CN112947452A - Intelligent tracking robot trolley - Google Patents
Intelligent tracking robot trolley Download PDFInfo
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- CN112947452A CN112947452A CN202110206380.4A CN202110206380A CN112947452A CN 112947452 A CN112947452 A CN 112947452A CN 202110206380 A CN202110206380 A CN 202110206380A CN 112947452 A CN112947452 A CN 112947452A
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- 230000001105 regulatory effect Effects 0.000 claims abstract description 3
- 238000011161 development Methods 0.000 claims description 5
- 238000002955 isolation Methods 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 14
- 238000013461 design Methods 0.000 abstract description 7
- 238000005286 illumination Methods 0.000 abstract description 4
- 230000010365 information processing Effects 0.000 description 7
- 238000012545 processing Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 2
- 230000033001 locomotion Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006870 function Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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- 238000004519 manufacturing process Methods 0.000 description 1
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Classifications
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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 or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- 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
- G05D1/0276—Control of position or course in two dimensions specially adapted to land vehicles using signals provided by a source external to the vehicle
Abstract
The invention provides an intelligent tracking robot trolley which comprises a trolley body, a gray sensor group, an inclination sensor, a motor driver, a main control board, a motor, a battery, an external expansion board and an infrared distance measuring sensor, wherein the gray sensor group is arranged at the head and the tail of the trolley body; the inclination sensor, the motor driver, the main control panel, the motor, the battery, the external expansion board and the infrared distance measuring sensor are all arranged on the trolley body; the inclination sensor, the infrared distance measuring sensor, the gray sensor group, the main control panel, the motor driver and the battery are respectively and electrically connected with the external expansion board; the motor driver controls the motor in a speed regulating manner, and the motor drives the trolley body to move. The invention adopts the structural design that the front end and the rear end extend outwards, the gray sensor groups are arranged at the front end and the rear end of the vehicle body, and the creation improvement on the mechanical structure can ensure that the sensors are attached to the ground by adopting the extending sensor arrangement method, thereby reducing the influence of external illumination.
Description
Technical Field
The invention relates to the technical field of automatic guidance of robots, in particular to an intelligent tracking robot trolley.
Background
The tracking robot has the contents of multiple scientific knowledge fields such as machinery, automobiles, electronics, automatic control, computers, sensors and the like, is applied to the technical fields of automatic trucks of factories, warehouse trucks and the like, can also be applied to complex and severe working environments, and has good application prospect. The design of the mobile robot trolley is very popular, and the robot trolley competition is frequently carried out all over the country and even all over the world, and generally the robot trolley is required to walk along a white line on the green ground. In order to stably track the mobile trolley, certain design requirements are imposed on a tracking module of the robot trolley. The traditional tracking module is simple in design structure, unreasonable in sensor distance setting, poor in circuit anti-interference performance and greatly influenced by the external environment, and the robot trolley is unstable in posture in the tracking process, easy to generate misoperation, and capable of causing the trolley to rush out a white line. Therefore, a robot trolley tracking module device with higher tracking speed, stronger anti-interference performance and more stable tracking posture needs to be designed. In addition, when the robot trolley crosses the obstacle, the robot trolley can accurately make judgment aiming at different obstacles, adjust the speed of the trolley in time and improve the stability when crossing the obstacle.
Patent document is CN 202351705U's utility model patent discloses a match is with intelligent dolly that can park automatically, including model car and parking stall, install the host computer that is used for sending parking position and lane selection signal on the parking stall, be provided with information processing module on model car, be connected with steering wheel, power, wireless transceiver unit, speed measuring unit, tracking unit and drive unit on the information processing module, wherein, wireless transceiver unit and host computer communication. The intelligent vehicle parking system comprises an intelligent vehicle, an upper computer, a wireless receiving unit, an information processing unit, a control instruction and a control unit, wherein the intelligent vehicle is arranged on a parking space, the upper computer is arranged on the parking space, the wireless receiving unit on the intelligent vehicle receives the instruction sent by the upper computer and then sends the instruction to the information processing unit, the information processing unit sends the control instruction after processing the instruction, and the intelligent vehicle is controlled to automatically arrive at a. However, the above scheme has a large influence on the outside.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to provide an intelligent tracking robot trolley.
