CN207541500U - A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport - Google Patents
A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport Download PDFInfo
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- CN207541500U CN207541500U CN201721607984.5U CN201721607984U CN207541500U CN 207541500 U CN207541500 U CN 207541500U CN 201721607984 U CN201721607984 U CN 201721607984U CN 207541500 U CN207541500 U CN 207541500U
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- module
- motor
- driven carrier
- control system
- photoelectric sensors
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Abstract
A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport, including tracking module, speed measuring module, display module, drive module and the control system being arranged on trolley, tracking module, speed measuring module, display module and drive module are connected with control system, wherein, control system is 89C52 microcontrollers.It is detected first with reflected infrared sensors road pavement signal, after being handled by comparator, software control module is given to be controlled in real time, output signal to the rotation of drive module drive motor, so as to control the movement of entire trolley, in addition it is combined and tested the speed with photoelectric code disk and correlation photoelectric sensor, LCD shows real-time speed.The utility model can be realized controls the motion state of electric vehicle in real time, and control is flexible, reliable, strong antijamming capability, precision is high, and stability is good, can be applied to each medium-sized and small enterprises, supermarket, the access of logistics company articles from the storeroom, conevying efficiency is improved, reduces entreprise cost.
Description
Technical field
The utility model is related to a kind of adjustable speed automatic tracking motor-driven carriers applied to warehouse transport.
Background technology
Complicated integrated system is integrated in intelligent electric minicar, it can be achieved that environment sensing, self planning, self-decision function,
It can make full use of computer, sensing, information, communication, artificial intelligence and the technical advantages such as automatically control, and be typical high-new skill
Art synthesis.In today's society, wage for workmen is high, efficiency is low has become the first-class problem of each enterprise.Intelligent electric minicar has become
For industrial production, the mainstream of logistics, it is major to be widely used in merchandising machine people, medical instrument, machine manufacture, warehouse transport etc.
Field.
Utility model content
The purpose of this utility model is to provide a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport, extensively
For in industrial production.
To achieve the above object, the utility model adopts the following technical solution：
A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport, including being arranged on the trolley for carrying wheel
Tracking module, speed measuring module, display module, drive module and control system, tracking module, speed measuring module, display module with
And drive module is connected with control system, wherein, control system is 89C52 microcontrollers；Black line is provided in warehouse floor, it is small
Vehicle can be moved along black line.
The utility model, which further improves, to be, the tracking module is infrared tracking module.
The utility model, which further improves, to be, infrared tracking module includes 4 ST178 retroreflective photoelectric sensors.
The utility model, which further improves, to be, wheel includes the near front wheel, off-front wheel, left rear wheel and off hind wheel；4
ST178 retroreflective photoelectric sensors are respectively the first ST178 retroreflective photoelectric sensors, the 2nd ST178 retroreflective photoelectric sensors,
Three ST178 retroreflective photoelectric sensors and the 4th ST178 retroreflective photoelectric sensors, 4 ST178 retroreflective photoelectric sensors are set side by side
It puts between the near front wheel and off-front wheel, the distance between adjacent 2 are more than the black line being arranged in warehouse floor in 4 sensors
Width；4 ST178 retroreflective photoelectric sensors are connected with control system.
The utility model, which further improves, to be, the speed measuring module is by two photoelectric code disks and two correlation photoelectricity
Sensor forms, and is uniform-distribution with several gaps on photoelectric code disk, the near front wheel, off-front wheel, left rear wheel and off hind wheel are respectively mounted
There is motor；Photoelectric code disk is mounted on the motor output shaft of left rear wheel and off hind wheel.
The utility model, which further improves, to be, further includes power module, and control system and drive module are and power supply
Module is connected.
The utility model, which further improves, to be, drive module includes 4 dc motors and 2 pieces of L298N driving cores
Piece, every piece of L298N driving chip are connected with 2 dc motors.
The utility model, which further improves, to be, speed adjusting module is L298N driving chips.
