CN107376374A - A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip - Google Patents
A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip Download PDFInfo
- Publication number
- CN107376374A CN107376374A CN201710822556.2A CN201710822556A CN107376374A CN 107376374 A CN107376374 A CN 107376374A CN 201710822556 A CN201710822556 A CN 201710822556A CN 107376374 A CN107376374 A CN 107376374A
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- China
- Prior art keywords
- wheel
- carbon
- free trolley
- single chip
- stc89c52 single
- Prior art date
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- XAGFODPZIPBFFR-UHFFFAOYSA-N aluminium Chemical compound [Al] XAGFODPZIPBFFR-UHFFFAOYSA-N 0.000 claims description 4
- 229910052782 aluminium Inorganic materials 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims 1
- 230000004888 barrier function Effects 0.000 abstract description 8
- 238000000034 method Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 4
- 238000012545 processing Methods 0.000 description 3
- 230000002787 reinforcement Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 230000007423 decrease Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- WYTGDNHDOZPMIW-RCBQFDQVSA-N alstonine Natural products C1=CC2=C3C=CC=CC3=NC2=C2N1C[C@H]1[C@H](C)OC=C(C(=O)OC)[C@H]1C2 WYTGDNHDOZPMIW-RCBQFDQVSA-N 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- NLYAJNPCOHFWQQ-UHFFFAOYSA-N kaolin Chemical compound O.O.O=[Al]O[Si](=O)O[Si](=O)O[Al]=O NLYAJNPCOHFWQQ-UHFFFAOYSA-N 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000005693 optoelectronics Effects 0.000 description 1
- 238000005381 potential energy Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
- 239000013585 weight reducing agent Substances 0.000 description 1
Classifications
-
- 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
-
- 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
-
- 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
- A63H29/00—Drive mechanisms for toys in general
- A63H29/08—Driving mechanisms actuated by balls or weights
Landscapes
- Handcart (AREA)
Abstract
The invention provides a kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip.In order to solve the problems, such as current carbon-free trolley can be only done particular track detour and can not realize arbitrary trajectory intelligent barrier avoiding travel, the present invention adds automatic obstacle-avoiding system in original carbon-free trolley basic structure, Photoelectric infrared switch is installed in dolly forward part, barrier has been detected whether to surrounding environment after Photoelectric infrared switch is initialized, and the positional information of barrier is transmitted to STC89C52 single chip, enter line program processing through STC89C52 single chip, corresponding control signal is exported to steering wheel according to different barrier situations, control steering wheel realizes intelligent barrier avoiding, so that carbon-free trolley realizes the intelligent barrier avoiding of arbitrary trajectory during traveling.Therefore the present invention improves running efficiency, the capacity usage ratio of carbon-free trolley, simplifies driving path, is a kind of more green new carbon-free trolley.
Description
Technical field
The present invention relates to a kind of carbon-free trolley, more particularly, to a kind of intelligent avoidance carbon-free trolley.
Background technology
With the continuous improvement of our people's living standard, the life style of its carbon-free energy-conservation is increasingly by the joyous of people
Meet.The development of carbon-free trolley, there is economic, environmental protection, facility, it will help we find the energy of more environment-friendly and green
Source, favourable energy path for transformation, and the utilization ratio of energy is improved, and gradually taking to traditional energy to a certain extent
, there is profound significance in generation.Carbon-free trolley provides one as a kind of theoretical model, its design for exploitation new traffic tool
Kind method.
The energy of carbon-free trolley walking comes from the gravitional force of weight decline, and the design currently for carbon-free trolley is main
There are two kinds：One kind is " S " type carbon-free trolley, and such as Publication No. CN203355282U, publication date is on December 25th, 2013, name
The referred to as Chinese patent of " the displacement obstacle detouring carbon-free trolley of ' S ' shape walking ", it realizes carbon-free trolley by crank and rocker mechanism
Periodically detour the function of avoidance for serpentine track；Another is " 8 " font carbon-free trolley, such as Publication No.
CN204952255U, publication date are on January 13rd, 2016, the Chinese patent of entitled " a kind of 8 word track carbon-free trolleys ", its
Carbon-free trolley figure of eight track is realized by duplicate gear to detour the function of avoidance.But they have common drawback：Can only
Detouring for particular track is completed, the intelligent barrier avoiding of arbitrary trajectory can not be realized.Investigated by Literature Consult with actual, due to existing
Carbon-free trolley lack intelligent control module, carbon-free trolley can not be travelled by arbitrary trajectory in the process of walking, therefore, existing nothing
Carbon dolly has the problems such as running efficiency is relatively low, capacity usage ratio is not high, driving path is complicated.
