CN206002955U - New SCM Based Intelligent tracking tests the speed cart system and from tracking cart - Google Patents
New SCM Based Intelligent tracking tests the speed cart system and from tracking cart Download PDFInfo
- Publication number
- CN206002955U CN206002955U CN201620793725.5U CN201620793725U CN206002955U CN 206002955 U CN206002955 U CN 206002955U CN 201620793725 U CN201620793725 U CN 201620793725U CN 206002955 U CN206002955 U CN 206002955U
- Authority
- CN
- China
- Prior art keywords
- electrically connected
- module
- controller
- speed
- vehicle frame
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Abstract
The cart system the utility model discloses a kind of new SCM Based Intelligent tracking tests the speed, including vehicle frame, also includes controller on vehicle frame；Motor drive module, motor drive module are electrically connected with the controller；Direct current generator, direct current generator are electrically connected with motor drive module；Photoelectric code disk device, photoelectric code disk device is on the output shaft of direct current generator, and is connected with controller signals；Infrared reflection sensor, infrared reflection sensor are electrically connected with the controller；Keyboard speed adjusting module, keyboard speed adjusting module are electrically connected with the controller；For showing the display module of speed and distance, display module is electrically connected with the controller；Supply module, supply module are electrically connected with single-chip microcomputer, motor drive module；The front of vehicle frame is additionally provided with a blower fan, and blower fan is electrically connected with supply module.The utility model good stability, of good reliability, easy for operation, novel in design, practical, it is easy to popularization and application.
Description
Technical field
The utility model is related to intelligent carriage technical field, and more particularly to a kind of new SCM Based Intelligent tracking is surveyed
Fast cart system and from tracking cart.
Background technology
It is the popular direction of current research from tracking cart, which can be allowed according to road set in advance by computer programming
Line move, do not need artificial intervention in motion process, be one collection programmed decision-making, environment sensing, the function such as automatic running in
The intelligence system of one, is widely used in industry, medical treatment, the field such as life.Unmanned automatic driving automobile is always current heat
Door research, it is desirable to have one and can independently adapt to various complex road conditions and can stably travel along intended trajectory, safely
Intelligent vehicle.
With the fast development of computer and information technology, auto industry achieves great progress, vehicle intellectualized
Development will be many for effectively solving automobile quantity, and traffic is crowded, a series of traffic problems such as traffic accident takes place frequently；In addition, exist
Intelligent carriage in particular surroundings for fire-fighting, illumination and medical domain also result in the extensive interest of all circles.Vehicular intelligent
It is auto industry development trend from now on, and people is to security, the development of the higher and higher auto industry of intelligent requirements
Direction.The design will be around this theme of intelligent carriage, and it is having for main control chip based on STC89C52 single-chip microcomputer to design a kind of
The intelligent carriage of tracking function.
From tracking cart, wheeled robot is simultaneously belonging to, can be competent at many people cannot be complete due to bad environments
The work for becoming.Just it is developed early in nineteen fifties and serves as intelligent transfer robot, as optics on equipment, electricity
Magnetic or other kinds homing guidance device, can travel along the path of navigation that pre-selection sets, it is achieved that without the need for operator,
Efficiently, rapidly goods or material are transported to destination from starting point automatically.
At present, intelligent car systems become the main research that intelligent transportation is developed in countries in the world, and this is also vapour from now on
The main target of car industrial development, with the raising of production technology and the development of automatic technology, intelligent carriage is in difference
Field successfully solved realistic problem one by one.Such as apply in industrial department, have than the more preferable reliability of the mankind, and
Price is cheap, substitutes the mankind and works in rugged environment, has both improve operating efficiency, be prevented effectively from harmful substance again to human body
Injury；Application militarily, can substitute personnel and execute reconnaissance mission, it is to avoid casualties；Apply in life, help people
Complete to clean furniture, control furniture, the control daily routines such as household electrical appliances.
At present, intelligent vehicle has been realized in drive for human pilot provided auxiliary on the road with certain mark
Function is sailed, some mechanisms and country even have been realized in whole unmanned, and the intelligent vehicle of these independent navigations is all logical
The specific judgement for identifying and completing to current road conditions is crossed, imitates artificial vehicle drive.
