CN206209362U - Intelligent tracking trolley control system - Google Patents
Intelligent tracking trolley control system Download PDFInfo
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- CN206209362U CN206209362U CN201621336411.9U CN201621336411U CN206209362U CN 206209362 U CN206209362 U CN 206209362U CN 201621336411 U CN201621336411 U CN 201621336411U CN 206209362 U CN206209362 U CN 206209362U
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Abstract
The utility model discloses a kind of Intelligent tracking trolley control system；It is characterized in that：Including DC D/C voltages module, signal acquisition module, one-chip computer module, motor drive module；DC D/C voltages module is connected with signal acquisition module, one-chip computer module, motor drive module respectively；The utility model is a kind of using the black trolley control system for marking tracking, this kind of trolley control system low cost of manufacture, and simple structure is easy to maintain, is very suitable for the popularization and application in medium-sized and small enterprises.
Description
Technical field
The utility model is related to a kind of automaton, is specifically a kind of Intelligent tracking trolley control system, category
In a kind of automaton that can realize unmanned material handling function.
Background technology
Automatic guided vehicle is a kind of unmanned material conveyance equipment, and it is by advanced infrared detection technology and electronics
Control technology effectively integrated use, it is achieved thereby that the automation of dolly.
In recent years, with the rapid development of science and technology with the comprehensive automation of production scene, black mark tracking is wide
It is general to be applied to many fields, from supermarket, workshop, office, hotel, Automatic Warehouse, hospital and home-delivery center are expanded to,
One of outstanding feature of industrial automation is turned into.
But, can realize that often manufacturing cost is all higher for the black trolley control system for marking tracking at present, and complex structure
It is not easy to safeguard, is accordingly difficult in medium-sized and small enterprises' popularization and application.
Utility model content
The purpose of this utility model is to overcome the deficiencies in the prior art, and a kind of Intelligent tracking trolley control system is provided herein
System, this kind of trolley control system low cost of manufacture, and simple structure is easy to maintain, is very suitable for being promoted in medium-sized and small enterprises and answers
With.
The utility model formula is achieved in that, constructs a kind of Intelligent tracking trolley control system, it is characterised in that：The system
Including DC-DC voltage modules, signal acquisition module, one-chip computer module, motor drive module；DC-DC voltage modules respectively with letter
Number acquisition module, one-chip computer module, motor drive module connection；
Wherein, the output end of signal acquisition module is connected with one-chip computer module, and one-chip computer module passes through motor drive module
Realize output control；
The DC-DC voltage modules include LM2596 integrated circuits；
Wherein, the power input VIN, LM2596 of connection end P1 electric capacity C1 and C3 connections LM2596 after filtering are by direct current
The high frequency square wave for being converted to 150KHz is exported from the power output end Output of LM2596；Wherein, output end Output is connected with
Inductance L1 and filter capacitor C2, C4, make its high frequency square wave for exporting be changed into direct current by the filtering of inductance L1 and C2, C4 all the way
Pressure makes its high frequency square wave be fed back to by potentiometer RP1 from connection end P2 mouthfuls of output, the rear end connection potentiometer RP1 of inductance L1
The feedback end Feedback of LM2596, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein,
The ON/OFF ends ground connection of LM2596.
According to a kind of Intelligent tracking trolley control system described in the utility model, it is characterised in that：The motor drives mould
Block includes TLP521-4 optocouplers and two-way full bridge driver L298 two parts；For receiving one-chip computer module P2.4-P2.7 signals
Module input mouthful P1 be connected with 2,4,6,8 pin of TLP521-4 optocouplers, the output signal of optocoupler respectively with the IN1 of L298
IN2 IN3 IN4 input ports connection；By 2,3,13,14 pins by two arteries and veins of opposite in phase after being processed through L298 internal circuits
Rushing signal output gives left and right two motors, wherein the motor of 2,3 port controlling one, 13,14 port controlling another motor, L298's
6th, 11 two pins are that two outputs enable control end, are all connected to high level, make L298 in running order；9 ports of L298
Connection power filtering capacitor C1, C2；4 ports of L298 connect power filtering capacitor C3, C4；2,3,13, the 14 ends connection of L298
There is sustained diode 1-D8.
