CN106741293A - A kind of Intelligent tracking trolley - Google Patents
A kind of Intelligent tracking trolley Download PDFInfo
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- CN106741293A CN106741293A CN201710133554.2A CN201710133554A CN106741293A CN 106741293 A CN106741293 A CN 106741293A CN 201710133554 A CN201710133554 A CN 201710133554A CN 106741293 A CN106741293 A CN 106741293A
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 6
- 229910052802 copper Inorganic materials 0.000 claims abstract description 6
- 239000010949 copper Substances 0.000 claims abstract description 6
- 238000001914 filtration Methods 0.000 claims description 11
- 239000003990 capacitor Substances 0.000 claims description 7
- 230000005611 electricity Effects 0.000 claims description 5
- 230000000087 stabilizing effect Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000002459 sustained effect Effects 0.000 claims description 3
- 238000007689 inspection Methods 0.000 claims 1
- 238000004519 manufacturing process Methods 0.000 abstract description 5
- 238000009776 industrial production Methods 0.000 abstract description 4
- 230000035945 sensitivity Effects 0.000 abstract description 4
- 230000001276 controlling effect Effects 0.000 description 21
- 230000006870 function Effects 0.000 description 10
- 230000008901 benefit Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 6
- 230000006872 improvement Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000009977 dual effect Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 210000001367 artery Anatomy 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000009826 distribution Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000010304 firing Methods 0.000 description 1
- 230000001939 inductive effect Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000002955 isolation Methods 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- GOLXNESZZPUPJE-UHFFFAOYSA-N spiromesifen Chemical compound CC1=CC(C)=CC(C)=C1C(C(O1)=O)=C(OC(=O)CC(C)(C)C)C11CCCC1 GOLXNESZZPUPJE-UHFFFAOYSA-N 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
- 210000003462 vein Anatomy 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/06—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with only three wheels
-
- 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
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0214—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory in accordance with safety or protection criteria, e.g. avoiding hazardous areas
-
- 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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- General Physics & Mathematics (AREA)
- Aviation & Aerospace Engineering (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Combustion & Propulsion (AREA)
- Chemical & Material Sciences (AREA)
- Electromagnetism (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of Intelligent tracking trolley, including upper disk, chassis, left motor, right motor, power control unit, sensing unit, Single-chip Controlling and electric-motor drive unit；Left motor, right motor are located at chassis lower section for connecting simultaneously driving moment respectively；It is fixedly connected by copper connecting pole between upper disk and chassis；Sensing unit is arranged on upper disk top together with Single-chip Controlling and electric-motor drive unit respectively for three groups.The features such as this kind of dolly has working stability, reliability high, simple to operate and easy to maintain, can automatically walk, realize transportation function, substantial amounts of time and human resources can be saved for industrial production.Simple structure of the present invention, tracking sensitivity is high, turns to flexibly and walking is stable.This kind of dolly low cost of manufacture, and simple structure is easy to maintain, and control is realized by Single-chip Controlling and electric-motor drive unit；It is suitable to popularization and application.
Description
Technical field
It is specifically a kind of Intelligent tracking trolley the present invention relates to a kind of automation field.
Background technology
At present, intelligent carriage have developed rapidly, and have concrete result to other every profession and trades from intelligent toy, and it is capable of achieving substantially
Tracking, avoidance, the basic functions such as light, remote control, acoustic control, transmission of video are sought, at present, also occur in that the different tracking of some functions is small
Car.
Found through retrieval, the utility model of patent No. CN201020662459.5 discloses a kind of Intelligent tracking trolley, wrapped
Include trolley, the bottom of trolley is provided with four driving wheels, four rectangular distributions of driving wheel, wherein, two, left side
Driving wheel is driven by motor one, and two, right side driving wheel is driven by motor two, and power supply is also equipped with trolley
Module, main control chip, motor drive ic and four photoelectric tubes, main control chip also with motor drive ic, four photoelectric tube phases
Connection, and according to four signal control motor driving chips of photoelectric tube, motor drive ic and motor one and driving electricity
Machine two is connected, and completes the steering of dolly by controlling the speed difference of two motors.