Compared with prior art, the utility model has the advantage that：The utility model is by setting tracking module, surveying
Fast module, display module, drive module and control system, tracking module carry out trolley tracking, and drive module is small for driving
Vehicle, speed measuring module can measure the speed of trolley, and control system is detected, and give by tracking module road pavement signal
STC89C52 microcontrollers are controlled in real time, are carried out speed control to trolley through speed adjusting module, are exported corresponding signal to driving
Module drive motor rotates, so as to control the movement of entire trolley.Real-time Feedback is realized by speed measuring module simultaneously, display module is real
Existing real-time display.The utility model can be realized controls the motion state of electric vehicle in real time, and control flexibly, reliably, resists dry
It is strong to disturb ability, precision is high, and stability is good.Each medium-sized and small enterprises, supermarket, the access of logistics company articles from the storeroom are can be applied to, is improved
Conevying efficiency reduces entreprise cost, avoids environmental pollution.
Further, the utility model uses four-wheel drive, and differential steering is driven by motor driven systems；From simple, side
Just it, reliably angularly sets out, while 4 infrared detection heads is installed on chassis, carry out two-stage direction and correct control；In dolly chassis
Infrared reflection photoelectric sensor is installed in forward position.
Further, the utility model uses transmitting and receiving device of the ST178 reflective sensors as infrared light, realizes
Accurate automatic tracking purpose.
Further, speed adjusting module uses L298N driving chips, using PWM DC pulse width modulation techniques, to realize to straight
The control of the rotating speed of galvanic electricity motivation, to realize the function of speed governing in trolley traveling.
Description of the drawings
Fig. 1 is a kind of adjustable speed automatic tracking motor-driven carrier control system schematic diagram provided by the utility model.
Fig. 2 is a kind of distribution map of adjustable speed automatic tracking motor-driven carrier infrared sensor provided by the utility model.
Fig. 3 is a kind of adjustable speed automatic tracking motor-driven carrier direct current generator driving principle figure provided by the utility model.
Fig. 4 is a kind of adjustable speed automatic tracking motor-driven carrier PWM principles provided by the utility model.
Fig. 5 is motor speed and duty cycle relationship figure.
In figure, 1 is tracking module, and 2 be speed measuring module, and 3 be display module, and 4 be drive module, and 5 systems in order to control, 6 are
Power module, 7 be the first ST178 retroreflective photoelectric sensors, and 8 be the 2nd ST178 retroreflective photoelectric sensors, and 9 be the 3rd ST178
Retroreflective photoelectric sensor, 10 be the 4th ST178 retroreflective photoelectric sensors, and 11 be the near front wheel, and 12 be off-front wheel.
Specific embodiment
The utility model is described in detail below in conjunction with the accompanying drawings.
Referring to Fig. 1, the utility model includes the tracking module 1 being arranged on the trolley with wheel, speed measuring module 2, shows
Show module 3, drive module 4 and control system 5, tracking module 1, speed measuring module 2, display module 3 and drive module 4 with control
System 5 processed is connected, and control system 5 is 89C52 microcontrollers, wherein, the tracking module, using infrared tracking module, specially
ST178 retroreflective photoelectric sensors, transmitting and receiving device of the ST178 retroreflective photoelectric sensors as infrared light are red including one
UV light-emitting diode, an infrared phototriode and its pull-up resistor.Trolley travels on the warehouse road surface for being decorated with black line, by
Different to the reflectance factor of light with road surface in black line, ST178 retroreflective photoelectric sensors can be according to the strong of the reflected light received
It is weak to judge " road "-black line.Infrared light-emitting diode emits the infrared radiation object of some strength, infrared photosensitive three pole
Pipe is connected after reflected infrared ray is received, and sends out a level skip signal.The ST178 retroreflective photoelectric sensors are consolidated
It is scheduled on dolly chassis forward position, ground proximity.During normally travel, transmitting tube transmitting Infrared irradiation ground, light is through road reflection
After be received pipe reception, export high level signal；When electric vehicle passes through black line, the light of transmitting terminal transmitting is hacked line absorption, connects
Receiving end does not receive reflection light, and 89C52 microcontrollers is sent to handle after transducers output low-level signal, the control of 89C52 microcontrollers
The transport condition of electric vehicle.During advance, driving wheel direct current generator rotates forward, and during into deceleration area, is controlled and carried out by 89C52 microcontrollers
Pwm circuit frequency control by changing the duty ratio of pulse width modulated waveform, realizes speed governing.
