CN201984157U - Intelligent detection dolly - Google Patents

Intelligent detection dolly Download PDF

Info

Publication number
CN201984157U
CN201984157U CN2010205909268U CN201020590926U CN201984157U CN 201984157 U CN201984157 U CN 201984157U CN 2010205909268 U CN2010205909268 U CN 2010205909268U CN 201020590926 U CN201020590926 U CN 201020590926U CN 201984157 U CN201984157 U CN 201984157U
Authority
CN
China
Prior art keywords
module
dolly
base station
barrier
intelligent detecting
Prior art date
Application number
CN2010205909268U
Other languages
Chinese (zh)
Inventor
王迪
杨少龙
侯延屾
Original Assignee
大连海事大学
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 大连海事大学 filed Critical 大连海事大学
Priority to CN2010205909268U priority Critical patent/CN201984157U/en
Application granted granted Critical
Publication of CN201984157U publication Critical patent/CN201984157U/en

Links

Abstract

The utility model discloses an intelligent detection dolly which can avoid crash between the dolly and barrier. The dolly comprises a dolly, a motor system and a base station system, wherein the motor system attached to the dolly comprises a first single chip microcomputer, a barrier-avoiding module, a motor driving module, an image identification module, a wireless communication module, a distance measuring module and an acousto-optic alarm module; the base station system comprises a second single chip microcomputer, a keyboard module and a display module; the modules of the motion system and the base station system are respectively controlled by the first and the second single chip microcomputers of a cybernetics core to realize respective functions; and the motion system is connected with the base station system through wireless communication. The dolly of the utility model guarantees that in the detection process of the dolly, the dolly does not crash with the barrier, and further guarantees safety of the dolly and original appearance of the detection site.

