CN204009577U - Intelligent carriage combined type obstacle avoidance system - Google Patents
Intelligent carriage combined type obstacle avoidance system Download PDFInfo
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- CN204009577U CN204009577U CN201420180001.4U CN201420180001U CN204009577U CN 204009577 U CN204009577 U CN 204009577U CN 201420180001 U CN201420180001 U CN 201420180001U CN 204009577 U CN204009577 U CN 204009577U
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Abstract
The utility model relates to field in intelligent robotics, proposes a kind of intelligent carriage combined type obstacle avoidance system.This system comprises dolly, power supply, sensor, motor and control device, and power supply is connected respectively to dolly, sensor and control device and powers, and sensor is connected with control device respectively with motor; Sensor comprises ultrasonic sensor and infrared ray sensor, and wherein, ultrasonic sensor is positioned at the centre position of dolly headstock, and infrared ray sensor adopts two, lays respectively at the left and right sides of dolly headstock.The hardware using multi-part cooperation of the utility model system, can make intelligent carriage have higher adaptive ability.
Description
Technical field
The utility model relates to a kind of intelligent carriage combined type obstacle avoidance system, belongs to field in intelligent robotics.
Background technology
Robotics is the cutting edge technology that contacts closely, mutually promotes with multi-door basic subject and mutually develop, and is the new high-tech industry that integrates computing machine, mechanics, physiology, kybernetics, artificial intelligence, sensing technology etc.The application of robot is also very extensive, and except traditional industrial circle, the application of robot also relates to the every aspect of our life, as military affairs, amusement, service, medical treatment etc.
Along with the development of Robotics, people are also more and more higher to the requirement of robot, and the intellectuality of robot has become current focus.Intelligent vehicle is as a kind of perception robot of four-wheel drive, its action is flexible, easy to operate, can integrated various sophisticated sensor data processing modules on car, its barrier avoiding function has ensured the automatic adjusting of intelligent carriage direct of travel in traveling process, avoiding bumping, is the important component part of intelligent carriage.
At present, intelligent carriage mostly adopts single-sensor to realize one side and keeps away barrier, but one side is kept away barrier and existed that obstacle detection is slow, test surface is narrow, keeps away the defects such as barrier success ratio is lower.
Summary of the invention
For the defect existing in prior art, the purpose of this utility model is to provide a kind of combined type obstacle avoidance system of reliable intelligent carriage.
For achieving the above object, technical solution adopted in the utility model is:
Intelligent carriage combined type obstacle avoidance system, comprises dolly, power supply, sensor, motor and control device, and power supply is connected respectively to dolly, sensor and control device and powers, and sensor is connected with control device respectively with motor; Described sensor comprises ultrasonic sensor and infrared ray sensor, and wherein, ultrasonic sensor is positioned at the centre position of dolly headstock, and infrared ray sensor adopts two, lays respectively at the left and right sides of dolly headstock.
Described power supply, motor and control device are all arranged on dolly.
The radiating circuit of described ultrasonic sensor comprises single-chip microcomputer, MAX232 chip and ultrasound wave emitting head, and the receiving circuit of ultrasonic sensor comprises operational amplifier and ultrasonic receiver.
Compare the technology that existing intelligent carriage adopts single-sensor, the utility model is by adopting two kinds of different sensors, make intelligent carriage can survey in all directions the barrier in front, effectively realize the combined type of barrier is kept away to barrier, there is higher adaptive ability.
Brief description of the drawings
Fig. 1 is the utility model system hardware structure figure;
Fig. 2 is the circuit diagram of motor drive ic;
Fig. 3 is the circuit diagram of ultrasonic sensor.
Embodiment
The utility model intelligent carriage combined type obstacle avoidance system employing ultrasound wave single-point is kept away barrier and is intersected and keep away the pattern that barrier combines with infrared ray two-way, to realize, the combined type of barrier is effectively kept away to barrier.For this reason, in the middle of dolly 1, a ultrasonic sensor 2 is set, realizes the detection of dolly 1 front barrier; For more accurately detecting dolly 1 front and taking left and right sides barrier into account, at the front end of intelligent carriage 1, two infrared ray sensors 3 in left and right are set, their intersect surveys dolly both sides barriers, has effectively expanded investigative range, thereby the combined type that realizes intelligent carriage 1 is kept away barrier.Sensing station refers to Fig. 1.Power supply, motor, sensor and control device are all arranged on dolly 1, and power supply powers to respectively dolly 1, sensor and control device, the data acquisition of control device control electric machine rotation and sensor.
