CN206558100U - The compound walking intelligent vehicle of crawler type - Google Patents

Abstract

It is a kind of experiment teaching instrument field based on intelligent vehicle the utility model discloses a kind of compound walking intelligent vehicle of crawler type.Roll and promote crawler sections, using four crawler belts, four differential speed motors drive four driving wheels simultaneously before and after every crawler belt includes driving wheel and BOGEY WHEEL, each crawler belt correspondence car body so that it has good shuttling performance and steering capability；Side plate is respectively arranged with the inside of swing arm obstacle detouring crawler sections, four crawler belts, the swing that four motors on car body drive side plate is corresponded to respectively, therefore the crawler belt of this equipment can be converted into pedipulator structure to surmount obstacles around axis rotation, crawler belt.The utility model realizes two different form of walking manner and the intelligent control to it, be available for colleges and universities it is mechanical, control class specialty experiment teaching use.

Description

The compound walking intelligent vehicle of crawler type

Technical field

It is characterized in realize two different form of row the present invention relates to a kind of experiment teaching instrument field based on intelligent vehicle Walk mode and the intelligent control to it, be available for colleges and universities it is mechanical, control class specialty experiment teaching use.

Background technology

At present, college experiment teaching device category is various, but experiment teaching instrument based on majority, only it is a small number of be for The laboratory apparatus of intelligent vehicle bicycle control, and not yet occur for the experiment teaching instrument with mechanical structure in the present apparatus. In teaching process, general colleges and universities are completed in the form of software simulation, and experimental result lacks dramatic, is unfavorable for student to machine The understanding of tool respective outer side edges and control technology is grasped.

Patent No. CN205524536U, discloses a kind of overturn-preventing intelligent carriage, and it includes chassis, the both sides difference on chassis Provided with drive device, drive device includes driving wheel, end driven pulley and several middle driven pulleys, driving wheel, end from Driving wheel and several middle driven pulleys are respectively and movably connected to the side on chassis；Driving wheel and end driven pulley are located at respectively Outside the two ends of middle driven pulley, several middle linear arranged for interval of driven pulley；Driving wheel, end driven pulley and several The outside of middle driven pulley is cased with crawler belt, and driving wheel, end driven pulley and several middle driven pulleys are nibbled with crawler belt respectively Close, end driven pulley, several middle driven pulleys and driving wheel coordinate the arrangement of crawler belt so that crawler belt is in up big and down small Inverted trapezoidal, chassis is difficult to lean forward and swung back in overturn-preventing intelligent carriage in the process of walking, i.e. overturn-preventing intelligent carriage is difficult The phenomenon overturned, improves the stationarity in overturn-preventing intelligent carriage moving process.

Patent No. CN104808667A, discloses a kind of self-navigation avoidance intelligent carriage control system, and main connection is closed System is as follows：Processor module controlled motor drive module, motor drive module control direct current generator；Processor module controls avoidance Module；Navigation module information gives processor module, and processor module is sent out the information by wireless module after data processing Wireless module is given, wireless module is received after information by being sent to host computer after processor module data processing.On simultaneously Purpose coordinate information can also be sent to processor module and carry out data processing by position machine, and the information after data processing is through wireless module Send processor module to, recycle navigation module navigation；Information acquisition module gathers peripheral information, and by information deposit therewith In connected storage card.Intelligent carriage self-navigation ability of the present invention is strong, and avoidance scope is wide, and system cost is cheap, fits Occasion for bad environments replaces the mankind to complete assigned tasks.

Patent No. CN202257271U is carried out, and discloses a kind of belt electronic intelligent trolley, by track-mounted electric dolly, driving Control panel, monolithic microcomputer kernel control panel, photoelectricity tracking, ultrasonic ranging, inductance detect 4 sensor plate compositions.Driving control The individual events such as making sheet is combined with monolithic microcomputer kernel control panel can make dolly advance by programming, parking, reversing, turning continuously repeat fortune It is dynamic, drive control plate, monolithic microcomputer kernel control plate combined with four sensor plates can make the motion of dolly progress phonetic order, 21 experiments such as photoelectricity tracking obstacle avoidance automatic running, ultrasound distance, inductance Underground metal object and dynamic are real Test.Drive control plate, monolithic microcomputer kernel control panel and four sensor plates are drawn with row's pin or interface, it is possible to provide the outer institute of machine The resource needed.It is that universities and colleges' teaching and scientific and technical personnel carry out single-chip microcomputer sensor and are combined application technology experiment and dynamic experiment A kind of multi-functional, multiduty new product.