According to a kind of Intelligent tracking trolley control system described in the utility model, it is characterised in that：The signal acquisition mould
Block includes infrared tube ST188 and LM393 comparator two parts, and power indicating circuit is by resistance R1 and light emitting diode D1 groups
Into；
Diode D1 is connected with infrared tube ST188, and the 3 of the output end connection LM393 comparators of infrared tube ST188
Pin；The 1 end connection single-chip microcomputer of LM393 comparators, 1 end of LM393 comparators is also connected with signal indicating circuit, signal indicating circuit
It is composed in series by R4 and D2.
The utility model has the advantage of：This kind of control system is by advanced infrared detection technology and single-chip microcomputer control technology
Effectively integrated use, with single-chip microcomputer as core control circuit, with black mark detection means as detecting system, monolithic microcomputer kernel control
Circuit part is main with single-chip microcomputer as control core, is mainly responsible for receiving the next information of sensor collection and carrying out it accordingly
Treatment, is sent to drive circuit and is processed after treatment by result, and realization is controlled to motor, so as to realize the automatic of dolly
Guiding.The element price that the system is used is very cheap, but has working stability, powerful, accuracy high, efficient
The features such as energy-conservation and applicable real-time control, can effective improve production efficiency, test proves that, this kind of dolly control
The features such as system has working stability, reliability high, simple to operate and easy to maintain, can automatically walk, realize Transport work
Can, substantial amounts of time and human resources can be saved for industrial production.
Brief description of the drawings
Fig. 1 is composition frame chart of the present utility model；
Fig. 2 is DC-DC voltage module electrical schematic diagrams；
Fig. 3 is LM2596 encapsulation figures；
Fig. 4 is signal acquisition module electrical schematic diagram；
Fig. 5 is ST188 cut-away views；
Fig. 6 is LM393 cut-away views；
Fig. 7 is one-chip computer module electrical schematic diagram；
Fig. 8 is motor drive module electrical schematic diagram；
Fig. 9 is TLP521-4 cut-away views.
Specific embodiment
The utility model is described in detail below in conjunction with accompanying drawing, the technical scheme in the embodiment of the present invention is carried out
Clearly and completely describe, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole implementation
Example.Based on the embodiment in the utility model, those of ordinary skill in the art are obtained under the premise of creative work is not made
The every other embodiment for obtaining, belongs to the scope of the utility model protection.
The utility model provides a kind of Intelligent tracking trolley control system by improving, and can in the following way give reality
Apply；As shown in Figure 1：The system includes DC-DC voltage modules 1, signal acquisition module 2, one-chip computer module 3, motor drive module
4.Illustrate separately below：
As shown in Figure 2：DC-DC voltage modules 1：With LM2596 integrated circuits as core design, the driving of 3A can be exported
Electric current, adjustable output voltage scope 1.2V~40V, ± 4%, while having linear and load regulation characteristic well.Due to this
Device can use general standard inductance, greatly simplifie the design of switching power circuit.
DC-DC LM2596S voltage reduction modules
| Input voltage | 3.2V~40V |
| Output voltage | 1.25V~35V |
| Output current | 3A (maximum) |
| Conversion efficiency | 92% (highest) |
| Output ripple | ＜ 30mV |
| Switching frequency | 65KHz |
| Operating temperature | - 45 DEG C~85 DEG C |
| Size | 43mm*21mm*14mm (* * wide long are high) |
Pin function：
VIN --- positive input terminal, must add an appropriate input shunt capacitance to reduce transient state electricity at this pin
Pressure, while the switching current for needed for LM2596 is provided.
GND --- earth terminal.
Output --- output end, the voltage on this pin can be changed between (+VIN-VSAT) and -0.5V (about).For
Reduce coupling, copper cash region that the pin is connected on PCB is as far as possible small.
