CN207541500U - A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport - Google Patents

Abstract

An adjustable speed automatic tracking electric trolley for warehouse transportation, including a tracking module, a speed measurement module, a display module, a drive module and a control system arranged on the trolley, a tracking module, a speed measurement module, a display module and a drive module All are connected with the control system, among which, the control system is 89C52 single-chip microcomputer. First, the infrared reflective sensor is used to detect the road surface signal. After being processed by the comparator, it is sent to the software control module for real-time control, and the output signal is sent to the drive module to drive the motor to rotate, thereby controlling the movement of the entire car. Combined with a photoelectric sensor for speed measurement, the LCD displays the real-time speed. The utility model can realize real-time control of the motion state of the electric vehicle, has flexible and reliable control, strong anti-interference ability, high precision and good stability, and can be applied to storage and retrieval of goods in warehouses of various small and medium-sized enterprises, supermarkets and logistics companies, and improves Improve transportation efficiency and reduce business costs.

Description

An adjustable speed automatic tracking electric trolley for warehouse transportation

technical field

The utility model relates to an adjustable-speed automatic tracking electric trolley used in warehouse transportation.

Background technique

A complex comprehensive system is integrated in the smart electric car, which can realize the functions of environment perception, self-planning and self-decision-making. It can make full use of the technical advantages of computer, sensing, information, communication, artificial intelligence and automatic control. It is a typical high-tech Complex. In today's society, high wages and low efficiency have become the top problems for enterprises. Smart electric cars have become the mainstream of industrial production and logistics, and are widely used in logistics robots, medical equipment, machine manufacturing, warehouse transportation and other major fields.

Utility model content

The purpose of the utility model is to provide a speed-adjustable automatic tracking electric trolley for warehouse transportation, which is widely used in industrial production.

In order to achieve the above object, the utility model adopts the following technical solutions:

An adjustable speed automatic tracking electric trolley for warehouse transportation, including a tracking module, a speed measurement module, a display module, a drive module and a control system arranged on a trolley with wheels, the tracking module, a speed measurement module, a display Both the module and the drive module are connected to the control system, wherein the control system is 89C52 single-chip microcomputer; there are black lines on the warehouse floor, and the trolley can move along the black lines.

A further improvement of the utility model is that the tracking module is an infrared tracking module.

The further improvement of the utility model is that the infrared tracking module includes four ST178 reflective photoelectric sensors.

The further improvement of the present utility model is that the wheels include the left front wheel, the right front wheel, the left rear wheel and the right rear wheel; the four ST178 reflective photoelectric sensors are respectively the first ST178 reflective photoelectric sensor, the second ST178 reflective photoelectric sensor, the third ST178 reflective photoelectric sensor ST178 reflective photoelectric sensor and the fourth ST178 reflective photoelectric sensor, four ST178 reflective photoelectric sensors are arranged side by side between the left front wheel and the right front wheel, and the distance between adjacent two of the four sensors is greater than that set on the warehouse floor Black line width; 4 ST178 reflective photoelectric sensors are all connected to the control system.

The further improvement of the utility model is that the speed measurement module is composed of two photoelectric code discs and two opposite-beam photoelectric sensors, and several gaps are evenly distributed on the photoelectric code discs, and the left front wheel, right front wheel, left rear wheel Motors are installed on the left and right rear wheels; the photoelectric code disc is installed on the motor output shafts of the left and right rear wheels.

The further improvement of the utility model lies in that it also includes a power supply module, and the control system and the drive module are connected with the power supply module.

The further improvement of the utility model is that the drive module includes 4 DC motors and 2 L298N drive chips, and each L298N drive chip is connected with 2 DC motors.

The further improvement of the utility model is that the speed regulation module is an L298N drive chip.

Compared with the prior art, the utility model has the beneficial effects: the utility model is provided with a tracking module, a speed measuring module, a display module, a driving module and a control system, the tracking module tracks the trolley, and the driving module is used to drive For the car, the speed measurement module can measure the speed of the car. The control system detects the road signal by the tracking module and sends it to the STC89C52 microcontroller for real-time control. The speed control module controls the speed of the car and outputs the corresponding signal to the drive module to drive the motor. Rotate to control the movement of the whole car. At the same time, real-time feedback is realized by the speed measurement module, and real-time display is realized by the display module. The utility model can realize real-time control of the motion state of the electric vehicle, and has flexible and reliable control, strong anti-interference ability, high precision and good stability. It can be applied to storage and retrieval of goods in various small and medium-sized enterprises, supermarkets, and logistics company warehouses, which improves transportation efficiency, reduces enterprise costs, and avoids environmental pollution.

