CN115469658A - Intelligent automatic tracking trolley - Google Patents

Intelligent automatic tracking trolley Download PDF

Info

Publication number
CN115469658A
CN115469658A CN202211055347.7A CN202211055347A CN115469658A CN 115469658 A CN115469658 A CN 115469658A CN 202211055347 A CN202211055347 A CN 202211055347A CN 115469658 A CN115469658 A CN 115469658A
Authority
CN
China
Prior art keywords
trolley
sensor group
intelligent automatic
automatic tracking
frame
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN202211055347.7A
Other languages
Chinese (zh)
Inventor
刘安东
洪艾
刘星雨
俞天
王佳彬
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang University of Technology ZJUT
Original Assignee
Zhejiang University of Technology ZJUT
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Zhejiang University of Technology ZJUT filed Critical Zhejiang University of Technology ZJUT
Priority to CN202211055347.7A priority Critical patent/CN115469658A/en
Publication of CN115469658A publication Critical patent/CN115469658A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C27/00—Fire-fighting land vehicles
    • A—HUMAN NECESSITIES
    • A62—LIFE-SAVING; FIRE-FIGHTING
    • A62C—FIRE-FIGHTING
    • A62C37/00—Control of fire-fighting equipment
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Emergency Management (AREA)
  • Health & Medical Sciences (AREA)
  • Business, Economics & Management (AREA)
  • Public Health (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Electromagnetism (AREA)
  • Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)

Abstract

The invention relates to the technical field of automatic guidance of robots, in particular to an intelligent automatic tracking trolley. The invention mainly comprises a frame, a front sensor bracket, wheels, a front gray sensor group, a rear gray sensor group, a front infrared sensor group, a front sensor bracket infrared sensor group, a side infrared sensor group, a main control panel, a 24V battery, a voltage stabilizing module, a motor driving module, a front sensor bracket rudder unit, a microswitch and a gyroscope. The invention has the beneficial effects that: the ground marker line can be accurately identified, and the tracking can be accurately carried out during the forward and reverse movement; tracking is carried out through the combination of the gray sensor and the infrared sensor; the dynamic state of the car body can be monitored in real time, the stability of the car body is ensured, and the correct action of the trolley is ensured; the microswitch is used as a final collision protection measure; the system can be applied to the fields of logistics storage and transportation, route patrol, service robots, unmanned motor vehicles, unmanned production lines and the like, and has wide application prospect.