As shown in Figure 2：It is anti-that 4 ST178 are installed on chassis of the utility model between trolley the near front wheel 11 and off-front wheel 12
Photoelectric sensor is penetrated, including the first ST178 retroreflective photoelectric sensors 7, the 2nd ST178 reflection photoelectricity set gradually from left to right
Sensor 8, the 3rd ST178 retroreflective photoelectric sensors 9 and the 4th ST178 retroreflective photoelectric sensors 10,4 ST178 reflected lights
Electric transducer is all arranged side by side on a horizontal linear.Wherein, the 2nd ST178 retroreflective photoelectric sensors 8 and third
ST178 retroreflective photoelectric sensors 9 be first order direction controlling sensor, the first ST178 retroreflective photoelectric sensors 7 and the 4th
ST178 retroreflective photoelectric sensors 10 are second level direction controlling sensor.The distance between adjacent S T178 retroreflective photoelectric sensors
More than the black line width being arranged in warehouse floor；4 ST178 retroreflective photoelectric sensors are connected with control system；Small Chinese herbaceous peony
Into when, remain (run trace black line as shown in Figure 2) in the 2nd ST178 retroreflective photoelectric sensors 8 and the 3rd ST178
Between the two first order direction controlling sensors of retroreflective photoelectric sensor 9, when trolley deviates the black line in warehouse floor, the
Level-one direction controlling sensor gives the signal of detection the control system 5 of trolley with regard to that can detect black line, control system hair
Go out signal to correct small wheel paths.Second level direction controlling detector is really the back-up protection of the first order, its presence
It allows for trolley conference is crossed due to inertia and remain unchanged offset track, the movement of trolley is corrected again, it is small so as to improve
The reliability of vehicle tracking.
The utility model further includes power module 6, and power module 6 includes two groups of power supplys.In control system 5 and power module
One group of power supply be connected, drive module 4 is connected with another group of power supply in power module 6；Individually power.
As shown in Fig. 3 and Fig. 4 and table 2-1：Drive module includes four dc motors and 2 pieces of L298N driving chips,
Every piece of L298N driving chip is connected with 2 dc motors, this 4 direct current drives are driven using 2 pieces of L298N driving chips
Machine.Due to motor normal work when it is very big to the interference of power supply, if only with one group of power supply when can influence 89C52 microcontrollers
Normal work, so select dual power supply.One group of power supply is powered to 89C52 microcontrollers, and another set power supply is to motor
Power supply.Separated between 89C52 microcontrollers and drive module with optocoupler, so as not to influence control system power supply quality, and up to
The base stage of Islington pipe adds triode to drive, and sufficiently large base current can be provided to Darlington transistor.L298N is driving stepping electricity
The special chip of machine and direct current generator drives dc motor using its internal bridge circuit, and each group of PWM wave is used for controlling
The speed of one motor of system, and other two I/O mouthfuls of rotating that can control motor, realize the speed governing and advance of trolley
It retreats.
Table 2-1 DC motor control logics
The speed measuring module is made of two photoelectric code disks and two correlation photoelectric sensors.Uniformly divide on photoelectric code disk
Cloth several gaps, and the spill object below correlation photoelectric sensor is groove profile photoelectrical coupler, both ends the raised area
The inside is respectively provided with infrared transmitting tube and infrared receiving tube.The near front wheel 11, off-front wheel 12, left rear wheel and off hind wheel are mounted on electricity
Motivation；Photoelectric code disk is mounted on the motor output shaft of the near front wheel 11 and off-front wheel 12.