Further, the utility model adopts four-wheel drive, differential steering, and is driven by a motor drive system; from the perspectives of simplicity, convenience, and reliability, 4 infrared detection heads are installed on the chassis at the same time to perform two-stage direction correction control; The front edge of the trolley chassis is equipped with an infrared reflective photoelectric sensor.

Further, the utility model adopts ST178 reflective sensor as the infrared light emitting and receiving device, so as to realize the purpose of precise automatic tracking.

Furthermore, the speed regulation module adopts L298N drive chip and PWM DC pulse width modulation technology to realize the control of the speed of the DC motor, so as to realize the function of speed regulation while the car is running.

Description of drawings

Fig. 1 is a schematic diagram of a control system of an adjustable-speed automatic tracking electric trolley provided by the utility model.

Fig. 2 is a distribution diagram of an infrared sensor of an adjustable-speed automatic tracking electric trolley provided by the utility model.

Fig. 3 is a driving principle diagram of a direct current motor of an adjustable-speed automatic tracking electric trolley provided by the utility model.

Fig. 4 is a PWM principle of an adjustable-speed automatic tracking electric trolley provided by the utility model.

Figure 5 is a graph showing the relationship between motor speed and duty cycle.

In the figure, 1 is the tracking module, 2 is the speed measurement module, 3 is the display module, 4 is the drive module, 5 is the control system, 6 is the power supply module, 7 is the first ST178 reflective photoelectric sensor, 8 is the second ST178 reflective photoelectric sensor Sensor, 9 is the third ST178 reflective photoelectric sensor, 10 is the fourth ST178 reflective photoelectric sensor, 11 is the left front wheel, and 12 is the right front wheel.

Detailed ways

Below in conjunction with accompanying drawing, the utility model is described in detail.

Referring to Fig. 1, the utility model includes a tracking module 1, a speed measuring module 2, a display module 3, a drive module 4 and a control system 5 arranged on a trolley with wheels, the tracking module 1, a speed measuring module 2, and a display module 3 And drive module 4 is all connected with control system 5, and control system 5 is 89C52 single-chip microcomputer, and wherein, described tracking module adopts infrared tracking module, is specifically ST178 reflective photoelectric sensor, and ST178 reflective photoelectric sensor is used as infrared light emission and reception device, including an infrared light-emitting diode, an infrared photosensitive transistor and its pull-up resistor. The car is driving on the warehouse road with black lines. Because the black line and the road have different reflection coefficients to light, the ST178 reflective photoelectric sensor can judge the "road" - the black line according to the strength of the received reflected light. The infrared light-emitting diode emits a certain intensity of infrared rays to irradiate the object, and the infrared photosensitive transistor conducts after receiving the reflected infrared rays, and sends out a level jump signal. The ST178 reflective photoelectric sensor is fixed on the front edge of the trolley chassis, close to the ground. When driving normally, the transmitting tube emits infrared light to illuminate the ground, and the light is reflected by the road surface and is received by the receiving tube, which outputs a high-level signal; when the electric vehicle passes through the black line, the light emitted by the transmitting end is absorbed by the black line, and the receiving end cannot receive it. The light is reflected, the sensor outputs a low-level signal and then sent to the 89C52 single-chip microcomputer for processing, and the 89C52 single-chip microcomputer controls the driving state of the electric vehicle. When moving forward, the DC motor of the driving wheel rotates forward, and when entering the deceleration zone, the 89C52 single-chip microcomputer controls the frequency conversion speed regulation of the PWM circuit, and realizes the speed regulation by changing the duty cycle of the pulse width modulation waveform.

