CN202041852U - Non-contact automatic tracking carrier vehicle based on ultrasonic control - Google Patents
Non-contact automatic tracking carrier vehicle based on ultrasonic control Download PDFInfo
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- CN202041852U CN202041852U CN2011201073938U CN201120107393U CN202041852U CN 202041852 U CN202041852 U CN 202041852U CN 2011201073938 U CN2011201073938 U CN 2011201073938U CN 201120107393 U CN201120107393 U CN 201120107393U CN 202041852 U CN202041852 U CN 202041852U
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Abstract
A non-contact automatic tracking carrier vehicle based on ultrasonic control is composed of a signal analyzing and processing system, a compound decision control system and a dynamic performing system. The signal analyzing and processing system and the compound control system are distributed on a same circuit board, the triggering end of the signal analyzing and processing system is connected with the output end of the compound decision control system, and signal processed effect is input to the compound control system through four separated signal lines in the mode of corresponding level switch. A motor driving module of the compound control system is connected with a 5-volt power supply and a 24-volt direct-current power supply simultaneously, and an output of the motor driving module is connected with a motor of the dynamic performing system so as to drive dynamic performing mechanisms like direct current reducing motor and the like to correspondingly move and adjust motion states of the dynamic performing mechanisms. The non-contact automatic tracking carrier vehicle provides a set of reasonable and practical schemes for study and design of an automatic control which automatically follows carrier vehicles and has potential and practical value in practicality and commerciality.
Description
One, technical field
The utility model relates to a kind of contactless from the motion tracking transport vehicle based on ultrasound wave control, and it is that a kind of can the realization is derived from main device of following to predetermined ultrasonic signal, belongs to the Computer Control Technology field.
Two, background technology
Most in the market warehoused cargo transportation apparatus such as trolley, flat-bed trailer etc., majority also all needs manpower that power is provided, initial and the speed state of artificial thus controlled motion, again such as the shopping cart in supermarket, the luggage case that people generally use, tricycle of shipping goods or the like, take too much resources such as manpower and materials largely, especially should the tradition means of transportation take and consume too much social labor power.The utility model has been developed a kind of shipment control system that can independently follow the prearranged signals source, and autonomous at this point shipping platform has been made concept type and independently followed transport vehicle.
Nowadays designed the close copy of following transportation robot automatically both at home and abroad, but its collection of following main signal is the identification of the existing track in ground, mainly be to discern black line on the light earth background or cloth is good in advance electromagnetism circuit, Fes Ka Er intelligent vehicle for example, be subjected to the restriction of more site surrounding on the function following, also be difficult to be widely used in daily life at present.The utility model designs and produces out independently follows transport vehicle, and its major function is and can determines to follow direction by contactless ultrasonic sensor, greatly improves robot and follows walking manner to improve the practical application function.
Aspect the actual application prospect of this transport vehicle, in the future can be in the concrete process of using by progressively adjusting power and load-carrying part of module, difference according to purposes and application background, with control system of the present utility model is that the motor dolly that does not wait from several kilograms to several tonnes is produced in basic secondary development, applied work-yard, working environment also can have nothing in common with each other, can be at office, transport automatically in simple environment such as workshops etc. relatively, it also can be the harbour, harbours etc. are chaotic, need the big place of dead weight capacity, also can be applicable to inflammable and explosive according to repacking mode difference, dust is arranged, muddy, in the open, the applied environment that moist manpower should not play a role.
The utility model is a creation of robotization transportation Control Study aspect, for correlative study provides a simple and feasible scheme.The utility model design proposal manufacturing materials is less demanding simultaneously, and technology also is easy to realize, has both helped reducing scientific research cost, and some commercial potential is preferably also arranged, and has the higher market input to be worth.
Three, utility model content
A kind of contactless from the motion tracking transport vehicle based on ultrasound wave control of the utility model, it is a kind ofly to realize the fixing towards walking of ultrasonic signal source with electronics and the mechanical mode that combines, thereby finishes the transport vehicle of independently following echo signal.
A kind of contactless based on ultrasound wave control of the utility model from the motion tracking transport vehicle, it is by the signal analysis and processing system, the decision making package control system, power executive system three parts are formed, position annexation between them is: signal analysis and processing system and decision making package control system are arranged on the same circuit board, the trigger end of signal analysis and processing system is connected the output terminal of decision making package control system, start working after the triggering, signal processing results is in corresponding level conversion mode, in the middle of four signal wires that split are input to the decision making package control system, motor drive module circuit in the decision making package control system connects 5V power supply and 24V direct supply simultaneously, its output is connected on the DC speed-reducing of power executive system, powered actuation mechanism such as driving direct-flow deceleration electric motor are carried out corresponding sports, adjust motion state.