Description

The intelligent detecting dolly
Technical field
The utility model belongs to the detector technology field, relates to a kind of intelligent detecting dolly of colliding between dolly and the barrier avoided concretely.
Background technology
When dolly is surveyed in particular surroundings, people need be at base station end Real Time Observation detection data or image, the base station end also needs to be provided with telechirics simultaneously, control the motion conditions of dolly in particular surroundings, and dolly is in the process of surveying, should avoid the collision between dolly and the barrier, guarantee the security of dolly and survey on-the-spot former state.Present detector mostly needs control it artificially to keep away barrier, even possess the intelligence function of advancing, is that simple dependence automatic obstacle-avoiding is difficult to finish exploration work in complex environment.
Summary of the invention
At the weak point that prior art exists, the purpose of this utility model be to provide a kind of can intelligent barrier avoiding, the artificial intelligent detecting dolly controlled of remote sensing.
The technical scheme that the utility model is adopted for achieving the above object is: the intelligent detecting dolly, and its structure comprises dolly, kinematic system and base station system; Described kinematic system is attached on the dolly, comprise first single-chip microcomputer, keep away barrier module, motor drive module, picture recognition module, wireless communication module, distance measurement module and acousto-optic alarm module, described base station system comprises second singlechip, Keysheet module and display module, and each module realizes function separately respectively on kinematic system and the base station system under the control of control core first single-chip microcomputer and second singlechip; Get in touch with by radio communication between kinematic system and the base station system;
Wherein, described motor drive module is used for the rotation of auxiliary control motor, alleviates the burden of second singlechip;
The described barrier module of keeping away can be stopped, and point out by described sound and light alarm module when being made dolly run into barrier in the process of advancing;
Described Keysheet module control dolly is realized corresponding start and stop, is advanced and turning action;
Described display module shows distance value, velocity amplitude and the environment that detects;
Described picture recognition module is with the display module of detected image feedback to base station system;
Described distance measurement module makes dolly can detect distance and speed in the process of advancing, and distance value and velocity amplitude are fed back to base station system, and the display module by base station system shows.
Described dolly, preceding central authorities are preceding universal wheel, and two back wheels of vehicle of back adopt two motors type of drive respectively, and dolly topworks uses direct-flow deceleration electric motor.
Described motor drive module adopts the L298N integrated chip of H type pwm circuit.
The described barrier module of keeping away adopts infrared obstacle avoidance sensor E18-D80NK.
What described distance measurement module adopted is Hall element.
What described sound and light alarm module adopted is 555 chip controls hummer and light emitting diodes.
What described display module adopted is the FYD12864-0402B LCD MODULE, and described Keysheet module adopts Zhou Ligong 7289 keyboard coding formula Keysheet modules.
What described wireless communication module was selected for use is the wireless communication module of KYL-610 model.
What described first single-chip microcomputer and second singlechip were selected for use is high speed C8051F020 single-chip microcomputer.
The function that the utility model can be realized has: intelligent carriage can realize corresponding start and stop under the control of base station keyboard, advance and action such as turning; Dolly can detect distance and speed in the process of advancing, and distance value and velocity amplitude are fed back to base station system, and the keyboard display module by base station system shows; Dolly can be with the environmental feedback in the place ahead of detecting to the keyboard display module of base station system; When dolly runs into barrier in the process of advancing, can stop and with sound and light alarm module alarm.
Good effect of the present utility model is: the physical construction of the car body that has universal wheel that the utility model adopts, obviously improved the dirigibility that intelligent carriage moves, and can be as the carrier of universal intelligent robot; Keep away the barrier module and guaranteed the dolly anticollision, this technology can be applied in the vehicles, the generation that reduces and avoid traffic accident; System has finished the transmission of radio communication for data, and this module can widespread use.And what each module of the present utility model all adopted is the components and parts of low energy consumption, saves the energy; Each parts of dolly and base station all are own to starting material processing, assembling, have saved a lot of resources.
Description of drawings
Fig. 1 is the utility model system architecture diagram.
Fig. 2 is a vehicle structure synoptic diagram in the utility model.
Fig. 3 looks up side figure for dolly in the utility model.
Fig. 4 is a L298N circuit diagram of realizing the motor-driven function in the utility model.
Fig. 5 is an E18-D80NK circuit diagram of realizing barrier avoiding function in the utility model.
Fig. 6 is the Hall element external circuits figure that realizes the distance measurement function in the utility model.
Fig. 7 is a sound and light alarm module circuit diagram in the utility model.
Among the figure, 1-display module, 2-wireless communication module, the 3-picture recognition module, 4-first single-chip microcomputer, 5-keeps away the barrier module, 6-sound and light alarm module, 7-distance measurement module, 8-motor, the 9-motor drive module, 10-second singlechip, 11-Keysheet module, universal wheel before the 12-, " license plate " that the 13-charactron is made, 14-back wheels of vehicle, 15-chassis.
Embodiment
The utility model is described in further detail below in conjunction with drawings and the specific embodiments.
As Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and shown in Figure 7, the utility model structure comprises dolly, kinematic system and base station system; Described kinematic system is attached on the dolly, comprise first single-chip microcomputer 4, keep away barrier module 5, motor drive module 9, picture recognition module 3, wireless communication module 2, distance measurement module 7 and acousto-optic alarm module 6, described base station system comprises second singlechip 10, Keysheet module 11 and display module 1, and each module realizes function separately respectively on kinematic system and the base station system under the control of control core first single-chip microcomputer 4 and second singlechip 10; Get in touch with by radio communication between kinematic system and the base station system;
Wherein, described motor drive module 9 is used for the rotation of auxiliary control motor 8, alleviates the burden of second singlechip 10;
The described barrier module 5 of keeping away can be stopped when making dolly run into barrier in the process of advancing, and points out by described sound and light alarm module 6;
Described Keysheet module 11 control dollies are realized corresponding start and stop, are advanced and turning action;
Described display module 1 shows distance value, velocity amplitude and the environment that detects;
Described picture recognition module 3 is with the display module 1 of detected image feedback to base station system;
Described distance measurement module 7 makes dolly can detect distance and speed in the process of advancing, and distance value and velocity amplitude are fed back to base station system, and the display module 1 by base station system shows.
Described dolly, preceding central authorities are preceding universal wheel 12, and two back wheels of vehicle 14 of back adopt two motors 8 type of drive respectively, and dolly topworks uses direct-flow deceleration electric motor.
Described motor drive module 9 adopts the L298N integrated chip of H type pwm circuit.
The described barrier module 5 of keeping away adopts infrared obstacle avoidance sensor E18-D80NK.
What described distance measurement module 7 adopted is Hall element.
What described sound and light alarm module 6 adopted is 555 chip controls hummer and light emitting diodes.
What described display module 1 adopted is the FYD12864-0402B LCD MODULE, and described Keysheet module 11 adopts Zhou Ligong 7289 keyboard coding formula Keysheet modules.
What described wireless communication module 2 was selected for use is the wireless communication module of KYL-610 model.
What described first single-chip microcomputer 4 and second singlechip 10 were selected for use is high speed C8051F020 single-chip microcomputer.
In the utility model, two motor 8 symmetries of dolly are fixed on the relevant position on the chassis 15, and two back wheels of vehicle 14 are separately fixed on two motors 8, preceding universal wheel 12 is fixed on the forward middle position of dolly, control turning to of two motors 8 respectively, can realize dolly start and stop, advance and turn; Keep away the front and back position that barrier module 5 is installed in dolly respectively for two; Six of distance measurement module 7 little magnetic sheets of induction are that the same radius of initial point evenly is installed on the wheel with wheel central authorities, and hall sensor is fixed on the position that accurately to sense little magnetic sheet, so that in the process of wheel, can respond to each little magnetic sheet, another wheel is installed Hall element with same reason; One two laminate is installed on dolly top, is used for placing each functional circuit module, and each module can be installed according to optimal appearance according to size and shape.This installation referring to figs. 2 and 3.
Native system is divided into the test section, control section and operating part three parts.The test section is each sensor element on the dolly, detects signal, and detection signal calculates by the single-chip microcomputer of control section, controls the working order of operating part motor.
After powering on, dolly does not move, and the picture recognition module 3 on the dolly is started working, and detected image feedback is shown to base station system.
When definite dolly can safety traffic, control the dolly starting by the Keysheet module 11 of base station system, two motors 8 drive back wheels of vehicle 14 respectively, and universal wheel 12 before driving, dolly begins to advance, this moment opening entry time and distance, distance detects by the Hall element module, and, these three data are fed back on the display module 1 of base station by wireless communication module 2 by the control module computing velocity.
According to collected data in base station and detection event, speed and the direction that can travel by the Keyboard Control dolly of base station particularly need the original place of dolly to rotate the situation all around of observing acquisition environment.
Under the unwatched situation in base station,, dolly keeps away barrier module 5 because only being provided with in front and back, therefore dolly is in the dead ahead or dead astern when running into barrier, can in time stop or turn to and travel, and with the sound and light alarm prompting, if comprehensive being provided with of dolly kept away barrier module 5, then dolly can not need the base station manual control and can move on safe and free ground.
The circuit diagram of the motor drive module 9 of dolly as shown in Figure 4, a L298N chip can be controlled two motors 8, can control turning to and speed of two motors 8 respectively with four ports.Keep away the barrier module 5 wiring diagram as shown in Figure 5, sense outside the barrier at this infrared sensor, output terminal is a high level, otherwise output become low level, utilize single-chip microcomputer to detect this low level signal and judge whether to run into barrier.The circuit diagram of the Hall element of distance measurement module 7 when Hall element is experienced little magnetic sheet, is exported and can be produced a negative edge as shown in Figure 6, detects the number of this negative edge and the girth of wheel, the distance of coming counting of carriers to travel by single-chip microcomputer.The circuit diagram of sound and light alarm module 6 utilizes two 555 as shown in Figure 7, and wherein first controls the frequency of sound and light alarm, second 555 occurrence frequency that is used for controlling hummer.What Keysheet module 11 adopted is serial output mode, and single-chip microcomputer can directly be read key value, and is simple and convenient.
The above; only be the preferable embodiment of the present invention; but protection scope of the present invention is not limited thereto; anyly be familiar with those skilled in the art in the technical scope that the present invention discloses; be equal to replacement or change according to technical scheme of the present invention and inventive concept thereof, all should be encompassed within protection scope of the present invention.

