CN202976657U - Automatic travelling obstacle-avoiding trolley used for training - Google Patents

Automatic travelling obstacle-avoiding trolley used for training Download PDF

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Publication number
CN202976657U
CN202976657U CN 201220629077 CN201220629077U CN202976657U CN 202976657 U CN202976657 U CN 202976657U CN 201220629077 CN201220629077 CN 201220629077 CN 201220629077 U CN201220629077 U CN 201220629077U CN 202976657 U CN202976657 U CN 202976657U
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CN
China
Prior art keywords
motor
distance measuring
measuring module
barrier
obstacle
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Expired - Fee Related
Application number
CN 201220629077
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Chinese (zh)
Inventor
涂金龙
徐有军
韩京海
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Nanjing Communications Institute of Technology
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Nanjing Communications Institute of Technology
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Priority to CN 201220629077 priority Critical patent/CN202976657U/en
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Publication of CN202976657U publication Critical patent/CN202976657U/en
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Abstract

An automatic travelling obstacle-avoiding trolley used for training comprises a trolley chassis (1), an ultrasonic ranging module (2), an infrared ranging module (3), a circuit unit (4), a cell unit (5), a universal pulley (6), a motor and reduction gearbox (7) and wheels (8). The automatic travelling obstacle-avoiding trolley can move forward with a certain distance with a right-side wall surface being automatically maintained; two kinds of analog quantity ranging sensors are used, such that each ranging signal will not interfere with each other; when encountering an obstacle, the automatic travelling obstacle-avoiding trolley can automatically steer or retreat in different angles so as to automatically avoid the obstacle; different control algorithms can be designed; through choosing the different control algorithms, the trolley can be made to travel under different travelling modes; and the automatic travelling obstacle-avoiding trolley is suitable for manual imitation and manufacture of university students or electronic contests.