Feedback --- feedback end, this pin is the Voltage Feedback of output end to closed feedback loop.
ON/OFF --- this pin can cut off LM2596 using logic level, input current is just dropped to about 80
μA.The voltage of this pin is pulled down to during less than about 1.3V, LM2596 is turned on；And be pulled upward to (maximum higher than 1.3V
To 25V) when, LM2596 is switched off.If this function need not be used, it is possible to this pin is grounded or is opened a way, is made
IC is in the state opened.
The course of work：9V~40V DC voltages are input into from P1, by after the power filter of C1 and C3, into LM2596's
Direct current is converted to the high frequency square wave of 150KHz from the power output end of LM2596 by power input (VIN), LM2596
(Output) export, the high frequency square wave of output is changed into DC voltage from P2 mouthfuls of output by the filtering of L1 and C2, C4 all the way, another
Road high frequency square wave feeds back to the feedback end (Feedback) of LM2596 by potentiometer RP1, and feedback signal is with LM2596 inside base
Quasi- voltage stabilizing value 1.23V is compared, if detecting voltage has difference, is adjusted by amplifier and removes the defeated of chip internal oscillator
Go out dutycycle, so that regulated output voltage.The system needs to design output voltage continuously adjustabe, therefore RP1 using accurate adjustable
Resistance is that can reach design object.Due to being long-term work, thus LM2596 ON/OFF ends ground connection.
As shown in Figure 4：Signal acquisition module：It is that the black graticule of ground is examined by the infrared tube in signal acquisition module
Survey, transmitting tube constantly launches infrared light to road surface, fall different in black, white region reflective degree according to infrared light and cause to connect
The faint difference of the infrared signal that closed tube is received, the signal for producing reception pipe is different, by LM393 comparators so as to produce
The pulse feeding single-chip microcomputer of " 0 " or " 1 ".
Signal acquisition module：Signal acquisition module is with infrared tube ST188 and LM393 comparator as core design.
Infrared tube ST188 features：
1st, constituted using high emission power infrared photodiode and high sensitivity phototransistor.
2nd, detecting distance adjustable range is big, and 4-13mm can use.
3rd, using non-contact detecting mode.
The course of work：If reception pipe receives the infrared ray for reflecting, infrared receiving terminal conducting, E pins output is high
Level, close to Vcc；If being not received by the infrared ray for reflecting, infrared receiving terminal is not turned on, E pins output low level,
Close to GND.
Comparator LM393 features：
LM393 is twin voltage comparator integrated circuit.
Operating temperature range:0℃--+70℃
Working power voltage wide ranges, single supply, dual power supply can work, single supply：2~36V, dual power supply：± 1~±
18V；Common-mode input voltage range is wide, VIC=0~VCC-1.5V；The compatibility such as output and TTL, DTL, MOS, CMOS；
Output can connect OR-gate with open collector；
Using the pin Plastic Package (SOP8) of biserial 8 of the pin Plastic Package (DIP8) of dual-in-line 8 and micro- shape.
The course of work：Circuit R1 and D1 constitute power indicating circuit, and when there is power supply, D1 will light；Infrared tube D2
(ST188) transmitting tube constantly launches infrared light to road surface after being powered, and is fallen in black, white region reflective degree not according to infrared light
With and cause the faint difference of the infrared signal that reception pipe receives.When infrared light falls in black region, reflected light is weak, photosensitive crystalline substance
Body pipe ends, and 3 pin of LM393 are high level；When infrared light falls in white region, reflective light intensity, photistor conducting,
3 pin of LM393 are low level；3 pin of the signal input that D2 (ST188) is produced to LM393.LM393 is comparator circuit, i.e.,
The 3 pin voltages and 2 pin voltages of LM393 are compared：Work as U3>U2When, Uout=5V；Work as U3<U2When, Uout=0V；R4 and D2 groups
Into signal indicating circuit, as Uout=0V, D2 lights.