Claims (9)

1. intelligent detecting dolly, it is characterized in that: structure comprises dolly, kinematic system and base station system; Described kinematic system is attached on the dolly, comprise first single-chip microcomputer, keep away barrier module, motor drive module, picture recognition module, wireless communication module, distance measurement module and acousto-optic alarm module, described base station system comprises second singlechip, Keysheet module and display module, and each module realizes function separately respectively on kinematic system and the base station system under the control of control core first single-chip microcomputer and second singlechip; Get in touch with by radio communication between kinematic system and the base station system;
Wherein, described motor drive module is used for the rotation of auxiliary control motor, alleviates the burden of second singlechip;
The described barrier module of keeping away can be stopped, and point out by described sound and light alarm module when being made dolly run into barrier in the process of advancing;
Described Keysheet module control dolly is realized corresponding start and stop, is advanced and turning action;
Described display module shows distance value, velocity amplitude and the environment that detects;
Described picture recognition module is with the display module of detected image feedback to base station system;
Described distance measurement module makes dolly can detect distance and speed in the process of advancing, and distance value and velocity amplitude are fed back to base station system, and the display module by base station system shows.
2. intelligent detecting dolly according to claim 1 is characterized in that: described dolly, and preceding central authorities are preceding universal wheel, and two back wheels of vehicle of back adopt two motors type of drive respectively, and dolly topworks uses direct-flow deceleration electric motor.
3. intelligent detecting dolly according to claim 1 is characterized in that: described motor drive module adopts the L298N integrated chip of H type pwm circuit.
4. intelligent detecting dolly according to claim 1 is characterized in that: the described barrier module of keeping away adopts infrared obstacle avoidance sensor E18-D80NK.
5. intelligent detecting dolly according to claim 1 is characterized in that: what described distance measurement module adopted is Hall element.
6. intelligent detecting dolly according to claim 1 is characterized in that: what described sound and light alarm module adopted is 555 chip controls hummer and light emitting diodes.
7. intelligent detecting dolly according to claim 1 is characterized in that: what described display module adopted is the FYD12864-0402B LCD MODULE, and described Keysheet module adopts Zhou Ligong 7289 keyboard coding formula Keysheet modules.
8. intelligent detecting dolly according to claim 1 is characterized in that: what described wireless communication module was selected for use is the wireless communication module of KYL-610 model.
9. intelligent detecting dolly according to claim 1 is characterized in that: what described first single-chip microcomputer and second singlechip were selected for use is high speed C8051F020 single-chip microcomputer.
CN2010205909268U 2010-10-29 2010-10-29 Intelligent detection dolly CN201984157U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN2010205909268U CN201984157U (en) 2010-10-29 2010-10-29 Intelligent detection dolly

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN2010205909268U CN201984157U (en) 2010-10-29 2010-10-29 Intelligent detection dolly

Publications (1)

Publication Number Publication Date
CN201984157U true CN201984157U (en) 2011-09-21

Family

ID=44611615

Family Applications (1)

Application Number Title Priority Date Filing Date
CN2010205909268U CN201984157U (en) 2010-10-29 2010-10-29 Intelligent detection dolly

Country Status (1)

Country Link
CN (1) CN201984157U (en)

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102736579A (en) * 2012-03-21 2012-10-17 山东大学 Wireless remote control temperature measurement trolley communicated with upper computer
CN102799182A (en) * 2012-08-20 2012-11-28 南京工程学院 All-around video transmission obstacle avoidance car
CN103065540A (en) * 2012-12-31 2013-04-24 黑龙江大学 Intelligent wrecker
CN103337145A (en) * 2013-06-05 2013-10-02 洛阳理工学院 Intelligent reconnaissance system based on wireless image transmission
CN103389734A (en) * 2013-08-12 2013-11-13 贵州大学 Intelligent patrol monitoring trolley
CN103728977A (en) * 2012-10-11 2014-04-16 李国华 Intelligent guiding system of electric vehicle for the handicapped
CN104020767A (en) * 2014-06-10 2014-09-03 兰州理工大学 Intelligent robot for oil-gas production Internet of Things
CN104317290A (en) * 2014-06-20 2015-01-28 西安科技大学 Infrared remote-control multi-functional dolly
CN104443140A (en) * 2014-12-10 2015-03-25 柳州铁道职业技术学院 Balance car obstacle detecting device
CN104571104A (en) * 2014-11-19 2015-04-29 广西大学 Intelligent roving vehicle and intelligent roving method

