CN206178473U - Control system of intelligence materials handling dolly - Google Patents
Control system of intelligence materials handling dolly Download PDFInfo
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- CN206178473U CN206178473U CN201621130604.9U CN201621130604U CN206178473U CN 206178473 U CN206178473 U CN 206178473U CN 201621130604 U CN201621130604 U CN 201621130604U CN 206178473 U CN206178473 U CN 206178473U
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Abstract
The utility model relates to a control system of intelligence materials handling dolly, which comprises a camera, photoelectric sensor, infrared sensor, weighing transducer and mechanical switch, its output is all continuous with the signal input part of controller, the signal output part of controller respectively with the left side motor, right side of motor, the steering wheel, the LCD charactron, LED lamp and bee calling organ's input links to each other, the output of left side motor links to each other with the input of left drive wheel, right side of motor's output links to each other with the input of right drive wheel, the output of steering wheel links to each other with the input of carrying the mechanism. The utility model discloses a DC Brushless motor drives the floor truck, the driving energy reinforce, and load capacity is big, has improved dolly handling efficiency, through structure and the colour information that the material was gathered to the camera, to guarantee to carry the material correct at every turn, has avoided secondary transport or repeated transport, adopt TI TMS320F2812 DSP as microprocessor, signal processing can the reinforce, and the control accuracy height is controlled reliable and stablely.
Description
Technical field
This utility model is related to mobile robot technology field, especially a kind of control system of intelligent material conveying dolly
System.
Background technology
In today that science and technology is developed rapidly, applying for mobile robot is more and more extensive in people's life, in lathe
Suffer from widely applying in the carrying of loading and unloading, automatic assembly line and material, intelligent material conveying dolly is used as movement
One kind of robot, can substitute people and material is carried in rugged environment, it is to avoid dangerous, reduce labour force, have wide
Development prospect.
At present, the control system of intelligent material conveying dolly is unstable, and in floor truck walking process, easy power-off, leads
Cause material be transported to destination, secondly, floor truck is most of not to have image identification function, in handling process easily
Produce mistake and carry phenomenon, and floor truck of the prior art has strict restriction to the weight of material carried, and have impact on
The handling efficiency of dolly.
Utility model content
The purpose of this utility model is to provide a kind of control more reliable and more stable, handling efficiency is high, long service life
The control system of intelligent material conveying dolly.
For achieving the above object, this utility model employs technical scheme below：A kind of control of intelligent material conveying dolly
System processed, including for gathering the photographic head of material structure and colouring information, the photoelectric sensor for detecting route information, use
In the detection infrared sensor of obstacle information, the weight sensor for gathering weight of material signal and it is used for control system
The mechanical switch of startup, the outfan of the photographic head, photoelectric sensor, infrared sensor, weight sensor and mechanical switch
Be connected with the signal input part of controller, the signal output part of controller respectively with left motor, right motor, steering wheel, LCD
Charactron, LED are connected with the input of buzzer, and the outfan of left motor is connected with the input of left driving wheel, right side
The outfan of motor is connected with the input of right driving wheel, and the outfan of steering wheel is connected with the input of carrying mechanism.
The controller includes image information processing module, route detection process module, infrared signal processing module, mould
Intend signal processing module, switching signal processing module, microprocessor, left motor drive module, right motor drive module, rudder
Machine control module, LCD numeral method modules, LED control module and buzzer control module；The input of the microprocessor
Respectively with image information processing module, route detection process module, infrared signal processing module, analog signal processing module and
The outfan of switching signal processing module is connected, the input of described image message processing module and the outfan phase of photographic head
Even, the input of route detection process module is connected with the outfan of photoelectric sensor, and the infrared signal processes mould
The input of block is connected with the outfan of infrared sensor, input and the weight sensor of the analog signal processing module
Outfan is connected, and the input of switching signal processing module is connected with the outfan of mechanical switch；The microprocessor
Outfan respectively with left motor drive module, right motor drive module, servos control module, LCD numeral method modules,
LED control module is connected with the input of buzzer control module, outfan and the left side electricity of the left motor drive module
The input of machine is connected, and the outfan of right motor drive module is connected with the input of right motor, the steering wheel control
The outfan of molding block is connected with the input of steering wheel, and the outfan of the LCD numeral methods module is defeated with LCD charactrons
Enter end to be connected, the outfan of the LED control module is connected with the input of LED, the output of the buzzer control module
End is connected with the input of buzzer.
The left motor drive module is identical with the right motor drive module, using TI DRV8301 as electricity
Machine driving chip；The servos control module adopts 16 road servos control modules of PCA9685.
The left motor is identical with the right motor, using DC brushless motor.
The microprocessor adopts TMS320F2812 chips.
As shown from the above technical solution, the utility model has the advantage of：First, driven using DC brushless motor and removed
Fortune dolly, driving force are strong, and load capacity is big, improves dolly handling efficiency；Second, this utility model is gathered by photographic head
The structure and colouring information of material, it is ensured that carry every time material correct, it is to avoid rehandling repeats to carry；3rd, this
, using TI TMS320F2812 DSP as microprocessor, signal handling capacity is strong, and control accuracy is high, and control is stable for utility model
It is reliable.
