CN205450776U - Intelligent vehicle and control system thereof - Google Patents
Intelligent vehicle and control system thereof Download PDFInfo
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- CN205450776U CN205450776U CN201620224440.XU CN201620224440U CN205450776U CN 205450776 U CN205450776 U CN 205450776U CN 201620224440 U CN201620224440 U CN 201620224440U CN 205450776 U CN205450776 U CN 205450776U
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- intelligent carriage
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Abstract
The utility model discloses an intelligent vehicle and control system thereof, including controlling means and orbit detection device, controlling means and orbit detection device are connected, orbit detection device is disposed in order to detect intelligent vehicle and to predetermine the position relation between the orbit, controlling means is disposed with according to intelligent vehicle and predetermine the position relation between the orbit, the behavior of adjustment intelligent vehicle's motor to make intelligent vehicle and predetermine position relation between the orbit and satisfy and to predetermine the requirement. Above -mentioned intelligent vehicle's control system can control intelligent vehicle according to predetermineeing the walking of orbit intelligence. The utility model discloses still disclose an intelligent vehicle.
Description
Technical field
This utility model relates to field of intelligent control, particularly relates to a kind of intelligent carriage and control system thereof.
Background technology
Traditional intelligent toy vehicle is when walking, it usually needs it is remotely controlled by user in real time, or needs fixing operation track normally to walk.In the case of not having user to be remotely controlled it in real time or not having fixing operation track to walk for it, traditional intelligent toy vehicle can't automatic tracking walking.
Utility model content
Based on this, it is necessary to provide a kind of can automatic tracking walking intelligent carriage and control system.
The control system of a kind of intelligent carriage, including controlling device and track detection device；Described control device is connected with described track detection device；
Described track detection device is configured to detect the position relationship between described intelligent carriage and desired guiding trajectory；
Described control device is configured to according to the position relationship between described intelligent carriage and desired guiding trajectory, adjust the working condition of the motor of described intelligent carriage, so that the position relationship between described intelligent carriage and desired guiding trajectory meets preset requirement.
Wherein in an embodiment, also include information explaining device；Described information explaining device is connected with described control device；
Described track detection device is also configured to when detecting that described intelligent carriage reaches predeterminated position, sends the information explanation signal corresponding with described predeterminated position to described control device；
Described control device is also configured to obtain the explaining information corresponding with described information explanation signal, and is played out by described information explaining device.
Wherein in an embodiment, described control device includes memory module；Described memory module is configured to store described explaining information；
Wherein, described explaining information is one or more.
Wherein in an embodiment, described memory module is flash storage.
Wherein in an embodiment, described information explaining device includes power amplifier chips and loudspeaker；The input of described power amplifier chips is connected with described control device, and the outfan of described power amplifier chips is connected with described loudspeaker.
Wherein in an embodiment, described control device includes single-chip microcomputer；Described single-chip microcomputer includes PWM module, ADC, DAC module and spi module；
Described PWM module is connected with the motor of described intelligent carriage, and described ADC is connected with described track detection device, and described spi module is connected with described memory module, and described DAC module is connected with described information explaining device.
Wherein in an embodiment, described track detection device includes more than one infrared transmission/reception integral tube.
A kind of intelligent carriage, including the control system of any one intelligent carriage above-mentioned.
Wherein in an embodiment, the desired guiding trajectory of described intelligent carriage is for being arranged on suprabasil trajectory, and the gray-scale intensity of the gray-scale intensity of described substrate and described trajectory has preset difference value.
Wherein in an embodiment, described trajectory is provided with bar code at predeterminated position, and described bar code includes a plurality of spaced bar code line, and described bar code line is vertical with described trajectory.
Above-mentioned intelligent carriage and control system thereof, position relationship between track detection device detection intelligent carriage and desired guiding trajectory, control device according to the position relationship between intelligent carriage and desired guiding trajectory, adjust the working condition of the motor of intelligent carriage, so that the position relationship between intelligent carriage and desired guiding trajectory meets preset requirement such that it is able to control intelligent carriage according to desired guiding trajectory intelligent walking.Further, the control system of above-mentioned intelligent carriage can also control intelligent carriage and carry out the explanation of relevant information when reaching preset location, and practical value is big.
Accompanying drawing explanation
Fig. 1 is the structural representation of one embodiment of control system of this utility model intelligent carriage；
Fig. 2 is the desired guiding trajectory in one embodiment of this utility model intelligent carriage and bar code schematic diagram；
Fig. 3 is the desired guiding trajectory in another embodiment of this utility model intelligent carriage and bar code schematic diagram.
