CN206520677U - A kind of Intelligent tracking trolley - Google Patents

Abstract

The utility model discloses a kind of Intelligent tracking trolley, including upper disk, chassis, left motor, right motor, power control unit, sensing unit, single-chip microcomputer control and electric-motor drive unit；Left motor, right motor are located at below chassis respectively to be used to connect and driving moment；It is fixedly connected between upper disk and chassis by copper connecting pole；Sensing unit is three groups and is arranged on respectively together with single-chip microcomputer control and electric-motor drive unit above upper disk.This kind of dolly has the features such as working stability, reliability are high, simple to operate and easy to maintain, can automatically walk, realize transportation function, substantial amounts of time and human resources can be saved for industrial production.The utility model is simple in construction, and tracking sensitivity is high, turns to flexibly and walking is stable.This kind of dolly manufacturing cost is low, and simple in construction easy to maintain, is realized and controlled by single-chip microcomputer control and electric-motor drive unit；Suitable for popularization and application.

Description

A kind of Intelligent tracking trolley

Technical field

The utility model is related to a kind of automation field, is specifically a kind of Intelligent tracking trolley.

Background technology

At present, intelligent carriage have developed rapidly, and have concrete result from intelligent toy to other every profession and trades, it can be achieved substantially Tracking, avoidance, the basic functions such as light, remote control, acoustic control, transmission of video are sought, at present, also occur in that the different tracking of some functions is small Car.

Find, patent No. CN201020662459.5 utility model discloses a kind of Intelligent tracking trolley, wrap through retrieval Include trolley, the bottom of trolley is provided with four driving wheels, the rectangular distribution of four driving wheels, wherein, two, left side Driving wheel is driven by motor one, and two, right side driving wheel is driven by motor two, and power supply is also equipped with trolley Module, main control chip, motor drive ic and four photoelectric tubes, main control chip also with motor drive ic, four photoelectric tube phases Connection, and according to the signal control motor driving chip of four photoelectric tubes, motor drive ic and motor one and driving electricity Machine two is connected, and by controlling the speed difference of two motors to complete the steering of dolly.

It is small that patent No. CN201520356184.5 utility model discloses a kind of Intelligent tracking based on Bluetooth control Car, including intelligent carriage body, controller and computer, controller are the Android device for being provided with control software, and intelligence is small Car body includes power-supply system, controller module, sensor assembly, communication module, Motor execution module and man-machine interaction mould Block, communication module includes Bluetooth adapter, and intelligent carriage body is connected by Bluetooth adapter with controller and computer communication.

Patent No. CN201520919939.8 utility model discloses a kind of Intelligent tracking trolley based on multisensor The image capture module of routing information, is also wrapped before control system, including the direct current generator and acquisition dolly of driving carriage walking The steering wheel steering module of kernel control module and the steering wheel work of driving dolly is included, the kernel control module is according to IMAQ mould The information of block controls the work of the direct current generator and steering wheel steering module, and a power module is respectively that direct current generator, image are adopted Collection module, kernel control module and steering wheel steering module are powered.

However, the analysis found that, tracking is widely used to many fields, from supermarket, workshop, expands to office Room, hotel, Automatic Warehouse, hospital and home-delivery center, it has also become one of outstanding feature of industrial automation.But, current Tracking cart entirety manufacturing cost is higher, is not easy to safeguard and 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, this kind are provided herein Dolly manufacturing cost is low, and simple in construction easy to maintain, is realized and controlled by single-chip microcomputer control and electric-motor drive unit；Suitable for pushing away Wide application.

The utility model is achieved in that a kind of Intelligent tracking trolley of construction, including upper disk, chassis, left motor, right electricity Mechanical, electrical source control unit, sensing unit, single-chip microcomputer control and electric-motor drive unit；Left motor, right motor are located at bottom respectively It is used to connect and driving moment below disk；It is fixedly connected between upper disk and chassis by copper connecting pole；Sensing unit is three Group is arranged on together with single-chip microcomputer control and electric-motor drive unit above upper disk respectively.This kind of dolly have working stability, reliable Property it is high, simple to operate and easy to maintain the features such as, can automatically walk, realize transportation function, can for industrial production save Substantial amounts of time and human resources.The utility model is simple in construction, and tracking sensitivity is high, turns to flexibly and walking is stable.

As the improvement of above-mentioned technical proposal,

Universal wheel is installed, universal wheel 9 is easy to dolly to support and row below a kind of Intelligent tracking trolley, the chassis Walk.