Utilize above-mentioned intelligent carriage combined type obstacle avoidance system, keep away barrier dolly in traveling process, sensor is constantly surveyed dolly barrier around.In the time that sensor detects barrier, detect the quantity of the sensor of barrier by judgement, realize dolly combined type automatic obstacle-avoiding, specific as follows:
(1) single-sensor detects barrier: in the time that ultrasonic sensor 2 detects barrier, dolly 1 is given tacit consent to the left and turned to, and in the time only having a side infrared ray sensor 3 barrier to be detected, dolly is to not having barrier opposite side to turn to; After turning to, in the time that all the sensors all no longer detects barrier, dolly recovers to keep straight on.
(2) two sensors detect barrier: in the time that two sensors detect barrier, dolly 1 is to barrier directional steering not detected.If right side infrared ray sensor 3 does not detect barrier, dolly 1 turn right to; If ultrasonic sensor 2 does not detect barrier, dolly 1 continues to keep straight on; If left side infrared ray sensor 3 does not detect barrier, dolly 1 turns to the left.After dolly 1 is away from barrier, dolly 1 recovers to keep straight on.
(3) three sensors detect barrier: in the time that three sensors all detect barrier, be that dolly 1 runs into the large stretch of barrier in corner or front, now dolly is switched to zig zag pattern, dolly acquiescence flicker is curved, if in zig zag, sensor all no longer detects barrier, illustrates that barrier has forwarded dolly right side to, dolly is switched to forward mode, recovers to keep straight on.
Ultrasonic sensor 2 and infrared ray sensor 3 obtain the distance between intelligent carriage front and both sides and barrier in real time, send to control device, send corresponding steering order according to corresponding data, thereby drive intelligent carriage 1 to produce corresponding action.
Dolly adopts dual H-bridge direct current generator type of drive, controls the forward-reverse of dolly and turns to by controlling left and right sides direct current generator.Direct current generator adopts direct current generator to drive chip L298N, as shown in Figure 2.The maximum output current of two-way full-bridge motor drive ic L298N is 4A, and has overheat protector function and higher squelch ratio.Two tunnel outputs can meet the driving requirement of the left and right direct current generator of dolly.Can control the operating condition of motor by the level input to tri-input ports of L298N.Because chip L298N does not provide the control mode to motor speed, therefore, regulate the pwm signal of drive motor by kernel control module, change output power of motor, thereby control the rotating speed of left and right motor.
The core of control device is a slice atmega328 single-chip microcomputer.This chip is responsible for receiving the data of ultrasonic sensor 2 and infrared ray sensor 3, completes the control to motor drive ic L298N simultaneously.
As shown in Figure 3.The radiating circuit of ultrasonic sensor 1 is made up of Em78p153 single-chip microcomputer, MAX232 and ultrasound wave emitting head T40 etc., and when detection, the electric oscillation energy conversion of ceramic vibrator is become ultrasonic energy by transmitter, and to aerial radiation.Receiver receives ultrasound wave and produces mechanical vibration, and is transformed into electric flux, as the output of sensor receiver, thereby the ultrasound wave sending is detected.Receiving circuit is made up of TL074 operational amplifier and ultrasonic receiver R40 etc.
Infrared ray sensor 3 adopts the GP2Y0A02YK0F of Sharp infrared distance sensor, and its advantage of infrared distance measuring is that non-blind area, measuring accuracy are high, reaction velocity is fast, high directivity, but its shortcoming is affected by environment greatly, detection range is nearer.
Therefore the utility model adopts infrared ray sensor and ultrasonic sensor complementation, makes intelligent carriage have accurate sensing range.
Claims (3)
1. intelligent carriage combined type obstacle avoidance system, comprises dolly, power supply, sensor, motor and control device, it is characterized in that, power supply is connected respectively to dolly, sensor and control device and powers, and sensor is connected with control device respectively with motor; Described sensor comprises ultrasonic sensor and infrared ray sensor, and wherein, ultrasonic sensor is positioned at the centre position of dolly headstock, and infrared ray sensor adopts two, lays respectively at the left and right sides of dolly headstock.
2. intelligent carriage combined type obstacle avoidance system according to claim 1, is characterized in that, described power supply, motor and control device are all arranged on dolly.
