the general frame of the present invention.
Fig. 2 is motor driving principle figure of the present invention.
Fig. 3 is that infrared tube of the present invention is launched and record principle figure.
Fig. 4 is that the present invention tests the speed module principle figure.
Fig. 5 is master routine design flow diagram of the present invention.
Fig. 6 is motor operating state of the present invention coding.
Embodiment
The intelligent carriage of a kind of usable bluetooth mobile phone control as shown in Figure 1, main body comprises microprocessor, ultrasonic wave module, bluetooth communication, follows mark module, obstacle module, power supply module, motor drive module, motor, test the speed module machine display module;
Described microprocessor respectively with follow mark module and bluetooth communication is bi-directionally connected, described ultrasonic wave module, power supply module and display module are connected with described microprocessor is unidirectional respectively, described microprocessor is connected with obstacle module, display module and motor drive module are unidirectional respectively, and described motor drive module is connected separately with described motor.
Motor driving principle figure and motor operating state as described in Fig. 2, Fig. 6 encode, and drive power acquisition 6 joint 1.2V nickel-hydrogen chargeable cells, it is provided that 7.2V voltage, are that motor drives offer voltage of supply, and other chip operating voltages+5V is by supply after 7.2V step-down; Motor drives and adopts L289N chip, and voltage of supply is 5V, and driving circuit has 4 pairs of input/output terminals, often pair of Terminal control 1 motor, and micro-chip exports control signal, is realized the rotating of motor by driving circuit.
Infrared tube as described in Figure 3 is launched and record principle figure, and infrared tube is made up of infrared emission pipe and receiving tube, and when intelligent carriage is along the rail running specified, infrared emission tube sends infrared rays, is in the receiving tube receiving infrared-ray of bottom. Intelligent carriage travels when black line path, and infrared rays signal major part is absorbed, and receiving tube is received and disconnected less than signal so that the output terminal of STC89C52CR micro-chip is high level; When intelligent carriage rolls black path away from, receiving tube receives infrared signal and conducting, and corresponding micro-chip output terminal is lower level, thus realizes the control to circuit.
The module principle figure that tests the speed as described in Figure 4, the module that tests the speed adopts integration correlation infrared receiver tube WYCH206, and uses 74HC14(band schmitt trigger inverter, prevents critical output from shaking) form as core devices in control circuit, module being connected with the mains after+5V, survey OUT output end voltage with volt ohm-milliammeter, voltage now is that about 0.3V, D1 pilot lamp is bright, when with being greater than 2mm opaque article by grooved photoelectricity, OUT output end voltage is close to voltage of supply, D1 pilot lamp extinguishes, represent and obstacle detected, known wheel diameter is that D, D*3.14/20 lattice code-disc=6.5cm*3.14/20 is about 1cm, and namely the distance of 1cm is walked in pulse, frequency f=cycle life/the time of pulse signal, the rotating speed n=60f/z(of wheel wherein z be the hole count of code-disc), in order to realize reducing motor rotating speed peace steering procedure all at the uniform velocity, this intelligent carriage motor driving circuit adopts PWM control techniques, the rotating of motor drive module major control four motors, and change the rotating speed of motor, module adopts the rotating speed of L298N chip controls 4 direct-current machine, the signal of interface microcontroller delivers to control input end, and realize each output terminal height according to control signal, low level State Transferring, thus realize PWM speed regulating control by high lower level, when intelligent carriage advances, driving wheel direct-current machine rotates forward, when entering deceleration district, by micro-chip control PWM speed control by frequency variation, speed governing is realized by changing pulse duty factor.
Master routine design flow diagram as described in Figure 5, adopts modularity control method, using each independent function as an independent sub-routine, in master routine, logically order calls each sub-routine, program orderliness can be made clear, and execution efficiency improves, and is also convenient to red tape operation and debugging.
The above is the preferred embodiment of the present invention, can not limit the interest field of the present invention with this. It is noted that for those skilled in the art, the technical scheme of the present invention is modified or equivalent replacement, do not depart from protection scope of the present invention.