When the electro-motor is turning, code-disc also rotates therewith, while mounted on the infrared light-emitting diode of photoelectric code disk side
It lights, infrared triode is equipped in the opposite side of grating, for receiving the infrared signal that infrared light-emitting diode is sent out.Due to
For photoelectric code disk with motor high-speed rotation, then what infrared ray triode received is exactly a series of pulse signals.By the signal transmission
Internal counter to 89C52 microcontrollers counts, you can calculates the travel speed of motor-driven carrier.
The speed adjusting module, using the L298N driving chips of the H-type fixed frequency modulated PWM pwm circuit of built-in Darlington transistor composition.
Darlington transistor is controlled with microcontroller, is allowed to be operated in the adjustable on off state of duty ratio, accurately adjusts motor speed.This electricity
Route in being operated under the saturation cut-off mode of pipe, efficiency is very high, H-type circuit ensure that can simply realize rotating speed and
The control in direction；Stability is also extremely strong quickly for the speed of electronic switch.Pwm circuit (pulse width modulation) controls, its principle
It is exactly DC chopped-wave principle.Turn-on time in one cycle is t1, and period T, waveform is as shown in figure 5, then motor both ends
Average voltage be：U=Vcc t/T=α Vcc, wherein, α=t1/T is known as duty ratio, and Vcc is supply voltage.The rotating speed of motor
It is proportional to the voltage at motor both ends, and the voltage at motor both ends is directly proportional to controlling the duty ratio of waveform, therefore the speed of motor
Degree is proportional to duty ratio, and duty ratio is bigger, and motor turns faster.When duty cycle alpha=1, motor speed is maximum.PWM circuits
Control the realization of waveform can be by analog circuit or digital circuit, and the most of microcontrollers used at present can be straight
It connects this pwm circuit waveform of output or is exported by timing simulation.
Display module 3 uses LCD1602 LCD MODULEs, it is a kind of by liquid crystal display, connector, integrated circuit, pcb
The component for the commercialization that wiring board, backlight, structural member are assembled together.1602 can show 2 rows totally 16 on the screen
Character, has tri- control ports of 8 bit data bus D0-D7 and R/W, RS, EN, and general work voltage is 5V, and with word
Contrast adjustment and backlight function are accorded with, for being shown in the travel speed of the motor-driven carrier measured under speed measuring module. LCD1602
Pin explanation refer to table 2.
Table 2-2 LCD1602 pin explanations
The adjustable speed automatic tracking motor-driven carrier for being applied to warehouse transport of the utility model, using infrared sensor to rule
Determine path to be detected, turned to by four-wheel differentia and travelled along fixed route, there is safety protection function and do not need to be artificial
The carrying motor-driven carrier of operation, power resources are provided with battery, are controlled its travelling route by STC89C52 single chip and are moved
Make behavior.
The utility model uses four-wheel drive, and differential steering is driven by motor driven systems；From simple, convenient, and reliable reliable etc.
Angle is set out, while installs 4 infrared detection heads on chassis, is carried out two-stage direction and is corrected control；In dolly chassis forward position, installation
Infrared reflection photoelectric sensor.Control system is detected by infrared tracking module road pavement signal, is handled by comparator
Later, it gives STC89C52 single chip to be controlled in real time, speed control is carried out to trolley through speed adjusting module, exports corresponding letter
Number to driving chip driving motor rotate, so as to control the movement of entire trolley.Real-time Feedback is realized by speed measuring module simultaneously, is shown
Show that module realizes real-time display.
It is it is necessary to described herein finally：The above is served only for doing the technical solution of the utility model further in detail
It describes in detail bright, it is impossible to be interpreted as the limitation to scope of protection of the utility model.This field technical professional is new according to this practicality
Some nonessential improvement that type is made belong to scope of protection of the utility model.
