CN205665589U - Tracking system based on area array CCD sensor - Google Patents

Abstract

The utility model provides a tracking system based on area array CCD sensor, relates to unmanned conveying vehicle. Be equipped with area array CCD sensor, steering wheel, direct current motor, gyroscope, microcontroller, encoder, the output signal terminal of area array CCD sensor, gyroscope and encoder is connected with microcontroller's input respectively, and microcontroller's steering control signal output part and steering wheel are connected, and microcontroller's speed control signal output part and direct current motor are connected, the encoder passes through gear engagement to be installed on controlling the rear wheel motor shaft, and the input and the direct current motor of encoder are connected, and the output and the microcontroller of encoder are connected.

Description

A kind of tracking system based on matrix CCD

Technical field

This utility model relates to automatic guided vehicle, especially relates to a kind of tracking system based on matrix CCD.

Background technology

At present, along with improving constantly of enterprise's production technology and the continuous of product scale expand, informationization, automatization, intelligence Energyization is the direction of social development from now on.Intelligent vehicle, as typical electro-mechanical system, is in this specific environment Product, and the key device of the system such as logistics transportation, flexible production line will be become.Intelligent vehicle should possess the control at microcomputer Under system, can the acquisition of complete independently pose accurate information and fusion, the anticipation of road condition, automatic obstacle-avoiding climbing, Intelligent tracking, The tasks such as route memory, it is achieved machine is substituted, improved production efficiency.

Automatic guided vehicle (Automated Guided Vehicle is called for short AGV), is the allusion quotation of Vehicular intelligent technical field Type product, utilize electricity magnetically or optically wait homing guidance device, it is possible to along regulation guide path travel, have safeguard protection and The transport vehicle of various transfer functions.

Summary of the invention

The purpose of this utility model is to provide a kind of tracking system based on matrix CCD.

This utility model is provided with matrix CCD, steering wheel, direct current generator, gyroscope, microcontroller, encoder；

The output signal end of described matrix CCD, gyroscope and encoder is respectively with the input of microcontroller even Connecing, the steering controling signal outfan of microcontroller is connected with steering wheel, the speed control signal outfan of microcontroller and direct current Motor connects；Encoder is arranged on the rear-wheel motor axle of left and right by gear engagement, and the input of encoder is with direct current generator even Connecing, the outfan of encoder is connected with microcontroller.

Described matrix CCD can use area array CCD digital camera as vision sensor.

Described gyroscope can use L3G4200D gyroscope.

Described microcontroller can use MK60N512VMD100 microcontroller.

This utility model is made up of information detection section, control decision part and power executable portion, information detection section Road change information, body gesture information, motor speed information are detected.The area array CCD that this utility model is used passes The sensor information of road surface to collecting has carried out hardware binarization process, and then obtaining a resolution is the two-value of 320 × 240 Change array, utilize it to interrupt and row interrupt signal, control DMA transfer.Disclosure satisfy that scan picture high speed data pass Defeated requirement, only takes up again little cpu clock cycle simultaneously.At vehicle body, external L3G4200D gyro module, this mould are installed Block can be with three axis angular rates of normal table feedback vehicle, effectively detection road ramp information.It is engaged on a left side by gear simultaneously Encoder is installed on off hind wheel motor shaft, gathers the umber of pulse that wheel each rotation is returned, it is achieved the detection to vehicle wheel rotational speed.

Control decision part is with MK60N512VMD100 microcontroller as key control unit, by analyzing infomation detection portion The environment got and vehicle body information, made a policy by main control singlechip, and is entered by pwm signal control direct current generator and steering wheel Row corresponding actions, thus realize course changing control and the speed controlling of car body.

Power executable portion is divided into power supply stabilization circuit and motor-drive circuit.The total power supply supply of this utility model from 7.2V Large Copacity nickel-cadmium cell, but the power supply of single-chip minimum system 3.3V, servomotor operating voltage range arrives at 4.5V Between 5.5V, matrix CCD is it is desirable that 5V voltage stabilizing, therefore needs transformation 5V and the blood pressure lowering of 3.3V accessed from power supply 7.2V Circuit.Motor-drive circuit employs IR2184 half-bridge activator and 3205MOS pipe is driven collocation, constructs two full-bridges The unfavourable balance huge to meet rotating electric current.

This utility model utilizes the optical signature of surrounding, coordinates sensor and the co-ordination of executor, can conduct The tracking technology of modern AGV, processes flexibly, reliable and stable.

This utility model in the racing track environment in white substrate black sideline, using area array CCD digital camera as Vision sensor, steering wheel and motor with lorry send control signal, it is achieved specifically include pose accurate information The technology such as acquisition and fusion, the anticipation of road condition, automatic obstacle-avoiding climbing, Intelligent tracking, route memory.