3. intelligent carriage combined type obstacle avoidance system according to claim 1 and 2, it is characterized in that, the radiating circuit of described ultrasonic sensor comprises single-chip microcomputer, MAX232 chip and ultrasound wave emitting head, and the receiving circuit of ultrasonic sensor comprises operational amplifier and ultrasonic receiver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420180001.4U CN204009577U (en) | 2014-04-14 | 2014-04-14 | Intelligent carriage combined type obstacle avoidance system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420180001.4U CN204009577U (en) | 2014-04-14 | 2014-04-14 | Intelligent carriage combined type obstacle avoidance system |
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| Publication Number | Publication Date |
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| CN204009577U true CN204009577U (en) | 2014-12-10 |
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| CN201420180001.4U Expired - Fee Related CN204009577U (en) | 2014-04-14 | 2014-04-14 | Intelligent carriage combined type obstacle avoidance system |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN106054889A (en) * | 2016-06-28 | 2016-10-26 | 旗瀚科技股份有限公司 | Robot autonomous barrier avoiding method and device |
| CN106066646A (en) * | 2016-06-02 | 2016-11-02 | 芜湖智久机器人有限公司 | A kind of infra-red ray detection device of AGV |
| CN107765683A (en) * | 2016-08-22 | 2018-03-06 | 金宝电子工业股份有限公司 | Instant navigation method of mobile robot |
| CN109947106A (en) * | 2019-03-29 | 2019-06-28 | 浙江大学 | A kind of intelligent carriage and method for control speed of reliable and stable automatic obstacle-avoiding |
| CN110707966A (en) * | 2019-10-21 | 2020-01-17 | 河海大学常州校区 | Intelligent spherical magnetic suspension motor |
| CN110794835A (en) * | 2019-10-28 | 2020-02-14 | 海航航空技术股份有限公司 | Target following obstacle avoidance system and method |
| CN111300426A (en) * | 2020-03-19 | 2020-06-19 | 深圳国信泰富科技有限公司 | Control system of sensing head of highly intelligent humanoid robot |
| CN111516777A (en) * | 2020-04-03 | 2020-08-11 | 北京理工大学 | Robot trolley and obstacle identification method thereof |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
| CN115430103A (en) * | 2021-06-04 | 2022-12-06 | 力山工业股份有限公司 | Running machine with safety warning function |
-
2014
- 2014-04-14 CN CN201420180001.4U patent/CN204009577U/en not_active Expired - Fee Related
Cited By (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104731092A (en) * | 2014-12-22 | 2015-06-24 | 南京阿凡达机器人科技有限公司 | Multi-directional barrier avoiding system of mobile robot |
| CN106066646A (en) * | 2016-06-02 | 2016-11-02 | 芜湖智久机器人有限公司 | A kind of infra-red ray detection device of AGV |
| CN106054889A (en) * | 2016-06-28 | 2016-10-26 | 旗瀚科技股份有限公司 | Robot autonomous barrier avoiding method and device |
| CN106054889B (en) * | 2016-06-28 | 2019-05-10 | 深圳市三宝创新智能有限公司 | A kind of robot autonomous barrier-avoiding method and device |
| CN107765683A (en) * | 2016-08-22 | 2018-03-06 | 金宝电子工业股份有限公司 | Instant navigation method of mobile robot |
| CN109947106A (en) * | 2019-03-29 | 2019-06-28 | 浙江大学 | A kind of intelligent carriage and method for control speed of reliable and stable automatic obstacle-avoiding |
| CN110707966A (en) * | 2019-10-21 | 2020-01-17 | 河海大学常州校区 | Intelligent spherical magnetic suspension motor |
| CN110794835A (en) * | 2019-10-28 | 2020-02-14 | 海航航空技术股份有限公司 | Target following obstacle avoidance system and method |
| CN111300426A (en) * | 2020-03-19 | 2020-06-19 | 深圳国信泰富科技有限公司 | Control system of sensing head of highly intelligent humanoid robot |
| CN111516777A (en) * | 2020-04-03 | 2020-08-11 | 北京理工大学 | Robot trolley and obstacle identification method thereof |
| CN112327871A (en) * | 2020-11-19 | 2021-02-05 | 上海电机学院 | Intelligent trolley, self-obstacle avoidance method thereof and remote control obstacle avoidance method |
| CN115430103A (en) * | 2021-06-04 | 2022-12-06 | 力山工业股份有限公司 | Running machine with safety warning function |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141210 Termination date: 20170414 |
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| CF01 | Termination of patent right due to non-payment of annual fee |