The invention provides an intelligent tracking robot trolley which comprises a trolley body, a gray sensor group, an inclination sensor, a motor driver, a main control board, a motor, a battery, an external expansion board and an infrared distance measuring sensor, wherein:
the gray sensor groups are arranged at the head and the tail of the trolley body;
the inclination sensor, the motor driver, the main control panel, the motor, the battery, the external expansion board and the infrared distance measuring sensor are all arranged on the trolley body;
the inclination sensor, the infrared distance measuring sensor, the gray sensor group, the main control panel, the motor driver and the battery are respectively and electrically connected with the external expansion board;
the motor driver controls the motor in a speed regulating manner, and the motor drives the trolley body to move.
Preferably, the trolley body comprises a trolley body bottom plate and a trolley tire arranged on the trolley body bottom plate.
Preferably, the grayscale sensor group is installed on a sensor support, and the sensor support is connected with the head and the tail of the trolley body through a sensor support connecting piece.
Preferably, the vehicle further comprises collision sensors which are arranged on the left side and the right side of the front end of the sensor bracket of the vehicle body.
Preferably, the trolley further comprises an LCD display screen, and the LCD display screen displays the state information of the trolley body.
Preferably, the system further comprises a dial switch, the dial switch is provided with different gears, each gear corresponds to one code, signals corresponding to the codes are transmitted to the main control board, corresponding pins of the main control board receive transmitted information, and programs corresponding to the modules are operated.
Preferably, the motor driver is a dual-path motor driver for isolating all control signals by an optical coupler, and the dual-path motor driver respectively performs independent PWM duty ratio speed regulation control on the motors on the left side and the right side.
Preferably, the main control board is an STM32 development board.
Preferably, the vehicle body bottom plate is made of a sub-lattice force material.
Preferably, the left side and the right side of the trolley body are provided with a gray sensor.
Compared with the prior art, the invention has the following beneficial effects:
1. according to the invention, the STM32f103 series control chips are used as core boards, so that the receiving and processing of signals are more stable, more IO interfaces can be expanded, the access of other sensors is facilitated, and the secondary development is easier.
2. The grey sensors for tracking are arranged in a rectangular shape, so that the trolley can stably walk on the color band, the trolley is prevented from walking off, the trend is corrected in time, the trolley can walk in the forward direction and in the reverse direction due to the rectangular distribution of the grey sensors, and the instructions corresponding to the same codes during the forward direction walking and the reverse direction walking can be only slightly modified.
3. The control system of the invention has simple operation, convenient information processing, easy realization and low cost of the infrared sensor, and avoids complex image processing technology.
4. The mechanical structure of the invention has the advantages of ingenious design, small volume, simple structure, low cost, high reliability, flexible operation of the trolley and reliable and stable operation.
5. The gray sensor support is connected to the body of the trolley through the sensor support connecting piece, and the installation mode of the sensor extending outwards can enable the gray sensor to be more closely attached to the ground, so that the influence of external illumination is reduced.
6. The invention has unique innovation points and low cost, can be applied to teaching in colleges and universities and used as a robot trolley for tracking competition, and is convenient for popularization in colleges and universities and secondary development of interest enthusiasts, thereby being widely used.
7. The control system can also be applied to the fields of intelligent wheelchairs of disabled people, service robots, unmanned motor vehicles, unmanned production lines, warehouse goods transportation and the like, and has wide application prospect.
8. The invention installs infrared distance measuring sensors at the front end and the rear end of the vehicle body, which are used for detecting the distance between the trolley and the front and rear obstacles in the walking process.