Detailed description of the invention
For making the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing, the detailed description of the invention of this utility model intelligent carriage and control system thereof is illustrated.Should be appreciated that specific embodiment described herein, only in order to explain this utility model, is not configured to limit this utility model.
Seeing Fig. 1, in an embodiment, the control system of intelligent carriage can include controlling device 200 and track detection device 100.Concrete, control device 200 and be connected with track detection device 100.Track detection device 100 is configured to detect the position relationship between intelligent carriage and desired guiding trajectory.Control device 200 and be configured to according to the position relationship between intelligent carriage and desired guiding trajectory, adjust the working condition of the motor 400 of intelligent carriage, to adjust the direction of motion of intelligent carriage, make the position relationship between intelligent carriage and desired guiding trajectory meet preset requirement, be finally reached the effect making intelligent carriage run along desired guiding trajectory.
Further, seeing Fig. 1, the control system of intelligent carriage can also include information explaining device 300.Information explaining device 300 is connected with controlling device 200.Track detection device 100, when detecting that described intelligent carriage reaches predeterminated position, sends the information explanation signal corresponding with predeterminated position to controlling device 200.Control device 200 and obtain the explaining information corresponding with this information explanation signal, and played out by information explaining device 300.
In the present embodiment, explaining information can be geographical location information and/or animals and plants information etc..Wherein, during explaining information can be pre-stored in control device 200.Concrete, see Fig. 1, control device 200 and can include single-chip microcomputer 210 and memory module 220.Explaining information can be pre-stored in memory module 220.Explaining information is one or more.One predeterminated position can a corresponding explaining information.Single-chip microcomputer 210 obtains the explaining information of correspondence according to information explanation signal from memory module 220, plays out explanation by information explaining device 300.In one embodiment, memory module 220 can be flash storage, i.e. flash memories.Flash memories has that data transmission bauds is very fast, small volume and the advantage such as heat radiation is less, and cost is the highest.
In one embodiment, single-chip microcomputer 210 can include ADC (AnalogtoDigitalConverter, Analog-digital Converter) module, PWM (PulseWidthModulation, pulsewidth modulation) module, DAC (DigitaltoAnalogConverter, digital-to-analogue conversion) module and spi (SerialPeripheralInterface, Serial Peripheral Interface (SPI)) module.Wherein, ADC is connected with track detection device 100, is configured to receive the position relationship between intelligent carriage and the desired guiding trajectory that track detection device 100 detects, and is converted to digital signal.PWM module is connected with the motor of intelligent carriage, is configured to control the working condition of the motor of intelligent carriage according to the position relationship between intelligent carriage and desired guiding trajectory, so that the position relationship between intelligent carriage and desired guiding trajectory meets preset requirement.Spi module is connected with memory module 220, is configured to obtain the explaining information in memory module 220.DAC module is connected with information explaining device 300, is configured to be converted into explaining information analogue signal, and sends to information explaining device 300 and play out explanation.
As a kind of embodiment, information explaining device 300 can include power amplifier chips 310 and loudspeaker 320.Wherein, the input of power amplifier chips 310 is connected with controlling device 200, and the outfan of power amplifier chips 310 is connected with loudspeaker 320.Concrete, the input of power amplifier chips 310 can be connected with the DAC module of single-chip microcomputer 210, after being amplified by the digital signal that DAC module transmission comes, is play by loudspeaker 320.
As a kind of embodiment, track detection device 100 can be more than one infrared transmission/reception integral tube.Desired guiding trajectory can be to be arranged on suprabasil trajectory.The gray-scale intensity of substrate and the gray-scale intensity of trajectory have preset difference value.Concrete, desired guiding trajectory can be the black trace line being arranged in white substrate.This black trace line has certain width.Control the device 200 right position relation according to each infrared transmission/between receptions integral tube and desired guiding trajectory, the working condition of the motor of adjustment intelligent carriage.Wherein, left and right is that the direction of travel with intelligent carriage along desired guiding trajectory is for describing benchmark.
Below by way of an instantiation, the control system of above-mentioned intelligent carriage is described in detail.
In the present embodiment, track detection device 100 can include 5 infrared transmission/reception integral tubes, but is not limited to 5 infrared transmission/reception integral tubes.The direction advanced according to intelligent carriage, 5 infrared transmission/reception integral tubes are followed successively by infrared transmission/reception integral tube 1, infrared transmission/reception integral tube 2, infrared transmission/reception integral tube 3, infrared transmission/reception integral tube 4 and infrared transmission/reception integral tube 5 from left to right.Corresponding, the ADC of single-chip microcomputer 210 needs have at least 5 road ADC pins.The corresponding road ADC pin of each infrared transmission/reception integral tube.