It is small that the utility model of patent No. CN201520356184.5 discloses a kind of Intelligent tracking based on Bluetooth control
Car, including intelligent carriage body, controller and computer, controller are the Android device for being provided with control software, and intelligence is small
Car body includes power-supply system, controller module, sensor assembly, communication module, Motor execution module and man-machine interaction mould
Block, communication module includes Bluetooth adapter, and intelligent carriage body is connected by Bluetooth adapter with controller and computer communication.
The utility model of patent No. CN201520919939.8 discloses a kind of Intelligent tracking trolley based on multisensor
Control system, including drive the direct current generator of carriage walking and obtain the image capture module of routing information before dolly, also wrap
Include kernel control module and drive the steering wheel steering module of dolly steering wheel work, the kernel control module is according to IMAQ mould
The information of block controls the work of the direct current generator and steering wheel steering module, and a power module is respectively direct current generator, image and adopts
Collection module, kernel control module and steering wheel steering module are powered.
However, the analysis found that, tracking is widely used to many fields, from supermarket, workshop, expands to office
Room, hotel, Automatic Warehouse, hospital and home-delivery center, it has also become one of outstanding feature of industrial automation.But, it is current
Tracking cart entirety manufacturing cost is higher, is not easy to safeguard and popularization and application.
The content of the invention
It is an object of the invention to overcome the deficiencies in the prior art, a kind of Intelligent tracking trolley, this kind of dolly are provided herein
Low cost of manufacture, and simple structure is easy to maintain, and control is realized by Single-chip Controlling and electric-motor drive unit；It is suitable to promote and answers
With.
The present invention is achieved in that a kind of Intelligent tracking trolley of construction, including upper disk, chassis, left motor, right motor,
Power control unit, sensing unit, Single-chip Controlling and electric-motor drive unit；Left motor, right motor are located at chassis respectively
Lower section is used to connect and driving moment；It is fixedly connected by copper connecting pole between upper disk and chassis；Sensing unit is three groups
Upper disk top is arranged on together with Single-chip Controlling and electric-motor drive unit respectively.This kind of dolly has working stability, reliability
High, simple to operate and easy to maintain the features such as, can automatically walk, realize transportation function, can save big for industrial production
The time of amount and human resources.Simple structure of the present invention, tracking sensitivity is high, turns to flexibly and walking is stable.
As the improvement of above-mentioned technical proposal,
A kind of Intelligent tracking trolley, the chassis lower section is provided with universal wheel, and universal wheel 9 is easy to dolly to support and walk.
As the improvement of above-mentioned technical proposal,
A kind of Intelligent tracking trolley, sensing unit includes detection sensing circuit and circuit installing plate；Circuit installing plate
It is L-shaped, is bolted on disk edge；Herein using the circuit installing plate of L-shaped, its benefit is can stably, soon
Fast is placed in disk edge, is that information gathering lays the foundation.
As the improvement of above-mentioned technical proposal,
A kind of Intelligent tracking trolley, the power control unit respectively with sensing unit and Single-chip Controlling and motor
Driver element is connected；
Wherein, the output end of sensing unit is connected with Single-chip Controlling and electric-motor drive unit, by Single-chip Controlling and electricity
Machine driver element realizes output control.
As the improvement of above-mentioned technical proposal,
A kind of Intelligent tracking trolley, the power control unit includes LM2596 integrated circuits；
Wherein, the power input VIN of connection end P1 electric capacity C1 and C3 connections LM2596 after filtering, LM2596 change direct current
For the high frequency square wave of 150KHz is exported from the power output end Output of LM2596；Wherein, output end Output is connected with inductance
L1 and filter capacitor C2, C4, make its export high frequency square wave all the way by the filtering of inductance L1 and C2, C4 be changed into DC voltage from
Connection end P2 mouthfuls of output, the rear end connection potentiometer RP1 of inductance L1, makes its high frequency square wave be fed back to by potentiometer RP1
The feedback end Feedback of LM2596, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein,
ON/OFF ends ground connection of LM2596.