9. The collision sensors are arranged on the left side and the right side of the front end sensor support and the rear end sensor support of the vehicle body, and are used for carrying out secondary safety protection on the movable trolley, and the trolley can be stopped suddenly when colliding with an obstacle under the condition that the distance measuring sensors are supposed to be out of order, so that the vehicle body is prevented from being damaged.
10. The invention horizontally installs the inclination sensor on the vehicle body, and provides the state information of the trolley to the main control panel when the trolley goes up and down, thereby adjusting the speed of the trolley in time and improving the obstacle crossing capability and the stability of the trolley.
Drawings
Other features, objects and advantages of the invention will become more apparent upon reading of the detailed description of non-limiting embodiments with reference to the following drawings:
FIG. 1 is a block diagram of the control system of the present invention;
fig. 2 is a schematic view of the overall structure of the present invention.
The figures show that:
gray scale sensor group 1
Sensor holder 2
Tilt sensor 4
Motor driver 5
Main control board 7
Infrared distance measuring sensor 13
Detailed Description
The present invention will be described in detail with reference to specific examples. The following examples will assist those skilled in the art in further understanding the invention, but are not intended to limit the invention in any way. It should be noted that it would be obvious to those skilled in the art that various changes and modifications can be made without departing from the spirit of the invention. All falling within the scope of the present invention.
As shown in figures 1 and 2, the intelligent tracking robot provided by the invention comprises a main control panel, a vehicle body bottom plate, a sensor bracket connecting piece, a sensor bracket, a gray sensor, a motor driver, a motor, an infrared distance measuring sensor, a collision sensor, an inclination sensor, an LCD display screen and a dial switch, wherein the main control panel is made of STM32 development plate, the vehicle body bottom plate is made of subgrid material, the front end and the rear end of the vehicle body bottom plate are connected with the sensor bracket through the sensor bracket connecting piece, the gray sensor for tracking is arranged on the sensor bracket, the sensor can be tightly attached to the ground by the arrangement method of the extending sensor, the anti-interference performance of the trolley on the external environment is improved, four motors are arranged under the vehicle body bottom plate to drive the robot trolley to walk, and the motors are controlled by the motor driver arranged on the vehicle body bottom plate to adjust, the motor driver is a double-circuit motor driver which isolates all control signals by an optical coupler and respectively carries out independent PWM duty ratio speed regulation control on motors on the left side and the right side, the control method can output different duty ratios on the left side and the right side so as to control the left motor and the right motor to reach different speeds and realize differential turning and turning around, the infrared distance measuring sensors are arranged at the front end and the rear end of the trolley body and are used for detecting the distance between the trolley and a front obstacle in the walking process, the collision sensors are arranged at the left side and the right side of the front end of a front end sensor bracket and a rear end sensor bracket of the trolley body and are used for carrying out secondary safety protection on the movable trolley, under the condition that the distance measuring sensors are out of work after the trolley collides with the obstacle, the trolley can be stopped suddenly to avoid damaging the trolley body, the inclination sensor is horizontally arranged on the trolley, the horizontal state information of the trolley is provided for the main control panel, so that the speed of the trolley is adjusted in time, the obstacle crossing capability of the trolley and the stability of the trolley are improved, the LCD display screen is used for displaying the parameter values of the gray sensor, the infrared distance measuring sensor and the collision sensor, an operator can conveniently master the state information of each sensor in real time, the dial switch can dial different gears and respectively output different signals, the corresponding pins of the main control panel receive the transmitted information, then corresponding programs are operated, and the tracking motion of the trolley is realized.
The invention has respectively arranged seven ways of gray level sensors at the head and the tail of the trolley to form a sensor group, thereby forming a gray level sensor tracking realization method with a rectangular layout, the realization method is based on the gray level sensors and the rectangular distribution mode thereof, the different poses of the trolley on a color band can lead a total of 14 ways of gray level sensors to generate different signals, the signals are transmitted to a main control board with STM32f103 model, the position and the posture of the current trolley are judged after the algorithm processing of the main control board, thereby generating corresponding control signals which are transmitted to a motor driver, and then the motor driver sends corresponding control instructions to control the trolley to carry out the next step movement, the invention can lead the trolley to walk along a white line, can correct the trend in time according to the route, when the robot trolley meets an intersection, the gray level sensors can transmit the collected signals to the main control board, thereby selecting a specific intersection to continue advancing.