The work process of intelligent carriage is:
First, each infrared transmission/reception integral tube detection and the position relationship signal of black trace line, and it is sent to ADC.
Then, this position relationship signal is converted to digital signal by ADC, and single-chip microcomputer 210 judges the position relationship of intelligent carriage and desired guiding trajectory according to this digital signal, and is controlled the motor of intelligent carriage by PWM module.
Such as, when hot outer transmission/reception integral tube 1 or infrared transmission/reception integral tube 2 are positioned at black line trajectory position, other infrared transmission/reception integral tube all can deviate from black trace line.Now, intelligent carriage is to the right relative to desired guiding trajectory, and PWM module can control the right motor and the working condition of left side motor of intelligent carriage, thus realize intelligent carriage and turn left.When hot outer transmission/reception integral tube 5 or infrared transmission/reception integral tube 4 are positioned at black line trajectory position, other infrared transmission/reception integral tube all deviates from black trace line.Now, intelligent carriage is to the left relative to desired guiding trajectory, and PWM module controls the right motor and the working condition of left side motor of intelligent carriage, thus realizes intelligent carriage and turn right.
Further, when the most infrared transmission/reception integral tube 1 in black line trajectory position when, record intelligent carriage be in state to the right.When the most infrared transmission/reception integral tube 5 in black line trajectory position when, record intelligent carriage be in state to the left.And state to the left and state to the right only in infrared transmission/reception integral tube 2, infrared transmission/reception integral tube 3 and infrared transmission/reception integral tube 4 at least one infrared transmission/reception integral tube just can remove the when of being in black line trajectory position.Based on above-mentioned setting, when five infrared transmission/reception integral tubes all in white substrate position when, if record has intelligent carriage to be in state to the left, just control intelligent carriage and turn right；If record has intelligent carriage to be in state to the right, just control intelligent carriage and turn left.The function that thus reality dolly is walked according to unalterable rules.Said process achieves intelligent carriage and walks according to desired guiding trajectory.
Finally, when infrared transmission/reception integral tube detects that intelligent carriage reaches predeterminated position, sending the information explanation signal corresponding with predeterminated position to ADC, single-chip microcomputer 210 is obtained the explaining information corresponding with information explanation signal, is played out by information explaining device 300.
Seeing Fig. 2 and Fig. 3, the trajectory in desired guiding trajectory is provided with bar code in predetermined position, and arrow direction is the direction of travel of intelligent carriage.This bar code includes a plurality of spaced bar code line, and bar code line is vertical with trajectory.Track detection device 100 detects each bar bar code line in bar code, generates information explanation signal.Information explanation signal includes the time interval of adjacent two bar code lines that track detection device 100 detects.Information is explained signal and is converted to binary code by control device, obtains corresponding explaining information according to binary code, and is played out by information explaining device 300.
Concrete, infrared transmission/reception integral tube detects the black bar code line in bar code, generates information explanation signal.Information is explained signal translation resolution and is become binary code by ADC.Such as, when the time interval between two black bar code lines is less than preset value, can corresponding binary code 0；Article two, when the time interval between black bar code line is more than preset value, can corresponding binary code 1.In Fig. 2, information is explained signal and is converted into " 00100 " by ADC.In Fig. 3, information is explained signal and is converted into " 00010 " by ADC.Wherein, the corresponding different explaining information of different binary codes.In the present embodiment, single-chip microcomputer 210 also includes timing module, is specifically as follows intervalometer, is configured to record the time interval between two black bar code lines.
Explaining information can be configured according to specific needs.Such as, binary code 00100 can corresponding the Forbidden City, corresponding explaining information can be the relevant information of the Forbidden City.Binary code 00010 can corresponding Great Wall, corresponding explaining information can be the relevant information on Great Wall.Certainly, binary code can also corresponding other information, such as plant and animal species etc..The control system of intelligent carriage can also control intelligent carriage stop walking when information explaining device 300 play out explanation.
The control system of above-mentioned intelligent carriage, position relationship between track detection device detection intelligent carriage and desired guiding trajectory, control device according to the position relationship between intelligent carriage and desired guiding trajectory, adjust the working condition of the motor of intelligent carriage, so that the position relationship between intelligent carriage and desired guiding trajectory meets preset requirement, it is thus possible to control the walking of intelligent carriage tracking, and can also carry out the explanation of relevant information when reaching preset location, practical value is big.
