CN206311938U - Intelligent carriage kinetic control system - Google Patents
Intelligent carriage kinetic control system Download PDFInfo
- Publication number
- CN206311938U CN206311938U CN201621425618.3U CN201621425618U CN206311938U CN 206311938 U CN206311938 U CN 206311938U CN 201621425618 U CN201621425618 U CN 201621425618U CN 206311938 U CN206311938 U CN 206311938U
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- China
- Prior art keywords
- control system
- intelligent carriage
- controller
- data
- kinetic control
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Abstract
The utility model discloses intelligent carriage kinetic control system, including controller and motor, described controller control motor drives moving of car, it is characterised in that：Described control system also includes navigation system, and it is used to gather navigation data information；Data that the navigation system that described controller receives is transmitted simultaneously send control signal to motor after carrying out Treatment Analysis.The utility model has the advantages that using various data acquisitions, solve the defect of the trolley travelling that single testing equipment is caused as trolley travelling data in the prior art, run according to various environmental data adjust automaticallies with reaching dolly, self-navigation, improve the purpose of the intelligent operation of dolly.
Description
Technical field
The utility model is related to a kind of intelligent carriage kinetic control system.
Background technology
Intelligent carriage wants to move towards practical, it is necessary to possess competent kinematic system, reliable navigation system, accurate sense
Know ability and with both safety and the cooperative ability of people.Traditional dolly by artificial handle control dolly running status or
Monitored whether with barrier so as to obstacle according to single sensor device.With the development of intelligent carriage, due to building ring
The complexity in border, the uncertainty of oneself state, existing traditional trolley travelling control system can not give the intelligence for meeting dolly
Change operation demand.
Utility model content
The purpose of this utility model is directed to drawbacks described above, there is provided a kind of intelligent carriage operation control system, small to reach
Car runs according to various environmental data adjust automaticallies.
In order to achieve the above object, the technical solution of the utility model is：Intelligent carriage kinetic control system, including control
Device and motor, described controller control motor drive moving of car, it is characterised in that：Described control system is also
Including navigation system, it is used to gather navigation data information；Data that the navigation system that described controller receives is transmitted simultaneously are carried out
Control signal to motor is sent after Treatment Analysis.
Described navigation system includes acceleration transducer and GPS module.
Described control system also includes position sensor, and its angular displacement for being used to gather dolly and straight-line displacement data are simultaneously
Send to controller.
Described controller is connected with infrared sensor.
Described control system also includes image capture module, and it is used to gather the image information around dolly and sends extremely
Controller.
Described controller model STM320F28335.
Described controller is communicated to connect with joystick.
The kinetic control system also includes speech control system, and the speech control system includes voice unit, intercom
And single-chip microcomputer, gather remote speech signal intercom be connected with voice unit, single-chip microcomputer be connected to collection phonetic order
The voice unit of signal issues instructions to control module for analyzing voice signal.
The utility model has the advantages that using various data acquisitions, solve in the prior art single testing equipment as small
The defect of the trolley travelling that car service data is caused, is run with reaching dolly according to various environmental data adjust automaticallies, is improved small
The purpose of the intelligent operation of car.
Brief description of the drawings
The utility model is described further below in conjunction with the accompanying drawings.
Fig. 1 is the utility model structure principle chart
Fig. 2 is the peripheral circuit diagram of controller
Reference in figure is respectively：1. controller；2. motor；3. navigation system；4. acceleration transducer；
5.GPS modules；6. position sensor；7. infrared sensor；8. image capture module；9. joystick.
Specific embodiment
Such as Fig. 1, intelligent carriage kinetic control system, including controller 1 and motor 2, the control motor of controller 1
2 drive moving of car, and control system also includes navigation system, and it is used to gather navigation data information；Controller 1 receives navigation system
The data that transmit of system 3 simultaneously send control signal to motor 2 after carrying out Treatment Analysis.Navigation system includes acceleration transducer
4 and GPS module 5, the user of acceleration transducer 4 gathers the instantaneous acceleration of dolly, to determine the running status of dolly, GPS moulds
Block 5 is used to obtain positional information.In trolley travelling, the data acquisition task of acceleration transducer 4 obtains dolly and instantaneously adds
Velocity amplitude, to determine the motion state of dolly.Acceleration transducer and GPS are combined into integrated navigation system together, to improve
Positioning precision, strengthening system performance.Control system also includes position sensor 6, its angular displacement for being used to gather dolly and straight line
Displacement data is simultaneously sent to controller.Moving of car state and direction are determined by displacement of the lines and angular displacement.Acceleration transducer
4th, GPS module 5 and the collective effect of position sensor 6 so that dolly has more accurate data on automatic navigation control
Support.Controller 11 model STM320F28335, such as Fig. 2 are the peripheral circuit diagram of STM320F28335 controllers.
Infrared sensor 7 is used to measurement distance, and it can be with detecting obstacles thing and the shape of body surface, and for being
System provides early stage information.Sent after detection data into controller 1, data such as size, shape of the controller according to barrier
And data are adjusted to presetting situation data, acquisition moving of car state is inquired about in database with the bearing data of dolly,
Agv controller controls trolley travelling, avoiding obstacles to be arrived at by navigation system according to data.Or in database
In there is no the specific data how adjusted in the case of this kind of barrier, then movement angle is changed by controller automatically, avoid barrier
Hinder thing.