The invention adopts the structural design that the front end and the rear end are extended outwards, the gray sensor is arranged at the front end and the rear end of the vehicle body, the mechanical structure adopts the method of arranging the sensors which are extended outwards, the sensors can be clung to the ground, the gray sensor can accurately acquire signals conveniently, the anti-interference performance of the trolley on the external environment is improved, and the stability of the whole system is greatly improved.
Further explanation is as follows: as shown in the attached figure 2, the mobile robot trolley mainly comprises a gray sensor group 1, a sensor bracket 2, a sensor bracket connecting piece 3, an inclination sensor 4, a motor driver 5, a trolley tire 6, a main control board 7, a motor 8, a dial switch 9, a gray sensor 10, a battery 11, an external expansion board 12, an infrared distance measuring sensor 13, a trolley body bottom board 14, a collision sensor 15 and an LCD display screen 16; the invention has arranged seven routes of gray sensor 1 at the car head and foot respectively, form the sensor group, thus form a gray sensor tracking implementation method of the rectangular overall arrangement, this implementation method is based on gray sensor and rectangular distribution mode, the car will make 14 routes of gray sensor produce different signals in front and at the back of different positions on the color ribbon, the signal passes the external expansion board 12, then transmit to the main control board 7 of STM32f103 model, after the algorithm processing of the main control board 7, judge the position posture of the present car, thus produce the corresponding control signal, transmit to the motor driver 5, and then send the corresponding control command to control the car to move next step by the motor driver 5, the invention can make the car walk along the white line, can revise the trend in time according to the route, when the robot car meets the intersection, the gray sensor 10 can transmit the collected signal to the main control board 7, the method has the advantages that the trolley can walk in the forward direction and in the reverse direction due to the rectangular distribution of the gray level sensors, the operation is simple, the information processing is convenient, the realization is easy, the cost of the gray level sensors is low, and the complex image processing technology is avoided.
The infrared distance measuring sensors 13 are installed at the front end and the rear end of the vehicle body and are used for detecting the distance between the vehicle and front and rear obstacles in the walking process. The collision sensor 15 is installed on the left side and the right side of the front end of the sensor support of the vehicle body and used for carrying out secondary safety protection on the movable trolley, and under the condition that the distance measuring sensor is out of order, the trolley can be suddenly stopped when colliding with an obstacle, so that the vehicle body is prevented from being damaged.
The inclination sensor 4 is horizontally arranged on the trolley body, and can provide the current state information of the trolley to the main control panel 7 when the trolley goes up a slope and descends the slope, so that the main control panel 7 sends a signal to the motor driver 5, the speed of the trolley is adjusted in time, and the obstacle crossing capability of the trolley and the stability of the trolley are improved.
The LCD display screen 16 is mainly used for displaying the parameter values of the grayscale sensor 1, the infrared distance measuring sensor 13 and the collision sensor 15, so that the operator can conveniently master the current state information of each sensor in real time.
The dial switch 9 can dial different gears to obtain different codes, so that different coded signals are transmitted to the main control board 7, the corresponding pins of the main control board receive transmitted information, and then programs of corresponding modules are operated to realize corresponding functions, such as: motor test, sensor test, normal walking, etc.