The Athey wheel of above-mentioned intelligent carriage is all fixed, and they, which can only be fixed on, carries out general rolling row on chassis Walk, obstacle climbing ability is weaker.

The content of the invention

To solve the above problems, the utility model, which provides a kind of crawler belt, rolls the mode for promoting and walking and combining with swing arm, and It is combined with Intelligent Recognition control.

The utility model includes mechanical structure portion with perceiving control system；

Mechanical structure portion scheme, is mainly and rolling promotes track module and swing arm obstacle detouring track module and car body branch Support coupling part.

Roll and promote track module, using four crawler belts, every crawler belt includes driving wheel and BOGEY WHEEL, each crawler belt correspondence car Four reducing motors drive four driving wheels simultaneously before and after body so that it has good shuttling performance and steering capability.

Side plate is respectively arranged with the inside of swing arm obstacle detouring track module, four crawler belts, four motors driving on car body is corresponded to respectively The swing of side plate, thus this equipment crawler belt can on vehicle body reducing motor axis rotation, crawler belt can be converted into pedipulator Structure is to surmount obstacles.

Car body support coupling part mainly links together each mechanism, plays support connection function, and it is each to meet intelligent vehicle Machinery and the mutual cooperation relation of sensing control section.

Perceiving control system mainly includes control core module, power management module, driving wheel motor drive module, swing arm Motor drive module, measurement angle module, range finder module, communication module and various Auxiliary support modules.Each module is wrapped Include hardware and software two parts.Hardware provides hardware entities for system work, and software provides various algorithms for system.

Control core module.It is controlled using single-chip microcomputer, using Freescale kl126 single-chip microcomputers.It is mainly used in ranging The collection of the data such as measurement result, camera image, the reducing motor corner of module, handles the data collected and calculates car The current state of body and following motion state, and then promote track module and swing arm obstacle detouring track module real by controlling to roll The automatic running of existing dolly.Therefore need big from capacity, data processing speed is sufficiently fast, I/O interface, ATD interfaces, PWM and logical Believe the enough MCU of interface (USB, I2C, SPI, UART etc.), Freescale kl126 single-chip microcomputers just meet our requirement.Monolithic Machine must gathered data, progress, and critically combined with the control of corresponding motor and swing arm control like clockwork Together, otherwise dolly can not just realize the automatic running of safety and steady, therefore MCU control module seems particularly in the entire system Important and key.

Power management module.There need to be overall understanding to whole system, because different components is to each not phase of demand of power supply Together, while it is contemplated that voltage, electric current, total power consumption, efficiency etc. isolate anti-between relevant parameter and heat dissipation problem, and circuit board Only interfere.Power Management Design is divided into two parts:A part is dc source, uses 2000mAH nickel-cadmium cells；Another part is Dc source division board.

Driving wheel motor drive module.From GM-25-370 direct current carbon brush motors, rated voltage 12V, rated speed 4800rpm, nominal torque 24g.cm, rated current 160mA, turning moment 186g.cm

Swing arm motor drive module.From JGB37-545 direct current generators, rated voltage 24V, rated speed 45rpm are specified Electric current 1A.