As the improvement of above-mentioned technical proposal,

A kind of Intelligent tracking trolley, sensing unit includes detection sensing circuit and circuit installing plate；Circuit is pacified Dress plate is L-shaped, is bolted on disk edge；The circuit installing plate of L-shaped is used herein, and its benefit is can be steady Determine, be quickly placed in disk edge, be that information gathering lays the foundation.

As the improvement of above-mentioned technical proposal,

A kind of Intelligent tracking trolley, the power control unit respectively with sensing unit and single-chip microcomputer control and Electric-motor drive unit is connected；

Wherein, the output end of sensing unit is controlled with single-chip microcomputer and electric-motor drive unit is connected, by single-chip microcomputer control And electric-motor drive unit realizes output control.

As the improvement of above-mentioned technical proposal,

A kind of Intelligent tracking trolley, the power control unit includes LM2596 integrated circuits；

Wherein, connection end P1 electric capacity C1 and C3 connections LM2596 after filtering power input VIN, LM2596 is by direct current The high frequency square wave for being converted to 150KHz is exported from LM2596 power output end Output；Wherein, output end Output is connected with Inductance L1 and filter capacitor C2, C4, make its high frequency square wave exported be changed into direct current by inductance L1 and C2, C4 filtering all the way Pressure makes its high frequency square wave be fed back to by potentiometer RP1 from connection end P2 mouthfuls of output, inductance L1 rear end connection potentiometer RP1 LM2596 feedback end Feedback, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein, LM2596 ON/OFF ends ground connection.

As the improvement of above-mentioned technical proposal,

A kind of Intelligent tracking trolley, motor driving part point includes in the single-chip microcomputer control and electric-motor drive unit TLP521-4 optocouplers and two-way full bridge driver L298 two parts；

For receive the module input mouthful P1 of one-chip computer module P2.4-P2.7 signals and TLP521-4 optocouplers 2,4,6, 8 pin are connected, the output signal of optocoupler respectively with L298 IN1 IN2 IN3 IN4 input ports be connected；Through L298 internal circuits Give left and right two motors two output of pulse signal of opposite in phase by 2,3,13,14 pins after processing, wherein 2,3 ports are controlled Make left motor, 13, the 14 right motors of port controlling, L298 6,11 two pins be that two outputs enable control ends, be all connected to height Level, makes L298 in running order；L298 9 ports connection power filtering capacitor C1, C2；L298 4 ports connection electricity Source filter capacitor C3, C4；L298 2,3,13,14 ends are connected with sustained diode 1-D8.

As the improvement of above-mentioned technical proposal,

A kind of Intelligent tracking trolley, the sensing unit includes infrared tube ST188 and LM393 comparator two Part, power indicating circuit is made up of resistance R1 and light emitting diode D1；

Diode D1 is connected with infrared tube ST188, and the 3 of infrared tube ST188 output end connection LM393 comparators 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：The utility model provides a kind of Intelligent tracking trolley, comes relative to existing dolly Say, have the following advantages that：

Advantage 1：Intelligent tracking trolley described in the utility model includes upper disk, chassis, left motor, right motor, power supply Unit, sensing unit, single-chip microcomputer control and electric-motor drive unit；Left motor, right motor are located at below chassis and are used for respectively Connect and driving moment；It is fixedly connected between upper disk and chassis by copper connecting pole；Sensing unit be three groups respectively with list Piece machine is controlled and electric-motor drive unit is arranged on above disk together.This kind of dolly has working stability, reliability height, operation letter Single and easy to maintain the features such as, can automatically walk, realize transportation function, can be saved for industrial production substantial amounts of time and Human resources.The utility model is simple in construction, and tracking sensitivity is high, turns to flexibly and walking is stable.

Advantage 2；Universal wheel is installed below a kind of Intelligent tracking trolley described in the utility model, the chassis, is easy to small Car supports and walked；Sensing unit includes detection sensing circuit and circuit installing plate；Circuit installing plate is L-shaped, passes through spiral shell Bolt is fixed on disk edge；The circuit installing plate of L-shaped is used herein, and its benefit is can to stablize, quickly be placed in disk Edge, is that information gathering lays the foundation.

Advantage 3：The utility model single-chip microcomputer is controlled and electric-motor drive unit part is main using single-chip microcomputer as control core, main It is responsible for receiving the next information of sensor collection and it is handled accordingly, result is sent into drive circuit after processing enters Row processing, realization is controlled to motor, so as to realize the homing guidance of dolly.