Description

Intelligent automatic tracking trolley
Technical Field
The invention relates to the technical field of automatic guidance of robots, in particular to an intelligent automatic tracking trolley.
Background
The tracking robot relates to a plurality of knowledge fields such as machinery, automobiles, electronics, automatic control, computers, sensors and the like, can be widely applied to the technical fields of logistics storage and transportation, route patrol and the like, and has good application prospect. The traditional trolley tracking module is simple in structure, the number of sensors is small, the anti-interference performance of a circuit is poor, the influence of the external environment is large, and the robot trolley is unstable in posture in the tracking process and prone to generating misoperation to cause the trolley to deviate from a preset line. Therefore, a robot trolley tracking module device with higher tracking speed, stronger anti-interference performance and more stable tracking posture is needed. In addition, when the robot trolley crosses the obstacle, accurate judgment should be made for different obstacles, the speed of the trolley is adjusted in time, and the stability when the robot trolley crosses the obstacle is improved.
Disclosure of Invention
The invention provides an intelligent automatic tracking trolley, which solves the problems of poor tracking performance, poor obstacle crossing capability and the like of the intelligent trolley in the tracking running process in the prior art.
In order to solve the problems, the technical scheme of the invention is as follows:
an intelligent automatic tracking trolley comprises a frame, wherein a front sensor support is arranged at the front end of the frame, a front sensor support steering unit is arranged at the front end of the frame, and a steering engine shaft of the front sensor support steering unit is connected with a front sensor support through a steering wheel; the front side and the rear side of the frame are respectively provided with wheels, the bottom of the frame is respectively provided with a motor at the position corresponding to each wheel, and the motors are in transmission connection with the wheels.
Furthermore, a front gray scale sensor group is arranged below the front sensor support, and a rear gray scale sensor group is arranged at the rear end of the frame.
Furthermore, preceding sensor support infrared sensor group is equipped with respectively to preceding sensor support both sides, the frame front end is equipped with preceding infrared sensor group, the frame side is equipped with side infrared sensor group.
Furthermore, a microswitch is arranged at the front end of the front sensor bracket.
Furthermore, a main control board, a motor driving module, a voltage stabilizing module, a battery and a gyroscope are arranged on the frame, and the front sensor bracket infrared sensor group, the front infrared sensor group, the side infrared sensor group, the front gray sensor group, the rear gray sensor group, the micro switch, the gyroscope, the motor driving module (10) and the voltage stabilizing module are directly connected with the main control board; the battery is connected with the voltage stabilizing module, 24v voltage is output to supply power to the main control board, and then the power is supplied to other modules and the sensor through the LM1117 low-voltage difference voltage regulator on the main control board; the motor is connected with the motor driving module.
Furthermore, the front sensor support rudder unit is connected with the frame through an aluminum alloy support.
Further, the main control board adopts an STM32F407ZGT6 chip.
Furthermore, the motor driving module is a double-circuit motor driver for isolating all control signals by an optical coupler, and the double-circuit motor driver respectively performs independent PWM duty ratio speed regulation control on the four motors.
Furthermore, the main control panel is externally connected with an OLED display screen to display vehicle data in real time.
Furthermore, the gyroscope can monitor the dynamic state of the vehicle body in real time, and the rotating speed of the motor is adjusted through an algorithm when the trolley ascends and descends or inclines, so that the stability of the vehicle body is ensured; the gyroscope can also measure the steering angle, and the trolley can be ensured to act correctly.
Furthermore, the frame and the front sensor support are processed in a mode that aluminum plates are bent in multiple sections, and the strength of the whole vehicle is guaranteed.
The invention has the beneficial effects that:
1) The main control board of the invention uses STM32F407ZGT6 chip, has low power consumption, good performance, simple use of I/O pins, quicker signal receiving and processing, and can conveniently utilize I/O interface to expand peripherals.
2) The gray sensor used in the invention has the advantages that the number of the parallel photosensitive elements is large, the arrangement is reasonable, and the ground sign line can be accurately identified; meanwhile, the front and the back of the vehicle body are respectively provided with a gray sensor, so that accurate tracking can be realized when the vehicle is moved forwards or backwards.
