CN201965486U

CN201965486U - Intelligent tracking trolley

Info

Publication number: CN201965486U
Application number: CN2010206627254U
Authority: CN
Inventors: 刘欢
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2010-12-16
Filing date: 2010-12-16
Publication date: 2011-09-07
Anticipated expiration: 2020-12-16

Abstract

The utility model provides an intelligent tracking trolley. The output end of a power circuit and the output end of an OV6620 image collection module are connected with the input end of an MC9S12XS128 controller, the input end of an RS232 communication module is connected with the input end of the MC9S12XS128 controller, the output end of the MC9S12XS128 controller is respectively connected with the input end of a steering engine and the input end of an MC33886 drive module, the output end of the steering engine is connected with a front wheel, the MC33886 drive module is connected with a back wheel through a direct current motor, and the direct current motor is also connected with the input end of the MC9S12XS128 controller through a trolley speed detection module. The intelligent tracking trolley has the advantages that the intelligent tracking trolley can automatically walk according to a given route without manual operation, and complex control algorithm and circuit of sensors such as CCD (Charge Coupled Device) and the like are simplified, therefore on the premise of satisfying the requirements, the algorithm is realized, and the circuit and the cost are optimized.

Description

Intelligence tracking dolly

Technical field

The utility model belongs to robot automatic bootstrap technique field, relates to a kind of intelligent tracking dolly.

Background technology

Computer vision technique takes the lead in beginning the work of laying a foundation by people such as professors Marr of Massachusetts Institute Technology the earliest from the existing so far nearly 20 years history of starting.The development and perfect gradually along with the development of automatic technology.The high-performance IMAQ Vision platform that America NI company produces can mate the industrial vision detection system of needs of production.And a branch of computer vision technique real pattern identification.Pattern-recognition all has wide application prospect in the various aspects of productive life.

Intelligent automobile, it is a kind of environment sensing, programmed decision-making system ensemble of function such as travel automatically that integrates, the concentrated area is applied to a plurality of subjects such as automatic control, pattern-recognition, sensor technology, automotive electronics, electric, computing machine, machinery, be typical new and high technology synthesis, have important military and civilian value.At present, the research in intelligent vehicle field can provide DAS (Driver Assistant System) even realize unmanned for the driver having on the road of certain mark.The design of these intelligent vehicles relies on specific pavement marker to finish identification usually, operates by reasoning and judging imitation pilot steering.Usually, the information that intelligent vehicle is accepted aided positioning system and provided is finished path planning, as the map that is provided by GPS etc., traffic congestion situation, information such as road conditions.And our intelligent carriage is closely related with actual intelligent vehicle, though comparatively simple, relate to many-sided knowledge equally, still can reach the research effect of expection.

Summary of the invention

The purpose of this utility model provides a kind of intelligent tracking dolly, has solved the low problem of tracking precision that exists in the prior art.

The technical solution adopted in the utility model is: a kind of intelligent tracking dolly comprises MC9S12XS128 controller, speed of a motor vehicle detection module, direct current generator, trailing wheel, MC33886 driver module, steering wheel, front-wheel, power circuit, OV6620 image capture module and RS232 communication module; The output terminal of power circuit is connected with the input end of MC9S12XS128 controller with the output terminal of OV6620 image capture module, and the input end of RS232 communication module is connected with the input end of MC9S12XS128 controller; The output terminal of MC9S12XS128 controller is connected with the input end of steering wheel with the MC33886 driver module respectively, and the output terminal of steering wheel is connected with front-wheel; The MC33886 driver module is connected with trailing wheel by direct current generator, and direct current generator also is connected with the input end of MC9S12XS128 controller by speed of a motor vehicle detection module.

The beneficial effects of the utility model are, it can be walked according to pre-determined route automatically, need not the people for controlling, and have simplified the complicated control algolithm and the circuit of sensors such as CCD, under the prerequisite that satisfies the demands, have realized algorithm, the optimization of circuit and cost.

Description of drawings

Fig. 1 is a structured flowchart of the present utility model.

Among the figure, 1. MC9S12XS128 controller, 2. speed of a motor vehicle detection module, 3. direct current generator, 4. trailing wheel, 5. MC33886 driver module, 6. steering wheel, 7. front-wheel, 8. power circuit, 9.OV6620 image capture module, 10.RS232 communication module.

Embodiment

Below in conjunction with the drawings and specific embodiments the utility model is elaborated.