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102736579A (en) * 2012-03-21 2012-10-17 山东大学 Wireless remote control temperature measurement trolley communicated with upper computer
CN102799182A (en) * 2012-08-20 2012-11-28 南京工程学院 All-around video transmission obstacle avoidance car
CN103728977A (en) * 2012-10-11 2014-04-16 李国华 Intelligent guiding system of electric vehicle for the handicapped
CN103065540A (en) * 2012-12-31 2013-04-24 黑龙江大学 Intelligent wrecker
CN103065540B (en) * 2012-12-31 2014-08-20 黑龙江大学 Intelligent wrecker
CN103337145A (en) * 2013-06-05 2013-10-02 洛阳理工学院 Intelligent reconnaissance system based on wireless image transmission
CN103337145B (en) * 2013-06-05 2017-04-12 洛阳理工学院 Intelligent reconnaissance system based on wireless image transmission
CN103389734A (en) * 2013-08-12 2013-11-13 贵州大学 Intelligent patrol monitoring trolley
CN104020767A (en) * 2014-06-10 2014-09-03 兰州理工大学 Intelligent robot for oil-gas production Internet of Things
CN104317290A (en) * 2014-06-20 2015-01-28 西安科技大学 Infrared remote-control multi-functional dolly
CN104571104A (en) * 2014-11-19 2015-04-29 广西大学 Intelligent roving vehicle and intelligent roving method
CN104443140A (en) * 2014-12-10 2015-03-25 柳州铁道职业技术学院 Balance car obstacle detecting device

Similar Documents

Publication Publication Date Title
CN203698529U (en) Intelligent balance vehicle
CN104986104B (en) A kind of opening door of vehicle anti-collision warning system and opening door of vehicle anti-collision alarm method
CN104085313B (en) The 8 degree-of-freedom manipulator systems on AGV chassis
CN106598039B (en) A kind of Intelligent Mobile Robot barrier-avoiding method based on laser radar
CN105843229A (en) Unmanned intelligent vehicle and control method
CN202124265U (en) Full-automatic AGV (automatic guided vehicle) laser guiding vehicle
CN102774285A (en) Vehicle child retention alarm device
CN205540279U (en) Independently car is followed to human body
CN102288121A (en) Method for measuring and pre-warning lane departure distance based on monocular vision
CN103488173B (en) Many landform intelligent family moving platform and control method thereof
CN1593859A (en) Security ensuring and patrolling robot
CN204462846U (en) A kind of intelligent automatic tracking dolly
CN205160428U (en) Balanced scooter control system of two -wheeled
CN105083432B (en) A kind of the Double-wheel self-balancing car and its balance control method of seating two-way type of standing
CN205450779U (en) Barrier dolly is kept away to intelligence tracking
CN2739724Y (en) Patrol electronic policeman
CN201379725Y (en) Obstacle-avoidance electric wheelchair
CN106740819B (en) A kind of automatic control system of unmanned bus
CN101804813A (en) Auxiliary driving device based on image sensor and working method thereof
CN204317746U (en) Automatically intelligent case and bag are followed based on indoor positioning
CN203974805U (en) A kind of automated parking system controller
CN202163543U (en) Intelligent tracking type electric remote-control monocycle
CN204809960U (en) Body is felt balance car and is felt balance car charging system with body
CN205068163U (en) Intelligence remote control dolly
CN205272074U (en) Support differential AGV platform of arm

Legal Events

Date Code Title Description
C14 Grant of patent or utility model
GR01 Patent grant
C17 Cessation of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20110921

Termination date: 20121029