Control system also includes image capture module 8, and it is used to gather the image information around dolly and sends to control
Device.Controller 1 is connected with joystick 9 by communication module.Communication module includes 2 serial communication interface SCI modules, SCI
Module support CPU and other using reference format asynchronous peripheral between digital communication.Communication module is used for IMAQ
The data of the collection of module 8 and the various sensing datas of dolly are sent to joystick 9, convenient artificial control, joystick 9
Upper setting display screen, for view data and sensing data, so as to easily control the motion of dolly by handle.
Voice command moving of car is realized in order to increase, moving of car control system also includes speech control system, described
Speech control system includes voice unit, intercom and single-chip microcomputer, gathers the intercom and voice unit of remote speech signal
Connection, the voice unit that single-chip microcomputer is connected to gather phonetic order signal issues instructions to control mould for analyzing voice signal
Block.Voice unit utilizes the speech recognition technology of unspecified person, single-chip microcomputer to use the AT89C51 monolithics of 32 using speech chip
Machine, voice signal is sent to single-chip microcomputer by the speech recognition system of model ISD1402, and control command is sent by single-chip microcomputer
To control module, the instruction controlled motor that control module is sent according to single-chip microcomputer drives corresponding control module work, so as to complete
Dolly speech control process.Voice unit uses speech chip (model ISD1402), and the voice using unspecified person (SI) is known
Other technology, does not have particular/special requirement to identification sound, can recognize Mandarin Chinese, the local dialect, foreign language etc., is set in voice unit
There is anti-noise circuit, anti-noise circuit is connected on voice unit to be carried out except make an uproar treatment, significant noise immunity to the voice signal for receiving
Can, under 30 decibels, can substantially complete the identification of voice.Single-chip microcomputer according to voice issue instructions to control module away from
It is to be used as instruction by retrieving the corresponding voice keyword of voice signal, the finger for travelling forward can be sent if retrieving " forward "
Order.
The present invention is exemplarily described above in conjunction with accompanying drawing, it is clear that the utility model is implemented not by above-mentioned
The limitation of mode, if the improvement of the various unsubstantialities that technical solutions of the utility model are carried out is employed, or not improved general
Design of the invention and technical scheme directly apply to other occasions, within protection domain of the present utility model.
Claims (8)
1. intelligent carriage kinetic control system, including controller and motor, described controller control motor drive
Moving of car, it is characterised in that：Described control system also includes navigation system, and it is used to gather navigation data information；It is described
Controller receive the data that transmit of navigation system and send control signal to motor after carrying out Treatment Analysis.
2. intelligent carriage kinetic control system as claimed in claim 1, it is characterised in that：Described navigation system includes accelerating
Degree sensor and GPS module.
3. intelligent carriage kinetic control system as claimed in claim 1, it is characterised in that：Described control system also includes position
Sensor is put, its angular displacement for being used to gather dolly and straight-line displacement Data Concurrent deliver to controller.
4. intelligent carriage kinetic control system as claimed in claim 1, it is characterised in that：Described controller and infrared sensing
Device is connected.
5. intelligent carriage kinetic control system as claimed in claim 1, it is characterised in that：Described control system also includes figure
As acquisition module, it is used to gather the image information around dolly and sends to controller.
6. intelligent carriage kinetic control system as claimed in claim 1, it is characterised in that：Described controller model
STM320F28335。
7. intelligent carriage kinetic control system as claimed in claim 1, it is characterised in that：Described controller and joystick
Communication connection.
8. intelligent carriage kinetic control system as claimed in claim 1, it is characterised in that：Also include speech control system, institute
Stating speech control system includes voice unit, intercom and single-chip microcomputer, gathers the intercom and voice list of remote speech signal
Unit's connection, the voice unit that single-chip microcomputer is connected to gather phonetic order signal issues instructions to control for analyzing voice signal
Module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621425618.3U CN206311938U (en) | 2016-12-23 | 2016-12-23 | Intelligent carriage kinetic control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621425618.3U CN206311938U (en) | 2016-12-23 | 2016-12-23 | Intelligent carriage kinetic control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206311938U true CN206311938U (en) | 2017-07-07 |
Family
ID=59247337
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621425618.3U Expired - Fee Related CN206311938U (en) | 2016-12-23 | 2016-12-23 | Intelligent carriage kinetic control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206311938U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108132671A (en) * | 2018-02-09 | 2018-06-08 | 兰州工业学院 | SCM Based intelligent voice control avoidance trolley and control method |
| CN112900370A (en) * | 2021-01-26 | 2021-06-04 | 西安理工大学 | Earth and rockfill dam burst monitoring and emergency maintenance system and emergency maintenance method |
-
2016
- 2016-12-23 CN CN201621425618.3U patent/CN206311938U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108132671A (en) * | 2018-02-09 | 2018-06-08 | 兰州工业学院 | SCM Based intelligent voice control avoidance trolley and control method |
| CN112900370A (en) * | 2021-01-26 | 2021-06-04 | 西安理工大学 | Earth and rockfill dam burst monitoring and emergency maintenance system and emergency maintenance method |
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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: 20170707 Termination date: 20171223 |