As shown in Figure 1, the utility model provides a kind of intelligent tracking dolly, comprises MC9S12XS128 controller 1, speed of a motor vehicle detection module 2, direct current generator 3, trailing wheel 4, MC33886 driver module 5, steering wheel 6, front-wheel 7, power circuit 8, OV6620 image capture module 9 and RS232 communication module 10.The output terminal of power circuit 8 is connected with the input end of MC9S12XS128 controller 1 with the output terminal of OV6620 image capture module 9, and the input end of RS232 communication module 10 is connected with the input end of MC9S12XS128 controller 1; The output terminal of MC9S12XS128 controller 1 is connected with the input end of steering wheel 6 with MC33886 driver module 5 respectively, and the output terminal of steering wheel 6 is connected with front-wheel 7; MC33886 driver module 5 is connected with trailing wheel 4 by direct current generator 3, and direct current generator 3 also is connected with the input end of MC9S12XS128 controller 1 by speed of a motor vehicle detection module 2.

MC33886 driver module 5 is used to drive direct current generator 3 and drives trailing wheel 4 rotations, the effect of MC33886 driver module 5 is that constant DC source voltage (cell voltage) is modulated into frequency is certain, the pwm pulse contact potential series of variable-width, thus the size of exporting average voltage changed.In order to strengthen the ability that drives direct current generator 3, can be with two MC33886 driver module 5 parallel connections.And, then PWM2 and two passage eight bit registers of PWM3 of MC9S12XS128 controller 1 inside can be unified into 16 bit registers, and from PWM3 passage output pulse in order to improve control accuracy.In like manner, PWM4 and two passage eight bit registers of PWM5 also can be unified into 16 bit registers, also from PWM5 passage output pulse, PWM2 and PWM3 passage and pin PP3 and PP5 are multiplexing, the pwm pulse of the PP3 of MC9S12XS128 single-chip microcomputer and the output of PP5 pin is after device 6N137 light-coupled isolation, enter MC33886 H bridge input end by signal IN1 and IN2, MC33886 H bridge output terminal OUT1 and OUT2 connect direct current generator 3 armature two ends respectively, thus the four quadrant running of control direct current generator 3.

In order to constitute closed-loop system, need to detect the speed of dolly, the feedback channel in the utility model has adopted the incremental-rotating coder E6A2CS3C of Omron Corp, and adopts five-wire system (three tapss, 2 power leads), and resolution is 200P/R.

What the utility model adopted is the steering wheel 6 of FutabaS3010 model, this steering wheel 6 comes down to a Stellungsservosteuerung, it is by steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit are formed, by the interior location feedback, can make its steering wheel output corner be proportional to given control signal, like this, under the situation of loading moment less than its maximum output torque, its output corner will be proportional to given pulse width.The interface of the steering wheel 6 of FutabaS3010 model is three lines, black line (ground connection), red line (power lead) and white line (control signal wire).In order to improve the response speed of steering wheel, generally select maximum operating voltage 7.2V, and the inner PWM0 of single-chip microcomputer and 8 output stages of PWM1 two-way are unified into 16 PWM output, export pulse from the PWM1 passage then.Because PWM1 passage and pin PP1 are multiplexing, therefore, the just exportable gating pulse of pin PP1 is given steering wheel 6 simultaneously.

The utility model adopts OV6620 image capture module 9 to gather information of road surface, 1 of MC9S12XS128 controller is analyzed and image data processing, identification road central authorities black guide line, MC9S12XS128 controller 1 can also be given steering wheel 6 and MC33886 driver module 5 apart from the output of the deviation between car body center line control signal according to the place ahead black guide line, and then the front-wheel 7 and the trailing wheel 4 of control dolly, and then the control dolly, travel with the tracking of realizing fast and stable.

Claims

1. an intelligent tracking dolly is characterized in that: comprise MC9S12XS128 controller (1), speed of a motor vehicle detection module (2), direct current generator (3), trailing wheel (4), MC33886 driver module (5), steering wheel (6), front-wheel (7), power circuit (8), OV6620 image capture module (9) and RS232 communication module (10); The output terminal of power circuit (8) is connected with the input end of MC9S12XS128 controller (1) with the output terminal of OV6620 image capture module (9), and the input end of RS232 communication module (10) is connected with the input end of MC9S12XS128 controller (1); The output terminal of MC9S12XS128 controller (1) is connected with the input end of steering wheel (6) with MC33886 driver module (5) respectively, and the output terminal of steering wheel (6) is connected with front-wheel (7); MC33886 driver module (5) is connected with trailing wheel (4) by direct current generator (3), and direct current generator (3) also is connected with the input end of MC9S12XS128 controller (1) by speed of a motor vehicle detection module (2).