Description of the drawings
Fig. 1 is circuit diagram of the present utility model.
Specific embodiment
As shown in figure 1, a kind of control system of intelligent material conveying dolly, including for gathering material structure and color letter
The photographic head of breath, the photoelectric sensor for detecting route information, the infrared sensor for detecting obstacle information, for adopting
The weight sensor of collection weight of material signal and the mechanical switch started for control system, the photographic head, photoelectric sensing
The outfan of device, infrared sensor, weight sensor and mechanical switch is connected with the signal input part of controller 100, control
The signal output part of device 100 input respectively with left motor, right motor, steering wheel, LCD charactrons, LED and buzzer
It is connected, the outfan of left motor is connected with the input of left driving wheel, the outfan of right motor and the input of right driving wheel
End is connected, and the outfan of steering wheel is connected with the input of carrying mechanism.The left motor drive module 106 and right side electricity
Machine drive module 107 is identical, using TI DRV8301 as motor drive ic；The servos control module 108 is adopted
16 road servos control modules of PCA9685.The left motor is identical with the right motor, using DC brushless motor.Control
The signal that device processed 100 is transmitted according to sensor and photographic head, control left motor, right motor and steering wheel according to target require fortune
Turn, and then control left driving wheel and right driving wheel rotary work, and the loading and unloading work of carrying mechanism, and controller 100
Control LCD numeral method work, and the alert operation of LED and buzzer.
As shown in figure 1, the controller 100 includes image information processing module 101, route detection process module 102, red
Outside line signal processing module 103, analog signal processing module 104, switching signal processing module 105, microprocessor 112, left side
Motor drive module 106, right motor drive module 107, servos control module 108, LCD numeral methods module 109, LED
Control module 110 and buzzer control module 111；The input of the microprocessor 112 respectively with image information processing module
101st, at route detection process module 102, infrared signal processing module 103, analog signal processing module 104 and switching signal
The outfan of reason module 105 is connected, and the input of described image message processing module 101 is connected with the outfan of photographic head, institute
The input for stating route detection process module 102 is connected with the outfan of photoelectric sensor, the infrared signal processing module
103 input is connected with the outfan of infrared sensor, and input and the weight of the analog signal processing module 104 are sensed
The outfan of device is connected, and the input of the switching signal processing module 105 is connected with the outfan of mechanical switch；Micro- place
Reason device 112 outfan respectively with left motor drive module 106, right motor drive module 107, servos control module 108,
LCD numeral methods module 109, LED control module 110 is connected with the input of buzzer control module 111, the left side electricity
The outfan of machine drive module 106 is connected with the input of left motor, the outfan of the right motor drive module 107 with
The input of right motor is connected, and the outfan of the servos control module 108 is connected with the input of steering wheel, the LCD numbers
The outfan of code pipe display module 109 is connected with the input of LCD charactrons, the outfan of the LED control module 110 and
The input of LED is connected, and the outfan of the buzzer control module 111 is connected with the input of buzzer.Micro- place
Reason device 112 adopts TMS320F2812 chips.
This utility model is further described below in conjunction with Fig. 1.
Intelligent material conveying dolly is three wheeler, and front is a universal wheel, and the rear left and right sides is driving wheel.In intelligence
One layer of black vaginal discharge is posted on the travel route of material handling dolly, intelligent material conveying dolly mechanical switch is opened, starts intelligent thing
Material floor truck, detects the black vaginal discharge signal on road surface by photoelectric sensor, then by signal pass course detection process module
102 send microprocessor 112 to, and microprocessor 112 passes through left motor drive module 106,107 and of right motor drive module
The control left motor of servos control module 108, right motor and steering wheel, and then control left driving wheel, right driving wheel and carrying implement
Structure, and turned to by universal wheel, it is ensured that intelligent material conveying dolly loads and unloads material in target location, and up in target trajectory
Sail.To realize the accurate carrying of dolly and avoiding dolly from running into barrier, material structure and color letter are gathered by photographic head
Number, weight sensor collection weight of material signal, infrared sensor detection preceding object thing signal, at image information
Reason module 101, analog signal processing module 104, infrared signal processing module 103 send signal data to microprocessor
112, microprocessor 112 passes through LCD numeral methods module 109, LED control module 110 and buzzer control module 111 is controlled
LCD charactrons, LED and buzzer, surpass when dolly detects the requirement against regulation of material structure and color, weight of material
Go out when having barrier in front of the threshold values and dolly of 112 inner setting of microprocessor, control buzzer warning, LED is constantly dodged
It is bright, and the display alarm information on LCD charactrons.
In sum, this utility model drives floor truck using DC brushless motor, and driving force is strong, load capacity
Greatly, improve dolly handling efficiency；The structure and colouring information of material are gathered by photographic head, it is ensured that just carrying material every time
Really, it is to avoid rehandling repeats to carry；Using TI TMS320F2812 DSP as microprocessor, signal handling capacity
By force, control accuracy is high, controls reliable and stable.