Infrared tube D2 (ST188) detects that transmitting tube constantly launches infrared light to road surface by the black graticule to ground
On, the signal for producing reception pipe is different, by LM393 comparators so as to single-chip microcomputer is sent into the pulse for producing " 0 " or " 1 ".
As shown in Figure 7：One-chip computer module 3：It is main that the pulse signal that signal acquisition module feeding comes is processed, then
Produce control signal output.During specific implementation, P1.0-P1.4 is used as five road detection signal inputs and signal acquisition module phase
Even, the signal feeding P1.0-P1.4 of detection.Signal output part is P2.4-P2.7.
By P1 come read sensor information, P2 mouthfuls high four are carried out controlled motor so as to produce advance, retreat, stop to single-chip microcomputer
Only, turn left, right-hand rotation is acted.As shown in table 1.
Table 1
Note：Dolly acts four output level high with P2 mouthfuls may be not corresponding, these orders connect with sensor, motor
The order of the order for connecing program middle port setting has much relations.Such as：P2 exports 0xa0, to advance in figure, motor is connected
Connect after order changes and connect, dolly action is probably to retreat.
As shown in Figure 8：Motor drive module is with TLP521-4 optocouplers and two-way full bridge driver L298 as core design
's.
TLP521-4 optocoupler features：
4 independent optocoupler units；
Collector emitter voltage：55V；
Current transfer ratio：50% (minimum value)；
Meet UL standards；
DIP-16 is encapsulated；
Maximum junction temperature：125℃；
Operating temperature：- 55 DEG C~+100 DEG C.
TLP521-4 is LMDS Light Coupled Device, and power consumption 150mW, isolation voltage is 2500Vrms, and protection stops because of electric motor starting
Influence of the spike that moment produces to master controller.The security of circuit can be strengthened, reduce the interference of voltage.
Two-way full bridge driver L298 features：
L298N is a kind of high voltage, the high current motor drive ic of ST companies production.The chip is encapsulated using 15 pin.
It is mainly characterized by：Operating voltage is high, and maximum operating voltage is up to 46V；Output current is big, and instantaneous peak current continues up to 3A
Operating current is 2A；Rated power 25W.Two high-voltage large current full-bridge type drivers of H bridges are included, can be used to drive directly
The stream inductive load such as motor and stepping motor, relay coil；Controlled using standard logic levels signal；Make with two
Can control end, allowing in the case where not influenceed by input signal or forbid device to work has a logic power input, makes
Internal logic circuit part works at lower voltages；Variable quantity can be fed back to by control circuit with external detection resistance.Use
L298N chip drives motors, the chip can drive a two-phase stepping motor or four phase step motor, it is also possible to drive two
Direct current generator.
The course of work：From the signal that one-chip computer module P2.4-P2.7 comes, by module input mouthful P1, respectively enter
The pin of TLP521-4 optocouplers 2,4,6,8, the output signal of optocoupler be respectively fed to L298 IN1 IN2 IN3 IN4 input ports, warp
Give left and right two motors two output of pulse signal of opposite in phase by 2,3,13,14 pins after the treatment of L298 internal circuits,
Wherein 2, the motor of 3 port controlling one, 13,14 port controlling another motor, when the positive pulsewidth of pulse signal is more than negative pulsewidth letter
Number when, obtain positive average voltage, the rotation of motor positive starts to perform advancement function, if conversely, undersuing is more than just
Pulse signal, then its perform fallback function；Equally, after the pulse signal feeding L298 treatment that single-chip microcomputer is sent out, if while for just
Pulse signal, while for undersuing when, then before a motor rotate forward, another motor reversal, realize left and right turn function.If
L298 is output as low level, then two motors in left and right are all motionless.6,11 two pins of L298 are that two outputs enable control end,
High level is all connected to, makes L298 in running order.
