CN202133907U

CN202133907U - Crawler-type electronic intelligent trolley

Info

Publication number: CN202133907U
Application number: CN201120067951U
Authority: CN
Inventors: 宋立军; 宋耀宗
Original assignee: Tianjin Xinhui Hongye Technology Development Co Ltd
Current assignee: Tianjin Xinhui Hongye Technology Development Co Ltd
Priority date: 2011-03-16
Filing date: 2011-03-16
Publication date: 2012-02-01
Anticipated expiration: 2021-03-16

Abstract

A crawler-type electronic intelligent trolley belongs to the technical field of one-chip microcomputers and sensors, comprises a crawler-type electric trolley, a drive control board, a one-chip microcomputer core control board and four sensor plates, and can carry out single or continuous running including moving ahead, stopping, backing, turning, and the like according to downloaded programming, wherein the combination of the one-chip microcomputer core control board and the four sensor plates has four experimental functions including using voice to command the trolley carry out motions such as moving ahead, stopping, backing, turning, and the like, photoelectric tracking barrier-avoiding running, ultrasonic ranging, and underground metal product detection. Pin rows or interfaces are used for leading out resources of the drive control board, the one-chip microcomputer core control board and the four sensor plates. The crawler-type electronic intelligent trolley provides teaching practical contents to one-chip microcomputer sensor course teaching and improves the ability of students in design research and development, provides equipment tools and resources to scientific personnel, and provides a new product with multiple functions and purposes to the combination application technique of the one-chip microcomputers and sensors.

Description

Crawler type electronic intelligence dolly

Technical field:

The utility model belongs to single-chip microcomputer and sensor technical field, particularly a kind of crawler type electronic intelligence dolly.

Background technology:

In recent years along with the development of Space Science and Technology; The student of many universities and colleges and scientific and technological fan design and produce various simulations " moonfall dolly " and " stepping on the Mars dolly " one after another and carry out competition, and simulation " moonfall dolly " and " stepping on the Mars dolly " application machine, electronic technology incorporate single-chip microcomputer and more excellence of sensor technology again.Single-chip microcomputer (MCU) claim microcontroller again; It is the science and technology of the twentieth century rise seventies; Sensor technology is described as the twentieth century gordian technique eighties, and it is the cutting edge technology in the world in recent years that single-chip microcomputer combines with sensor, and the many universities and colleges of China set up single-chip microcomputer and sensor course; Lecture single-chip microcomputer sensor basic theory and carry out infrastest, the instance of starting is less with real standard content but the connection between theory and practice beats one's brains; The science and technology fan designs research and development single-chip microcomputer combine with sensor Technology Need instance parameter and testing tool, more need do the carrier that dynamic experiment is debugged.For the content that single-chip microcomputer sensor course increases instance and real standard is lectured by universities and colleges; For scientific and technological fan provides the carrier of design research and development single-chip microcomputer combines Technology Need with sensor instance parameter, equipment, testing tool and experimental debugging, it is the purpose that the utility model is invented that a kind of crawler type electronic intelligence dolly is provided.