Description

A kind of training keeps away the barrier car with automatic running
Technical field
The utility model relates to a kind of automatic obstacle-avoiding car, and particularly a kind of students practise training keeps away the barrier car with automatic running, belongs to electromechanical integration technology area.
Background technology
School of High Profession Technology cultivates to have certain knowwhy and the stronger ability of practice, be purpose higher education towards basic unit, facing to manufacture, practical, poly-talented and technical ability type specialized personnel service-oriented and management First Line Professional, in order to cultivate the high-technology applied talent, just should make the student possess necessary knowwhy and science and culture basis, the skilled backbone technology of grasping, stress practical application, stress the integrated use of relevant knowledge.For in conjunction with the course of learning, cultivate undergraduate operating ability and understandability, need by various informative activity, allow each student start to design and produce some comprehensive works.
The various dollies of starting to imitate making or electronic contest for the university student are arranged at present, to detect by photoelectric sensor the trajectory that is drawn in ground mostly, advance along trajectory by the Single-chip Controlling dolly, also there are some to advance by the place ahead light source-guide dolly, these operating abilities to cultivation and training of students are helpful, but the deficiency that these dollies exist has: the one, and photoelectric sensor is that what to use is digital switch quantity output mostly, and is relatively simple; The 2nd, seldom adopt more complicated analog quantity accurately to control moving of car, be difficult to all round exercise student's integration capability.
Summary of the invention
The purpose of this utility model is to propose a kind of electric or On Electro-mechanics Integration Major student hands-on training and keeps away the barrier car with automatic running, can be automatically and the right metope keep certain distance to advance, use two kinds of analog quantity distance measuring sensors, can automatically turn to or retreat with different angles when running into obstacle, automatically dodge obstacle.
The utility model is achieved in that a kind of training keeps away the barrier car with automatic running, it is characterized in that, comprising: chassis [1], ultrasonic distance measuring module [2], infrared distance measuring module [3], circuit unit [4], battery unit [5], Universal pulley [6], motor and reducer casing [7], wheel [8]; Ultrasonic distance measuring module [2] is arranged on fore-stock [21], for detection of the distance of the place ahead barrier; Infrared distance measuring module [3] is arranged on side stand [31], for detection of the distance of the right barrier; Fore-stock [21], side stand [31], circuit unit [4], battery unit [5], Universal pulley [6], motor and reducer casing [7] are arranged on chassis [1]; Wheel [8] is arranged on the output shaft of motor and reducer casing [7].
Described circuit unit [4] comprises single machine unit [41], electric-motor drive unit [42], hummer [43], wireless communication module [44]; Single machine unit [41] consists of electrical connection with ultrasonic distance measuring module [2], infrared distance measuring module [3], electric-motor drive unit [42], hummer [43], wireless communication module [44].
Described battery unit [5] comprises switch, battery case and battery; Battery is used for to ultrasonic distance measuring module [2], infrared distance measuring module [3], circuit unit [4] and motor power supply.
Described motor and reducer casing [7] comprise right motor and reducer casing [71], left motor and reducer casing [72].
Described wheel [8] comprises right wheel [81], left wheel [82].
Described infrared distance measuring module [3] is to use the module of analog output.
Advantage of the present utility model and effect:
(1) dissimilar range sensor module is used on the place ahead and the right, can the phase mutual interference between each distance measuring signal.
(2) all there is the distance measuring sensor module on the place ahead and the right, its output signal is analog quantity, thereby can measure the size of output signal value and be converted to range data by the adc circuit in single-chip microcomputer, calculating and the analysis of single-chip microcomputer have been facilitated, like this, dolly can change traffic direction according to control algolithm automatically when running into obstacle, thereby can not blocked or break by barrier dolly.
(3) can design different control algolithms, make vehicle operating under different driving modes by selecting different control algolithms.
Description of drawings
Fig. 1 is left TV structure schematic diagram of the present utility model.
Fig. 2 is top view structural representation of the present utility model.
Fig. 3 is the electrical principle block scheme of the utility model embodiment.
Fig. 4 is the single-chip microcomputer main program flow chart of the utility model embodiment.
Embodiment
Describe embodiment of the present utility model in detail below in conjunction with accompanying drawing.
Please refer to Fig. 1 and Fig. 2, a kind of training keeps away the barrier car with automatic running, comprising: chassis [1], ultrasonic distance measuring module [2], infrared distance measuring module [3], circuit unit [4], battery unit [5], Universal pulley [6], motor and reducer casing [7], wheel [8]; Ultrasonic distance measuring module [2] is arranged on fore-stock [21], for detection of the distance of the place ahead barrier; Infrared distance measuring module [3] is arranged on side stand [31], for detection of the distance of the right barrier; Fore-stock [21], side stand [31], circuit unit [4], battery unit [5], Universal pulley [6], motor and reducer casing [7] are arranged on chassis [1]; Wheel [8] is arranged on the output shaft of motor and reducer casing [7].
Wherein battery unit [5] comprises switch, battery case and battery; Battery is used for to ultrasonic distance measuring module [2], infrared distance measuring module [3], circuit unit [4] and motor power supply.Ultrasonic distance measuring module [2] and infrared distance measuring module [3] are all analog output modules.Motor and reducer casing [7] comprise right motor and reducer casing [71], left motor and reducer casing [72], and wheel [8] comprises right wheel [81], left wheel [82].
Please refer to Fig. 3, circuit unit [4] comprises single machine unit [41], electric-motor drive unit [42], hummer [43], wireless communication module [44]; Single machine unit [41] consists of electrical connection with ultrasonic distance measuring module [2], infrared distance measuring module [3], electric-motor drive unit [42], hummer [43], wireless communication module [44].
Principle of work is: battery [51] is used for to ultrasonic distance measuring module [2], infrared distance measuring module [3], circuit unit [4] and motor power supply.Single machine unit [41] is take single-chip microcomputer C8051F310 as core, adc circuit by single-chip microcomputer inside is converted to digital quantity with the analog signals of ultrasonic distance measuring module [2], infrared distance measuring module [3] output, thereby measure the distance between dolly and the place ahead, the right barrier, when the distance of the place ahead or the right barrier during less than setpoint distance, single machine unit [41] is sent alarm signal by hummer [43], control simultaneously the rotating speed of left motor [72] and right motor [71] by electric-motor drive unit [42], to change the traffic direction of car body.Single-chip microcomputer communicates by corresponding wireless communication module in wireless communication module [44] and computing machine, by the computer software of supporting design, both can operational mode and the correlation parameter of dolly be configured, and also can monitor the running status of dolly.
Referring to Fig. 4, in conjunction with program flow diagram, further illustrate as follows:
After the switch connection of battery unit [5], circuit unit [4] gets electric, single-chip microcomputer carries out initialization, comprise internal memory zero clearing, port arrangement, ADC configuration, timer configuration, interrupt arranging etc., detection cell voltage after initialization is completed, if voltage is undesired, outputting alarm signal, hummer yowls, and dolly keeps halted state; If voltage is normal, detect the order of whether receiving computing machine, if receive orders processing command, finish dealing with after computer command, detect the distance of the place ahead barrier by ultrasonic distance measuring module [2], detect the distance of the right barrier by infrared distance measuring module [3], if there is barrier in the place ahead, export interrupted alarm signal, and whether the distance that further detects dolly and the place ahead barrier is too near, if distance is not too near (namely not less than the critical distance of setting), dolly advances to the left front, in order to avoid the obstacle in the place ahead; If the distance of the place ahead barrier is too near, less than the critical distance of setting, stopped 3 seconds, then single-chip microcomputer is exported the signal that falls back, and controls left motor [72] and right motor [71] counter-rotating by electric-motor drive unit [42], and dolly retreats, until the distance of dolly and the place ahead barrier meets or exceeds the safe distance of setting, hummer stops alarm, stops 1 second, then continues to detect correlation distance.
When the distance of dolly the place ahead barrier greater than the safe distance set the time, single-chip microcomputer provides the signal of moving of car according to the distance of the right barrier that detects, control the rotating speed of left motor [72] and right motor [71] by electric-motor drive unit [42], allow dolly forwards or the motion of left front, right front.
When the distance that the right barrier detected during less than the space on right set, single-chip microcomputer provides the dolly left rotaring signal, control the rotating speed of left motor [72] and right motor [71] by electric-motor drive unit [42], allow dolly move to the left front, increase the distance of dolly and the right barrier.
When the distance that the right barrier detected during greater than the space on right set, single-chip microcomputer provides the dolly right turn signal, control the rotating speed of left motor [72] and right motor [71] by electric-motor drive unit [42], dolly moves to the right front, reduces the distance of dolly and the right barrier.
If the distance that the right barrier detected is in the space on right interval of setting, single-chip microcomputer provides the dolly progress signal, controls the rotating speed of left motor [72] and right motor [71] by electric-motor drive unit [42], and dolly moves to the dead ahead.