Range finder module.Ultrasonic wave is launched by ultrasonic transmitter forwards, timing is started while emission time, is surpassed Encounter barrier when sound wave is propagated in atmosphere just to return to come immediately, ultrasonic receiver receives back wave and just stops meter immediately When.The aerial spread speed of ultrasonic wave is v, and according to the time difference △ t for measuring transmitting and reception echo of record, so that it may To calculate launch point away from barrier apart from S, i.e.,:S=v △ t/2

Measure angle module.The measurement of angle variable quantity is changed into by resistance change measurement by angle displacement sensor, can The anglec of rotation between fixed component (stator) and rotatable parts (rotor) is measured, on the inside of second reducing motors, due to depositing In fixed drive ratio 7200:1, it is n/ (θ/360 °)=7200 that can try to achieve motor and turn over number of turns n with side plate swing angle θ relations, Thus the angle that the side plate measured is turned over.The angle displacement sensor type and model resistance-type rotary-type sensor RDC501015。

Debugging module.Debugging acid proper use of and how with can be brought to the foundation and optimization of whole system Benefit, it is the bridge between single-chip microcomputer and user.It is main in IAR Embedded that our software program writes task Carried out under Workbench IDE platforms, the platform is a very effective IDE (IDE), and it fills user Divide and effectively develop and manage Embedded Application engineering.As a development platform, he, which possesses, more improves and easy-to-use characteristic. In addition, we also allow dolly to be realized with computer and communicated using bluetooth, and the upper computer software write by oneself realizes data Collection, debugged.

Auxiliary support module refers to not to be directly affected to the traveling of intelligent vehicle itself, but in order to ensure the reliability of system And the add-on module enhanced system function and designed, including intelligent vehicle fault diagnosis module, data disaply moudle and debugging are auxiliary Help module etc..

The beneficial effects of the utility model are：

1. the innovative structure of the utility model improves the locomotor activity of creeper truck, for scientific and technical personnel's disaster relief instrument Exploitation has reference.

2. user can show the walking manner of two kinds of forms to student, deepen understanding of the student to structure innovation.

3. user can need to set the target rotation angle and target velocity of intelligent vehicle according to actual conditions, experiment；Simultaneously User can be with visual in image the transport condition for understanding intelligent vehicle.

4. the utility model is simple to operate, it is easy to debug, user is set to be easy to grasp main control device principle, can be vividly straight The result of the displaying intelligent vehicle control of sight, is favorably improved the learning interest of student, is that universities and colleges' teaching and scientific and technical personnel enter Row single-chip microcomputer sensor is combined a kind of multi-functional, multiduty new product of application technology experiment and dynamic experiment.

Brief description of the drawings

Fig. 1 is the general construction schematic diagram of this intelligent vehicle system.

Fig. 2 is the car body top view of this intelligent vehicle system.

Fig. 3 is the second reducing motors of intelligent vehicle system and the connection top view of side plate.

Fig. 4 is the connection front view of this intelligent vehicle system second reducing motors and side plate

Fig. 5 is driving wheel, BOGEY WHEEL and the crawler belt connection diagram of this intelligent vehicle system.

Embodiment

Refer to shown in Fig. 1 to Fig. 5, the utility model includes mechanical structure portion with perceiving control system；

Mechanical structure portion include chassis (1), ultrasonic sensor (2), side plate (3), driving wheel (4), BOGEY WHEEL (5), Crawler belt (7), camera device support bar (11), camera (10), speed probe (12), first reducing motors (9), second are slowed down Motor (8), power supply (6) and coupling part；

Described coupling part includes some screws, flange (15), motor fixture (13), support bar fixture and taken the photograph As head connector.Camera (10) is connected with camera device support bar (11) by camera connector, and solid by support bar Determine part to be fixed on chassis (1)；Connect on the inside of second reducing motors (8) (away from Athey wheel side) with angle displacement sensor (12) Connect, be fixed on by motor fixture (13) on chassis (1)；Side plate (3) passes through flange (15) and screw and second reducing motors (8) outside (close to Athey wheel side) connection；Driving wheel (4) is connected by side plate (3) and connecting shaft with first reducing motors (9) Connect；Each BOGEY WHEEL (5) is screwed on side plate (3)；Driving wheel (4) is nibbled with BOGEY WHEEL (5) by the gear teeth with caterpillar teeth Conjunction is connected with crawler belt (7).

Perceiving control system includes control core module, power management module, driving wheel motor drive module, swing arm motor Drive module, speed measuring module, range finder module, communication module and various Auxiliary support modules；Control core device interface is with driving Driving wheel motor driver, measuring angle device, the signaling interface of range unit are connected, main control device, measuring angle device, ranging dress Put, the control source interface of DC electric machine drive apparatus be connected with power supply voltage supply device to obtain voltage, driving wheel motor driving Device output end is connected with car body front-wheel, and measuring angle device input tests the speed to be connected with car body two end side panels.