Advantage 4：Element price is very cheap used in implementation of the present utility model, but with working stability, work( Can powerful, accuracy be high, energy-efficient and the features such as applicable real-time control, can effectively improve production efficiency.

Brief description of the drawings

Fig. 1 is the overall structure figure of the utility model Intelligent tracking trolley

Fig. 2 is the utility model Intelligent tracking trolley side schematic view

Fig. 3 is the utility model bottom schematic view

Fig. 4 is DC-DC voltage module electrical schematic diagrams

Fig. 5 is signal acquisition module electrical schematic diagram

Fig. 6 is one-chip computer module electrical schematic diagram

Fig. 7 is motor drive module electrical schematic diagram.

Embodiment

The utility model is described in detail below in conjunction with accompanying drawing 1- Fig. 7, to the skill in the utility model embodiment Art scheme is clearly and completely described, it is clear that described embodiment is only a part of embodiment of the utility model, and The embodiment being not all of.Based on the embodiment in the utility model, those of ordinary skill in the art are not making creativeness The every other embodiment obtained under the premise of work, belongs to the scope of the utility model protection.

The utility model provides a kind of Intelligent tracking trolley by improving, as shown in Fig. 1-Fig. 7；Can be in the following way It is practiced；A kind of Intelligent tracking trolley, including upper disk 1, chassis 2, left motor 3, right motor 4, power control unit 5, signal Sensing unit 6, single-chip microcomputer control and electric-motor drive unit 7；Left motor 3, right motor 4 are located at the lower section of chassis 2 and are used to connect respectively And driving moment；It is fixedly connected between upper disk 1 and chassis 2 by copper connecting pole 8；Sensing unit 6 be three groups respectively with list Piece machine is controlled and electric-motor drive unit 7 is arranged on the top of disk 1 together.

This kind of dolly has the features such as working stability, reliability are high, simple to operate and easy to maintain, being capable of row automatically Walk, realize transportation function, substantial amounts of time and human resources can be saved for industrial production.The utility model is simple in construction, follows Mark sensitivity is high, turns to flexibly and walking is stable.

A kind of Intelligent tracking trolley described in the utility model, the lower section of chassis 2 is provided with universal wheel 9, is easy to dolly branch Support and walking.

A kind of Intelligent tracking trolley described in the utility model, sensing unit 6 includes detection sensing circuit and circuit peace Fill plate；Circuit installing plate is L-shaped, is bolted on the edge of disk 1；The circuit installing plate of L-shaped is used herein, and its is good Place is can to stablize, quickly be placed in the edge of disk 1, is that information gathering lays the foundation.

A kind of Intelligent tracking trolley described in the utility model, the power control unit 5 respectively with sensing unit 6 and Single-chip microcomputer is controlled and electric-motor drive unit 7 is connected；Wherein, the output end of sensing unit 6 is controlled with single-chip microcomputer and motor drives Moving cell 7 is connected, and output control is realized by single-chip microcomputer control and electric-motor drive unit 7.

A kind of Intelligent tracking trolley described in the utility model, the power control unit includes LM2596 integrated circuits；Its In, connection end P1 electric capacity C1 and C3 connections LM2596 after filtering power input VIN, LM2596 is converted to direct current 150KHz high frequency square wave is exported from LM2596 power output end Output；Wherein, output end Output is connected with inductance L1 With filter capacitor C2, C4, its high frequency square wave exported is set to be changed into DC voltage from even by inductance L1 and C2, C4 filtering all the way The output of P2 mouthfuls of end is connect, inductance L1 rear end connection potentiometer RP1 makes its high frequency square wave feed back to LM2596 by potentiometer RP1 Feedback end Feedback, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein, LM2596 ON / OFF ends are grounded.

A kind of Intelligent tracking trolley described in the utility model, motor drives in the single-chip microcomputer control and electric-motor drive unit Part includes TLP521-4 optocouplers and two-way full bridge driver L298 two parts；For receiving one-chip computer module P2.4-P2.7 letters Number module input mouthful P1 be connected with 2,4,6,8 pin of TLP521-4 optocouplers, the output signal of optocoupler is respectively with L298's IN1 IN2 IN3 IN4 input ports connection；By 2,3,13,14 pins by the two of opposite in phase after being handled through L298 internal circuits Individual output of pulse signal gives left and right two motors, wherein 2, the 3 left motors of port controlling, 13, the 14 right motors of port controlling, L298's 6th, 11 two pins are that two outputs enable control end, are all connected to high level, make L298 in running order；L298 9 ends Mouth connection power filtering capacitor C1, C2；L298 4 ports connection power filtering capacitor C3, C4；L298 2,3,13,14 ends connect It is connected to sustained diode 1-D8.