As the improvement of above-mentioned technical proposal,
A kind of Intelligent tracking trolley, motor driving part point includes in the Single-chip Controlling and electric-motor drive unit
TLP521-4 optocouplers and two-way full bridge driver L298 two parts；
For receiving the module input mouthful P1 of one-chip computer module P2.4-P2.7 signals and 2,4,6,8 pin of TLP521-4 optocouplers
Connection, the output signal of optocoupler respectively with the IN1 of L298 IN2 IN3 IN4 input ports be connected；Processed through L298 internal circuits
Give left and right two motors two output of pulse signal of opposite in phase by 2,3,13,14 pins afterwards, wherein 2,3 port controllings are left
Motor, 13, the 14 right motors of port controlling, 6,11 two pins of L298 are two output enable control ends, are all connected to electricity high
It is flat, make L298 in running order；9 ports of L298 connect power filtering capacitor C1, C2；The 4 ports connection power supply of L298
Filter capacitor C3, C4；2,3,13,14 ends of L298 are connected with sustained diode 1-D8.
As the improvement of above-mentioned technical proposal,
A kind of Intelligent tracking trolley, the sensing unit includes infrared tube ST188 and LM393 comparator two
Point, power indicating circuit is made up of resistance R1 and light emitting diode D1；
Diode D1 is connected with infrared tube ST188, and the output end of infrared tube ST188 connects 3 pin of LM393 comparators；
The 1 end connection single-chip microcomputer of LM393 comparators, 1 end of LM393 comparators is also connected with signal indicating circuit, signal indicating circuit by
R4 and D2 are composed in series.
The advantage of the invention is that：The present invention provides a kind of Intelligent tracking trolley, for existing dolly, with such as
Lower advantage：
Advantage 1：Intelligent tracking trolley of the present invention includes upper disk, chassis, left motor, right motor, power control unit, signal
Sensing unit, Single-chip Controlling and electric-motor drive unit；Left motor, right motor are located at chassis lower section for connecting and driving respectively
Wheel；It is fixedly connected by copper connecting pole between upper disk and chassis；Sensing unit be three groups respectively with Single-chip Controlling and
Electric-motor drive unit is arranged on disk top together.This kind of dolly has working stability, reliability high, simple to operate and is easy to
The features such as safeguarding, can automatically walk, realize transportation function, substantial amounts of time and human resources can be saved for industrial production.
Simple structure of the present invention, tracking sensitivity is high, turns to flexibly and walking is stable.
Advantage 2；A kind of Intelligent tracking trolley of the present invention, the chassis lower section is provided with universal wheel, is easy to dolly branch
Support and walking；Sensing unit includes detection sensing circuit and circuit installing plate；Circuit installing plate is L-shaped, solid by bolt
It is scheduled on disk edge；Herein using the circuit installing plate of L-shaped, its benefit is can to stablize, quickly be placed in disk edge
Place, is that information gathering lays the foundation.
Advantage 3：Single-chip Controlling of the present invention and electric-motor drive unit part are main with single-chip microcomputer as control core, main negative
Duty receives the next information of sensor collection and it is processed accordingly, and result is sent at drive circuit after treatment
Reason, realization is controlled to motor, so as to realize the homing guidance of dolly.
Advantage 4：The used element price of implementation of the invention is very cheap, but has working stability, function strong
Greatly, accuracy is high, energy-efficient and the features such as applicable real-time control, being capable of effective improve production efficiency.
Brief description of the drawings
Fig. 1 is the overall structure figure of Intelligent tracking trolley of the present invention
Fig. 2 is Intelligent tracking trolley side schematic view of the present invention
Fig. 3 is bottom schematic view of the present invention
Fig. 4 is DC-DC voltage module electrical schematic diagrams
Fig. 5 is signal acquisition module electrical schematic diagram
Fig. 6 is one-chip computer module electrical schematic diagram
Fig. 7 is motor drive module electrical schematic diagram.
Specific embodiment
Below in conjunction with accompanying drawing 1- Fig. 7, the present invention is described in detail, and the technical scheme in the embodiment of the present invention is entered
Row is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole realities
Apply example.Based on the embodiment in the present invention, those of ordinary skill in the art are obtained under the premise of creative work is not made
Every other embodiment, belong to the scope of protection of the invention.
