CN206833247U - A kind of line walking module applied to automatic running on transmisson line dolly - Google Patents
A kind of line walking module applied to automatic running on transmisson line dolly Download PDFInfo
- Publication number
- CN206833247U CN206833247U CN201720601236.XU CN201720601236U CN206833247U CN 206833247 U CN206833247 U CN 206833247U CN 201720601236 U CN201720601236 U CN 201720601236U CN 206833247 U CN206833247 U CN 206833247U
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- Prior art keywords
- line
- infrared sensor
- automatic running
- processing unit
- module
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a kind of line walking module applied to automatic running on transmisson line dolly；Including PCB main board；And it is integrated in infrared sensor, voltage comparator, MCU Main Processing Unit, CAN communication module, power module on PCB main board；Infrared sensor is connected with voltage comparator telecommunication；MCU Main Processing Unit is connected with voltage comparator, CAN communication module telecommunication respectively；MCU Main Processing Unit is realized and communicated between main equipment by CAN communication module；This line walking module integrates multiple infrared sensors, has the integrated level higher than other existing similar devices, effectively increases accuracy and speed during main equipment such as automatic running on transmisson line dolly line walking；CAN communication is used with automatic running on transmisson line dolly, effectively departs from main equipment, only needs correct communication interface, does not influence the control program of main equipment；The potentiometer of adjustable infrared sensor induction sensitivity, it is wider available for the ground different from black line contrast, use range.
Description
Technical field
Position or the navigation channel control device of two dimension are the utility model is related to, more particularly to one kind is applied to automatic running on transmisson line dolly
Line walking module.
Background technology
Automatic running on transmisson line dolly is usually to install guiding black line or black-tape on ground, and the line walking installed by small car bottom senses
Device, ground black-tape information is detected by sensor, detection information, which is transmitted to after agv controller, has controller control dolly automatic
Moved along black line.The integrated level of infrared sensor is not high in this method, only has access lesser amt, cause line walking precision and
Speed is relatively low, and secondly, the degree of modularity of line walking sensor is relatively low, can not depart from controller, the control program of main equipment
In will also specially additionally plus processing gathered data program, influence main equipment stability, and be unfavorable for Rapid transplant replacing.
The content of the invention
The shortcomings that the purpose of this utility model is to overcome above-mentioned prior art and deficiency, there is provided one kind is applied to patrol automatically
The line walking module of line dolly.
The utility model is achieved through the following technical solutions：
A kind of line walking module applied to automatic running on transmisson line dolly, including such as lower component：
PCB main board；
And it is integrated in infrared sensor, voltage comparator, MCU Main Processing Unit, CAN communication module, electricity on PCB main board
Source module；
The infrared sensor is connected with voltage comparator telecommunication；
The MCU Main Processing Unit is connected with voltage comparator, CAN communication module telecommunication respectively；
The MCU Main Processing Unit is realized and communicated between main equipment by CAN communication module；
The power module is used to provide electricity to infrared sensor, voltage comparator, MCU Main Processing Unit, CAN communication module
Energy.
The array that the infrared sensor is made up of multigroup infrared transmitting tube and multigroup infrared receiving terminal, along PCB master
Plate length direction is arranged successively.The infrared sensor also includes a current potential for being used to adjust infrared sensor induction sensitivity
Device.
The MCU Main Processing Unit includes control chip and crystal oscillator；
The control chip selects STM32F1xx family chips, and crystal oscillator selects 8MHz.
The infrared sensor is the infrared array sensor on PCB main board.