3) According to the invention, the tracking is carried out by combining the gray sensor and the infrared sensor, and the infrared sensor is used for auxiliary judgment, so that the tracking capability is improved; in addition, the infrared sensor also has the function of collision protection.
4) The front gray sensor group of the invention is provided with 12 paths of gray sensors, and has wide tracking range and high accuracy.
5) The front sensor bracket is connected with the frame through the front sensor bracket steering engine, and the front sensor bracket can be tightly attached to the ground under the up-down slope environment by using the dead weight, so that the ground clearance of the gray level sensor group arranged below the front sensor bracket is extremely small, the influence of external illumination is reduced, and the line-following accuracy of the gray level sensor group is improved.
6) The gyroscope is arranged, so that the dynamic state of the vehicle body can be monitored in real time, and the rotating speed of the motor is adjusted through an algorithm when the trolley ascends and descends or inclines, so that the stability of the vehicle body is ensured; the gyroscope can also measure the steering angle, so that the trolley can move correctly.
7) According to the invention, a group of two steering engines are arranged for lifting the front sensor bracket, so that the front sensor bracket can be lifted through the large-torque steering engines when an obstacle is crossed, and the phenomenon that the trolley is decelerated or even blocked due to collision of the front sensor bracket and the obstacle is avoided.
8) The micro switch is arranged at the front end of the front sensor bracket and serves as the final collision protection measure, and the motor is immediately stopped when collision occurs under the condition that the collision protection infrared sensor fails, so that collision damage is reduced.
9) The robot trolley has unique innovation points and rich functions, and can be applied to teaching in colleges and universities and used as a robot trolley for tracking competitions; in addition, the invention has reference significance for tracking robots required by other occasions.
10 The control system can also be applied to the fields of logistics storage and transportation, route patrol, service robots, unmanned motor vehicles, unmanned production lines and the like, and has wide application prospect.
Drawings
FIG. 1 is a top view of an intelligent automatic tracking cart according to the present invention;
FIG. 2 is a bottom view of an intelligent automatic tracking cart according to the present invention;
FIG. 3 is a left side view of an intelligent automatic tracking cart according to the present invention;
FIG. 4 is a right side view of an intelligent automatic tracking cart according to the present invention;
FIG. 5 is a front sensor mount of the intelligent automatic tracking cart of the present invention;
in the figure: 1. a front sensor support rudder unit; 2. a frame; 3. a front sensor mount; 4. the front sensor bracket infrared sensor group; 5. a microswitch; 6. a front infrared sensor group; 7. a wheel; 8. a main control panel; 9. a side infrared sensor group; 10. a motor drive module; 11. a voltage stabilization module; 12. a battery; 13. a gyroscope; 14. a front grayscale sensor group; 15. a motor; 16. and a rear gray sensor group.
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 fig. 1-5, the intelligent automatic tracking trolley provided by the invention comprises a frame 2, a front sensor support 3, wheels 7, a front gray sensor group 14, a rear gray sensor group 16, a front infrared sensor group 6, a front sensor support infrared sensor group 4, a side infrared sensor group 9, a main control board 8, a 24V battery 12, a voltage stabilizing module 11, a motor 15, a motor driving module 10, a front sensor support steering unit 1, a microswitch 5 and a gyroscope 13.
The main control board 8 employs an STM32F407ZGT6 chip.
The frame and the front sensor bracket are manufactured by bending aluminum plates in multiple sections.
The front sensor bracket is connected with the frame through a front sensor bracket steering engine.
The front gray sensor for tracking is arranged below the front sensor bracket, and the front sensor bracket can be tightly attached to the ground under the environment of ascending and descending by using the dead weight, so that the ground clearance of the gray sensor group arranged below the front sensor bracket is extremely small, the influence of external illumination is reduced, and the line tracking accuracy of the gray sensor group is improved. The rear gray sensor group is arranged below the rear end of the frame and is used as a tracking device when the vehicle is backed.
The grey level sensor is the main tracking device of dolly, and its main component is photodiode and emitting diode, and the tracking principle is as follows: the light emitting diode continuously emits light to irradiate the ground, so that a stable illumination environment is provided; the photosensitive diode can return different analog quantities to the surfaces with different reflectivity, the main control board performs analog-to-digital conversion on the returned analog quantities, judges the position of the trolley relative to the trace line through an algorithm, generates a corresponding PWM control signal through a PID control algorithm, transmits the PWM control signal to the motor driving module, and drives the motor to control the tracking of the trolley. The gray sensor group can make the trolley stably track, correct the route in time when being disturbed, and return to the route condition at the branch section of the route, thereby selecting the correct route to travel. The front gray sensor group provided by the invention has 12 paths of gray sensors, the tracking range is wide, and the tracking accuracy is high; the back grey level sensor group possesses 8 way grey level sensors for the tracking when backing a car.
