CN207457835U - A kind of two-wheeled wireless remote controlled intelligent trolley - Google Patents
A kind of two-wheeled wireless remote controlled intelligent trolley Download PDFInfo
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- CN207457835U CN207457835U CN201721571511.4U CN201721571511U CN207457835U CN 207457835 U CN207457835 U CN 207457835U CN 201721571511 U CN201721571511 U CN 201721571511U CN 207457835 U CN207457835 U CN 207457835U
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- module
- direct current
- trolley
- wireless remote
- remote controlled
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Abstract
The utility model discloses a kind of two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, including master controller, range finder module, bluetooth module, six road infrared modules, posture read module, direct current generator drive module, two from direct current generator with encoder；The master controller is connected respectively with range finder module, bluetooth module, six road infrared modules, posture read module, direct current generator drive module；The master controller, range finder module, bluetooth module, six road infrared modules, posture read module, two direct current generators are respectively connected with power module.The advantageous effect that the utility model is reached：The utility model abandons remote control, carries out data transfer by the bluetooth module in mobile phone app and trolley control system so as to manipulate trolley；Different from conventional lorry, trolley is two-wheeled, using MPU6050 posture balancing modules, can realize the self-balancing of two-wheeled trolley；In addition trolley can realize this two additional functions of automatic obstacle avoiding, black line tracking.
Description
Technical field
The utility model is related to a kind of two-wheeled wireless remote controlled intelligent trolleies, belong to balance control technology field.
Background technology
There is miscellaneous remote operated vehicle on the market at this stage, the control of trolley is realized by a dedicated remote-control handle
System.But existing trolley is there are the problem of remote-control handle is fragile, volume is very much not portable and trolley function pattern is single, especially
In trolley traveling process, stability is difficult to ensure that.
Utility model content
To solve the deficiencies in the prior art, the purpose of this utility model is to provide a kind of two-wheeled wireless remote controlled intelligent is small
Vehicle, based on Kalman filtering control algolithm and without remote-control handle, realize autonomous tracking, the upright trolley of the two-wheeled of avoidance it is steady
Property control.
In order to realize above-mentioned target, the utility model adopts the following technical scheme：
A kind of two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, including master controller, for perceiving trolley and preceding object
The range finder module of object distance, bluetooth module, six road infrared modules, posture read module, direct current generator drive module, two carry
The direct current generator for being used to drive moving of car of encoder；Master controller respectively with range finder module, bluetooth module, the infrared mould in six tunnels
Block, posture read module, the connection of direct current generator drive module；The master controller, range finder module, bluetooth module, six tunnels are infrared
Module, posture read module, two direct current generators are respectively connected with power module；The direct current generator drive module respectively with two
Direct current generator is connected；The bluetooth module controls trolley for being connected with mobile phone terminal；Six road infrared module profit
It is black and white road surface to have the characteristics that different reflectivity properties judge in the body surface of different colours with infrared ray, is completed corresponding
Tracking function.
A kind of foregoing two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, the master controller is using 32
STM32F103C8T6 chips.
A kind of foregoing two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, the range finder module is HC-SR04 ultrasounds
Away from module.
A kind of foregoing two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, six road infrared module compares including LM339
Device module and three pairs of infrared tube modules；Wherein infrared tube module includes generating the transmitting tube of infrared light and inside electricity after being powered
Resistance can with receive infrared light number and the reception pipe of variation, due to black light-absorbing, the reception pipe when running into black and white road surface
Corresponding resistance value of different sizes, so as to distinguish black and white road surface；Wherein LM339 comparator modules are used for more pre-set
The external circuit voltage of voltage and infrared tube exports a high-low voltage according to the variation of black and white road surface, then this is sent to master
Controller, so as to judge it is black and white road surface.
A kind of foregoing two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, the posture read module, which uses to have gathered, to be added
The six axle sensor chips of MPU6050 of velocity sensor and gyroscope；The six axle sensor chips of MPU6050 are passed from acceleration
The data that are read in sensor and gyroscope carry out Kalman filtering processing, then after controlling by pid control algorithm the advance of trolley
It moves back.
A kind of foregoing two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, the direct current generator drive module uses
TB6612FNG motor drive ics.
A kind of foregoing two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, the voltage stabilizing chip that the power module uses for
External voltage is down to 5V using LM2940, recycles ASM1117 that 5V voltages are down to 3.3V by LM2940 and ASM1117.