The present invention provides a kind of Intelligent tracking trolley by improving, as shown in Fig. 1-Fig. 7；Can give in the following way
Implement；A kind of Intelligent tracking trolley, including upper disk 1, chassis 2, left motor 3, right motor 4, power control unit 5, sensing
Unit 6, Single-chip Controlling and electric-motor drive unit 7；Left motor 3, right motor 4 are located at the lower section of chassis 2 for connecting and driving respectively
Motor car wheel；It is fixedly connected by copper connecting pole 8 between upper disk 1 and chassis 2；Sensing unit 6 be three groups respectively with single-chip microcomputer
Control and electric-motor drive unit 7 are arranged on the top of disk 1 together.
The features such as this kind of dolly has working stability, reliability high, simple to operate and easy to maintain, being capable of row automatically
Walk, realize transportation function, substantial amounts of time and human resources can be saved for industrial production.Simple structure of the present invention, tracking spirit
Quick property is high, turns to flexibly and walking is stable.
A kind of Intelligent tracking trolley of the present invention, the lower section of the chassis 2 is provided with universal wheel 9, be easy to dolly support and
Walking.
A kind of Intelligent tracking trolley of the present invention, sensing unit 6 includes detection sensing circuit and circuit installing plate；
Circuit installing plate is L-shaped, is bolted on the edge of disk 1；Herein using the circuit installing plate of L-shaped, its benefit is
Can stablize, quickly be placed in the edge of disk 1, be that information gathering lays the foundation.
A kind of Intelligent tracking trolley of the present invention, the power control unit 5 respectively with sensing unit 6 and monolithic
Machine is controlled and electric-motor drive unit 7 is connected；Wherein, the output end of sensing unit 6 drives single with Single-chip Controlling and motor
Unit 7 is connected, and output control is realized by Single-chip Controlling and electric-motor drive unit 7.
A kind of Intelligent tracking trolley of the present invention, the power control unit includes LM2596 integrated circuits；Wherein, even
Connect end P1 after filtering electric capacity C1 and C3 connection LM2596 power input VIN, LM2596 direct current is converted to 150KHz's
High frequency square wave is exported from the power output end Output of LM2596；Wherein, output end Output is connected with inductance L1 and filtered electrical
Hold C2, C4, its high frequency square wave for exporting is changed into DC voltage from connection end P2 mouthfuls by the filtering of inductance L1 and C2, C4 all the way
Output, the rear end connection potentiometer RP1 of inductance L1, makes its high frequency square wave that the feedback end of LM2596 is fed back to by potentiometer RP1
Feedback, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein, ON/OFF terminations of LM2596
Ground.
A kind of Intelligent tracking trolley of the present invention, motor driving part point in the Single-chip Controlling and electric-motor drive unit
Including TLP521-4 optocouplers and two-way full bridge driver L298 two parts；For receiving one-chip computer module P2.4-P2.7 signals
Module input mouthful P1 is connected with 2,4,6,8 pin of TLP521-4 optocouplers, the output signal of optocoupler respectively with the IN1 of L298
IN2 IN3 IN4 input ports connection；By 2,3,13,14 pins by two arteries and veins of opposite in phase after being processed through L298 internal circuits
Rushing signal output gives left and right two motors, wherein 2, the 3 left motors of port controlling, 13, the 14 right motors of port controlling, 6, the 11 of L298
Two pins are that two outputs enable control end, are all connected to high level, make L298 in running order；9 ports of L298 connect
Meet power filtering capacitor C1, C2；4 ports of L298 connect power filtering capacitor C3, C4；2,3,13,14 ends of L298 are connected with
Sustained diode 1-D8.
A kind of Intelligent tracking trolley of the present invention, the sensing unit includes infrared tube ST188 and LM393 ratio
Compared with device two parts, power indicating circuit is made up of resistance R1 and light emitting diode D1；Diode D1 and infrared tube ST188 connects
Connect, the output end of infrared tube ST188 connects 3 pin of LM393 comparators；The 1 end connection single-chip microcomputer of LM393 comparators, LM393
1 end of comparator is also connected with signal indicating circuit, and signal indicating circuit is composed in series by R4 and D2.
As shown in Figure 4：Power control unit can export the driving electricity of 3A with LM2596 integrated circuits as core design
Stream, adjustable output voltage scope 1.2V~40V, ± 4%, while having linear and load regulation characteristic well.Due to the device
General standard inductance can be used, the design of switching power circuit is greatly simplified.