Four motors are installed under the frame to drive the trolley to advance, the motors are subjected to speed regulation control through motor driving modules installed on the front portion above the frame, the motor driving modules are double-circuit motor driving for isolating all control signals through optical couplers, and the four motors are subjected to independent PWM duty ratio speed regulation control respectively, so that the four motors are controlled to reach different speeds, differential steering and turning are achieved, and high operation performance is achieved.
The front sensor support infrared sensor groups are arranged on two sides of the front sensor support and are arranged forwards and used for detecting the distance between the front sensor support and the obstacle, the infrared sensors are triggered when the trolley is too close to the obstacle, and the main control panel controls the motor to stop rotating so as to play a role in collision protection.
The front infrared sensor group is arranged at the front end of the frame, is matched with the baffle arranged on the front sensor bracket, is used for detecting the condition that the trolley encounters an obstacle, and is used as a main judgment condition for the obstacle crossing of the trolley: when the front sensor bracket is lifted by a barrier in an uphill condition, the baffle triggers the front infrared sensor group on one side; when the sensor meets the downhill condition, the front sensor bracket descends to trigger the infrared sensor on the other side. Signals of the front infrared sensor are fed back to the main control board, the rotating speed of the motor is adjusted through an algorithm to control the speed of the trolley, and the obstacle crossing capability and the obstacle crossing stability are improved.
The side infrared sensor group is arranged on the side surface of the frame, is arranged downwards and is used for detecting a tracking line passed by the trolley as a trigger condition of the next action.
The front sensor bracket rudder unit is arranged at the front end of the frame through an aluminum alloy bracket, and can lift the front sensor bracket through a large-torque steering engine when an obstacle is crossed, so that the phenomenon that the trolley is decelerated or even blocked due to collision of the front sensor bracket and the obstacle is avoided.
The micro switch is arranged at the front end of the front sensor support and serves as the final collision protection measure, and under the condition that the collision protection infrared sensor fails, the motor is immediately stopped when collision occurs, so that the trolley is prevented from being damaged by collision.
The gyroscope is arranged above the frame and used for monitoring the dynamic state of the vehicle body in real time, and when the trolley ascends and descends or inclines, the gyroscope is used as an obstacle-crossing auxiliary judgment condition, and the rotation speed of the motor is adjusted through an algorithm to ensure the stability of the vehicle body; the gyroscope can also measure the steering angle, and ensure that the trolley acts correctly when the trolley steers and turns around.
Further explanation is as follows: as shown in the attached drawings, the tracking trolley mainly comprises a frame, a front sensor bracket, wheels, a front gray sensor group, a rear gray sensor group, a front infrared sensor group, a front sensor bracket infrared sensor group, a side infrared sensor group, a main control board, a 24V battery, a voltage stabilizing module, a motor 12, a motor driving module, a microswitch and a gyroscope. The invention has gray sensor group with 12-channel gray sensor in the front and back of the dolly respectively, thus form a stable and reliable gray sensor group and trace the implement method, this implement method is based on gray sensor and front and back distribution, the dolly will be in different postures will make the gray sensor of 24-channel altogether produce different signals in front and back on the route, the main control panel receives the return value, judge the position relative to trace of the dolly through the algorithm, and produce the corresponding PWM control signal through PID control algorithm, conduct to the motor drive module, drive the motor and control the dolly to seek the line. The gray sensor group can make the trolley stably track, correct the route in time when being disturbed, and return to the route condition at the branch section of the route, thereby selecting the correct route to travel. The advantages of this approach are: the gray sensor is stable and reliable in route identification, and a complex image identification technology is avoided; the gray sensor group is arranged front and back, and can stably track when the automobile moves forwards and backwards.
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.