Claims (3)
1. the intelligent carriage of usable bluetooth mobile phone control, it is characterised in that: main body comprises microprocessor, ultrasonic wave module, bluetooth communication, follows mark module, obstacle module, power supply module, motor drive module, motor, the module that tests the speed and display module;
Described microprocessor respectively with follow mark module and bluetooth communication is bi-directionally connected, described ultrasonic wave module, power supply module and display module are connected with described microprocessor is unidirectional respectively, described microprocessor is connected with obstacle module, display module and motor drive module are unidirectional respectively, and described motor drive module is connected separately with described motor;
Described intelligent carriage adopts four-wheel drive, and each wheel is respectively with a DC motor Driver, and described intelligent carriage is equipped with four infrared tube sensors.
2. according to claim book a kind of usable bluetooth mobile phone control intelligent carriage, it is characterised in that: described microprocessor adopt STC89C52CR chip.
3. the intelligent carriage of a kind of usable bluetooth mobile phone control according to claim book, it is characterised in that: described motor drive module adopts L298N chip, comprises and drives power supply and motor to drive.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610177650.2A CN105617677A (en) | 2016-03-28 | 2016-03-28 | Intelligent trolley capable of being controlled by Bluetooth mobile phone |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610177650.2A CN105617677A (en) | 2016-03-28 | 2016-03-28 | Intelligent trolley capable of being controlled by Bluetooth mobile phone |
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| CN201610177650.2A Pending CN105617677A (en) | 2016-03-28 | 2016-03-28 | Intelligent trolley capable of being controlled by Bluetooth mobile phone |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105867393A (en) * | 2016-06-28 | 2016-08-17 | 王玉华 | Intelligent trolley system |
| CN105929830A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system based on infrared sensor |
| CN105929831A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system |
| CN107656528A (en) * | 2017-10-24 | 2018-02-02 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
| CN107885215A (en) * | 2017-11-22 | 2018-04-06 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly |
| CN107890680A (en) * | 2017-11-28 | 2018-04-10 | 苏州切思特电子有限公司 | A kind of control system of the toy car based on voltage-stabilized power supply |
| CN109731352A (en) * | 2019-01-04 | 2019-05-10 | 骆运章 | One kind can interpolation electronic toy vehicle |
| CN110502017A (en) * | 2019-09-02 | 2019-11-26 | 上海工程技术大学 | A kind of Intelligent tracking avoidance trolley and the method by small routine differential control |
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| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| CN202331205U (en) * | 2011-11-15 | 2012-07-11 | 陕西理工学院 | Automatic conveying trolley for laboratories |
| CN202394364U (en) * | 2011-12-11 | 2012-08-22 | 陕西亚泰电器科技有限公司 | Wireless remote control system of intelligent self-tracking robot trolley |
| CN203338135U (en) * | 2013-06-21 | 2013-12-11 | 青岛滨海学院 | Intelligent obstacle-avoiding and risk-avoiding remote control car |
| CN204086990U (en) * | 2014-10-04 | 2015-01-07 | 廖品真 | A kind of control system of wireless remote controlled intelligent dolly |
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| CN205516479U (en) * | 2016-03-28 | 2016-08-31 | 南通理工学院 | Intelligent vehicle of available bluetooth cellular phone control |
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Patent Citations (8)
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| US20080093131A1 (en) * | 2006-10-06 | 2008-04-24 | Irobot Corporation | Robotic Vehicle |
| CN202331205U (en) * | 2011-11-15 | 2012-07-11 | 陕西理工学院 | Automatic conveying trolley for laboratories |
| CN202394364U (en) * | 2011-12-11 | 2012-08-22 | 陕西亚泰电器科技有限公司 | Wireless remote control system of intelligent self-tracking robot trolley |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105867393A (en) * | 2016-06-28 | 2016-08-17 | 王玉华 | Intelligent trolley system |
| CN105929830A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system based on infrared sensor |
| CN105929831A (en) * | 2016-06-28 | 2016-09-07 | 王玉华 | Smart dolly control system |
| CN107656528A (en) * | 2017-10-24 | 2018-02-02 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
| CN107885215A (en) * | 2017-11-22 | 2018-04-06 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly |
| CN107890680A (en) * | 2017-11-28 | 2018-04-10 | 苏州切思特电子有限公司 | A kind of control system of the toy car based on voltage-stabilized power supply |
| CN109731352A (en) * | 2019-01-04 | 2019-05-10 | 骆运章 | One kind can interpolation electronic toy vehicle |
| CN110502017A (en) * | 2019-09-02 | 2019-11-26 | 上海工程技术大学 | A kind of Intelligent tracking avoidance trolley and the method by small routine differential control |
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Application publication date: 20160601 |
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