The utility model is applied to the control method of the line walking module of automatic running on transmisson line dolly, comprises the following steps：
PCB main board is fixed on main equipment (automatic running on transmisson line car), the direction of infrared sensor is installed towards bottom surface, is made
Infrared sensor can sense ground black line or black-tape information；
Infrared sensor senses the color change data of ground black line or black-tape information, and by the electricity of color change data
Signal passes to voltage comparator；
Level signal is converted into by voltage comparator again, and passes to MCU Main Processing Unit, MCU Main Processing Unit is according to level
The change of signal, ground route change information is obtained, corresponding control data is generated further according to route change information, be i.e. motor
Control data, main equipment, then the motor-drive circuit by main equipment, motor are then sent to by communication module again
Corresponding action is made, it is so as to realize by the data of line walking module to change the motion state of line walking dolly, i.e., black along giving
Line or black-tape motion.
The utility model is had the following advantages and effect relative to prior art：
1) the utility model integrates multiple infrared sensors, has higher than other existing similar devices
Integrated level, effectively increase accuracy and speed during main equipment such as automatic running on transmisson line dolly line walking.
2) the utility model high modularization, CAN communication is used with main equipment such as automatic running on transmisson line dolly, effectively departs from master
Body equipment, correct communication interface is only needed, do not influence the control program of main equipment.
3) the utility model is equipped with the potentiometer of adjustable infrared sensor induction sensitivity, available for black line contrast
Different ground, use range are wider.
4) the utility model uses built-in MCU main control unit, automatically processes the information obtained by line walking, it is not necessary to main equipment
Additional dedicated processing, the degree of modularity is higher, beneficial to quickly accessing application.
5) the utility model is additionally provided including a variety of peripheral hardwares such as CAN, Usart, ADC, AD, SW, and it is more to meet the product
The requirement of function.
Brief description of the drawings
Fig. 1 is the line walking modular structure schematic diagram that the utility model is applied to automatic running on transmisson line dolly.
Embodiment
The utility model is more specifically described in detail with reference to specific embodiment.
Embodiment
As shown in Figure 1.The utility model discloses a kind of line walking module applied to automatic running on transmisson line dolly, including such as bottom
Part：
PCB main board；
And it is integrated in infrared sensor, voltage comparator, MCU Main Processing Unit, CAN communication module, electricity on PCB main board
Source module；
The infrared sensor is connected with voltage comparator telecommunication；
The MCU Main Processing Unit is connected with voltage comparator, CAN communication module telecommunication respectively；
The MCU Main Processing Unit is realized and communicated between main equipment by CAN communication module；
The power module is used to provide electricity to infrared sensor, voltage comparator, MCU Main Processing Unit, CAN communication module
Energy.
The array that the infrared sensor is made up of multigroup infrared transmitting tube and multigroup infrared receiving terminal, along PCB master
Plate length direction is arranged successively.The infrared sensor also includes a current potential for being used to adjust infrared sensor induction sensitivity
Device.
The MCU Main Processing Unit includes control chip and crystal oscillator；
The control chip selects STM32F1xx family chips, and crystal oscillator selects 8MHz.
The infrared sensor is the infrared array sensor on PCB main board.
The utility model is applied to the control method of the line walking module of automatic running on transmisson line dolly, comprises the following steps：
PCB main board is fixed on main equipment (automatic running on transmisson line car), the direction of infrared sensor is installed towards bottom surface, is made
Infrared sensor can sense ground black line or black-tape information；
Infrared sensor senses the color change data of ground black line or black-tape information, and by the electricity of color change data
Signal passes to voltage comparator；
Level signal is converted into by voltage comparator again, and passes to MCU Main Processing Unit, MCU Main Processing Unit is according to level
The change of signal, ground route change information is obtained, corresponding control data is generated further according to route change information, be i.e. motor
Control data, main equipment, then the motor-drive circuit by main equipment, motor are then sent to by communication module again
Corresponding action is made, it is so as to realize by the data of line walking module to change the motion state of line walking dolly, i.e., black along giving
Line or black-tape motion.