The research of intelligent vehicle is attached great importance in China, " Freescale " cup intelligent vehicle is ground exclusively for encouragement university student
The important race that studies carefully intelligent carriage and set up, was held in Tsing-Hua University first in 2006, and the whole nation had 57 colleges and universities at that time
112 troop's competitions, are all domestic well-known colleges and universities.
The National University of Defense technology and China FAW cooperative research and development CITAVT type independent navigation car, has been developed now
Forth generation, the intelligent vehicle were once successfully made autonomous examination of the max. speed up to 75.6km/h on Changsha circle highway
Test, and possess the function of overtaking other vehicles, much leading domestic pharmaceutical industry, its technical merit are reached world-class levels already.
Furthermore be the external research to intelligent carriage, go the furthest with technology most significant end surely belong to the U.S., 2004,2005
Year they held two " robot vehicle challenge contests " once, whole process is roughly equal to 227 kilometers, and whether road conditions rugged, race require
It is to see which pilotless automobile can full out run through whole distances in 10 hours, 15 troops participate in, regrettably
Unexpectedly none car finish the full distance 15%, after 1 year, that time in 2005, " Stanley " fleet of Stanford University only used 6
53 points of hour is finished the full distance for 58 seconds, and speed is up to 19.1 miles per hours, obtains the honor of champion.
Nineteen ninety-five, United States highways System Committee set up, and main research direction is intelligent vehicle, and can throw in
To in actual production.The German federal National Defence University and Benz Co. carry out running the second generation intelligent vehicle that sends out jointly, and this intelligence is little
Car achieves intelligence and overtakes other vehicles.In the case of traffic congestion, Vehicular automatic driving adopts low speed automatic Pilot.Classify from tracking cart,
Very early before people just to expanding research from tracking cart, from initial invention till now it may be said that having there is more than 50 year
History, as species becomes more and more diversified, its application expands constantly, but must for may be summarized to be with
Under three types：(1) laser type, is provided with rotatable laser scanning on dolly, launch laser beam by laser scanner,
Then receive the laser beam being transmitted back to by surrounding witness marker, control circuit is processed to the information for feeding back to, then controlled
Dolly is travelled by track is formulated.(2) induction, when high frequency electric passes through wire, now around electric wire, just have electromagnetism
Field flow is moved, and electric magnetic induction type is exactly pilot trolley traveling by way of on the ground along the buried line of predetermined road strength, symmetrical two
Electromagnetic induction sensor is installed on tracking cart.What the electromagnetic signal difference that they receive can reflect deviates from tracking cart
The degree in degree path.In the Intelligent tracking automobile of current commercial use, particularly large-scale and medium-sized dolly, the overwhelming majority is
Navigated using electromagnetic induction.(3) vision formula, such intelligent carriage are equipped with ccd video camera, are currently just to develop rapidly and skill
Art is more ripe, sensor and vehicle-mounted computer, and the image information to surrounding is acquired, and then extracts the feature of image information
Point is compared with built-in ambient image database, to be confirmed and be analyzed vehicle periphery image letter to current position
Cease and judge so as to the next step to travelling.This from tracking cart and any artificial physics path, institute need not be set
In theory there is flexibility, in Computer Storage, process and acquisition technology development soon today, this from tracking
The practicality of dolly is more and more stronger.
Application from tracking cart：From tracking cart compared to traditional transporting equipment for, its reliability is higher, performance
Higher, the scope of application is wider, is adapted to various arduous environment.Can be with extensive utilization to warehousing industry, hazardous area special type row
Industry, the various industries such as manufacturing industry, in warehousing industry, 2100 producers have such as been had more than according to incompletely statistics, at present in the world big
The different types of Intelligent tracking automobile application of about 20,000 multiple stage, to practical use, is the repository service of oneself；Industrial manufacture
In industry, production line balance workman will be replaced from tracking cart, can carry out quickly, precisely, neatly completing the transport of material
Task, substantially increases flexibility and the efficiency of production；In military aspect, can the scouting for being used for battlefield from tracking cart and
The high-risk work posts such as the removal of mines, effectively increase operating efficiency and reduce the injures and deaths of personnel.
Existing less efficient from tracking cart, the problems demand is solved.