Claims (5)
1. a kind of control system of intelligent material conveying dolly, it is characterised in that：Including for gather material structure and color letter
The photographic head of breath, the photoelectric sensor for detecting route information, the infrared sensor for detecting obstacle information, for adopting
The weight sensor of collection weight of material signal and the mechanical switch started for control system, the photographic head, photoelectric sensing
The outfan of device, infrared sensor, weight sensor and mechanical switch is and controller（100）Signal input part be connected, control
Device processed（100）Signal output part it is defeated with left motor, right motor, steering wheel, LCD charactrons, LED and buzzer respectively
Enter end to be connected, the outfan of left motor is connected with the input of left driving wheel, outfan and the right driving wheel of right motor
Input is connected, and the outfan of steering wheel is connected with the input of carrying mechanism.
2. the control system of intelligent material conveying dolly according to claim 1, it is characterised in that：The controller
（100）Including image information processing module（101）, route detection process module（102）, infrared signal processing module（103）、
Analog signal processing module（104）, switching signal processing module（105）, microprocessor（112）, left motor drive module
（106）, right motor drive module（107）, servos control module（108）, LCD numeral method modules（109）, LED control
Module（110）With buzzer control module（111）；The microprocessor（112）Input respectively with Image Information Processing mould
Block（101）, route detection process module（102）, infrared signal processing module（103）, analog signal processing module（104）With
Switching signal processing module（105）Outfan be connected, described image message processing module（101）Input and photographic head
Outfan is connected, the route detection process module（102）Input be connected with the outfan of photoelectric sensor, it is described infrared
Line signal processing module（103）Input be connected with the outfan of infrared sensor, the analog signal processing module（104）
Input be connected with the outfan of weight sensor, the switching signal processing module（105）Input and mechanical switch
Outfan be connected；The microprocessor（112）Outfan respectively with left motor drive module（106）, right motor drive
Dynamic model block（107）, servos control module（108）, LCD numeral method modules（109）, LED control module（110）And buzzer
Control module（111）Input be connected, the left motor drive module（106）Outfan and left motor input
It is connected, the right motor drive module（107）Outfan be connected with the input of right motor, the servos control module
（108）Outfan be connected with the input of steering wheel, the LCD numeral methods module（109）Outfan and LCD charactrons
Input be connected, the LED control module（110）Outfan be connected with the input of LED, the buzzer controls mould
Block（111）Outfan be connected with the input of buzzer.
3. the control system of intelligent material conveying dolly according to claim 1, it is characterised in that：The left motor is driven
Dynamic model block（106）With the right motor drive module（107）It is identical, using TI DRV8301 as motor drive ic；
The servos control module（108）Using 16 road servos control modules of PCA9685.
4. the control system of intelligent material conveying dolly according to claim 1, it is characterised in that：The left motor and
The right motor is identical, using DC brushless motor.
5. the control system of intelligent material conveying dolly according to claim 2, it is characterised in that：The microprocessor
（112）Using TMS320F2812 chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621130604.9U CN206178473U (en) | 2016-10-18 | 2016-10-18 | Control system of intelligence materials handling dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621130604.9U CN206178473U (en) | 2016-10-18 | 2016-10-18 | Control system of intelligence materials handling dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206178473U true CN206178473U (en) | 2017-05-17 |
Family
ID=58677942
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621130604.9U Expired - Fee Related CN206178473U (en) | 2016-10-18 | 2016-10-18 | Control system of intelligence materials handling dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206178473U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263485A (en) * | 2017-08-10 | 2017-10-20 | 无锡职业技术学院 | Based on loading robot of machine vision factory |
| CN107908123A (en) * | 2017-11-14 | 2018-04-13 | 英业达科技有限公司 | A kind of handling of goods and materials device |
| CN109110416A (en) * | 2018-08-08 | 2019-01-01 | 苏州新晟际智能科技有限公司 | A kind of intelligence handling system and its method |
| CN110096057A (en) * | 2019-04-10 | 2019-08-06 | 广东工业大学 | A kind of Intelligent carrier control system |
| CN111061265A (en) * | 2019-12-06 | 2020-04-24 | 常州节卡智能装备有限公司 | Object carrying method, device and system |
-
2016
- 2016-10-18 CN CN201621130604.9U patent/CN206178473U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107263485A (en) * | 2017-08-10 | 2017-10-20 | 无锡职业技术学院 | Based on loading robot of machine vision factory |
| CN107908123A (en) * | 2017-11-14 | 2018-04-13 | 英业达科技有限公司 | A kind of handling of goods and materials device |
| CN109110416A (en) * | 2018-08-08 | 2019-01-01 | 苏州新晟际智能科技有限公司 | A kind of intelligence handling system and its method |
| CN109110416B (en) * | 2018-08-08 | 2020-07-17 | 苏州新晟际智能科技有限公司 | Intelligent carrying system and method thereof |
| CN110096057A (en) * | 2019-04-10 | 2019-08-06 | 广东工业大学 | A kind of Intelligent carrier control system |
| CN111061265A (en) * | 2019-12-06 | 2020-04-24 | 常州节卡智能装备有限公司 | Object carrying method, device and system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20170517 Termination date: 20171018 |