The invention has the advantages that the structural design with the front end and the rear end extending outwards is adopted, the gray sensor group 1 is arranged at the front end and the rear end of the vehicle body 14, the mechanical structure is improved, the sensor can be attached to the ground by adopting the extending sensor arrangement method, and the influence of external illumination is reduced. The gray sensor 1 can accurately acquire signals conveniently, the anti-interference performance of the trolley on external environments such as illumination is improved, and the stability of the whole system is greatly improved. The sensor support is connected with the trolley body through a hinge, and the sensor support is tightly attached to the ground by the aid of gravity of the sensor support. In the aspect of sensor selection, the invention utilizes the respective characteristic advantages of the infrared distance measuring sensor, the gray level sensor, the collision sensor and the inclination sensor, and adopts the cooperative work of a plurality of sensors, thereby realizing the perception and judgment of the surrounding environment of the trolley.
In the description of the present application, it is to be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience in describing the present application and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present application.
The foregoing description of specific embodiments of the present invention has been presented. It is to be understood that the present invention is not limited to the specific embodiments described above, and that various changes or modifications may be made by one skilled in the art within the scope of the appended claims without departing from the spirit of the invention. The embodiments and features of the embodiments of the present application may be combined with each other arbitrarily without conflict.
Claims (10)
1. The utility model provides an intelligence tracking robot dolly which characterized in that, includes dolly body, grey level sensor group, slope sensor, motor drive, master control board, motor, battery, external expansion board, infrared distance measuring sensor, wherein:
the gray sensor groups are arranged at the head and the tail of the trolley body;
the inclination sensor, the motor driver, the main control panel, the motor, the battery, the external expansion board and the infrared distance measuring sensor are all arranged on the trolley body;
the inclination sensor, the infrared distance measuring sensor, the gray sensor group, the main control panel, the motor driver and the battery are respectively and electrically connected with the external expansion board;
the motor driver controls the motor in a speed regulating manner, and the motor drives the trolley body to move.
2. The intelligent tracking robot trolley of claim 1, wherein the trolley body comprises a trolley floor and trolley tires disposed on the trolley floor.
3. The intelligent tracking robot trolley of claim 1, wherein the grayscale sensor group is mounted on a sensor bracket, and the sensor bracket is connected to the head and tail of the trolley body by a sensor bracket connection.
4. The intelligent tracking robot trolley of claim 3, further comprising collision sensors mounted on the left and right sides of the front end of the sensor bracket of the trolley body.
5. The intelligent tracking robot trolley of claim 1, further comprising an LCD display screen that displays status information of the trolley body.
6. The intelligent tracking robot trolley of claim 1, further comprising a dial switch, wherein the dial switch is provided with different gears, each gear corresponds to a code, a signal corresponding to the code is transmitted to the main control board, and a corresponding pin of the main control board receives the transmitted information to run a program corresponding to the module.
7. The intelligent tracking robot trolley of claim 1, wherein the motor driver is a dual-path motor driver that optically couples all control signals for isolation, and the dual-path motor driver performs separate PWM duty cycle speed control on the motors on the left and right sides.
8. The intelligent tracking robot trolley of claim 1, wherein the main control board is an STM32 development board.
9. The intelligent tracking robot trolley of claim 2, wherein the body floor is made of a subgrid material.
10. The intelligent tracking robot trolley of claim 1, wherein grayscale sensors are provided on the left and right sides of the trolley body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110206380.4A CN112947452A (en) | 2021-02-24 | 2021-02-24 | Intelligent tracking robot trolley |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110206380.4A CN112947452A (en) | 2021-02-24 | 2021-02-24 | Intelligent tracking robot trolley |
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| CN112947452A true CN112947452A (en) | 2021-06-11 |
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| CN202110206380.4A Pending CN112947452A (en) | 2021-02-24 | 2021-02-24 | Intelligent tracking robot trolley |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113910924A (en) * | 2021-12-10 | 2022-01-11 | 江苏邦邦智能科技有限公司 | Control method, control device, mobile device and medium |
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| CN101568465A (en) * | 2007-08-28 | 2009-10-28 | 松下电器产业株式会社 | Inverted two-wheel type carrier, and its control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113910924A (en) * | 2021-12-10 | 2022-01-11 | 江苏邦邦智能科技有限公司 | Control method, control device, mobile device and medium |
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Application publication date: 20210611 |