As shown in Figure 2: the utility model installs four ST178 reflective photoelectric sensors on the chassis between the left front wheel 11 and the right front wheel 12 of the trolley, including the first ST178 reflective photoelectric sensor 7, the first ST178 reflective photoelectric sensor arranged in sequence from left to right The second ST178 reflective photoelectric sensor 8, the third ST178 reflective photoelectric sensor 9 and the fourth ST178 reflective photoelectric sensor 10, all four ST178 reflective photoelectric sensors are arranged side by side on a horizontal straight line. Among them, the second ST178 reflective photoelectric sensor 8 and the third ST178 reflective photoelectric sensor 9 are the first-level directional control sensors, and the first ST178 reflective photoelectric sensor 7 and the fourth ST178 reflective photoelectric sensor 10 are the second-level directional control sensors. The distance between adjacent ST178 reflective photoelectric sensors is greater than the width of the black line set on the warehouse floor; the four ST178 reflective photoelectric sensors are all connected to the control system; when the trolley is moving forward, it always maintains (the black line on the walking track shown in Figure 2). Line) between the second ST178 reflective photoelectric sensor 8 and the third ST178 reflective photoelectric sensor 9, the two first-level directional control sensors, when the trolley deviates from the black line on the warehouse floor, the first-level directional control sensor can detect to the black line, and send the detected signal to the control system 5 of the car, and the control system sends a signal to correct the track of the car. The second-level direction control detector is actually the first-level backup protection. It exists because the car will still deviate from the track due to excessive inertia, and correct the movement of the car again, thereby improving the reliability of the car’s tracking.

The utility model also includes a power supply module 6, and the power supply module 6 includes two sets of power supplies. The control system 5 is connected to one group of power sources in the power supply module, and the driving module 4 is connected to another group of power sources in the power supply module 6; they supply power separately.

As shown in Figure 3 and Figure 4 and Table 2-1: the drive module includes four DC motors and two L298N drive chips, each L298N drive chip is connected to two DC motors, and two L298N drive chips are used to drive the four a DC motor. Because the motor interferes a lot with the power supply during normal operation, if only one set of power supply is used, it will affect the normal operation of the 89C52 single-chip microcomputer, so dual power supply is used for power supply. One set of power supplies power to the 89C52 single-chip microcomputer, and the other set of power supply supplies power to the motor. The optocoupler is used to separate the 89C52 microcontroller and the drive module so as not to affect the quality of the power supply of the control system, and a triode driver is added to the base of the Darlington tube to provide sufficient base current for the Darlington tube. L298N is a dedicated chip for driving stepper motors and DC motors. It uses its internal bridge circuit to drive DC motors. Each group of PWM waves is used to control the speed of a motor, while the other two I/O ports can control the speed of the motor. Forward and reverse, realize the speed regulation and forward and backward of the trolley.

Table 2-1 DC motor control logic

The speed measurement module is composed of two photoelectric code discs and two through-beam photoelectric sensors. Several gaps are evenly distributed on the photoelectric code disc, and the concave object under the opposite-beam photoelectric sensor is a groove-type photocoupler, and the upper parts of the two ends are respectively equipped with infrared emitting tubes and infrared receiving tubes. The left front wheel 11, the right front wheel 12, the left rear wheel and the right rear wheel are all equipped with motors;

When the motor rotates, the code disc rotates accordingly, and the infrared light-emitting diode installed on one side of the photoelectric code disc lights up at the same time, and an infrared triode is arranged on the other side of the grating to receive the infrared signal from the infrared light-emitting diode. Since the photoelectric code disc rotates with the motor at high speed, what the infrared triode receives is a series of pulse signals. Transmit this signal to the internal counter of the 89C52 single-chip microcomputer to count, and then the driving speed of the electric car can be calculated.

The speed regulation module adopts an L298N drive chip with a built-in H-type fixed-frequency and width-adjustable PWM circuit composed of Darlington tubes. The Darlington tube is controlled by a single-chip microcomputer to make it work in an on-off state with an adjustable duty cycle to precisely adjust the motor speed. Because this circuit works in the saturation cut-off mode of the tube, the efficiency is very high. The H-type circuit ensures that the control of the speed and direction can be realized simply; the speed of the electronic switch is very fast and the stability is also very strong. PWM circuit (pulse width modulation) control, its principle is the principle of DC chopping. The conduction time in one cycle is t1, the cycle is T, and the waveform is shown in Figure 5, then the average voltage at both ends of the motor is: U=Vcc t/T=αVcc, where α=t1/T is called duty Ratio, Vcc is the power supply voltage. The speed of the motor is proportional to the voltage across the motor, and the voltage across the motor is proportional to the duty cycle of the control waveform, so the speed of the motor is proportional to the duty cycle. The larger the duty cycle, the faster the motor turns. When the duty cycle α = 1, the motor speed is maximum. The realization of PWM circuit control waveform can be realized by analog circuit or digital circuit, and most of the single-chip microcomputers currently used can directly output this PWM circuit waveform, or output through timing analog.