The content of the invention
The technical problem to be solved in the present invention is：In view of the shortcomings of the prior art, it is an object of the invention to provide one kind
Intelligent avoidance carbon-free trolley based on STC89C52 single chip, arbitrary trajectory intelligence can not be realized to solve existing carbon-free trolley
Change the technical problem of avoidance.
A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip provided by the invention, including：Vehicle frame, avoidance
Control system.
Vehicle frame includes bottom plate, off hind wheel, left rear wheel, front-wheel, counterweight, counterweight frame, has rope sheave on bottom plate, is wrapped on rope sheave
Cord, one end connection counterweight of cord；Front-wheel is arranged on the lower section of bottom plate by bearing；
Counterweight frame includes three aluminum pipes and supporting table, and supporting table includes bobbin winoler, axle, platform, three aluminum pipes and platform
Connect, there is support frame, support frame support and fixing axle on platform, axle is hung in bobbin winoler pairing connection, bobbin winoler by axle suspension
The surface of platform, is provided with square hole on the platform, and the cord on bobbin winoler is connected through square hole with the counterweight；
Trailing wheel is that counterweight is connected by cord with rope sheave, and rope sheave is meshed with gear wheel, gear wheel and dolly left rear wheel and after
Wheel shaft links together, and dolly off hind wheel is directly fixedly linked with hind axle；
Obstruction-avoiding control system includes main control module, power module, sensing module, steering module；
Including the STC89C52 single chip being connected respectively with bottom plate, STC89C52 single chip is electric by power supply using 7805 voltage stabilizing chips
Pressure drop is to being its power supply after 5V；
Sensing module is arranged on fixed mount using three Photoelectric infrared switches as avoidance sensor, three Photoelectric infrared switches
On, respectively immediately ahead of dolly 180 ° be uniformly distributed, realize dolly to the detection of obstacles in the range of 180 ° of front；
Steering module passes through servos control front-wheel steer.
The front-wheel that the carbon-free trolley includes being connected with the bottom plate is oriented to and left rear wheel, off hind wheel driving, the front-wheel
Include rear-wheel hub and wheel shaft including preceding rim of wheel and with off hind wheel, left rear wheel.
The beneficial effects of the invention are as follows：Avoidance carbon-free trolley design based on STC89C52 single chip, by right
STC89C52 single chip governor circuit is built, and under master control module controls, modules cooperate, and realize the intelligence of dolly
Avoidance.The design adds the intelligent object based on STC89C52 single chip, met in traditional carbon-free trolley design basis
Intelligentized requirement is designed, so that carbon-free trolley realizes the intelligent avoidance of arbitrary trajectory during traveling.
Brief description of the drawings
Fig. 1 is the unitary construction figure of the present invention.
Fig. 2 is the control principle drawing of the present invention.
Fig. 3 is circuit model figure.
In figure：1- off hind wheels；2- left rear wheels；3- singlechip chips；4- steering wheels；5- fixed mounts；6- front-wheels；7- front-wheel branch
Frame；8- front axles；9- bottom plates；10- Photoelectric infrared switch supporting plates；11- Photoelectric infrared switches；12- drive shaft bolsters；After 13-
Axle bracket；14- driving shaft bearing seats；15- gear wheels；16- hind axle bearing bracket stands；17- little gears；18- counterweight framves；19- weights
Code；20- supporting tables；21- platforms；22- bobbin winolers；23- axles.
Embodiment
Technical scheme is clearly and completely described below in conjunction with accompanying drawing.
Fig. 1 is the unitary construction figure for the carbon-free trolley that embodiment of the present invention provides, and Fig. 2 is that embodiment of the present invention provides
Carbon-free trolley obstacle avoidance system control principle drawing, Fig. 3 be embodiment of the present invention provide carbon-free trolley circuit model
Figure.
As shown in figure 1, carbon-free trolley provided by the invention, including singlechip chip 3, the and of Photoelectric infrared switch supporting plate 10
Photoelectric infrared switch 11, Photoelectric infrared switch supporting plate 10 include be vertically arranged on bottom plate 9 and front axle 8 on, infrared electro
The singlechip chip 3 is installed on switch bracket plate 10, while is connected with Photoelectric infrared switch 11, three infrared electros
Switch 11 is uniformly distributed immediately ahead of carbon-free trolley, solves the detection of obstacles of different directions, singlechip chip 3 receives infrared
The signal that optoelectronic switch 11 transmits, is signaled to steering module, so as to control front-wheel steer by internal analysis.
Carbon-free trolley provided by the invention, including three counterweight framves 18, counterweight 19 are connected on counterweight frame 18, prevent counterweight
19 vacillate now to the left, now to the right during decline causes the carbon-free trolley disequilibrium, meanwhile, counterweight can be constrained under three counterweight framves 18
Movement locus, ensure that the energy of output is steady, ensure that the carbon-free trolley can be stablized and advance, and in the dropping process of counterweight 19
Less potential energy is lost so that carbon-free trolley has better performance.