Utility model content
The purpose of this utility model is to overcome the deficiency of above-mentioned prior art and provide a kind of new SCM Based
Intelligent tracking tests the speed cart system and from tracking cart, and it is stable that the utility model devises a speed of service, tracking high precision
Intelligent carriage.Dolly acp chip adopts the driving of STC89C52, direct current generator to select L298N module, and photoelectric sensor is tied
Close photoelectric coded disk and can produce pulse at the volley, pulse is acquired and then processes drawing current speed, road
Journey is simultaneously shown on LCD1602 Liquid Crystal Module；Dolly detects tracking track using infrared sensor, it is achieved that independently the following of dolly
Mark function；Test result indicate that, rationally, overall performance is excellent, and operational efficiency is high, control for each hardware module combination of the intelligent carriage
High precision, accurately can realize tracking, test the speed, and the function such as range finding, with certain antijamming capability.
For achieving the above object, the utility model provides a kind of new SCM Based Intelligent tracking and tests the speed dolly system
System, including：
Controller；
Motor drive module, the motor drive module are electrically connected with the controller；
Direct current generator, the direct current generator are electrically connected with the motor drive module；
Photoelectric code disk device, the photoelectric code disk device located at the direct current generator output shaft on, and with the control
Device signal connects；
Infrared reflection sensor, the infrared reflection sensor are electrically connected with the controller；
Keyboard speed adjusting module, the keyboard speed adjusting module are electrically connected with the controller；
For showing the display module of speed and distance, the display module is electrically connected with the controller；
Supply module, the supply module are electrically connected with the single-chip microcomputer, motor drive module；
The front of the vehicle frame is additionally provided with a blower fan, and the blower fan is electrically connected with supply module.
Preferably, the controller is STC89C52 single-chip microcomputer.
Preferably, the display module is LCD1602.
Preferably, the controller is also electrically connected with crystal oscillating circuit, reset circuit.
Preferably, the direct current generator also with tire drive connection.
The utility model also provide a kind of from tracking cart, including：
Vehicle frame；
The front of the vehicle frame is respectively equipped with revolver and right wheel；
The rear of the vehicle frame is provided with universal wheel；
It is additionally provided with motor motor drive module connected with motor；
Single-chip microcomputer is also included；The front of the vehicle frame is additionally provided with three infrared reflection sensors, and the infrared ray is anti-
Penetrate sensor to be connected with the single-chip microcomputer respectively；
The bottom of the vehicle frame is provided with a water tank, and the water tank is provided with a water valve；The bottom of the vehicle frame is provided with
One lowering or hoisting gear, is provided with a hairbrush below the lowering or hoisting gear.
Preferably, the water valve is magnetic valve.
Preferably, also supply module is included, the supply module is electrically connected respectively with the single-chip microcomputer, motor drive module
Connect.
Preferably, runway is also included, and the runway is provided with the mark that can be recognized by the infrared reflection sensor
Line.
The beneficial effects of the utility model are：
1st, the utility model devises a speed of service and stablizes, the intelligent carriage of tracking high precision.Dolly acp chip
Using STC89C52, L298N module is selected in the driving of direct current generator, and photoelectric sensor can be produced at the volley with reference to photoelectric coded disk
Raw pulse, pulse are acquired and then process drawing current speed that distance is simultaneously shown to LCD1602 Liquid Crystal Module
On；Dolly detects tracking track using infrared sensor, it is achieved that the autonomous tracking function of dolly；Test result indicate that, the intelligence
Rationally, overall performance is excellent, and operational efficiency is high, and control accuracy is high, accurately can realize tracking for each hardware module combination of energy dolly,
Test the speed, the function such as range finding, with certain antijamming capability.
2nd, the utility model good stability, of good reliability, easy for operation, novel in design, practical, it is easy to promote
Application.
3rd, by arranging hairbrush, when dolly is advanced along markings, markings can be wiped by hairbrush, and now, markings are
Erasable form；Situation is wiped free of by checking markings, can intuitively observe the traveling precision of dolly.