Pin function：
VIN --- positive input terminal, must add an appropriate input shunt capacitance to reduce transient voltage, together at this pin
When for LM2596 provide needed for switching current.
GND --- earth terminal.
Output --- output end, voltage on this pin can be（+VIN-VSAT）With -0.5V（About）Between change.For
Reduce coupling, copper cash region that the pin is connected on PCB is as far as possible small.
Feedback --- feedback end, this pin is the Voltage Feedback of output end to closed feedback loop.
ON/OFF --- this pin can cut off LM2596 using logic level, input current is just dropped to about
80μA.The voltage of this pin is pulled down to during less than about 1.3V, LM2596 is turned on；And be pulled upward to higher than 1.3V（Most
Greatly to 25V）When, LM2596 is switched off.If this function need not be used, it is possible to which this pin is grounded or is opened a way,
IC is set to be in the state opened.
The course of work：9V~40V DC voltages are input into from P1, by after the power filter of C1 and C3, into LM2596's
Power input（VIN）, direct current is converted to the high frequency square wave of 150KHz from the power output end of LM2596 by LM2596
（Output）Output, the high frequency square wave of output is changed into DC voltage from P2 mouthfuls of output by the filtering of L1 and C2, C4 all the way, another
Road high frequency square wave feeds back to the feedback end of LM2596 by potentiometer RP1（Feedback）, feedback signal is with LM2596 inside base
Quasi- voltage stabilizing value 1.23V is compared, if detecting voltage has difference, is adjusted by amplifier and removes the defeated of chip internal oscillator
Go out dutycycle, so that regulated output voltage.The system needs to design output voltage continuously adjustabe, therefore RP1 using accurate adjustable
Resistance is that can reach design object.Due to being long-term work, thus LM2596 ON/OFF ends ground connection.
As shown in Figure 5：Sensing unit is that the black graticule of ground is examined by the infrared tube in signal acquisition module
Survey, transmitting tube constantly launches infrared light to road surface, fall different in black, white region reflective degree according to infrared light and cause to connect
The faint difference of the infrared signal that closed tube is received, the signal for producing reception pipe is different, by LM393 comparators so as to produce
The pulse feeding single-chip microcomputer of " 0 " or " 1 ".
Sensing unit is with infrared tube ST188 and LM393 comparator as core design.
Infrared tube ST188 features：
1st, constituted using high emission power infrared photodiode and high sensitivity phototransistor.
2nd, detecting distance adjustable range is big, and 4-13mm can use.
3rd, using non-contact detecting mode.
The course of work：If reception pipe receives the infrared ray for reflecting, infrared receiving terminal conducting, E pins output is high
Level, close to Vcc；If being not received by the infrared ray for reflecting, infrared receiving terminal is not turned on, E pins output low level,
Close to GND；
Comparator LM393 features：
LM393 is twin voltage comparator integrated circuit.
Operating temperature range:0°C -- +70°C
Working power voltage wide ranges, single supply, dual power supply can work, single supply：2~36V, dual power supply：± 1~±
18V；Common-mode input voltage range is wide, VIC=0~VCC-1.5V；The compatibility such as output and TTL, DTL, MOS, CMOS；
Output can connect OR-gate with open collector；
Using the pin Plastic Package of dual-in-line 8（DIP8）With the pin Plastic Package of biserial 8 of micro- shape（SOP8）.
The course of work：Circuit R1 and D1 constitute power indicating circuit, and when there is power supply, D1 will light；Infrared tube D2
（ST188）Transmitting tube constantly launches infrared light to road surface after energization, is fallen in black, white region reflective degree not according to infrared light
With and cause the faint difference of the infrared signal that reception pipe receives.When infrared light falls in black region, reflected light is weak, photosensitive crystalline substance
Body pipe ends, and 3 pin of LM393 are high level；When infrared light falls in white region, reflective light intensity, photistor conducting,
3 pin of LM393 are low level；D2（ST188）3 pin of the signal input of generation to LM393.LM393 is comparator circuit, i.e.,
The 3 pin voltages and 2 pin voltages of LM393 are compared：Work as U3> U2When, Uout=5V；Work as U3< U2When, Uout=0V；R4 and D2 groups
Into signal indicating circuit, as Uout=0V, D2 lights.