Claims (8)
1. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport, it is characterised in that：Vehicle is carried including being arranged on
Tracking module (1), speed measuring module (2), display module (3), drive module (4) and control system (5) on the trolley of wheel, tracking
Module (1), speed measuring module (2), display module (3) and drive module (4) are connected with control system (5), wherein, control system
(5) are united as 89C52 microcontrollers；Black line is provided in warehouse floor, trolley can be moved along black line.
2. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport according to claim 1, feature exist
In：The tracking module is infrared tracking module.
3. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport according to claim 2, feature exist
In：Infrared tracking module includes 4 ST178 retroreflective photoelectric sensors.
4. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport according to claim 3, feature exist
In：Wheel includes the near front wheel (11), off-front wheel (12), left rear wheel and off hind wheel；4 ST178 retroreflective photoelectric sensors are respectively
First ST178 retroreflective photoelectric sensors (7), the 2nd ST178 retroreflective photoelectric sensors (8), the 3rd ST178 retroreflective photoelectric sensors
(9) and the 4th ST178 retroreflective photoelectric sensors (10), 4 ST178 retroreflective photoelectric sensors be disposed side by side on the near front wheel (11) and
Between off-front wheel (12), the distance between adjacent 2 are more than the black line width being arranged in warehouse floor in 4 sensors；4
ST178 retroreflective photoelectric sensors are connected with control system.
5. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport according to claim 4, feature exist
In：The speed measuring module is made of two photoelectric code disks and two correlation photoelectric sensors, is uniform-distribution on photoelectric code disk
Several gaps, the near front wheel (11), off-front wheel (12), left rear wheel and off hind wheel are mounted on motor；Photoelectric code disk is mounted on
On the motor output shaft of the near front wheel (11) and off-front wheel (12).
6. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport according to claim 1, feature exist
In：Power module (6) is further included, control system (5) and drive module (4) are connected with power module (6).
7. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport according to claim 1, feature exist
In：Drive module includes 4 dc motors and 2 pieces of L298N driving chips, every piece of L298N driving chip and 2 direct current drives
Machine is connected.
8. a kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport according to claim 7, feature exist
In：Speed adjusting module is L298N driving chips.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721607984.5U CN207541500U (en) | 2017-11-27 | 2017-11-27 | A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201721607984.5U CN207541500U (en) | 2017-11-27 | 2017-11-27 | A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport |
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| CN207541500U true CN207541500U (en) | 2018-06-26 |
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| CN201721607984.5U Expired - Fee Related CN207541500U (en) | 2017-11-27 | 2017-11-27 | A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110378762A (en) * | 2019-06-24 | 2019-10-25 | 浙江工业大学之江学院 | A kind of large-scale indoor automatic traveling cart system |
| CN112817303A (en) * | 2019-11-18 | 2021-05-18 | 鸿富锦精密电子(天津)有限公司 | Self-propelled triangular warning frame and advancing control method thereof |
| CN114063497A (en) * | 2021-11-04 | 2022-02-18 | 上海智能网联汽车技术中心有限公司 | Remote control tracking system and method based on four-wheel drive and steering chassis |
-
2017
- 2017-11-27 CN CN201721607984.5U patent/CN207541500U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110378762A (en) * | 2019-06-24 | 2019-10-25 | 浙江工业大学之江学院 | A kind of large-scale indoor automatic traveling cart system |
| CN112817303A (en) * | 2019-11-18 | 2021-05-18 | 鸿富锦精密电子(天津)有限公司 | Self-propelled triangular warning frame and advancing control method thereof |
| CN114063497A (en) * | 2021-11-04 | 2022-02-18 | 上海智能网联汽车技术中心有限公司 | Remote control tracking system and method based on four-wheel drive and steering chassis |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180626 Termination date: 20181127 |
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| CF01 | Termination of patent right due to non-payment of annual fee |