Summary of the invention

The technical scheme that the utility model is taked is: form crawler type electronic intelligence dolly by track-mounted electric dolly, drive controlling plate, monolithic microcomputer kernel control panel and 4 sensor plates; Concrete characteristic is: 1, the long 220mm of track-mounted electric dolly, wide 110mm, high 60mm have two direct current 4V motor-driven left and right sides crawler belts.2, the long 230mm of drive controlling plate, wide 125mm adopt two low flat H bridge circuits (Fig. 2 circuit theory diagrams) and process P.e.c., control two direct current 4V motors and rotate.3, the long 125mm of monolithic microcomputer kernel control panel, wide 95mm; Be made up of single chip computer AT 89S52 chip, the omnipotent chip locking bed of 40P, USB interface, power control switch, 32 road paster LED light emitting diodes, 4 devices such as LED charactron, 4 * 4 matrix keyboards, 2 road reset keys, 51/AVR SS, PS2 interface, standard RS232 serial ports, ISP downloader interface, hummer, 1602LCD LCD Interface, 12864LCD LCD Interface, DS1302 clock chip and IIC24C02 storage chip, design circuit figure (Fig. 3 circuit theory diagrams) also processes P.e.c..Single chip computer AT 89S52 chip programming is downloaded back and the combination of drive controlling plate, dolly by programming advance, stop, move backward, turn left, turn right, leftly reverse end for end, individual event or continuous motions such as right side tune.4, four sensor plates are according to the characteristics design circuit theory diagrams and process P.e.c.; Have 4 experiential functions with monolithic microcomputer kernel control panel combination: the long 85mm of (1) phonetic order sensor plate (Fig. 4 circuit theory diagrams), wide 80mm adopt SPCE061A singlechip chip and the equipped microphone of 74HC244 special chip, loudspeaker etc., behind the typing voice password dolly can accomplish by password advance, stop, fall back, turn left, turn right, motions such as a left side is reversed end for end, right side tune.(2) photoelectricity tracking sensor plate (Fig. 5 circuit theory diagrams) is processed the long 120mm of scraper plate shape lower plate, wide 22mm intermediate handle is connected with the drive controlling plate; The high 35mm of the wide 22mm of handle; 4 TCRT5000 sensors are installed in the lower plate bottom; Join 4 little potentiometers of 10K and regulate sensing accuracy; Use 4 sensors of four road LM339 voltage comparators regulation and control that white and black reflection light are differentiated, two direct current 4V of Single-chip Controlling motor completion dolly tracking, walk grid, walk the labyrinth, obstacle avoidance etc. goes automatically.(3) the long 85mm of ultrasonic ranging sensor plate (Fig. 6 circuit theory diagrams), wide 40mm are made up of ultrasonic emitting and receiver; Emission is that single-chip microcomputer output width is 10 train of impulses of 250 μ s 40kHz; Launch ultrasound wave and start timing through radiating circuit; Ultrasound wave is propagated in air and is run into barrier and can reflect immediately; The CX20106 chip of receiver becomes the ultrasonic reflections conversion of signals several times electric signal and stops timing, and single-chip microcomputer shows the electric signal logical operation of input the data of obstacle distance.(4) the long 45mm of metal inductance acquisition sensor plate (Fig. 7 circuit theory diagrams), wide 30mm adopt the vertical inductor of I-shaped as probe; Form the capacitance connecting three point type oscillator amplifying circuit by electron devices such as resistance capacitance triodes; When probe near latent when keeping away at underground metal object the inductor coil eddy current that generates an electromagnetic field be equivalent to circuit and increase resistance; Cause the capacitance three-point type oscillator-amplification circuit to quit work, single-chip microcomputer is reported to the police and is stopped.Be equipped with interface on drive controlling plate, monolithic microcomputer kernel control panel and 4 the sensor plates or row's pin is drawn resource, need outside this machine supply the resource of usefulness.

The utility model has also been taked following technical measures:

1 is provided with the 5V mu balanced circuit on the monolithic microcomputer kernel control panel, overcome the voltage fluctuation influence of two big generations of 4V motor power consumption, guarantees the normal operation of monolithic microcomputer kernel control panel and sensor plate.

The 2AT89S52 singlechip chip adopts the omnipotent chip locking bed of 40P to be connected convenient dismounting with P.e.c., and assembling ISP download interface can be downloaded by online programming.

3 install infrared remote controller additional is made up of RF transmitter and receiver two parts, and RF transmitter is selected a kind of getting final product general on the market for use, has the infrared receiver line to use on the monolithic microcomputer kernel control panel.

Advantage that the utlity model has and good effect:

The utility model is made up of track-mounted electric dolly, drive controlling plate, monolithic microcomputer kernel control panel and 4 sensor plates, crawler type dolly good stability, grabs that dungeon is non-slip, radius of turn is little; Single-chip microcomputer cans be compared to people's brain; Sensor cans be compared to people's mouth ear nose eye sense organ; The utility model is combined as a whole technology such as machinery, electronics, single-chip microcomputer and sensor dexterously, and monolithic microcomputer kernel control panel and the combination of drive controlling plate make individual event such as dolly can advance by programming, stops, moves backward, turns left, turns right, leftly reverse end for end, right side tune or go continuously; Drive controlling plate and monolithic microcomputer kernel control panel and 4 sensor plate combinations; Have that the phonetic order dolly advances, stops, moves backward, turns left, turns right, left side tune, right tune etc. go; Automatic tracking, walk grid, walk the labyrinth and go; Ultrasonic measurement obstacle distance video data is kept away multinomial functional experiments such as metal object and infra-red remote control dolly with underground the concealing of detection, embodies the robotization of crawler type electronic intelligence dolly, hommization and intelligentized feature and advantage.Increase the content of instance and real standard for universities and colleges' single-chip microcomputer sensor teaching; The creativity that promotes the student to beat one's brains to start and the science and technology of enrich students' are lived; For scientific and technological fan provides single-chip microcomputer and sensor application needed tool equipment of technology and resource, the application technology that combines with sensor for modern single-chip microcomputer provides multi-functional, multiduty a kind of new product.

Description of drawings

Fig. 1: crawler type electronic intelligence vehicle structure synoptic diagram.

The low flat H bridge circuit schematic diagram of Fig. 2 drive controlling plate.

Fig. 3 monolithic microcomputer kernel control panel circuit theory diagrams, printed circuit board (PCB) is installed on the drive controlling plate.

Fig. 4 sound instruction sensor plate circuit theory diagrams, printed circuit board (PCB) is installed on the drive controlling plate.

Fig. 5 photoelectricity tracking sensor plate circuit theory diagrams, printed circuit board (PCB) is installed in the drive controlling prelaminar part.