Infrared tube D2（ST188）Detected by the black graticule to ground, transmitting tube constantly launches infrared light to road surface
On, the signal for producing reception pipe is different, by LM393 comparators so as to monolithic is sent into the pulse for producing " 0 " or " 1 "
Machine.
As shown in Figure 6：Single chip control module is mainly processed the pulse signal that signal acquisition module feeding comes, so
Control signal output is produced afterwards.During specific implementation, P1.0-P1.4 is used as five road detection signal inputs and signal acquisition module phase
Even, the signal feeding P1.0-P1.4 of detection.Signal output part is P2.4-P2.7.
By P1 come read sensor information, P2 mouthfuls high four are carried out controlled motor so as to produce advance, retreat, stop to single-chip microcomputer
Only, turn left, right-hand rotation is acted.
Note：Dolly acts four output level high with P2 mouthfuls may be not corresponding, these orders connect with sensor, motor
The order of the order for connecing program middle port setting has much relations.Such as：P2 exports 0xa0, to advance in figure, motor is connected
Connect after order changes and connect, dolly action is probably to retreat.
As shown in Figure 7：Motor drive module is with TLP521-4 optocouplers and two-way full bridge driver L298 as core design
's.
TLP521-4 is LMDS Light Coupled Device, and power consumption 150mW, isolation voltage is 2500 Vrms, and protection stops because of electric motor starting
Influence of the spike that moment produces to master controller.The security of circuit can be strengthened, reduce the interference of voltage.
Two-way full bridge driver L298 features：
L298N is a kind of high voltage, the high current motor drive ic of ST companies production.The chip is encapsulated using 15 pin.Mainly
Feature is：Operating voltage is high, and maximum operating voltage is up to 46V；Output current is big, and instantaneous peak current is up to 3A, continuous firing
Electric current is 2A；Rated power 25W.Two high-voltage large current full-bridge type drivers of H bridges are included, can be used to drive direct current
The inductive load such as motivation and stepping motor, relay coil；Controlled using standard logic levels signal；Control is enabled with two
End processed, allowing in the case where not influenceed by input signal or forbid device to work has a logic power input, makes inside
Logic circuitry portions work at lower voltages；Variable quantity can be fed back to by control circuit with external detection resistance.Use L298N
Chip drives motor, the chip can drive a two-phase stepping motor or four phase step motor, it is also possible to drive two direct currents
Motor.
The course of work：From the signal that one-chip computer module P2.4-P2.7 comes, by module input mouthful P1, respectively enter
The pin of TLP521-4 optocouplers 2,4,6,8, the output signal of optocoupler be respectively fed to L298 IN1 IN2 IN3 IN4 input ports, warp
Give left and right two motors two output of pulse signal of opposite in phase by 2,3,13,14 pins after the treatment of L298 internal circuits,
Wherein 2, the motor of 3 port controlling one, 13,14 port controlling another motor, when the positive pulsewidth of pulse signal is more than negative pulsewidth letter
Number when, obtain positive average voltage, the rotation of motor positive starts to perform advancement function, if conversely, undersuing is more than
Positive pulse signal, then its perform fallback function；Equally, after the pulse signal feeding L298 treatment that single-chip microcomputer is sent out, if on one side
For positive pulse signal, while when being undersuing, then being rotated forward before a motor, another motor reversal, the work(that left and right is turned is realized
Energy.If L298 is output as low level, two motors in left and right are all motionless.6,11 two pins of L298 are that two outputs are enabled
Control end, is all connected to high level, makes L298 in running order.
D1-D8 is fly-wheel diode-IN4007；C1-C4 is power filter.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (7)
1. a kind of Intelligent tracking trolley, it is characterised in that：The Intelligent tracking trolley includes upper disk（1）, chassis（2）, left motor
（3）, right motor（4）, power control unit（5）, sensing unit（6）, Single-chip Controlling and electric-motor drive unit（7）；It is left
Motor（3）With right motor（4）Chassis is located at respectively（2）Lower section is used to connect and driving moment；Upper disk（1）With chassis（2）Between
By copper connecting pole（8）It is fixedly connected；Sensing unit（6）For three groups respectively with Single-chip Controlling and electric-motor drive unit
（7）Disk is arranged on together（1）Top.
2. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The chassis（2）Lower section is provided with universal
Wheel（9）.
3. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The sensing unit（6）Including inspection
Survey sensing circuit and circuit installing plate；Circuit installing plate is L-shaped, is bolted on disk（1）Edge.
4. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The power control unit（5）Respectively with
Sensing unit（6）With Single-chip Controlling and electric-motor drive unit（7）Connection；
Wherein, sensing unit（6）Output end and Single-chip Controlling and electric-motor drive unit（7）Connection, by single-chip microcomputer control
System and electric-motor drive unit（7）Realize output control.
5. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The power control unit（5）Including
LM2596 integrated circuits；
Wherein, the power input VIN of connection end P1 electric capacity C1 and C3 connections LM2596 after filtering, LM2596 change direct current
For the high frequency square wave of 150KHz is exported from the power output end Output of LM2596；Wherein, output end Output is connected with inductance
L1 and filter capacitor C2, C4, make its export high frequency square wave all the way by the filtering of inductance L1 and C2, C4 be changed into DC voltage from
Connection end P2 mouthfuls of output, the rear end connection potentiometer RP1 of inductance L1, makes its high frequency square wave be fed back to by potentiometer RP1
The feedback end Feedback of LM2596, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein,
ON/OFF ends ground connection of LM2596.
6. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The Single-chip Controlling and motor drive single
Unit（7）Middle motor driving part point includes TLP521-4 optocouplers and two-way full bridge driver L298 two parts；
For receiving the module input mouthful P1 of one-chip computer module P2.4-P2.7 signals and 2,4,6,8 pin of TLP521-4 optocouplers
Connection, the output signal of optocoupler respectively with the IN1 of L298 IN2 IN3 IN4 input ports
Connection；After being processed through L298 internal circuits a left side is given by 2,3,13,14 pins by two output of pulse signal of opposite in phase
Right two motors, wherein 2, the 3 left motors of port controlling, 13, the 14 right motors of port controlling, 6,11 two pins of L298 are two
Individual output enables control end, is all connected to high level, makes L298 in running order；The 9 ports connection power filter electricity of L298
Hold C1, C2；4 ports of L298 connect power filtering capacitor C3, C4；2,3,13,14 ends of L298 are connected with sustained diode 1-
D8。
7. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The sensing unit（6）Including red
Outward to pipe ST188 and LM393 comparator two parts, power indicating circuit is made up of resistance R1 and light emitting diode D1；
Diode D1 is connected with infrared tube ST188, and the output end of infrared tube ST188 connects 3 pin of LM393 comparators；
The 1 end connection single-chip microcomputer of LM393 comparators, 1 end of LM393 comparators is also connected with signal indicating circuit, signal indicating circuit by
R4 and D2 are composed in series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133554.2A CN106741293A (en) | 2017-03-08 | 2017-03-08 | A kind of Intelligent tracking trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710133554.2A CN106741293A (en) | 2017-03-08 | 2017-03-08 | A kind of Intelligent tracking trolley |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106741293A true CN106741293A (en) | 2017-05-31 |
Family
ID=58961542
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710133554.2A Withdrawn CN106741293A (en) | 2017-03-08 | 2017-03-08 | A kind of Intelligent tracking trolley |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106741293A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107256667A (en) * | 2017-07-28 | 2017-10-17 | 火星人视野（北京）教育科技有限公司 | A kind of tracking cart for teaching demonstration |
| CN110769551A (en) * | 2019-10-23 | 2020-02-07 | 连云港杰瑞自动化有限公司 | Active light source control circuit for explosion-proof occasion |
-
2017
- 2017-03-08 CN CN201710133554.2A patent/CN106741293A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107256667A (en) * | 2017-07-28 | 2017-10-17 | 火星人视野（北京）教育科技有限公司 | A kind of tracking cart for teaching demonstration |
| CN110769551A (en) * | 2019-10-23 | 2020-02-07 | 连云港杰瑞自动化有限公司 | Active light source control circuit for explosion-proof occasion |
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Application publication date: 20170531 |