In one embodiment, intelligent carriage can include the control system of any one intelligent carriage above-mentioned, and has the control system have the advantage that of above-mentioned intelligent carriage.Wherein, above-mentioned intelligent carriage may be used for the aspect such as toy for children or sight spot explanation.
Embodiment described above only have expressed several embodiments of the present utility model, and it describes more concrete and detailed, but therefore can not be interpreted as the restriction to this utility model the scope of the claims.It should be pointed out that, for the person of ordinary skill of the art, without departing from the concept of the premise utility, it is also possible to make some deformation and improvement, these broadly fall into protection domain of the present utility model.Therefore, the protection domain of this utility model patent should be as the criterion with claims.
Claims (10)
1. the control system of an intelligent carriage, it is characterised in that include controlling device and track detection device；Described control device is connected with described track detection device；
Described track detection device is configured to detect the position relationship between described intelligent carriage and desired guiding trajectory；
Described control device is configured to, according to the position relationship between described intelligent carriage and desired guiding trajectory, adjust the working condition of the motor of described intelligent carriage.
The control system of intelligent carriage the most according to claim 1, it is characterised in that also include information explaining device；Described information explaining device is connected with described control device；
Described track detection device is also configured to when detecting that described intelligent carriage reaches predeterminated position, sends the information explanation signal corresponding with described predeterminated position to described control device；
Described control device is also configured to obtain the explaining information corresponding with described information explanation signal, and is played out by described information explaining device.
The control system of intelligent carriage the most according to claim 2, it is characterised in that described control device includes memory module；Described memory module is configured to store described explaining information；
Wherein, described explaining information is one or more.
The control system of intelligent carriage the most according to claim 3, it is characterised in that described memory module is flash storage.
The control system of intelligent carriage the most according to claim 2, it is characterised in that described information explaining device includes power amplifier chips and loudspeaker；The input of described power amplifier chips is connected with described control device, and the outfan of described power amplifier chips is connected with described loudspeaker.
The control system of intelligent carriage the most according to claim 3, it is characterised in that described control device includes single-chip microcomputer；Described single-chip microcomputer includes PWM module, ADC, DAC module and spi module；
Described PWM module is connected with the motor of described intelligent carriage, and described ADC is connected with described track detection device, and described spi module is connected with described memory module, and described DAC module is connected with described information explaining device.
7. according to the control system of the intelligent carriage described in claim 1 to 6 any one, it is characterised in that described track detection device includes more than one infrared transmission/reception integral tube；
Described control device, according to the right position relation of transmission infrared each described/between reception integral tube and described desired guiding trajectory, adjusts the working condition of the motor of described intelligent carriage；
Wherein, described left and right is with described intelligent carriage along the direction of travel of described desired guiding trajectory for describing benchmark.
8. an intelligent carriage, it is characterised in that include the control system of intelligent carriage described in claim 1 to 7 any one.
Intelligent carriage the most according to claim 8, it is characterised in that the desired guiding trajectory of described intelligent carriage is for being arranged on suprabasil trajectory, and the gray-scale intensity of the gray-scale intensity of described substrate and described trajectory has preset difference value.
Intelligent carriage the most according to claim 9, it is characterised in that described trajectory is provided with bar code at predeterminated position, described bar code includes a plurality of spaced bar code line, and described bar code line is vertical with described trajectory.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201620224440.XU CN205450776U (en) | 2016-03-21 | 2016-03-21 | Intelligent vehicle and control system thereof |
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| CN201620224440.XU CN205450776U (en) | 2016-03-21 | 2016-03-21 | Intelligent vehicle and control system thereof |
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| CN205450776U true CN205450776U (en) | 2016-08-10 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629978A (en) * | 2016-03-21 | 2016-06-01 | 珠海市杰理科技有限公司 | Intelligent dolly and control system thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105629978A (en) * | 2016-03-21 | 2016-06-01 | 珠海市杰理科技有限公司 | Intelligent dolly and control system thereof |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C56 | Change in the name or address of the patentee | ||
| CP03 | Change of name, title or address |
Address after: 519085 Guangdong city of Zhuhai province Jida West Road No. 107 Building 9 Building (1-4) Patentee after: Zhuhai jelee Polytron Technologies Inc Address before: 519085 Guangdong city of Zhuhai province Jida West Road No. 107 Building 9 Building Patentee before: Zhuhai Jieli Technology Co., Ltd. |
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| IW01 | Full invalidation of patent right |
Decision date of declaring invalidation: 20190311 Decision number of declaring invalidation: 39294 Granted publication date: 20160810 |
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| IW01 | Full invalidation of patent right |