Description of the drawings
Fig. 1 is that the new SCM Based Intelligent tracking of one kind described in the utility model tests the speed one embodiment of cart system
Overall structure diagram；
Fig. 2 is the use state schematic diagram of Fig. 1；
Fig. 3 is a kind of schematic top plan view from tracking cart described in the utility model；
It is left view that Fig. 4 is Fig. 3；
Fig. 5 is H-bridge circuit schematic diagram；
Fig. 6 is the internal H-bridge drive circuit of L298N；
Current flow diagrams when Fig. 7 is motor positive and inverse state；
Reference：
Controller 101；
Motor drive module 102；
Direct current generator 103；
Photoelectric code disk device 104；
Infrared reflection sensor 105；
Keyboard speed adjusting module 106；
Display module 107；
Vehicle frame 20；
Revolver 201；
Right wheel 202；
Universal wheel 203；
Water tank 204；
Water valve 2041.
The realization of the utility model purpose, functional characteristics and advantage will be described further in conjunction with the embodiments referring to the drawings.
Specific embodiment
Embodiment of the present utility model is described below in detail, the example of the embodiment is shown in the drawings, wherein ad initio
Represent same or similar element or the element with same or like function to same or similar label eventually.Below by ginseng
The embodiment for examining Description of Drawings is exemplary, it is intended to for explaining the utility model, and it is not intended that to the utility model
Restriction.
See figures.1.and.2, the utility model provides a kind of new SCM Based Intelligent tracking and tests the speed cart system,
Including controller 101；Motor drive module 102, the motor drive module 102 are electrically connected with controller 101；Direct current generator
103, the direct current generator 103 is electrically connected with the motor drive module 102；Photoelectric code disk device 104, the photoelectric code disk dress
104 are put on the output shaft of the direct current generator 103, and be connected with 101 signal of the controller；Infrared reflection is sensed
Device 105, the infrared reflection sensor 105 are electrically connected with the controller 101；Keyboard speed adjusting module 106, the keyboard are adjusted
Fast module 106 is electrically connected with the controller 101；For showing the display module 107 of speed and distance, the display module
107 are electrically connected with the controller 101；Supply module, the supply module are electric respectively with the single-chip microcomputer, motor drive module
Connection；The front of the vehicle frame 20 is additionally provided with a blower fan, and the blower fan is electrically connected with supply module.
One embodiment of the present utility model, the controller 101 are STC89C52 single-chip microcomputers.
One embodiment of the present utility model, the display module 107 are LCD1602.
One embodiment of the present utility model, the controller 101 are also electrically connected with crystal oscillating circuit, reset circuit.
One embodiment of the present utility model, the direct current generator 103 also with tire drive connection.
Fig. 3 and Fig. 4 is referred to, the utility model also provides one kind from tracking cart, including vehicle frame 20；The vehicle frame 20
Front is respectively equipped with revolver 201 and right wheel 202；The rear of the vehicle frame 20 is provided with universal wheel 203；It is additionally provided with motor and motor
Connected motor drive module 102；Single-chip microcomputer is also included；The front of the vehicle frame 20 is additionally provided with three infrared reflection sensings
Device 105, the infrared reflection sensor 105 are connected with the single-chip microcomputer respectively；The bottom of the vehicle frame 20 is provided with a water storage
Tank 204, the water tank 204 are provided with a water valve 2041；The bottom of the vehicle frame is provided with a lowering or hoisting gear, the lowering or hoisting gear
Lower section is provided with a hairbrush.
One embodiment of the present utility model, the water valve 2041 are magnetic valves.
One embodiment of the present utility model, also includes supply module, the supply module and the single-chip microcomputer, motor
Drive module 102 is electrically connected.
One embodiment of the present utility model, also includes runway, and the runway is provided with can be by the infrared reflection
The markings that sensor 105 is recognized.
In Fig. 1, controller 101 is completed by keyboard and display for the core parts of system, man-machine interaction, wherein keyboard
The travel speed from intelligent tracking trolley can be designed, top gear, mid ranger and low or first gear can be divided into；Velocity measuring module (light
Code disc encoder) umber of pulse for collecting is fed back in controller 101, controller 101 carries out process and show that dolly is current
Speed, the distance of traveling, then shown in display module 107LCD1602 in real time；Infrared-reflectance sensors gather ground
On black and white line information, feed back to single-chip microcomputer process, to reach the effect of tracking.The photoelectric code disk device 104 is photoelectric code
Disk encoder.
Using STC89C52 as system design master chip, the chip have 40 pins, maximum running frequency up to
35MHZ, built-in 4KB EEPROM, MAX810 reset circuit, 3 16 bit timing devices/counters, have lower cost, technology
Also more ripe, in that context it may be convenient to find the development data of correlation, also meet the requirement of Design of Intelligent Vehicle.Consider that intelligence is little
Car design only needs to show current speed, two information of distance that it is lower that LCD1602 has a price, and it is less to take I/O resource, compiles
The simpler feature of journey, therefore display module 107 have chosen LCD1602.
Master controller 101 uses single-chip microcomputer, and single-chip microcomputer is otherwise known as microcontroller 101, and English is entitled
Microcontrollers, it are not the chip that only limitation completes a certain logic function, but a kind of IC chip, lead to
Very large scale integration technology is crossed the central processor CPU with data-handling capacity, random access memory ram, timer/
Counter, read only memory ROM, the function such as multiple I/O mouths and interruption system are integrated into constitute on one piece of silicon chip and improve and work(
Can powerful microcomputer system, while smaller size smaller is had, have that can to complete the institute that computer can complete active
Can, obtain application communication apparatus, household electrical appliance, navigation system, real-time industry control etc. are many-sided at present, due to its have so that
The effect of model change, therefore plus adjective-intelligent before Chang Qi product.The hardware that scm application system is related to
Circuit mainly includes two key contents：One is the system configuration of single-chip microcomputer, is the configuration on request to ancillary equipment, in full
Mould changes (D/A), analog-to-digital conversion (A/D), display etc. [7]；Two is the extension system of single-chip microcomputer, i.e., single-chip microcomputer constitutes minimum
The functional module possessed after system, when internal resource such as RAM, ROM, GPIO, SPI, I2C, USART etc. of single-chip microcomputer are various outer
If project demand can not be met, the expansion of external circuit is at this moment accomplished by, selects suitably exploitation chip as requested, and then
Design corresponding appropriate circuitry.It is analyzed by the requirement to utility model, the STC89C52 using macrocrystalline scientific ＆ technical corporation is mono-
Piece machine carries out the exploitation of project as master chip, and the single-chip microcomputer is CMOS8 level controller 101, with high-performance, the spy such as low-power consumption
Point, programmable flash storage reach 8K byte capacity, and kernel is MCS-51, has done very on the basis of traditional 51 single-chip microcomputer
Many improvement, have many 51 New function not possessed, such as just more than tradition 51 on the timer.40 pins, its
In just have 32 I/O mouth lines, built-in 4KB EEPROM, 4 external interrupt, full duplex serial port, is in addition exactly to pass through software
Idle pulley or energy-saving mode is selected, operating voltage can be up to 35MHz in 3.3V 5.5V, highest operation frequency.
Crystal oscillating circuit play a part of in single-chip minimum system very big, like human heart, without crystal oscillator electricity
Road single-chip microcomputer cannot normal work, be single-chip microcomputer provide clock crystal oscillating circuit will with single-chip microcomputer coordinate can just tell on,
Such as there is a high gain inverting amplifier in the inside of single-chip microcomputer to constitute oscillator, the output of this amplifier and
Input pin is respectively XTAL2 and XTAL1.The generation of clock is not limited only to one kind, he and two ways, is divided into outside
Mode and internal type, generally speaking typically can preferentially adopt external mode, because the clocking error inside single-chip microcomputer is larger remote
It is outside accurate to be far from, stable, reliable；Internal oscillator is produced from by external timing element on XTAL1 and XTAL2 pin
Induced Oscillation.The shunt-resonant circuit that timing element referred herein is generally constituted using electric capacity and quartz crystal.The design is selected
Be 12MHZ passive crystal oscillator, 2 33PF electric capacity, by conversion it is known that a machine cycle be 1 microsecond, two electricity
Hold and can play a part of parallel resonance, two condenser types are indispensable, were it not for the electric capacity for adding the two 33PF, circuit
Will due to causing circuit cisco unity malfunction without loop failure of oscillation, and be system provide baseband signal be then by the crystalline substance of 12MHZ
Shake responsible.
Reset circuit is designed, and for a system, reset circuit is most important, and single-chip microcomputer normal operation is also needs
Come aided in, effect is that reset state that can be effectively to CPU is controlled during resetting or powering up to one reset circuit
System, CPU be not just resetted finish or once on electricity work, but keep reset state in this period, effectively played and prevented
The only effect of CPU maloperation, provides the stability of single-chip microcomputer work.For C52 single-chip microcomputer, when its RESET Port detecting
When to high level, single-chip microcomputer will carry out hard reset.
The design is connect high level and is just resetted using 10uF electric capacity and 10K resistance, monolithic processor resetting pin, electrification reset
When, as the voltage at electric capacity two ends is unable to transition, so powered on moment res end is high level, As time goes on, power supply leads to
Cross R9 to charge until being full of to electric capacity, res end becomes low level again, completes electrification reset.When button resets, RST end is low level,
When pushing button, button1, res end is connected with high level, then decontrols button, and res end returns to low level, completes button
Reset.
Fig. 5 to Fig. 7 is referred to, motor-drive circuit is designed, single-chip microcomputer is limited due to output current itself, can not be direct
Direct current generator 103 is driven, so design dolly has to the not enough and commutation of driving force is solved the problems, such as, design can typically adopt two
The scheme of kind, a kind of method is realized using special driving chip, and another kind of method is then that design is made up of resolution element
Drive circuit realize；As driving chip has, price is cheap, and simple structure, reliability are high, the features such as easy to use.Therefore
It is widely used in this field of Motor drive.Driving chip has a lot of such as BST7970, L298N, MC33886 etc., this intelligence
Energy dolly project uses the most commonly used L298N drive module, and MC33886, BST7970 are typically larger in power of motor
Occasion, when L298N is introduced, will first introduce lower H-bridge circuit, it should be noted that circuit is due to the internal unit for adopting below
Part is triode, and it is to amplify electric current that triode plays a part of in itself, so how to realize commutation function in explaining below
It is the part for needing to stress to explain.The principle of H-bridge circuit：Assume that switch E, H are connected, motor is rotated backward, and switchs F, G
Connect, now motor will change steering, to rotating forward, to reach the effect of motor positive and inverse control, in actual applications
We can also obtain other two states：
1) coasting
Coasting is the inertial deceleration state after motor power-off, can be divided into coasting in groups and independent coasting, and coasting in groups refers to
After working power loses, motor is due at short notice with the presence of residual voltage so that all motors are protected within a certain period of time
The rotation speed change that holds is essentially identical.And individually coasting then refers to that when a short circuit occurs the motor on bus can lose rapidly voltage,
No longer there is the contact of electricity by each motor in respective individually coasting.
2) brake
Will F, H or E, G connect, then motor inertia rotates the electromotive force for producing and will be shorted, and forms motion-impeding sense
Induced current, is split into " brake " effect.
Circuit above is that the switch in side circuit is usually to be replaced by four triodes for more preferable principle of specification,
Motor is the horizontal line in the middle of H, and four triodes are exactly four vertical lines of H bridge, only when a pair of triode on diagonal is led
Three-way motor could operate, and current direction has two ways, and from left to right or from right to left, this also determines the steering of motor, H bridge
Because can easily controlled motor turn to and widely applied.
The L298 motor drive ic that ST company releases is very popular, with high current, high voltage, output current wink
Between peak value maximum can arrive 3A；Operating voltage is high, and up to 46V, continuous firing electric current is 2A to maximum operating voltage, and rated power is
25W, is encapsulated as 15 pins, can be by the high-voltage great-current full-bridge type driver of two internal H bridges come Driving Stepping Motor
With direct current generator 103；With two with control, the control mode of the logic level signal of standard is used.L298N chip
Can be described as achieving weakness control forceful electric power, can be to two direct current generators 103 or a four phase step motor and one two
Phase step motor is carried out.
Because speed and the distance of current dolly will be shown in real time in design, speed acquisition circuit be whole system not
The part that can or lack.Selected in design is the most commonly used photoelectric velocity measurement, and specific practice is that a disk is fixed on motor shaft
On, and shown on its edge, there is individual decile groove, a light emitting diode is fixed on the side of disk, allow its position alignment
Groove, if phototriode is received irradiates, by gap, the light that comes from light emitting diode, now triode is just
Can turn on, it's not true will end, as can be seen from the figure motor every revolution, now corresponding monolithic generator terminal will be produced
N number of low level accordingly.With according to such characteristic, motor can be conversed by the input pulse of capture one-chip machine port
Real-time rotating speed and distance.