The display module 3 adopts an LCD1602 liquid crystal display module, which is a commercial component that assembles a liquid crystal screen, connectors, integrated circuits, pcb circuit boards, backlight panels, and structural parts. 1602 can display a total of 16 characters in 2 lines on the screen, with 8-bit data bus D0-D7, and three control ports R/W, RS, EN, the general working voltage is 5V, and it has character contrast adjustment and backlight The function is used to display the driving speed of the electric car measured under the speed measurement module. Please refer to Table 2 for the pin description of LCD1602.

Table 2-2 LCD1602 pin description

The speed-adjustable automatic tracking electric trolley used in warehouse transportation of the utility model uses infrared sensors to detect the prescribed path, and drives along the fixed path through four-wheel differential steering. It has safety protection function and does not require manual operation. The electric trolley uses a battery as a power source, and controls its travel route and action behavior through the STC89C52 single-chip microcomputer.

The utility model adopts four-wheel drive, differential steering, and is driven by a motor drive system; from the perspectives of simplicity, convenience, and reliability, 4 infrared detection heads are installed on the chassis at the same time to perform two-stage direction correction control; , Install infrared reflective photoelectric sensor. The control system uses the infrared tracking module to detect the road surface signal. After being processed by the comparator, it is sent to the STC89C52 single-chip microcomputer for real-time control. The speed control module controls the speed of the car, and outputs the corresponding signal to the driver chip to drive the motor to rotate, so as to control The movement of the whole car. At the same time, real-time feedback is realized by the speed measurement module, and real-time display is realized by the display module.

Finally, it is necessary to explain here that: the above content is only used to further describe the technical solution of the utility model in detail, and should not be understood as limiting the protection scope of the utility model. Some non-essential improvements made by those skilled in the art according to the utility model all belong to the protection scope of the utility model.

Claims (8)

1. An adjustable speed automatic tracking electric trolley for warehouse transportation, characterized in that: it includes a tracking module (1), a speed measurement module (2), and a display module (3) arranged on the trolley with wheels , the drive module (4) and the control system (5), the tracking module (1), the speed measurement module (2), the display module (3) and the drive module (4) are all connected to the control system (5), wherein the control system (5) is 89C52 single-chip microcomputer; there are black lines on the warehouse floor, and the trolley can move along the black lines. 2. The speed-adjustable automatic tracking electric trolley for warehouse transportation according to claim 1, wherein the tracking module is an infrared tracking module. 3. An adjustable-speed automatic tracking electric trolley for warehouse transportation according to claim 2, characterized in that: the infrared tracking module includes four ST178 reflective photoelectric sensors. 4. A speed-adjustable automatic tracking electric trolley for warehouse transportation according to claim 3, characterized in that the wheels include a left front wheel (11), a right front wheel (12), a left rear wheel and a right Rear wheel; 4 ST178 reflective photoelectric sensors are the first ST178 reflective photoelectric sensor (7), the second ST178 reflective photoelectric sensor (8), the third ST178 reflective photoelectric sensor (9) and the fourth ST178 reflective photoelectric sensor (10) , 4 ST178 reflective photoelectric sensors are arranged side by side between the left front wheel (11) and the right front wheel (12), and the distance between adjacent two of the 4 sensors is greater than the width of the black line set on the warehouse floor; 4 Each ST178 reflective photoelectric sensor is connected with the control system. 5. An adjustable speed automatic tracking electric trolley for warehouse transportation according to claim 4, characterized in that: the speed measurement module is composed of two photoelectric code discs and two through-beam photoelectric sensors, and the photoelectric Several gaps are evenly distributed on the code disc, and the left front wheel (11), the right front wheel (12), the left rear wheel and the right rear wheel are all equipped with motors; the photoelectric code disc is installed on the left front wheel (11) and the right front wheel. on the motor output shaft of the wheel (12). 6. A speed-adjustable automatic tracking electric trolley for warehouse transportation according to claim 1, characterized in that: it also includes a power supply module (6), the control system (5) and the drive module (4) are all compatible with The power module (6) is connected. 7. An adjustable-speed automatic tracking electric trolley for warehouse transportation according to claim 1, characterized in that: the drive module includes 4 DC motors and 2 L298N drive chips, and each L298N drive chip is connected to 2 connected to a DC motor. 8. An adjustable-speed automatic tracking electric trolley for warehouse transportation according to claim 7, characterized in that: the speed-adjusting module is an L298N drive chip.