Fig. 6 ultrasonic ranging sensor plate circuit theory diagrams, printed circuit board (PCB) is installed in the drive controlling postlaminar part.

Fig. 7 metal detection sensor plate circuit theory diagrams, printed circuit board (PCB) are installed in track-mounted electric dolly bottom.

Fig. 1 description of symbols: 1; Drive controlling plate 2; Phonetic order sensor plate 3; Monolithic microcomputer kernel control panel 4; Photoelectricity tracking sensor plate 5; Track-mounted electric dolly 6; Crawler belt 7; Metal detection sensor plate 8; Driving circuit parts 9; Two direct current 4V motors 10; The position that ultrasonic range finder sensor plate arrow

will be installed by plate.

Embodiment:

In order further to understand content, characteristics and the effect of utility model, accompanying drawings is following:

1, the drive controlling plate has 2 on 9 * 1 row's pins, 2 * 14 on pins of row, 6 * 1 quarter bends to arrange 1 on pin with 4 copper studs and track-mounted electric cart stationary on the plate face; 1 loudspeaker that are used to connect the phonetic order sensor of 2 * 1 row's pins, 6 * 1 quarter bends row pin is used to connect photoelectricity tracking sensor plate, and other row's pins need outside this machine and this machine to supply the electric resources of usefulness.8 diameter 3mm holes are arranged on the plate, and wherein 4 with the fixing monolithic microcomputer kernel control panel of copper stud, in addition 4 fixed voice instruction sensor plates; The handle of photoelectricity tracking sensor plate is arranged pin with 6 * 2 row-needle receptacles with 6 * 1 quarter bends on the drive controlling plate and is connected, and is installed in 10-15mm position, dolly front distance ground; Ultrasonic ranging sensor plate is installed in the front or rear portion of dolly apart from 35mm position, ground; The metal detection sensor plate is installed in dolly distance from bottom ground 8--10mm.

2 configuration annexes: each 1 (2) US B line line length 20mm of 1 (3) Du Pont of (1) 51/AVR and 061A downloader; 5 of 1P, 4,6/1 of 2P (end 6 connect socket in addition end be divided into 6 single-sockets) 1,10/1 (end 10 connect socket in addition end be divided into 10 single-sockets) 2, Du Pont's line is used for the line of drive controlling plate, monolithic microcomputer kernel control panel and sensor plate.

Claims

1. crawler type electronic intelligence dolly; Form by track-mounted electric dolly, drive controlling plate, monolithic microcomputer kernel control panel and 4 sensor plates; It is characterized in that: 1, the long 220mm of track-mounted electric dolly, wide 110mm, high 60mm; Two direct current 4V motor-driven left and right sides crawler belts are arranged; 2, the long 230mm of drive controlling plate, wide 125mm; Adopt two low flat H bridge circuits to process P.e.c.; Controlling two direct current 4V motors rotates; 3, the long 125mm of monolithic microcomputer kernel control panel, wide 95mm are constituted design circuit figure and are processed P.e.c. by single chip computer AT 89S52 chip, the omnipotent chip locking bed of 40P, USB interface, power control switch, 32 road paster LED light emitting diodes, 4 LED charactrons, 4 * 4 matrix keyboards, 2 road reset keys, 51/AVR SS, PS2 interface, standard RS232 serial ports, ISP downloader interface, hummer, 1602LCD LCD Interface, 12864LCD LCD Interface, DS1302 clock chip and IIC24C02 storage chips, and download back dolly stops down, turns by being programmed into and reverses end for end action; 4, four sensor plate design circuit figure process P.e.c.; Have 4 experiential functions: the long 85mm of (1) phonetic order plate, wide 80mm adopt SPCE061A and 74HC244 chip to be equipped with microphone, loudspeaker, and dolly can advance, stop, fall, turn and reverse end for end and move by password, and (2) photoelectricity tracking plate is the long 120mm of scraper plate shape lower plate, the high 35mm of the wide 22mm of wide 22mm intermediate handle; Join 4 10K potentiometers and LM339 voltage comparator with 4 TCRT5000 sensors; But the dolly tracking is kept away barrier and is gone, and the long 85mm of (3) supersonic sounding plate, wide 40mm are made up of ultrasonic emitting and reception, and emission is that monolithic microcomputer kernel control panel output width is 10 train of impulses of 250 μ s 40kHz; Reception is that the CX20106 chip becomes electric signal with the ultrasonic reflections conversion of signals; The data of demonstration obstacle distance, (4) inductance detecting plate block length 45mm, wide 30mm adopt the vertical inductor of I-shaped as probe and capacitance connecting three point type oscillator amplifying circuit, when probe closely conceals the metal object of keeping away down, report to the police and stop; 5, on drive controlling plate, monolithic microcomputer kernel control panel and 4 the sensor plates interface is set all or row's pin is drawn resource, need outside this machine supplies the resource of usefulness.