Claims (5)

1. a kind of compound walking intelligent vehicle of crawler type, it is characterised in that：Including mechanical structure portion with perceiving control system；

Mechanical mechanism part includes chassis (1), side plate (3), driving wheel (4), BOGEY WHEEL (5), crawler belt (7), camera device support Bar (11), camera (10), first reducing motors (9), second reducing motors (8) and coupling part；The camera (10) with Camera device support bar (11) is connected by camera connector, and is fixed on by support bar fixture on chassis (1)；It is described It is connected on the inside of second reducing motors (8) with angle displacement sensor (12), chassis (1) is fixed on by motor fixture (13) On；The side plate (3) is by flange (15) and screw with being connected on the outside of second reducing motors (8)；The driving wheel (4) passes through side Plate (3) and connecting shaft are connected with first reducing motors (9)；Each BOGEY WHEEL (5) is screwed on side plate (3)；Driving Wheel (4) is connected by the gear teeth with BOGEY WHEEL (5) with caterpillar teeth engagement with crawler belt (7)；Roll and promote track module (16) to use four Bar crawler belt, every crawler belt includes four first reducing motors (9) before and after driving wheel (4) and BOGEY WHEEL (5), each crawler belt correspondence car body Four driving wheels (4) are driven simultaneously so that it has good shuttling performance and steering capability；Swing arm obstacle detouring track module (17) four Side plate (3) is respectively arranged with the inside of bar crawler belt, the swing that four motors on car body drive side plate is corresponded to respectively.

2. a kind of compound walking intelligent vehicle of crawler type according to claim 1, it is characterised in that：Described rolling, which is promoted, carries out Running part with module (16), is followed successively by first reducing motors (9), drive shaft, driving wheel (4), crawler belt (7) from the inside to the outside, Each independent driving driving wheel (4) rotates four first reducing motors (9) in car body front and back, drives crawler belt (7) move, so that BOGEY WHEEL (5) concomitant rotation, by pad regulation motor angle to protect when first reducing motors (9) are installed Demonstrate,prove motor shaft level and perpendicular to vehicle body.

3. a kind of compound walking intelligent vehicle of crawler type according to claim 1, it is characterised in that：Described rolling, which is promoted, carries out Speed control part with module (16), rolls and promotes track module to be full symmetric structure, and the track module of left and right possesses respectively From independent drive system, each track module can realize that speed is adjustable and rotate and reverse basic operation function；If two When block motion direction is identical, speed is identical, intelligent vehicle realizes that straight ahead or straight line are retreated；If two block motion speed are not Together, car body can be promoted to produce turning moment so that intelligent vehicle is turned.

4. a kind of compound walking intelligent vehicle of crawler type according to claim 1, it is characterised in that：Described swing arm obstacle detouring is carried out Mating part with module (17), swing arm obstacle detouring track module is similarly full symmetric structure, when two track modules cooperate, Climbing and obstacle crossing function can be achieved, when track module rotates to an angle before vehicle body, track module keeps original structure after vehicle body State plays a supportive role, and keeps original motion state to promote car body to advance, rear before track module recover motion state, Band motor vehicles bodies are advanced.

5. a kind of compound walking intelligent vehicle of crawler type according to claim 1, it is characterised in that：Described swing arm obstacle detouring is carried out Sensing part with module (17), is connected by angle displacement sensor (12) with second reducing motors (8), passes through measurement, control Revolution reaches the purpose of control speed；Speed probe is arranged on the inside of second reducing motors (8), is angle displacement sensor, Different resistance are produced according to number of turns difference is turned over, detect that motor turns over number of turns n by measuring curent change, due to there is fixed biography It is dynamic to compare 7200:1, it is n/ (θ/360 °)=7200 that can try to achieve motor and turn over number of turns n with side plate swing angle θ relations, is thus measured The angle that turns over of side plate.