A kind of Intelligent tracking trolley described in the utility model, the sensing unit include infrared tube ST188 and LM393 comparator two parts, power indicating circuit is made up of resistance R1 and light emitting diode D1；Diode D1 and infrared tube ST188 connections, infrared tube ST188 output end connects 3 pin of LM393 comparators；The 1 end connection monolithic of LM393 comparators Machine, 1 end of LM393 comparators is also connected with signal indicating circuit, and signal indicating circuit is composed in series by R4 and D2.

As shown in Figure 4：Power control unit can export 3A driving electricity using LM2596 integrated circuits as core design Stream, adjustable output voltage scope 1.2V~40V, ± 4%, while having linear and load regulation characteristic well.Due to the device General standard inductance can be used, the design of switching power circuit is greatly simplified.

Pin function：

VIN --- positive input terminal, must add an appropriate input shunt capacitance to reduce transient state electricity at this pin Pressure, while for the switching current needed for LM2596 is provided.

GND --- earth terminal.

Voltage on Output --- output end, this pin can be（+VIN-VSAT）With -0.5V（About）Between change.For Reduce be connected on coupling, PCB the pin copper cash region it 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 80μA.When the voltage of this pin is pulled down to less than about 1.3V, LM2596 is turned on；And be pulled upward to higher than 1.3V（Most 25V is arrived greatly）When, LM2596 is switched off.If this function need not be used, it is possible to which this pin is grounded or opened a way, IC is set to be in the state opened.

The course of work：9V~40V DC voltages are inputted from P1, after C1 and C3 power filter, into LM2596's Power input（VIN）, direct current is converted to 150KHz high frequency square wave from LM2596 power output end by LM2596 （Output）Output, the high frequency square wave of output is changed into DC voltage from P2 mouthfuls of outputs by L1 and C2, C4 filtering all the way, another Road high frequency square wave feeds back to LM2596 feedback end by potentiometer RP1（Feedback）, feedback signal is with base inside LM2596 Quasi- voltage stabilizing value 1.23V is compared, if detecting voltage has difference, and the defeated of chip internal oscillator is removed by amplifier regulation Go out dutycycle, so that regulated output voltage.The system needs to design output voltage continuously adjustabe, therefore RP1 is using accurate adjustable Resistance is that can reach design object.Due to being long-term work, therefore LM2596 ON/OFF ends ground connection.

As shown in Figure 5：Sensing unit is that the infrared tube in signal acquisition module is examined to the black graticule of ground Survey, transmitting tube constantly launches infrared light to road surface, fallen according to infrared light causes to connect in black, white region reflective degree difference The faint difference for 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 ".

Sensing unit is using 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 reflected, infrared receiving terminal conducting, E pins output is high Level, close to Vcc；If being not received by the infrared ray reflected, 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°C -- +70°C

Working power voltage scope is wide, and 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 of dual-in-line 8（DIP8）With the pin Plastic Package of biserial 8 of micro- shape（SOP8）.

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 energization, is fallen according to infrared light in black, white region reflective degree not With and cause the faint difference for 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 LM393 3 pin are high level；When infrared light falls in white region, reflective light intensity, photistor conducting, LM393 3 pin are low level；D2（ST188）The signal of generation is input to LM393 3 pin.LM393 is comparator circuit, i.e., LM393 3 pin voltages and 2 pin voltages 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）Detected by the black graticule to ground, transmitting tube constantly launches infrared light to road surface On, the signal for producing reception pipe is different, by LM393 comparators so as to which monolithic is sent into the pulse for producing " 0 " or " 1 " Machine.

As shown in Figure 6：Single chip control module is mainly handled the pulse signal that signal acquisition module feeding comes, so Control signal output is produced afterwards.When it is implemented, P1.0-P1.4 detects signal input part and signal acquisition module phase as five tunnels Even, the signal feeding P1.0-P1.4 of detection.Signal output part is P2.4-P2.7.

Single-chip microcomputer is by P1 come read sensor information, and P2 mouthfuls high four are carried out controlled motor produce advance, retreat, stop Only, turn left, right-hand rotation is acted.

Note：Dolly action may be not corresponding with P2 mouthfuls high four output levels, these orders connect with sensor, motor The order of the order connect program middle port setting has much relations.Such as：P2 is exported in 0xa0, figure to advance, and motor is connected Connect after order changes and connect, dolly action is probably to retreat.