One, described signal analysis and processing system is to be made of four ultrasound wave receiver module circuit, and mutual relationship is therebetween: the electrical structure aspect is parallel, shared same trigger pip, and the return signal that receives behind the ultrasound wave is connected to master controller respectively concurrently.These four ultrasound wave receiver modules are at 4 known points that constitute on the position on the coordinate system, so pick up and resolve the coordinate position that just can obtain the echo signal source by the mistiming; Each ultrasound wave receiver module comprises ultrasound wave receiving transducer and signal conditioning circuit thereof, relation is therebetween: this ultrasound wave receiving transducer can pick up ultrasound wave, and be translated into electric signal output, be the millivolt level, in signal conditioning circuit, input signal is before this carried out two-stage amplify and Filtering Processing, send into window comparator circuit and judge, and then signal is converted into digital quantity output; This ultrasound wave receiving transducer is the product of choosing on demand; This signal conditioning circuit is made up of two-stage amplifying circuit and window comparator circuit, adopts the passive filtering structure to connect between it, outputs to and relatively exports digital quantity in the window comparator; Ultrasound wave receiver module circuit has 4 external pin VCC, GND, TRIG, ECHO, wherein VCC, GND pin are accepted the entire system power supply, after its TRIG pin receives a high level pulse signal, its ECHO end level can be drawn high, in 100 milliseconds, receive ultrasonic signal and then can fall after rise immediately and be low level, be low level otherwise will when trigger pulse finishes back 100 milliseconds, fall after rise automatically; In the native system, the shared same trigger pip of the TRIG pin of these four ultrasound wave receiver module circuit, be connected to the decision making package control system, after wherein master controller provides trigger pip, four ECHO port all is changed to high level automatically, if received ultrasonic signal at a fixed time, corresponding port can be reduced to low level, master controller then can accurately note therebetween clock number at interval, and handle sending to corresponding resolving in the function behind this records of values; The ECHO pin of four ultrasound wave receiver module circuit is connected respectively to the different input channels of master controller in the decision making package control system, for its reading state; As previously mentioned, four ultrasound wave receiver module circuit are distributed on four jiaos in the rectangle of known length and width on the circuit board, constitute four known coordinate points, and its ultrasound wave receiving transducer is towards the signal source direction.
Two, described decision making package control system comprises master controller, motor drive module circuit two large divisions, and relation is between it: master controller is controlled the step mode and the conduction time of motor drive module by the IO universal port; This master controller is a kind of low-power consumption, high performance microcontroller, except that the state of the ECHO pin of the TRIG level triggers of being responsible for ultrasound wave receiver module circuit, 4 ultrasound wave receiver module circuit reads in, also played timer counting, data analysis, resolve decision-making treatment, carry the function and the effect of respective drive signal to the DC speed-reducing driving circuit, drive DC speed-reducing with this and finish and follow action, be responsible for finishing the monitoring of ultrasound wave received signal and differentiate and anti-erroneous judgement;
In addition, need programme to master controller, in the programming process, adopt modular design (ModularizationDesign) thought, its advantage is clear thinking, highly versatile, is convenient to debug.Programming module is resolved module, PWM electric machine speed regulation control module by master routine, motor drive module, control computing module, timer module, applying GPS principle.They can gather the approximate location signal in ultrasonic signal source, to car body advance, stop, action such as left-hand rotation and right-hand rotation makes promptly and accurately stable Comprehensive Control, process flow diagram is as shown in Figure 4.
＜1〉master routine
Master routine mainly is responsible for operation and other function calls at STC89C52RC timer internal, I/O mouth, is responsible for the record ultrasound wave simultaneously and arrives the record of each point relative time and the judgement of arrival order.
＜2〉motor drive module
At initial phase motor is placed halted state (Bre puts 1), direction control bit (Dir) puts 1, gives Pwm pin enabling signal and drags down the Bre position to get final product when calling the startup module, otherwise stop.
＜3〉control computing module
The control computing module relative time that provides according to master routine mainly is provided and is resolved relatively in proper order, be applied to the GPS principle in the program, resolve and handle by relative time of reception difference and four good dot position informations of measurement input in advance, consigning to principal function judges, 4 computing makes system's calculation accuracy improve, thereby guarantees the dynamic property and the static index request of automatic following control system controller.
＜4〉timer module
The timer module mainly is responsible for the accurate relative time interval of each ultrasonic signal arrival of record, and extraction and the payment of record back are controlled computing module and resolved processing.