Further illustrate, V-shaped groove is offered on bobbin winoler 22, and chamfering is arranged at V-shaped groove bottom.Chamfering very little, slightly larger than thin
The diameter of rope.V-shaped groove structure in present embodiment so that cord can be stablized passes through above-mentioned V-shaped groove glibly.
In addition, carbon-free trolley provided by the invention includes the off hind wheel 1 and left rear wheel 2 being connected respectively with the bottom plate 9, it is right
Trailing wheel 1 is fixedly connected with one end of hind axle bearing bracket stand 16, and left rear wheel 2 passes through support frame and the other end of hind axle bearing bracket stand 16
Connection.Fine rule one end is fixedly connected with counterweight 19, and the other end is fixedly connected after bypassing bobbin winoler 22 with hind axle bearing bracket stand 16.This
Carbon-free trolley in embodiment uses single wheel drive, wherein, the off hind wheel 1 being fixedly connected with hind axle bearing bracket stand 16 is actively
Wheel, power being provided for carbon-free trolley walking, the left rear wheel 2 being connected by support frame with hind axle bearing bracket stand 16 is driven pulley, with
The differential motion of two-wheeled is realized, avoids the carbon-free trolley in steering procedure, the off hind wheel 1 and speed of left rear wheel 2 is inconsistent draws
The resistance risen.
Specifically, off hind wheel 1 and left rear wheel 2 use hollow processing, and off hind wheel 1 and left rear wheel 2 include wheel rim respectively
And along the wheel rim equally distributed four reinforcements of circumference two-by-two between reinforcement it is in 90 °, two-by-two between reinforcement
Part is hollow, in the case of proof strength, removes unnecessary load, and structure is simplified very much, by off hind wheel 1 and left rear wheel 2
Weight reduction to minimum.
Further illustrate, the wheel rim of off hind wheel 1 and left rear wheel 2 uses 45 ° of chamferings, wheel rim and ground contact portion
Width is reduced to 2mm, greatly reduces rotary resistance of the wheel when turning to.
The generally approximate cone-shape structure of bottom plate 9, the front portion of bottom plate 9 is narrower than rear portion, and it is carbon-free that this pyramidal structure reduces this
Rotary inertia of the dolly in steering procedure.Hollow processing has been done at front portion, middle part and the rear portion of bottom plate 9, is greatly alleviated
The quality of carbon-free trolley, reduce the energy loss when turning to.
The carbon-free trolley carried by foregoing description, the present invention, structure are simplified, and many places carry out hollow processing, will be whole
The quality of carbon-free trolley reduces to the limit, thus the resistance of the carbon-free trolley in the process of walking be also reduced to it is minimum,
The transformation efficiency of the gravitional force of counterweight 19 to kinetic energy is high, and the carbon-free trolley can walk larger distance, also can in contest
Pass through more barriers.
The motion process of carbon-free trolley provided by the invention is as follows：
Counterweight 19 lands, and counterweight 19 drives bobbin winoler 22 to rotate, and cord one end is fixedly connected with counterweight 19, and the other end bypasses coiling
It is fixedly connected after device 22 with hind axle.With the landing of counterweight 19, the distance between bobbin winoler 22 and counterweight 19 become big, cord band
Dynamic hind axle rotation, the off hind wheel 1 being fixedly connected with hind axle rotate as driving wheel, and left rear wheel 2 rotates as driven pulley, pushes away
Dynamic carbon-free trolley is advanced, and the gravitional force of counterweight 19 is converted to the kinetic energy of carbon-free trolley.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that；Its according to
The technical scheme described in foregoing embodiments can so be modified, either which part or all technical characteristic are entered
Row equivalent substitution；And these modifications or replacement, the essence of appropriate technical solution is departed from various embodiments of the present invention technology
The scope of scheme.
Claims (4)
1. a kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip, it is characterized in that：Including：Vehicle frame, avoidance obstacle
System；
Vehicle frame includes bottom plate（9）, off hind wheel（1）, left rear wheel（2）, front-wheel（6）, counterweight（19）, counterweight frame（18）, its feature exists
In the bottom plate（9）On have rope sheave, be wrapped cord on rope sheave, one end connection counterweight of cord（19）；The front-wheel（6）It is logical
Cross bearing and be arranged on bottom plate（9）Lower section；
Counterweight frame（18）Including three aluminum pipes and supporting table（20）, it is characterised in that the supporting table（20）Including around
Line device（22）, axle（23）, platform（21）, it is characterised in that three aluminum pipes and platform（21）Connection, the platform（21）On have branch
Support, support frame support and fixing axle（23）, axle（23）With bobbin winoler（22）Pairing connection, bobbin winoler（22）Pass through axle（23）It is outstanding
It is hung in platform（21）Surface, the platform（21）On be provided with square hole, bobbin winoler（22）On cord through square hole with it is described
Counterweight（19）Connection；
The trailing wheel（1）It is the counterweight（19）It is connected by cord with the rope sheave, rope sheave and gear wheel（15）It is meshed, institute
State gear wheel（15）With dolly left rear wheel（2）And hind axle links together, dolly off hind wheel（1）It is directly fixed with hind axle
It is connected.