Compared with the prior art, this utility model has the advantage that

1. in frame for movement, car mold chassis height designs through test of many times, has and stablizes relatively low center of gravity, simultaneously the end of at Dish sticks masking foil, is not likely to produce static interference circuit signal；Steering wheel axis determines with the height of steering link, is by real The method tested obtains the optimal value currently used, and solves the most too high torque the least, has steering wheel to turn to the phenomenon that dynamics is inadequate, The lowest to there will be again angle range needed for steering wheel big, the problem that steering reaction is the sensitiveest；The height of matrix CCD also can Affect its shake, frame the highest, the most easily shake.Reliable and stable for image, finally the shooting headstock with ground The position that distance is about 35cm；Encoder is installed when, to ensure having suitable engaged gears.It is engaged perfect principle Being: two driving gearshaft keeping parallelisms that the fit clearance between gear wants suitable, cross pine and easily break gear, tension can increase again Add transmission resistance；Running part is light, smooth and easy, easily rotates.Judge that the foundation whether gear drive is adjusted is to listen Sound during driven by motor trailing wheel idle running once.Sound is ear-piercing loud, illustrates that the fit clearance between gear is excessive, hits in transmission Tooth phenomenon；Sound is vexed and has sluggishness, then the fit clearance between explanation gear is too small, is engaged tension, or two gear shafts are uneven OK, motor load strengthens.The gear transmission noise adjusted is little, and does not have the noise of collision class.Machine according to encoder Tool parameter, makes encoder be interlocked suitably with motor.

2., in circuit design, employ IR2184 half-bridge activator and 3205MOS pipe is driven collocation, construct two The unfavourable balance that full-bridge is huge to meet rotating electric current, is tested by many group PCB layouts simultaneously, has obtained the driving electricity of signal stabilization Road plate.

Accompanying drawing explanation

Fig. 1 is the composition frame chart of this utility model embodiment.

Detailed description of the invention

Seeing Fig. 1, this utility model embodiment is provided with matrix CCD 1, steering wheel 2, direct current generator 3, gyroscope 4, micro- Controller 5, encoder 6；The output signal end of described matrix CCD 1, gyroscope 4 and encoder 6 respectively with microcontroller The input of 5 connects, and the steering controling signal outfan of microcontroller 5 is connected with steering wheel 2, the speed controlling letter of microcontroller 5 Number outfan is connected with direct current generator 3；Encoder 6 is arranged on the rear-wheel motor axle of left and right by gear engagement, encoder 6 defeated Entering end to be connected with direct current generator 3, the outfan of encoder 6 is connected with microcontroller 5.

Described matrix CCD can use area array CCD digital camera as vision sensor.

Described gyroscope 4 can use L3G4200D gyroscope.

Described microcontroller 5 can use MK60N512VMD100 microcontroller.

This utility model is in the racing track environment in white substrate black sideline, with an area array CCD digital camera As vision sensor, detect road image information, obtain racing track dual-side along the racing track center putting position, calculated by correction Position, central point planning are amassed, racing track amplitude of variation, racing track type information, the S3010 steering wheel with lorry and unidirectional current Machine sends control signal, it is achieved turn to dolly and the control of speed.At vehicle body, external L3G4200D gyro module is installed, This module can be with three axis angular rates of normal table feedback vehicle, and effectively detection road ramp information, feeds back to K60 microcontroller Make motor control decision-making.It is engaged on the rear-wheel motor axle of left and right installation encoder by gear simultaneously, gathers wheel every turn The umber of pulse that week is returned, it is achieved detection and the closed loop control to vehicle wheel rotational speed.

Claims (4)

1. a tracking system based on matrix CCD, it is characterised in that be provided with matrix CCD, steering wheel, unidirectional current Machine, gyroscope, microcontroller, encoder；

The output signal end of described matrix CCD, gyroscope and encoder is connected with the input of microcontroller respectively, micro- The steering controling signal outfan of controller is connected with steering wheel, and the speed control signal outfan of microcontroller is with direct current generator even Connect；Encoder is arranged on the rear-wheel motor axle of left and right by gear engagement, and the input of encoder is connected with direct current generator, coding The outfan of device is connected with microcontroller.

A kind of tracking system based on matrix CCD, it is characterised in that described area array CCD passes Sensor uses area array CCD digital camera as vision sensor.

A kind of tracking system based on matrix CCD, it is characterised in that described gyroscope uses L3G4200D gyroscope.

A kind of tracking system based on matrix CCD, it is characterised in that described microcontroller is adopted Use MK60N512VMD100 microcontroller.