＜5〉the applying GPS principle resolves module
At first need the initialization setting is carried out in the corresponding port of ultrasound wave modulate circuit, the TRIG pin in the especially ultrasonic receiver module circuit, essential zero setting before entering sense cycle is to avoid causing system to make the erroneous judgement action.
After entering sense cycle, send new number an of high impulse that is higher than 10 milliseconds to the TRIG pin, the ECHO mouth of waiting for each ultrasonic circuit sends high level in response, after this whether the ECHO mouth of each port of cycle detection low level occurs, as low level occurs and illustrate that then this place has received ultrasonic signal, after monitoring first ECHO step-down, open timer and begin counting, stop the counter records time after receiving second ECHO step-down, process is carried out up to the response that receives four ultrasonic signals according to this.
The relative time that four ultrasonic receiving transducers are received is delivered to resolve according to fixing sequence of positions and is calculated in the function and analyze: when arranging 3 ultrasound wave receiving transducer S0, S1, S2 at least in control system.Coordinate be respectively (X0, Y0), (X1, Y1), (X2, Y2), somewhere on the plane (X Y) sends ultrasound wave, this signal successively by 3 receive, the time of establishing is respectively t0, t1, t2.Draw their mistiming Δ t1=t1-t0 thus, Δ t2=t2-t0.If the aerial velocity of propagation of ultrasound wave is c.For receiver S0 and S1, the position that sound source takes place should be on the curve of c Δ t1 to this range difference of 2, and this is one hyp one.Clearly, utilize Δ t1 and Δ t2 can obtain two hyperbolic curves, their intersection point is exactly the position (as Fig. 2) at sound source place.
If the position coordinates of sound source be (X, Y), polar coordinates be (r, Θ), the coordinate of receiver i be (Xi Yi), makes that S0 is a true origin, then (X, Y) satisfy:
Wherein only X, Y, r are unknown quantity, can settle accounts out the result by system of equations; Four ultrasound wave receiving transducers have been arranged in the utility model altogether, thereby can form three groups and resolve the unit that the mean value by each calculating can increase locating accuracy.
By resolving of above-mentioned applying GPS principle, position X, the Y in return signal source, and need to judge whether to turn, then continue drive motor as not needing to turn and keep straight on, as then motor stall of needs turning.As calculate X, the less explanation of Y value caught up with signal source or this moment probe do not receive ultrasonic signal, give the motor stall.
＜6〉PWM electric machine speed regulation control module
PWM electric machine speed regulation control module is added up by timer 1, to after the corresponding enabling signal, triggers wave form varies by interrupt service routine, makes motor rotation can reach the velocity level of expection with adjustable acceleration.
This motor drive module circuit, schematic diagram such as Fig. 1, this modular circuit has 9 pins, the Bre1 that two groups of symmetries are wherein arranged, Pwm1, Dir1 and Bre2, Pwm2, the Dir2 pin, be connected to the IO interface of master controller, control two direct-flow deceleration electric motors respectively, the 24+ pin need be connected to the anode of 24V accumulator, the VCC pin needs to be connected the same 5V Ni-MH battery of acceptance with the power port of master controller and supplies, the GND pin is for holding altogether, this modular circuit is responsible for motor is issued in the instruction of single-chip microcomputer, and passes through optically coupled integrated circuit isolation control circuit and motor circuit, and then can control the action of DC speed-reducing flexibly.
Three, described power executive system is meant DC speed-reducing, fixing bracket body and wheel, is responsible for finishing the driving of the fixing and total system of structure.Relation is between it: DC speed-reducing is by being bolted on the fixing bracket body, and the output shaft on it is connected with wheel, output torque; Fixing bracket body is to link the cast iron structure that constitutes, its view such as Fig. 3 by the L template of a rectangular centre plate and both sides; Wheel is connected to motor output shaft by flat key.
This fixing bracket body can be retrofitted on the easy supermarket shopping car car body, makes it possess enough power and stability and finishes and independently follow transportation function.
Wherein, the model of this ultrasound wave receiving transducer is: TCT40-16R3;
Wherein, the model of this master controller is: STC89C52;
Wherein, the model of this motor drive module circuit is: Two_LMD18200_Drv2.1_;
Wherein, the model of this DC speed-reducing is: the 45ZY-24-30-D that linix produces;
Wherein, this wheel diameter is 10-15 centimetre.