2. the intelligent avoidance carbon-free trolley according to claim 1 based on STC89C52 single chip, it is characterized in that：Avoidance
Control system includes main control module, power module, sensing module, steering module.
3. the intelligent avoidance carbon-free trolley according to claim 2 based on STC89C52 single chip, it is characterized in that：Including
Respectively with the bottom plate（9）The STC89C52 single chip of connection, the STC89C52 single chip use 7805 voltage stabilizing chips by electricity
Source voltage is down to after 5V as its power supply；
Sensing module uses three Photoelectric infrared switches（11）As avoidance sensor, three Photoelectric infrared switches（11）Peace
Mounted in the fixed mount（5）On, respectively immediately ahead of dolly 180 ° be uniformly distributed, realize dolly in the range of 180 ° of front
Detection of obstacles；
Steering module passes through servos control front-wheel（6）Turn to.
4. the intelligent avoidance carbon-free trolley based on STC89C52 single chip according to claim 1-3 any one, its
It is characterized in：The carbon-free trolley includes and the bottom plate（9）The front-wheel of connection（6）Guiding and left rear wheel（2）, off hind wheel（1）Drive
It is dynamic, the front-wheel（6）Including preceding rim of wheel and with the off hind wheel（1）, left rear wheel（2）Including rear-wheel hub and wheel shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710822556.2A CN107376374A (en) | 2017-09-13 | 2017-09-13 | A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710822556.2A CN107376374A (en) | 2017-09-13 | 2017-09-13 | A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107376374A true CN107376374A (en) | 2017-11-24 |
Family
ID=60352308
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710822556.2A Pending CN107376374A (en) | 2017-09-13 | 2017-09-13 | A kind of intelligent avoidance carbon-free trolley based on STC89C52 single chip |
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| Country | Link |
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| CN (1) | CN107376374A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111974005A (en) * | 2020-07-30 | 2020-11-24 | 常州信息职业技术学院 | Electric control carbon-free obstacle avoidance trolley based on embedded system development |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101816838A (en) * | 2010-01-19 | 2010-09-01 | 广东群兴玩具股份有限公司 | Infrared control running toy |
| CN105013182A (en) * | 2015-07-29 | 2015-11-04 | 燕山大学 | Toy robot with transformable wheel feet |
| CN105739498A (en) * | 2016-03-16 | 2016-07-06 | 王露露 | Intelligent obstacle avoidance trolley based on single-chip microcomputer control |
| CN106310674A (en) * | 2016-11-09 | 2017-01-11 | 中南林业科技大学 | Self-control travel obstacle avoidance front wheel steering device |
| CN106861201A (en) * | 2017-02-22 | 2017-06-20 | 杭州电子科技大学 | Adaptation has the carbon-free trolley of ramp and obstacle spacing stepless changing |
| CN207462668U (en) * | 2017-09-13 | 2018-06-08 | 华东交通大学 | A kind of intelligence avoidance carbon-free trolley |
-
2017
- 2017-09-13 CN CN201710822556.2A patent/CN107376374A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101816838A (en) * | 2010-01-19 | 2010-09-01 | 广东群兴玩具股份有限公司 | Infrared control running toy |
| CN105013182A (en) * | 2015-07-29 | 2015-11-04 | 燕山大学 | Toy robot with transformable wheel feet |
| CN105739498A (en) * | 2016-03-16 | 2016-07-06 | 王露露 | Intelligent obstacle avoidance trolley based on single-chip microcomputer control |
| CN106310674A (en) * | 2016-11-09 | 2017-01-11 | 中南林业科技大学 | Self-control travel obstacle avoidance front wheel steering device |
| CN106861201A (en) * | 2017-02-22 | 2017-06-20 | 杭州电子科技大学 | Adaptation has the carbon-free trolley of ramp and obstacle spacing stepless changing |
| CN207462668U (en) * | 2017-09-13 | 2018-06-08 | 华东交通大学 | A kind of intelligence avoidance carbon-free trolley |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111974005A (en) * | 2020-07-30 | 2020-11-24 | 常州信息职业技术学院 | Electric control carbon-free obstacle avoidance trolley based on embedded system development |
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| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20171124 |
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