The advantageous effect that the utility model is reached：The utility model abandons remote control, passes through mobile phone app and trolley control
Bluetooth module in system processed carries out data transfer so as to manipulate trolley；Different from conventional lorry, trolley is two-wheeled,
Using MPU6050 posture balancing modules, the self-balancing of two-wheeled trolley can be realized；In addition trolley can realize automatic obstacle avoiding, black
This two additional functions of line tracking；The present apparatus effectively prevents existing two wheeler caused by the effect of machine driving or center of gravity power
Control is unstable；It can realize and steadily control on steady road surface and slope surface with constant slope, also various filtering can be used as to control
The experimental stand of algorithm processed compares the superiority-inferiority of algorithms of different.
Description of the drawings
Fig. 1 is the overall structure figure of the present apparatus.
Specific embodiment
The utility model is further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating this
The technical solution of utility model, and cannot the scope of protection of the utility model be limited with this.
A kind of two-wheeled wireless remote controlled intelligent trolley of the utility model design, including master controller, range finder module, bluetooth mould
Block, six road infrared modules, posture read module, direct current generator drive module, two from direct current generator with encoder and power supply
Module, connection relation are as shown in Figure 1.
Power module to ultrasonic wave module, infrared module, six axle sensor modules, bluetooth module, motor drive module and
The direct current generator power supply of left and right two.
Master controller handles so as to fulfill self-balancing, avoidance and tracking the data from external each sensor.
Mobile phone can set trolley to be in remote control mode, keep away as remote terminal by the bluetooth module of trolley control system
Barrier pattern and tracking pattern.When trolley is under remote control mode, by mobile phone app trolley can be controlled all around to move.
When trolley is under avoidance pattern, trolley independently advances, and independently changes the direction of motion when front runs into barrier.Work as trolley
When under tracking pattern, trolley advances according to the black trace line planned in advance.
The power source that balancing trolley uses is 2S high current model plane lithium batteries, and battery pack reaches 8.4V full of voltage.And system
Segment chip 5V is needed to power, segment chip needs 3.3V to power, so power-switching circuit is needed, using chip
LM2940-5.0 and ASM1117-3.3 in order to individually stablize clean power supply to sensor MPU-6050 offers, specially individually makes
It is powered with XC6206 to MPU-6050.
Three wheeler of the two-wheeled trolley from conventional lorry or with universal wheel is different, primarily solves the problems, such as just
It is equilibrium problem.Using the MPU6050 chips for integrating gyroscope and accelerometer, more accurate trolley inclines in order to obtain
Angle, the utility model carries out Kalman filtering processing to the data read from gyroscope and accelerometer, then passes through PID control
Algorithm controls the forward-reverse of trolley so as to fulfill the balance of trolley.
Two direct current generators have selected the TB6612FNG driving chips of built-in two groups of H-bridge circuits.Wherein PWMA, PWMB connect
The PWM output pins of STM32F10C8T6, the PWM of general 10KHZ, the tune of the duty cycle realization motor by adjusting PWM
Speed.AO1, AO2, BO1, BO2 connect the positive and negative anodes of two direct current generators.AIN1, AIN2, BIN1, BIN2 pin control two direct currents
The rotating of motor.
Bluetooth module is principal and subordinate's integrated module, which enriches, and supports SPP bluetooth serial ports agreements, have into
This is low, small, and transmitting-receiving sensitivity is high, using it is simple the advantages that.
HC-SR04 ultrasonic distance measuring modules can provide the contactless distance sensing function of 2cm-400cm, and range accuracy can
3mm is arrived up to height；Module includes ultrasonic transmitter, receiver and control circuit.Module there are four pin be respectively VCC, Trig,
Echo、GND.Its circuit is connected as VCC for 5V power supplys, and GND is ground wire, and TRIG Trig control signals input, ECHO response signals
Output.The basic principle of ranging is：To the high level of one lasting more than 10us of Trig pins, ultrasonic wave module sends 8 automatically
The square wave of a 40khz has detected whether signal return automatically, there is signal return, and a high level, high level are exported by ECHO
Duration is exactly ultrasonic wave from the time for being transmitted to return.ECHO pin high level is obtained by the input capture of STM32
Duration, then obtain distance=(the high level time * velocities of sound (340M/S))/2.