Claims (6)

1. a training keeps away the barrier car with automatic running, it is characterized in that, comprising: chassis [1], ultrasonic distance measuring module [2], infrared distance measuring module [3], circuit unit [4], battery unit [5], Universal pulley [6], motor and reducer casing [7], wheel [8]; Ultrasonic distance measuring module [2] is arranged on fore-stock [21], for detection of the distance of the place ahead barrier; Infrared distance measuring module [3] is arranged on side stand [31], for detection of the distance of the right barrier; Fore-stock [21], side stand [31], circuit unit [4], battery unit [5], Universal pulley [6], motor and reducer casing [7] are arranged on chassis [1]; Wheel [8] is arranged on the output shaft of motor and reducer casing [7].
2. a kind of training according to claim 1 keeps away the barrier car with automatic running, it is characterized in that described circuit unit [4] comprises single machine unit [41], electric-motor drive unit [42], hummer [43], wireless communication module [44]; Single machine unit [41] consists of electrical connection with ultrasonic distance measuring module [2], infrared distance measuring module [3], electric-motor drive unit [42], hummer [43], wireless communication module [44].
3. a kind of training according to claim 1 keeps away the barrier car with automatic running, it is characterized in that described battery unit [5] comprises switch, battery case and battery; Battery is used for to ultrasonic distance measuring module [2], infrared distance measuring module [3], circuit unit [4] and motor power supply.
4. a kind of training according to claim 1 keeps away the barrier car with automatic running, it is characterized in that described motor and reducer casing [7] comprise right motor and reducer casing [71], left motor and reducer casing [72].
5. a kind of training according to claim 1 keeps away the barrier car with automatic running, it is characterized in that described wheel [8] comprises right wheel [81], left wheel [82].
6. a kind of training according to claim 1 keeps away the barrier car with automatic running, it is characterized in that described infrared distance measuring module [3] is to use the module of analog output.
CN 201220629077 2012-11-26 2012-11-26 Automatic travelling obstacle-avoiding trolley used for training Expired - Fee Related CN202976657U (en)

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Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105250085A (en) * 2015-11-02 2016-01-20 深圳佳宜佳科技有限公司 Automatic obstacle avoidance control system of electric wheelchair
CN106128173A (en) * 2016-08-24 2016-11-16 玉林市民族中学 A kind of teaching robot
CN110047366A (en) * 2019-03-26 2019-07-23 杭州合学教育科技有限公司 Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal
CN110182511A (en) * 2019-05-13 2019-08-30 盐城品迅智能科技服务有限公司 A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle
CN112055553A (en) * 2018-04-30 2020-12-08 Lg电子株式会社 Sweeper and control method thereof
CN113101075A (en) * 2021-03-09 2021-07-13 武汉理工大学 Multifunctional intelligent wheelchair control system and control method

Cited By (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN105250085A (en) * 2015-11-02 2016-01-20 深圳佳宜佳科技有限公司 Automatic obstacle avoidance control system of electric wheelchair
CN106128173A (en) * 2016-08-24 2016-11-16 玉林市民族中学 A kind of teaching robot
CN112055553A (en) * 2018-04-30 2020-12-08 Lg电子株式会社 Sweeper and control method thereof
CN112055553B (en) * 2018-04-30 2022-03-01 Lg电子株式会社 Sweeper and control method thereof
CN110047366A (en) * 2019-03-26 2019-07-23 杭州合学教育科技有限公司 Automobile teaching aid avoiding obstacles method and device, readable storage medium storing program for executing and terminal
CN110182511A (en) * 2019-05-13 2019-08-30 盐城品迅智能科技服务有限公司 A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle
CN110182511B (en) * 2019-05-13 2021-06-22 彭甜甜 Steering speed reduction device and steering speed reduction method of intelligent storage vehicle
CN113101075A (en) * 2021-03-09 2021-07-13 武汉理工大学 Multifunctional intelligent wheelchair control system and control method

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C17 Cessation of patent right
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Granted publication date: 20130605

Termination date: 20131126