Claims (10)

1. An intelligent automatic tracking trolley comprises a trolley frame (2), and is characterized in that a front sensor support (3) is arranged at the front end of the trolley frame (2), a front sensor support steering unit (1) is arranged at the front end of the trolley frame (2), and a steering engine shaft of the front sensor support steering unit (1) is connected with the front sensor support (3) through a steering wheel; the bicycle frame is characterized in that wheels (7) are arranged on the front side and the rear side of the bicycle frame (2) respectively, a motor (15) is arranged at the position, corresponding to each wheel (7), of the bottom of the bicycle frame (2), and the motor (15) is in transmission connection with the wheels (7).
2. The intelligent automatic tracking trolley according to claim 1, wherein a front gray scale sensor group (14) is arranged below the front sensor support (3), and a rear gray scale sensor group (16) is arranged at the rear end of the trolley frame (2).
3. The intelligent automatic tracking trolley according to claim 2, wherein front sensor bracket infrared sensor groups (4) are respectively arranged on two sides of the front sensor bracket (3), a front infrared sensor group (6) is arranged at the front end of the trolley frame (2), and a side infrared sensor group (9) is arranged on the side surface of the trolley frame (2).
4. An intelligent automatic tracking trolley according to claim 3, characterized in that a micro switch (5) is arranged at the front end of the front sensor bracket (3).
5. The intelligent automatic tracking trolley according to claim 4, wherein a main control board (8), a motor driving module (10), a voltage stabilizing module (11), a battery (12) and a gyroscope (13) are arranged on the trolley frame (2), and the front sensor bracket infrared sensor group (4), the front infrared sensor group (6), the side infrared sensor group (9), the front gray scale sensor group (14), the rear gray scale sensor group (16), the micro switch (5), the gyroscope (13), the motor driving module (10) and the voltage stabilizing module (11) are directly connected with the main control board; the battery (12) is connected with the voltage stabilizing module (11), outputs 24v voltage to supply power for the main control board (8), and supplies power for other modules and sensors through a low-dropout voltage regulator on the main control board; the motor (15) is connected with the motor driving module (10).
6. The intelligent automatic tracking trolley according to claim 1, wherein the front sensor bracket steering unit (1) is connected with the trolley frame (2) through an aluminum alloy bracket.
7. An intelligent automatic tracking trolley according to claim 5, characterized in that the main control board (8) adopts STM32F407ZGT6 chip.
8. The intelligent automatic tracking trolley according to claim 5, wherein the motor driving module (10) is a two-way motor driver which optically couples all control signals for isolation, and the two-way motor driver respectively performs independent PWM duty ratio speed regulation control on four motors (15).
9. The intelligent automatic tracking trolley according to claim 7, wherein the main control board (8) is externally connected with an OLED display screen to display vehicle data in real time.
10. The intelligent automatic tracking trolley according to claim 1, wherein the gyroscope (13) can monitor the dynamic state of the trolley body in real time, and the rotation speed of the motor is adjusted by an algorithm when the trolley goes up and down a slope or inclines to ensure the stability of the trolley body; the gyroscope (13) can also measure the steering angle, so that the trolley can move correctly.
CN202211055347.7A 2022-08-31 2022-08-31 Intelligent automatic tracking trolley Pending CN115469658A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202211055347.7A CN115469658A (en) 2022-08-31 2022-08-31 Intelligent automatic tracking trolley

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202211055347.7A CN115469658A (en) 2022-08-31 2022-08-31 Intelligent automatic tracking trolley

Publications (1)

Publication Number Publication Date
CN115469658A true CN115469658A (en) 2022-12-13

Family

ID=84369260

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202211055347.7A Pending CN115469658A (en) 2022-08-31 2022-08-31 Intelligent automatic tracking trolley

Country Status (1)

Country Link
CN (1) CN115469658A (en)

Similar Documents

Publication Publication Date Title
CN107272694B (en) Omnidirectional vehicle control system based on Mecanum wheel autonomous navigation
CN109050244B (en) High-precision AGV driving and steering integrated device and control method thereof
CN109606506A (en) A kind of control method that diagonal driving turns to
CN111409056A (en) Omnidirectional mobile robot
CN110919623A (en) Logistics carrying robot system
CN212173587U (en) Heavy-load rail trolley
CN111813127A (en) Automatic automobile transfer robot system of driving formula
CN115771582A (en) AGV trolley for transporting anode plates
Cawood et al. Navigation and locomotion of a low-cost Automated Guided Cart
CN114212432A (en) Photoelectric positioning system applied to warehouse four-way shuttle
CN115469658A (en) Intelligent automatic tracking trolley
CN113219963A (en) Double-steering-wheel motion control system of AGV (automatic guided vehicle)
CN107272693B (en) Automatic docking system and method based on omnidirectional vehicle and assembly station
CN211568153U (en) Intelligent carrying trolley
CN110182556B (en) Integrated omnidirectional mobile chassis
CN112947452A (en) Intelligent tracking robot trolley
CN213534889U (en) Automatic multi-functional dolly traveles
CN215756204U (en) Automatic guide fork truck
CN213974229U (en) AGV dolly
CN216184208U (en) Mecanum wheel intelligent storage AGV of suspension mechanism formula
CN212667026U (en) Omnidirectional accurate-in-place chassis device for Mecanum wheels
Paromtchik et al. Autonomous maneuvers of a nonholonomic vehicle
Cheng et al. Design of automatic guided vehicles and dunking robot system
CN210776319U (en) Tray lifting type laser navigation storage logistics AGV
CN112092944A (en) Obstacle-crossing trolley

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination