CN206147338U - Automatic tracking dolly based on inductance converter - Google Patents
Automatic tracking dolly based on inductance converter Download PDFInfo
- Publication number
- CN206147338U CN206147338U CN201621088675.7U CN201621088675U CN206147338U CN 206147338 U CN206147338 U CN 206147338U CN 201621088675 U CN201621088675 U CN 201621088675U CN 206147338 U CN206147338 U CN 206147338U
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- CN
- China
- Prior art keywords
- inductance
- car body
- digitalizer
- automatic tracking
- tracking dolly
- 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.)
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Abstract
The utility model relates to an automatic tracking dolly based on inductance converter, include: an automobile body, one set up in the drive arrangement that goes of automobile body bottom, one set up in the path identification device of automobile body bottom and one set up in the control drive arrangement on automobile body top, the path identification device is used for and sets up the iron wire cooperation on dolly route, accessory drive includes a microprocessor and the motor drive unit and the iron wire route detecting element that link to each other respectively with this microprocessor, the motor drive unit is used for cooperating with the drive arrangement that traveles, iron wire route detecting element links to each other with the path identification device. The utility model provides an automatic tracking dolly based on inductance converter, possesses low -power consumption, low cost, to insensitive, the simple reliable advantage of control method of light.
Description
Technical field
The utility model is related to navigation channel control technology field, particularly a kind of automatic tracking based on inductance digitalizer
Dolly.
Background technology
Intelligent tracking trolley is called wheeled robot, widely should have been obtained in the modern life and industry spot
With.Intelligent tracking trolley can be identified and judge for specific path, make car body walk along path by certain algorithm.
The sensor that common path detection method is mainly used has：Photoelectric tube, laser are to pipe, line array CCD, shooting
Head, electromagnetism guiding etc..
Need path that there is obviously contrast in pipe detection path using photoelectric tube, laser（Such as black and white
Color）, and it is very sensitive to the light at scene.Carrying out Path Recognition using line array CCD and camera has the points of collection many,
The identification in path can be carried out according to the corresponding digital quantity of different gray scales, with method is direct, accuracy of identification is high, Path Recognition scope
Big the characteristics of, but the amount of calculation of corresponding recognizer is larger, and the requirement to main control chip is higher, and light is also required.
The path identification method guided using electromagnetism is usually, along the embedded electric wire of driving path set in advance, to work as high-frequency electrical in subsurface
When stream flows through wire, electromagnetic field is produced around wire.Electromagnetic sensor is installed on dolly, according to the intensity for receiving electromagnetic signal
Difference can reflect the degree of vehicle deflection path.The Path Recognition mode that bracket draws do not required light, however it is necessary that
High frequency electric is applied to path, inevitable electromagnetic radiation and the loss of electric energy is caused.
The content of the invention
The purpose of this utility model is to provide a kind of automatic tracking dolly based on inductance digitalizer, existing to overcome
There is defect present in technology.
For achieving the above object, the technical solution of the utility model is：A kind of following automatically based on inductance digitalizer
Mark dolly, including：One car body, one are arranged at the running driving device of the car body bottom, one are arranged at the car body bottom
Path Recognition device and the control driving means for being arranged at the car body top；The Path Recognition device is used for and setting
Iron wire on dolly travel route coordinates；It is described control driving means include a micro-control processor and respectively with the micro-control at
The connected electric-motor drive unit of reason device and iron wire path detection unit；The electric-motor drive unit is used to be driven with the traveling
Device coordinates；The iron wire path detection unit is connected with the Path Recognition device.
In the embodiment of the utility model one, the running driving device includes being arranged at the car body lower surface front end left side
The first driving wheel, be arranged at the car body lower surface and for driving the first motor of first driving wheel, being arranged at this
The second driving wheel on the right side of the front end of car body lower surface, it is arranged at the car body lower surface and for driving second driving wheel second
Motor and the universal wheel being arranged in the middle part of the car body lower end surface rear end.
In the embodiment of the utility model one, also including being arranged at car body lower surface for detecting first motor
First encoder speed measuring module of rotating speed and the second encoder speed measuring module for detecting the second motor rotating speed；
The first encoder speed measuring module to the second encoder speed measuring module is connected with the micro-control processor.
In the embodiment of the utility model one, the Path Recognition device includes being arranged in the front end of the car body lower surface
The contiguous block in portion and the first PCB coil of the contiguous block lower surface is arranged to the 4th PCB coil；First PCB coil
The contiguous block lower surface is arranged at intervals at successively from left to right to the 4th PCB coil.
In the embodiment of the utility model one, first PCB coil to the 4th PCB coil is external diameter 13mm, line
Footpath 4mil, live width 4mil, the 25 Double Layer Circular PCB coils pricked.
In the embodiment of the utility model one, the electric-motor drive unit is included by IR2104 half-bridge driven chips and MOS
The full bridge driving circuit of pipe composition.
In the embodiment of the utility model one, the iron wire path detection unit includes inductance digitalizer LDC1314
Chip.
In the embodiment of the utility model one, also including be arranged at the car body upper surface and respectively with the micro-control process
The connected OLED display screen of device and keyboard.
In the embodiment of the utility model one, also the car body upper surface is arranged at including one and the electricity for providing power supply
Source unit；The power subsystem includes a lithium polymer battery group and a switching regulator IC LM2596.
In the embodiment of the utility model one, the micro-control processor includes a STM32F103RBT6 chips.
Compared to prior art, the utility model has the advantages that：
(1) the utility model proposes the automatic tracking dolly based on inductance digitalizer to the light of running environment not
Sensitivity, even night is it is also ensured that the accuracy of tracking.
(2) the utility model proposes the automatic tracking dolly based on inductance digitalizer to the less demanding of path,
Tracking path is can be used as using common iron wire of the line footpath for 0.6mm to 0.9mm.The iron wire on ground is layered on without the need for being powered, only root
Can determine that the relative position of sensor and iron wire according to the inductance value change of the inductance coil near iron wire, so as to judge dolly with
There is the size of deviation between path.
(3) the utility model proposes low-power consumption, green ring are had based on the automatic tracking dolly of inductance digitalizer
The characteristics of guarantor.
(4) the utility model proposes inductance digitalizer LDC1314 operating voltages be 3.3V, LC resonance currents are only
1.7mA, micro power consumption.Because the iron wire on tracking path is without energization, not there are problems that electromagnetic radiation and electric energy loss.
(5) the utility model proposes based on inductance digitalizer pass through a piece of LDC1314 inductance digitalizer core
Piece connects the inductance coil of 4 passages, to the inductance value for detecting 4 tunnels, can fully ensure that the accuracy of path detection.
Description of the drawings
Fig. 1 is the automatic tracking dolly side view in the utility model based on inductance digitalizer.
Fig. 2 is the automatic tracking dolly front view in the utility model based on inductance digitalizer.
Fig. 3 is the automatic tracking dolly rearview in the utility model based on inductance digitalizer.
Fig. 4 is the hard of the automatic tracking trolley control system in the embodiment of the utility model one based on inductance digitalizer
Part design frame chart.
Fig. 5 is the overall software architecture schematic diagram of system in the embodiment of the utility model one.
Fig. 6 is the overall software flow pattern of system in the embodiment of the utility model one.
Fig. 7 is the hardware circuit principle figure of LDC1314 inductance digital quantizers in the embodiment of the utility model one
Fig. 8 is that 4 inductance coils are matched somebody with somebody with iron wire on dolly driving path in trolley in the embodiment of the utility model one
Close schematic diagram.
Fig. 9 is the motor control algorithms flow chart for following line automatically of automatic tracking dolly in the embodiment of the utility model one.
Specific embodiment
Below in conjunction with the accompanying drawings and existing software or control method, the technical solution of the utility model is carried out specifically
It is bright.The existing software being related in the declarative procedure or control method are not the object that the utility model is protected, this practicality
The new structure and its annexation for only protecting the device.
The utility model provides a kind of automatic tracking dolly based on inductance digitalizer, as shown in figure 1, including：One
Car body 1, one is arranged at the running driving device 2, of car body bottom and is arranged at the Path Recognition device 3 and of car body bottom and sets
It is placed in the control driving means 4 on car body top.Path Recognition device is used to coordinate with the iron wire being arranged on dolly travel route；
Control driving means include a micro-control processor and the electric-motor drive unit being connected with the micro-control processor respectively and iron wire
Path detection unit；Electric-motor drive unit is used to coordinate with running driving device；Iron wire path detection unit is filled with Path Recognition
Put connected.
Further, in the present embodiment, as shown in Fig. 2 ~ 3, running driving device 2 includes being arranged at the car body lower surface
The first driving wheel 21 on the left of front end, it is arranged at the car body lower surface and the first motor for driving first driving wheel
22nd, be arranged at the second driving wheel 23 on the right side of the car body lower surface front end, be arranged at the car body lower surface and for drive this
Second motor 24 of two driving wheels and the universal wheel 25 being arranged in the middle part of the car body lower end surface rear end.
Further, in the present embodiment, also including be arranged at car body lower surface for detect the first motor rotating speed
The first encoder speed measuring module and for detect the second motor rotating speed second encoder speed measuring module；First coding
Device speed measuring module to second encoder speed measuring module is connected with micro-control processor.
Further, in the present embodiment, Path Recognition device includes being arranged at the connection of car body lower surface front center
Block and the first PCB coil of the contiguous block lower surface is arranged to the 4th PCB coil；First PCB coil is to the 4th PCB coil
It is arranged at intervals at contiguous block lower surface successively from left to right.First PCB coil to the 4th PCB coil is external diameter 13mm, line footpath
4mil, live width 4mil, the 25 Double Layer Circular PCB coils pricked.
Further, in the present embodiment, electric-motor drive unit includes being made up of IR2104 half-bridge driven chips and metal-oxide-semiconductor
Full bridge driving circuit.The output end of the full bridge driving circuit is connected respectively with motor, for driving the first motor
Or second motor, with high voltage withstanding, high current, response frequency it is high, with functions such as excessively streams.
Further, in the present embodiment, iron wire path detection unit includes inductance digitalizer LDC1314 chips.
The LDC1314 possesses low-power consumption, small package, low cost, high-resolution, high-precision advantage.There is LDC1314 modules I2C to lead to
The inductance measurement resolution ratio of 4 Channel 12-Bits of letter agreement, by the conjunction to resonant frequency, RCOUNT values and sensor driving current
Reason, the flexible resolution ratio and sample rate for arranging, can effectively taking into account measurement multichannel measurement.Reliable four-way inductance inspection
Survey, be conducive to tracking cart stably to travel, prevent from deviateing normally travel track.For the iron wire line footpath size of tracking path laying
Difference, the size of inductance coil, parameter, shape can flexible design, extensibility is strong.Only need to be arrived in ground laying 0.6mm
The common iron wire of 0.9mm, without the need for being powered, dolly just can identify that sensor is relative with iron wire using inductive data converter
Position and deviation size, so as to accurately control the path that dolly tracks iron wire, and then cause this based on inductance digitalizer
Automatic tracking dolly is insensitive to the light of running environment, to the less demanding of terrestrial path.
Further, because a piece of LDC1314 inductance digitalizer chip can connect the inductance coil of 4 passages, inspection
The inductance value signal on 4 tunnels is surveyed, the accuracy of path detection can be effectively ensured.Dolly adopts differential steering control mode, satisfies the need
The radius adaptability that footpath is turned round is very strong, and the motor control algorithms of automatic tracking are simple, and amount of calculation is little, the computing to microcontroller
Performance requirement it is not high.
Further, in the present embodiment, also including being arranged at car body upper surface and be connected with micro-control processor respectively
High brightness, low-power consumption, small volume, 0.96 cun of OLED display screen of light weight and keyboard.The OLED display, not only provides friend
Good man-machine interaction interface, also with advantages such as frivolous, power saving, high brightness.
Further, in the present embodiment, also it is arranged at car body upper surface including one and the power supply list for providing power supply
Unit；The power subsystem includes a 2600mAh 3S 11.1V 25C lithium polymer batteries groups and a switching regulator IC
LM2596。
Further, in the present embodiment, micro-control processor include that an operating frequency is high, the speed of service is fast, good stability,
On-Chip peripheral is abundant, the STM32F103RBT6 chips that power attenuation is little.
Further, as shown in figure 4, path detection module, namely LDC1314 chips, coil is gathered with ground iron wire
Deviation data sends STM32F103RBT6 chips, namely micro controller module to the communication mode of IIC.Four road inductance coils
Using specification identical bilayer PCB coil, using the sensing design tool design of WEBENCH inductance, according to sensing distance, essence
The mechanical requirements such as degree and iron wire line footpath determine.4 PCB coils are installed on the front end of car, are spaced 1.5cm, STM32F103RBT6
Chip gathers four circuit-switched datas of LDC1314 chips, row Path Recognition and motor control algorithms.By holding operation result with PWM controls
The mode of system passes to electric-motor drive unit, the steering and speed for controlled motor, to control the straight trip and steering of dolly.Electricity
Machine speed measuring module, namely the rotating speed of two motors in encoder speed measuring module measurement left and right, advance distance for counting of carriers and
Differential control during steering.Display module is communicated with microcontroller using SPI modes, for show No. four sensors data,
The important parameters such as the number of the time of trolley travelling, the changing value of four winding inductance quantities, the distance of operation and detection sheet metal,
In order to more intuitively be manipulated, good man-machine interaction is realized.Keysheet module is with common I/O modes and micro controller module
Connection, arranges the function keys such as startup, reset, stopping, debugging on keyboard.
Further, as shown in figure 5, the initialization of STM32 includes：Clock initialization, GPIO initialization, IIC initialization
With SPI initialization.Equipment initialization includes：LDC1314 initialization, button initialization, OLED initialization, PWM module initialization
And external interrupt initialization.Calculated by principal function recursive call key scan, keystroke handling, path detection algorithm, motor control
Method, OLED show and the subfunction such as sound and light alarm, makes system worked well.
Further, as shown in fig. 6, microcontroller STM32 is carried out after system initialization and peripheral hardware initialization, into keyboard
Scanning, judges whether to enter debugging mode.If so, the parameter setting of correlation is then carried out, quick, middling speed is entered, is advanced at a slow speed etc.
Pattern；Otherwise system will gather the inductance value running parameter of 4 road inductance coils being connected with LDC1314, to carry out path
Identification.System calls the PWM value of two motors of motor control algorithms real-time adjustment according to the result of Path Recognition, makes dolly accurate
Really track iron wire path.
Further, as shown in fig. 7, the V of LDC1314 inductance digital quantizersDDIt is electric that end meets 3.3V by zero Europe resistance
Pressure, while and connecing the filter capacitor of 0.1uf and 1uf.LDC1314 is communicated by IIC agreements with microcontroller, SCL with
The PD4 of microcontroller STM32 is connected, SDA is connected with the PD6 of microcontroller IN0A and IN0B, IN1A and IN1B, IN2A and
IN2B, IN3A and IN3B mouth is connected respectively with 4 coils, for gathering inductive data.SD pin and ADDR pin connect 0V low levels,
INTB connects 3.3V high level, and CLKIN connects 8Mhz clocks.
Further, as shown in figure 8, in trolley 4 inductance coils scheme of installation.32nd, 33,34,35 difference
To be placed in a Chinese herbaceous peony left side 2, left 1, right 1, right 2 coil, L2, L1, R1, R2 are designated as respectively.5 is the iron that line footpath is 0.6mm to 0.9mm
Silk.6 is a 5th edition mao coin for being close to iron wire side.
Further, as shown in figure 9, LDC1314 gathers the inductance value data of four-way inductance coil, compared with threshold value
Compared with.If inductance value is not more than threshold value, illustrate to be not detected by iron wire, corresponding variables L 2=L1=R1=R2=0, dolly is straight
OK.If inductance value is more than threshold value, illustrate to detect iron wire or coin.If inductance value is more than the threshold value of coin, inspection is illustrated
What is measured is coin；If being not greater than the threshold value of coin, illustrate to detect is iron wire, now enters and follows line evaluation algorithm.Calculate
Method is specific as follows：If L1=1 and R1=0, little left-hand rotation instruction is performed, the differential of left and right wheels is less；If L1=0 and R1=1,
Little instruction of turning right is performed, the differential of left and right wheels is less；If L2=1 and R2=0, big left-hand rotation instruction, the differential of left and right wheels are performed
Increase；If L2=0 and R2=1, big instruction of turning right is performed, the differential of left and right wheels is increased.
It is more than preferred embodiment of the present utility model, all changes made according to technical solutions of the utility model are produced
Function without departing from technical solutions of the utility model scope when, belong to protection domain of the present utility model.
Claims (10)
1. a kind of automatic tracking dolly based on inductance digitalizer, it is characterised in that include：One car body, one are arranged at institute
The running driving device of car body bottom is stated, one the Path Recognition device of the car body bottom is arranged at and one is arranged at the car
The control driving means on body top；The Path Recognition device is used to coordinate with the iron wire being arranged on dolly travel route；Institute
Control driving means are stated including a micro-control processor and the electric-motor drive unit being connected with the micro-control processor respectively and iron
Thread path detector unit；The electric-motor drive unit is used to coordinate with the running driving device；The iron wire path detection list
It is first to be connected with the Path Recognition device.
2. a kind of automatic tracking dolly based on inductance digitalizer according to claim 1, it is characterised in that described
Running driving device includes being arranged at the first driving wheel on the left of the car body lower surface front end, is arranged at the car body lower surface and use
In the first motor for driving first driving wheel, the second driving wheel being arranged on the right side of the car body lower surface front end, arrange
In the car body lower surface and for driving the second motor of second driving wheel and being arranged at the car body lower end surface rear end
The universal wheel at middle part.
3. a kind of automatic tracking dolly based on inductance digitalizer according to claim 2, it is characterised in that also wrap
Include and be arranged at car body lower surface for detecting the first encoder speed measuring module of the first motor rotating speed and for examining
Survey the second encoder speed measuring module of the second motor rotating speed；The first encoder speed measuring module to described second compiles
Code device speed measuring module is connected with the micro-control processor.
4. a kind of automatic tracking dolly based on inductance digitalizer according to claim 1, it is characterised in that described
Path Recognition device includes being arranged at the contiguous block of car body lower surface front center and is arranged at the contiguous block lower surface
The first PCB coil to the 4th PCB coil；To the 4th PCB coil, from left to right successively interval sets first PCB coil
It is placed in the contiguous block lower surface.
5. a kind of automatic tracking dolly based on inductance digitalizer according to claim 4, it is characterised in that described
First PCB coil to the 4th PCB coil is external diameter 13mm, line footpath 4mil, live width 4mil, the 25 Double Layer Circular PCB lines pricked
Circle.
6. a kind of automatic tracking dolly based on inductance digitalizer according to claim 1, it is characterised in that described
Electric-motor drive unit includes the full bridge driving circuit being made up of IR2104 half-bridge driven chips and metal-oxide-semiconductor.
7. a kind of automatic tracking dolly based on inductance digitalizer according to claim 1, it is characterised in that described
Iron wire path detection unit includes inductance digitalizer LDC1314 chips.
8. a kind of automatic tracking dolly based on inductance digitalizer according to claim 1, it is characterised in that also wrap
Include and be arranged at the car body upper surface and the OLED display screen that is connected with the micro-control processor respectively and keyboard.
9. a kind of automatic tracking dolly based on inductance digitalizer according to claim 1, it is characterised in that also wrap
Include one and be arranged at the car body upper surface and the power subsystem for providing power supply；The power subsystem includes a lithium polymer battery
Group and a switching regulator IC LM2596.
10. a kind of automatic tracking dolly based on inductance digitalizer according to any one of claim 1 to 8, it is special
Levy and be, the micro-control processor includes a STM32F103RBT6 chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621088675.7U CN206147338U (en) | 2016-09-29 | 2016-09-29 | Automatic tracking dolly based on inductance converter |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621088675.7U CN206147338U (en) | 2016-09-29 | 2016-09-29 | Automatic tracking dolly based on inductance converter |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206147338U true CN206147338U (en) | 2017-05-03 |
Family
ID=58621586
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621088675.7U Expired - Fee Related CN206147338U (en) | 2016-09-29 | 2016-09-29 | Automatic tracking dolly based on inductance converter |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206147338U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107564166A (en) * | 2017-10-20 | 2018-01-09 | 桂林电子科技大学 | A kind of new Coin sorting debates pseudo-device |
| CN110182511A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle |
-
2016
- 2016-09-29 CN CN201621088675.7U patent/CN206147338U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107564166A (en) * | 2017-10-20 | 2018-01-09 | 桂林电子科技大学 | A kind of new Coin sorting debates pseudo-device |
| CN110182511A (en) * | 2019-05-13 | 2019-08-30 | 盐城品迅智能科技服务有限公司 | A kind of the steering deceleration device and turning retarding method of intelligent storage vehicle |
| CN110182511B (en) * | 2019-05-13 | 2021-06-22 | 彭甜甜 | Steering speed reduction device and steering speed reduction method of intelligent storage vehicle |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| 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: 20170503 Termination date: 20190929 |