Specification specified: when ultrasonic probe does not receive ultrasonic signal, the ECHO of each ultrasound wave receiving circuit after after a while also can be naturally completion low level down, but this moment, mistiming of each probe will be very little, the X, the Y value that calculate are enough little, can get rid of by setting threshold.
Advantage and effect: the utility model is by the choose reasonable of transmission signal and the complete design of TT﹠C system, solved the accurate inadequately major issue in GPS principle location to a certain extent, by the effective processing to ultrasonic signal, the realization of independently following transport vehicle that non-contact type signal is controlled provides a good scheme.And the utility model also has the realization of being easy to, cost is not high, and usable range is wider, and the advantage that expansibility is also stronger because the market vacancy also exists comparatively vast market developing prospect, has deep potential commercial value simultaneously.
Four, description of drawings
Fig. 1 direct-flow deceleration electric motor driving circuit schematic diagram
The applied GPS principle schematic of Fig. 2
The fixing bracket body structural representation that Fig. 3 makes up with solid works
Fig. 4 program control flow chart
Fig. 5 the utility model structural representation
Three links of its interface J1 are corresponding to Bre1, Pwm1, Dir1 among Fig. 1, and three links of J2 interface are accepted the power supply of 5V power supply and 24V power supply in addition corresponding to Bre2, Pwm2, Dir2 pin, and GND is for holding altogether.
Respective symbol note among Fig. 2: make that S0 is a true origin, S1, S2 are receiving transducer place coordinate position, if the position coordinates of sound source is (X, Y), L0, L1, L2, be respectively the distance of signal source to three acceptance point, c Δ t1 be signal emitting-source to S0, S1 point range difference, c Δ t2 be signal emitting-source to S0, S2 point range difference, determine two hyperbolic curves with this.
Five, embodiment
A kind of contactless based on ultrasound wave control of the utility model from the motion tracking transport vehicle, it is by the signal analysis and processing system, the decision making package control system, power executive system three parts are formed, position annexation between them is: signal analysis and processing system and complex control system are arranged on the same circuit board, the trigger end of signal analysis and processing system is connected in the output terminal of decision making package control system, start working after the triggering, signal processing results is in corresponding level conversion mode, in the middle of being input to complex control system, resolve four signal wires that split, resolve diagram as Fig. 2, motor drive module in the complex control system, connect 5V power supply and 24V direct supply simultaneously, its circuit structure schematic diagram such as Fig. 1, its output is connected on the motor of power executive system, powered actuation mechanism such as driving direct-flow deceleration electric motor are carried out corresponding sports, adjust motion state.Overall operation flow process such as Fig. 4.
The key of this Project design content is that the selection of signal and processing resolve process, ultrasonic energy consumption is slow, the distance of propagating in medium is far away, and propagate with the velocity of sound, utilize sonic detection often relatively rapidly, convenient, calculate simple, be easy to accomplish real-time control, and aspect measuring accuracy, can reach application request.Suppose that tracked target sends the ultrasonic signal of 40KHz, on the transport vehicle of acknowledge(ment) signal 1 meter of 4 ultrasonic signal receiving transducer spacing then the time of reception difference be 3 milliseconds, the clock frequency of handling this signal demand is more than the 4k hertz.Therefore, select for use ultrasonic signal as carrier signal.
Computation process is as follows:
Δt＝1m/340s＝0.0029s fmin＝1/Δt＝340Hz f＝12*fmin＝4KHz.
Select about the device model, the ultrasound wave receiving transducer adopts TCT40-16R3, and core controller adopts STC89C52, and motor-driven main circuit integrated chip adopts LMD18200, the 45ZY-24-30-D that DC speed-reducing adopts linix to produce; Motor fixing frame adopts 3 millimeters thick cast iron structural designs, 6 millimeters of through-hole diameters, and concrete structure profile such as Fig. 3, wheel diameter are 12 centimetres.
What the utility model adopted all is more common elements such as electronic control circuit, sensor and modulate circuit thereof, DC speed-reducing and driving circuit thereof, concrete annexation such as Fig. 5.Because the machining precision of manufacturing materials and mechanical part all not have very high request yet, thus be easy to realize, cost is not high yet, the model machine of the research of controlling as autonomous system for tracking not only can be realized research purpose but also can reduce research cost; In the exploitation of commercial market, there is the market of a lot of aspects to open up, make it can follow owner's walking automatically such as the repacking luggage case, transport such as the robotization in the logistics transportation, on the other hand, the utility model also is convenient to realize a large amount of productions, is had very big potentiality.
In addition, the power operating part in this system adopts the clamping plate type structure, conveniently installs and fixes and uses, and can be widely used on the multiple existing procucts, for example the shopping cart in supermarket or the like.