Six road infrared modules include LM339 and three pair of infrared tube.Using infrared ray different colours object table mask
Have the characteristics of different reflectivity properties, trolley traveling during constantly earthward emit infrared light, when infrared light run into it is white
Diffusing reflection occurs during color floor, the reception pipe that reflected light is loaded on trolley is just received；Infrared light is absorbed if black line is run into,
The reception pipe of trolley does not receive infrared light.Be present with if both above phenomenon is described with the height of level low and high level it
Point, that is, it is present with so-called 0 and 1 two states, this is sent to the I/O mouths of main control chip, microcontroller again at this time
Judgement is black and white road surface, and then completes corresponding tracking function.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model technical principle is not departed from, several improvement and deformation can also be made, these change
The scope of protection of the utility model is also should be regarded as into deformation.
Claims (7)
1. a kind of two-wheeled wireless remote controlled intelligent trolley, it is characterized in that, including master controller, for perceiving trolley and front obstacle
The range finder module of distance, bluetooth module, six road infrared modules, posture read module, direct current generator drive module, two carry volume
The direct current generator for being used to drive moving of car of code device；
The master controller drives respectively with range finder module, bluetooth module, six road infrared modules, posture read module, direct current generator
Dynamic model block connects；
The master controller, range finder module, bluetooth module, six road infrared modules, posture read module, two direct current generators connect
It is connected to power module；
The direct current generator drive module is connected respectively with two direct current generators；
The bluetooth module controls trolley for being connected with mobile phone terminal；
The posture read module is used to control moving forward and backward for car wheel；
Six road infrared module has the characteristics that different reflectivity properties are sentenced using infrared ray in the body surface of different colours
Disconnected is black and white road surface, and passes data to master controller and complete corresponding tracking function.
2. a kind of two-wheeled wireless remote controlled intelligent trolley according to claim 1, it is characterized in that, the master controller uses 32
The STM32F103C8T6 chips of position.
3. a kind of two-wheeled wireless remote controlled intelligent trolley according to claim 1, it is characterized in that, the range finder module is HC-
SR04 ultrasonic distance measuring modules.
4. a kind of two-wheeled wireless remote controlled intelligent trolley according to claim 1, it is characterized in that, the six roads infrared module bag
Include LM339 comparator modules and three pairs of infrared tube modules.
5. a kind of two-wheeled wireless remote controlled intelligent trolley according to claim 1, it is characterized in that, the posture read module is adopted
With the six axle sensor chips of MPU6050 for including acceleration transducer and gyroscope.
6. a kind of two-wheeled wireless remote controlled intelligent trolley according to claim 1, it is characterized in that, the direct current generator drives mould
Block uses TB6612FNG motor drive ics.
7. a kind of two-wheeled wireless remote controlled intelligent trolley according to claim 1, it is characterized in that, what the power module used
Voltage stabilizing chip is LM2940 and ASM1117；The LM2940 voltage stabilizing chips are used to external voltage being down to 5V；The ASM1117
Voltage stabilizing chip is used to 5V voltages being down to 3.3V.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721571511.4U CN207457835U (en) | 2017-11-22 | 2017-11-22 | A kind of two-wheeled wireless remote controlled intelligent trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721571511.4U CN207457835U (en) | 2017-11-22 | 2017-11-22 | A kind of two-wheeled wireless remote controlled intelligent trolley |
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|---|---|
| CN207457835U true CN207457835U (en) | 2018-06-05 |
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| CN201721571511.4U Active CN207457835U (en) | 2017-11-22 | 2017-11-22 | A kind of two-wheeled wireless remote controlled intelligent trolley |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107885215A (en) * | 2017-11-22 | 2018-04-06 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly |
| CN109116980A (en) * | 2018-06-25 | 2019-01-01 | 中山大学新华学院 | A kind of gesture identification intelligent robot system |
| CN111830823A (en) * | 2020-06-15 | 2020-10-27 | 江苏大学 | Balance trolley system capable of carrying rotary LED and control method |
-
2017
- 2017-11-22 CN CN201721571511.4U patent/CN207457835U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107885215A (en) * | 2017-11-22 | 2018-04-06 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly |
| CN109116980A (en) * | 2018-06-25 | 2019-01-01 | 中山大学新华学院 | A kind of gesture identification intelligent robot system |
| CN111830823A (en) * | 2020-06-15 | 2020-10-27 | 江苏大学 | Balance trolley system capable of carrying rotary LED and control method |
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