D1-D8 is fly-wheel diode-IN4007；
C1-C4 is power filter.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or new using this practicality
Type.Various modifications to these embodiments will be apparent for those skilled in the art, determine herein
The General Principle of justice can in other embodiments be realized in the case where spirit or scope of the present utility model are not departed from.Cause
This, the utility model is not intended to be limited to the embodiments shown herein, and is to fit to and principles disclosed herein
The most wide scope consistent with features of novelty.
Claims (3)
1. a kind of Intelligent tracking trolley control system, it is characterised in that：The system includes DC-DC voltage modules (1), signal acquisition
Module (2), one-chip computer module (3) and motor drive module (4)；The DC-DC voltage modules (1) respectively with signal acquisition mould
Block (2), one-chip computer module (3), motor drive module (4) connection；
Wherein, the output end of signal acquisition module (2) is connected with one-chip computer module (3), and one-chip computer module (3) is driven by motor
Module (4) realizes output control；
The DC-DC voltage modules (1) include LM2596 integrated circuits；
Wherein, the power input VIN of connection end P1 electric capacity C1 and C3 connections LM2596 after filtering, LM2596 change direct current
For the high frequency square wave of 150KHz is exported from the power output end Output of LM2596；Wherein, output end Output is connected with inductance
L1 and filter capacitor C2, C4, make its export high frequency square wave all the way by the filtering of inductance L1 and C2, C4 be changed into DC voltage from
Connection end P2 mouthfuls of output, the rear end connection potentiometer RP1 of inductance L1, makes its high frequency square wave be fed back to by potentiometer RP1
The feedback end Feedback of LM2596, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein,
The ON/OFF ends ground connection of LM2596.
2. a kind of Intelligent tracking trolley control system according to claim 1, it is characterised in that：The motor drive module
(4) including TLP521-4 optocouplers and two-way full bridge driver L298 two parts；For receiving one-chip computer module P2.4-P2.7 signals
Module input mouthful P1 be connected with 2,4,6,8 pin of TLP521-4 optocouplers, the output signal of optocoupler respectively with the IN1 of L298
IN2 IN3 IN4 input ports connection；By 2,3,13,14 pins by two arteries and veins of opposite in phase after being processed through L298 internal circuits
Rushing signal output gives left and right two motors, wherein the motor of 2,3 port controlling one, 13,14 port controlling another motor, L298's
6th, 11 two pins are that two outputs enable control end, are all connected to high level, make L298 in running order；9 ports of L298
Connection power filtering capacitor C1, C2；4 ports of L298 connect power filtering capacitor C3, C4；2,3,13, the 14 ends connection of L298
There is sustained diode 1-D8.
3. a kind of Intelligent tracking trolley control system according to claim 1, it is characterised in that：The signal acquisition module
(2) including infrared tube ST188 and LM393 comparator two parts, power indicating circuit is by resistance R1 and light emitting diode D1 groups
Into；
Diode D1 is connected with infrared tube ST188, and the output end of infrared tube ST188 connects 3 pin of LM393 comparators；
The 1 end connection single-chip microcomputer of LM393 comparators, 1 end of LM393 comparators is also connected with signal indicating circuit, signal indicating circuit by
R4 and D2 are composed in series.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621336411.9U CN206209362U (en) | 2016-12-07 | 2016-12-07 | Intelligent tracking trolley control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621336411.9U CN206209362U (en) | 2016-12-07 | 2016-12-07 | Intelligent tracking trolley control system |
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| Publication Number | Publication Date |
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| CN206209362U true CN206209362U (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621336411.9U Expired - Fee Related CN206209362U (en) | 2016-12-07 | 2016-12-07 | Intelligent tracking trolley control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107102595A (en) * | 2017-06-23 | 2017-08-29 | 井冈山大学 | A kind of intelligent transportation onboard system based on embedded technology |
-
2016
- 2016-12-07 CN CN201621336411.9U patent/CN206209362U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107102595A (en) * | 2017-06-23 | 2017-08-29 | 井冈山大学 | A kind of intelligent transportation onboard system based on embedded technology |
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| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170531 Termination date: 20191207 |
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| CF01 | Termination of patent right due to non-payment of annual fee |