As mentioned above, the utility model is made and is realized being easier to relatively.But implement to make concrete, pay particular attention to and guarantee signal measurement and mechanical fixation precision, concrete manifestation is in the following aspects:
1. to select the ultrasound wave receiving transducer and the signal conditioning circuit of same model for use, guarantee that the high-level retention time of each several part ECHO mouth under the situation that no signal receives is approaching identical, and then can prevent erroneous judgement;
To guarantee when 2. assembling that both sides wheel height is identical, and make the axle at spring coupling two ends coaxial as far as possible;
To guarantee when 3. assembling that ultrasonic probe is towards the dead ahead or slightly raise up.
Claims (6)
1. contactless based on ultrasound wave control from the motion tracking transport vehicle, it is characterized in that: it is by the signal analysis and processing system, decision making package control system and power executive system three parts are formed, signal analysis and processing system and decision making package control system are arranged on the same circuit board, the trigger end of signal analysis and processing system is connected the output terminal of decision making package control system, signal processing results is in corresponding level conversion mode, in the middle of four signal wires that split are input to the decision making package control system, motor drive module circuit in the decision making package control system connects 5V power supply and 24V direct supply simultaneously, and its output is connected on the DC speed-reducing of power executive system;
Described signal analysis and processing system is to be constituted and be distributed on four jiaos in the rectangle of known length and width on the circuit board by four ultrasound wave receiver module circuit; The electrical structure aspect is parallel, shared same trigger pip, and the return signal that receives behind the ultrasound wave is connected to master controller respectively concurrently; Each ultrasound wave receiver module comprises ultrasound wave receiving transducer and signal conditioning circuit thereof, this ultrasound wave receiving transducer picks up ultrasound wave, be translated into electric signal and output to and carry out amplification filtering in the signal conditioning circuit and send into window comparator circuit and judge, and then signal is converted into digital quantity output; This signal conditioning circuit is made up of two-stage amplifying circuit and window comparator circuit, adopts the passive filtering structure to connect between it, outputs in the window comparator;
Described decision making package control system comprises master controller, motor drive module circuit two large divisions, and master controller links by IO universal port and motor drive module;
Described power executive system is meant DC speed-reducing, fixing bracket body and wheel, and DC speed-reducing is by being bolted on the fixing bracket body, and the output shaft on it is connected with wheel; This fixing bracket body is to link the cast iron structure that constitutes by the L template of a rectangular centre plate and both sides, and this wheel is connected to motor output shaft by flat key.
2. a kind of contactless from the motion tracking transport vehicle based on ultrasound wave control according to claim 1, it is characterized in that: the model of this ultrasound wave receiving transducer is: TCT40-16R3.
3. a kind of contactless from the motion tracking transport vehicle based on ultrasound wave control according to claim 1, it is characterized in that: the model of this master controller is: STC89C52.
4. a kind of contactless from the motion tracking transport vehicle based on ultrasound wave control according to claim 1, it is characterized in that: the model of this DC speed-reducing is: the 45ZY-24-30-D that linix produces.
5. a kind of contactless from the motion tracking transport vehicle based on ultrasound wave control according to claim 1, it is characterized in that: the model of this motor drive module circuit is: Two_LMD18200_Drv2.1_.
6. a kind of contactless from the motion tracking transport vehicle based on ultrasound wave control according to claim 1, it is characterized in that: the wheel described in the power executive system, its diameter are 10--15 centimetre.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2011201073938U CN202041852U (en) | 2011-04-13 | 2011-04-13 | Non-contact automatic tracking carrier vehicle based on ultrasonic control |
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| CN2011201073938U CN202041852U (en) | 2011-04-13 | 2011-04-13 | Non-contact automatic tracking carrier vehicle based on ultrasonic control |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107340776A (en) * | 2017-09-06 | 2017-11-10 | 汤君旸 | A kind of all-around intelligent follows luggage case and its control method |
| CN109307857A (en) * | 2018-11-12 | 2019-02-05 | 湖北工业大学 | It is a kind of that positioning device and method are independently followed based on multisensor |
-
2011
- 2011-04-13 CN CN2011201073938U patent/CN202041852U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107340776A (en) * | 2017-09-06 | 2017-11-10 | 汤君旸 | A kind of all-around intelligent follows luggage case and its control method |
| CN109307857A (en) * | 2018-11-12 | 2019-02-05 | 湖北工业大学 | It is a kind of that positioning device and method are independently followed based on multisensor |
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| 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: 20111116 Termination date: 20130413 |