As shown in Figure 7：Motor drive module is using TLP521-4 optocouplers and two-way full bridge driver L298 as core design 's.

TLP521-4 is LMDS Light Coupled Device, and power consumption 150mW, isolation voltage is 2500 Vrms, 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 of ST companies production, high current motor drive ic.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.The high-voltage large current full-bridge type driver of two H bridges is included, can be straight for driving Flow the inductive load such as motor and stepping motor, relay coil；Controlled using standard logic levels signal；Make with two Energy control end, allows in the case where not influenceed by input signal or forbids device work to have a logic power input, make 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, can also drive two Direct current generator.

The course of work：The signal come from one-chip computer module P2.4-P2.7, by module input mouthful P1, is respectively enterd 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 processing 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 on the contrary, undersuing is more than Positive pulse signal, then its perform fallback function；Equally, after the pulse signal feeding L298 processing that single-chip microcomputer is sent out, if on one side For positive pulse signal, while when being undersuing, then being rotated forward before a motor, another motor reversal, the work(that left and right is turned is realized Energy.If L298 is output as low level, two motors in left and right are all motionless.L298 6,11 two pins be that two outputs are enabled Control end, is all connected to high level, 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.A variety of 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 not departing from spirit or scope of the present utility model.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 (7)

1. a kind of Intelligent tracking trolley, it is characterised in that：The Intelligent tracking trolley includes upper disk（1）, chassis（2）, left motor （3）, right motor（4）, power control unit（5）, sensing unit（6）, single-chip microcomputer control and electric-motor drive unit（7）；It is left Motor（3）With right motor（4）It is located at chassis respectively（2）Lower section is used to connect and driving moment；Upper disk（1）With chassis（2）Between Pass through copper connecting pole（8）It is fixedly connected；Sensing unit（6）For three groups respectively with single-chip microcomputer control and electric-motor drive unit （7）Disk is arranged on together（1）Top.

2. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The chassis（2）Lower section is provided with universal Wheel（9）.

3. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The sensing unit（6）Including inspection Survey sensing circuit and circuit installing plate；Circuit installing plate is L-shaped, is bolted on disk（1）Edge.

4. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The power control unit（5）Respectively with Sensing unit（6）With single-chip microcomputer control and electric-motor drive unit（7）Connection；

Wherein, sensing unit（6）Output end and single-chip microcomputer control and electric-motor drive unit（7）Connection, by single-chip microcomputer control System and electric-motor drive unit（7）Realize output control.

5. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The power control unit（5）Including LM2596 integrated circuits；

Wherein, connection end P1 electric capacity C1 and C3 connections LM2596 after filtering power input VIN, LM2596 change direct current Exported for 150KHz high frequency square wave from LM2596 power output end Output；Wherein, output end Output is connected with inductance L1 and filter capacitor C2, C4, make high frequency square wave that it exports all the way by inductance L1 and C2, C4 filtering be changed into DC voltage from Connection end P2 mouthfuls of output, inductance L1 rear end connection potentiometer RP1, makes its high frequency square wave be fed back to by potentiometer RP1 LM2596 feedback end Feedback, feedback signal is compared with LM2596 internal reference voltage stabilizing values 1.23V；Wherein, LM2596 ON/OFF ends ground connection.

6. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The single-chip microcomputer control and motor driving are single Member（7）Middle motor driving part point includes TLP521-4 optocouplers and two-way full bridge driver L298 two parts；

For the module input mouthful P1 and TLP521-4 optocouplers that receive one-chip computer module P2.4-P2.7 signals 2,4,6,8 pin Connection, the output signal of optocoupler respectively with L298 IN1 IN2 IN3 IN4 input ports

Connection；After being handled through L298 internal circuits a left side is given by 2,3,13,14 pins by two output of pulse signal of opposite in phase Right two motors, wherein 2, the 3 left motors of port controlling, 13, the 14 right motors of port controlling, L298 6,11 two pins be two Individual output enables control end, is all connected to high level, makes L298 in running order；L298 9 ports connection power filter electricity Hold C1, C2；L298 4 ports connection power filtering capacitor C3, C4；L298 2,3,13,14 ends are connected with sustained diode 1- D8。

7. a kind of Intelligent tracking trolley according to claim 1, it is characterised in that：The sensing unit（6）Including red Outside to pipe ST188 and LM393 comparator two parts, power indicating circuit is made up of resistance R1 and light emitting diode D1；

Diode D1 is connected with infrared tube ST188, and infrared tube ST188 output end 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.