For MCU Main Processing Unit, STM32F103RCT6 chips provide individual general purpose I/O more than 40 with less encapsulation, make
With the demand with the more pins of the product；The chip is additionally provided including a variety of peripheral hardwares such as CAN, Usart, ADC, AD, SW, is met
The multi-functional requirement of the product, and its price is relatively low, disposal ability is good, cost-effective, therefore from the chip as centre
Manage unit.
For voltage comparator, because the product voltage alternative route is more, and distribution rule is relatively concentrated, therefore selects four-way
Voltage comparator LM339, passage is more, small volume, working stability.
Layout is can be also laid out along infrared tube, and wiring is relatively simple.
Infrared sensor, the LED type infrared tube of small-sized integrated cloud brightness board 5MM specifications is selected, convenient welding can
High, the strong antijamming capability by property.Altogether from 32 groups of distribution plank sides neat to pipe.Its operating current collects to be compared together
, 3A fuse has been used in order to protect other circuits, has increased the stability of circuit and the convenience of maintenance.
When using the line walking module, the plate face for the PCB main board for being welded with infrared sensor should be installed down so that red
Outer sensor can sense ground black line or black-tape information.Line walking module has been connected with the CAN port of main equipment using CAN lines
Come, connect the power line of module, potentiometer can be adjusted according to the sensing indicator lamp of infrared sensor, during so as to adjusting line walking
Sensitivity, improve line walking precision.
As described above, it can preferably realize the utility model.
Embodiment of the present utility model is simultaneously not restricted to the described embodiments, and other are any without departing from of the present utility model
Spirit Essence with made under principle change, modification, replacement, combine, simplification, should be equivalent substitute mode, be included in
Within the scope of protection of the utility model.
Claims (4)
- A kind of 1. line walking module applied to automatic running on transmisson line dolly, it is characterised in that：Including such as lower component：PCB main board；And it is integrated in infrared sensor, voltage comparator, MCU Main Processing Unit, CAN communication module, power supply mould on PCB main board Block；The infrared sensor is connected with voltage comparator telecommunication；The MCU Main Processing Unit is connected with voltage comparator, CAN communication module telecommunication respectively；The MCU Main Processing Unit is realized and communicated between main equipment by CAN communication module；The power module is used to provide electric energy to infrared sensor, voltage comparator, MCU Main Processing Unit, CAN communication module.
- 2. it is applied to the line walking module of automatic running on transmisson line dolly according to claim 1, it is characterised in that：The infrared sensor An array being made up of multigroup infrared transmitting tube and multigroup infrared receiving terminal, arranges successively along PCB main board length direction.
- 3. it is applied to the line walking module of automatic running on transmisson line dolly according to claim 2, it is characterised in that：The infrared sensor Also include a potentiometer for being used to adjust infrared sensor induction sensitivity.
- 4. it is applied to the line walking module of automatic running on transmisson line dolly according to claim 2, it is characterised in that：The MCU master controls list Member includes control chip and crystal oscillator；The control chip selects STM32F1xx family chips, and crystal oscillator selects 8MHz.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720601236.XU CN206833247U (en) | 2017-05-26 | 2017-05-26 | A kind of line walking module applied to automatic running on transmisson line dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720601236.XU CN206833247U (en) | 2017-05-26 | 2017-05-26 | A kind of line walking module applied to automatic running on transmisson line dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206833247U true CN206833247U (en) | 2018-01-02 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720601236.XU Expired - Fee Related CN206833247U (en) | 2017-05-26 | 2017-05-26 | A kind of line walking module applied to automatic running on transmisson line dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206833247U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085431A (en) * | 2017-05-26 | 2017-08-22 | 华南理工大学 | A kind of line walking module and its control method applied to automatic running on transmisson line dolly |
-
2017
- 2017-05-26 CN CN201720601236.XU patent/CN206833247U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107085431A (en) * | 2017-05-26 | 2017-08-22 | 华南理工大学 | A kind of line walking module and its control method applied to automatic running on transmisson line dolly |
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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: 20180102 Termination date: 20190526 |