LCD1602 is used in the design of display circuit, the content which can show is 16X2, i.e., often row can show
Show 16 characters, two row can be shown, for requiring in project that display speed and distance are fully sufficient, it is a kind of special
It is used for showing numeral, symbol, the dot matrix type Liquid Crystal Module of letter etc..Also its principle is done under simple introduction below.1602 aobvious
Show that principle is exactly the arrangement situation for changing the liquid crystal material interior molecules being filled between two blocks of parallel-plates by voltage, to reach
Showing a variety of writings and images, if it is desired to realizing showing coloured image, that is accomplished by the purpose of shading and printing opacity
Between two blocks of parallel-plates plus three colors filter layer.According to the mobility feature that liquid crystal has, if it is desired to liquid crystal molecular movement is made, only
Additional very small strength is needed, it is example to take modal nematic crystal here, and the steering of liquid crystal molecule can have electricity
Field action can produce optical effect realizing by this, and when the electric field for being added on liquid crystal removes disappearance, liquid crystal will
Due to itself elasticity and stickiness, now liquid crystal molecule is very rapidly withdrawn and is disappeared to be not powered on the state before field.
In sum, the utility model devises a speed of service and stablizes, the intelligent carriage of tracking high precision.Dolly core
Chip centroid adopts the driving of STC89C52, direct current generator 103 to select L298N module, and photoelectric sensor exists with reference to photoelectric coded disk
Pulse can be produced in motion, and pulse is acquired and then processes drawing current speed that distance is simultaneously shown to
On LCD1602 Liquid Crystal Module；Dolly detects tracking track using infrared sensor, it is achieved that the autonomous tracking function of dolly；Real
Test result to show, rationally, overall performance is excellent, and operational efficiency is high, and control accuracy is high for each hardware module combination of the intelligent carriage,
Accurately tracking can be realized, test the speed, the function such as range finding, with certain antijamming capability.The utility model good stability, reliable
Property good, easy for operation, novel in design, practical, it is easy to popularization and application.By arranging hairbrush, when dolly is along markings
During traveling, markings can be wiped by hairbrush, and now, markings are erasable form；Situation is wiped free of by checking markings, can
Intuitively to observe the traveling precision of dolly.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or the spy described with reference to the embodiment or example
Point is contained at least one embodiment of the present utility model or example.In this manual, the schematic table to above-mentioned term
State and be not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can be
Combined in any one or more embodiments or example in an appropriate manner.
Although embodiment of the present utility model has been shown and described above, it is to be understood that above-described embodiment is
Exemplary, it is impossible to it is interpreted as that one of ordinary skill in the art is without departing from the utility model to restriction of the present utility model
Principle and objective in the case of above-described embodiment can be changed in the range of the utility model, change, replace and
Modification.
Claims (7)
1. a kind of new SCM Based Intelligent tracking tests the speed cart system, including vehicle frame, it is characterised in that also wrap on vehicle frame
Include：
Controller；
Motor drive module, the motor drive module are electrically connected with the controller；
Direct current generator, the direct current generator are electrically connected with the motor drive module；
Photoelectric code disk device, the photoelectric code disk device is on the output shaft of the direct current generator, and believes with the controller
Number connection；
Infrared reflection sensor, the infrared reflection sensor are electrically connected with the controller；
Keyboard speed adjusting module, the keyboard speed adjusting module are electrically connected with the controller；
For showing the display module of speed and distance, the display module is electrically connected with the controller；
Supply module, the supply module are electrically connected with the single-chip microcomputer, motor drive module；
The front of the vehicle frame is additionally provided with a blower fan, and the blower fan is electrically connected with supply module.
2. new SCM Based Intelligent tracking according to claim 1 tests the speed cart system, it is characterised in that described
Controller is STC89C52 single-chip microcomputer.
3. new SCM Based Intelligent tracking according to claim 1 tests the speed cart system, it is characterised in that described
Display module is LCD1602.
4. new SCM Based Intelligent tracking according to claim 1 tests the speed cart system, it is characterised in that described
Controller is also electrically connected with crystal oscillating circuit, reset circuit.
5. new SCM Based Intelligent tracking according to claim 1 tests the speed cart system, it is characterised in that described
Direct current generator also with tire drive connection.
6. one kind is from tracking cart, it is characterised in that include：
Vehicle frame；
The front of the vehicle frame is respectively equipped with revolver and right wheel；
The rear of the vehicle frame is provided with universal wheel；
It is additionally provided with motor motor drive module connected with motor；
Single-chip microcomputer is also included；The front of the vehicle frame is additionally provided with three infrared reflection sensors, and the infrared reflection is passed
Sensor is connected with the single-chip microcomputer respectively；
The bottom of the vehicle frame is provided with a lowering or hoisting gear, is provided with a hairbrush below the lowering or hoisting gear.
7. according to claim 6 from tracking cart, it is characterised in that also to include runway, the runway is provided with can
The markings recognized by the infrared reflection sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620793725.5U CN206002955U (en) | 2016-07-27 | 2016-07-27 | New SCM Based Intelligent tracking tests the speed cart system and from tracking cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620793725.5U CN206002955U (en) | 2016-07-27 | 2016-07-27 | New SCM Based Intelligent tracking tests the speed cart system and from tracking cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206002955U true CN206002955U (en) | 2017-03-08 |
Family
ID=58202226
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620793725.5U Expired - Fee Related CN206002955U (en) | 2016-07-27 | 2016-07-27 | New SCM Based Intelligent tracking tests the speed cart system and from tracking cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206002955U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153307A (en) * | 2017-12-21 | 2018-06-12 | 中国人民解放军总参谋部第六十研究所 | A kind of straight line autonomous tracing in intelligent vehicle |
| CN113192387A (en) * | 2021-04-25 | 2021-07-30 | 广西师范大学 | Intelligent hardware trolley teaching aid based on micro bit technology |
-
2016
- 2016-07-27 CN CN201620793725.5U patent/CN206002955U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108153307A (en) * | 2017-12-21 | 2018-06-12 | 中国人民解放军总参谋部第六十研究所 | A kind of straight line autonomous tracing in intelligent vehicle |
| CN108153307B (en) * | 2017-12-21 | 2021-12-24 | 中国人民解放军总参谋部第六十研究所 | Linear tracing method |
| CN113192387A (en) * | 2021-04-25 | 2021-07-30 | 广西师范大学 | Intelligent hardware trolley teaching aid based on micro bit technology |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102393739B (en) | Intelligent trolley and application method thereof | |
| CN202225891U (en) | Intelligent trolley | |
| CN105863351A (en) | Autonomous parking system and method based on intelligent automobile transporters | |
| CN206002955U (en) | New SCM Based Intelligent tracking tests the speed cart system and from tracking cart | |
| CN101898354A (en) | Intelligent household service robot | |
| CN201569917U (en) | Intelligent tracking drift dolly | |
| CN105215997B (en) | A kind of control method of path point type walking robot | |
| CN107589744A (en) | The unmanned platform method of Omni-mobile based on freeway tunnel Crack Detection | |
| CN105005249A (en) | Fully automatic four-wheel two-core high speed fire extinguishing robot servo controller | |
| CN205880662U (en) | Test speed trolley system and from tracking intelligent vehicle of intelligence tracking based on singlechip | |
| CN203838556U (en) | Control system for intelligent teaching vehicle | |
| CN108279681A (en) | A kind of two-wheel drive type low speed cruiser system and working method | |
| CN105045289A (en) | Single-wheel full-automatic high-speed fire-fighting robot servo control system | |
| CN105573316A (en) | Autonomous-formation mobile swarm robot | |
| CN105169610A (en) | Dual-core servo control system based on two-wheeled high-speed fully automatic fire extinguishing robot | |
| CN107253203A (en) | Multimode Intelligent toy collects robot | |
| CN202735844U (en) | Intelligent trolley control system | |
| CN110509297A (en) | A kind of two dimensional code detection robot, detection system and detection method | |
| CN103885448A (en) | Intelligent vehicle control system for teaching | |
| CN106020195A (en) | Intelligent trolley control system | |
| CN106094821A (en) | A kind of intelligent carriage control system based on infrared sensor | |
| CN209327874U (en) | The control system of electromagnetic tracking Image Acquisition trolley | |
| CN207115188U (en) | A kind of intelligent carriage | |
| CN208888654U (en) | A kind of agricultural robot obstacle avoidance system | |
| CN105223954B (en) | The path point type walking robot and its control method of a kind of recognizable human body |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170308 Termination date: 20170727 |