CN207833331U - Based on monolithic processor controlled Intelligent tracking trolley system - Google Patents

Abstract

The utility model discloses one kind being based on monolithic processor controlled Intelligent tracking trolley system, it includes single chip processing module, metal detection module, ultrasound examination module, infrared obstacle avoidance sensing module, infrared remote control module, speed measuring module, OLED display module and PWM motor drive modules, the metal detection module is using LDC1000 electromagnetic sensors detection metal iron wire position, the ultrasound examination module and infrared obstacle avoidance sensing module are for assisting tracking, the infrared remote control module includes infrared receiver and infrared transmitter, the speed measuring module detects the velocity of rotation of motor by using velocity sensor, the OLED display module is for showing small car state, speed of the motor drive module for driving motor and control trolley.The utility model realizes tracking, remote control, avoidance, is shown in one so that the management in warehouse becomes quick and easy, has saved cost for company, has improved efficiency.

Description

Based on monolithic processor controlled Intelligent tracking trolley system

Technical field

The utility model is related to one kind being based on monolithic processor controlled Intelligent tracking trolley system, belong to intelligent Manufacturing Technology neck Domain.

Background technology

With the arrival of intellectualization times, situation that China will also welcome intellectual product all sorts of flowers and contend.People's life now Arduous, the social allegro development of the huge task of pressure living, makes the management in traditional warehouse be more difficult to keep its efficiency. Even if each product to put in storage has oneself shelf number, then will be one not small for the cost of large-scale storehouse management Number, such as the management in warehouse more than 500 square metres is not less than 5 people in a large amount of put in storage with personnel in export management, However even if in this way can not be quickly precisely quickly finish out is put in storage.

The appearance of Intelligent tracking trolley science and technology, can be so that the management of bulk storage plant starts to become simple and quick, using advance The iron wire track set properly and with electric power storage charge function trolley will be a kind of advanced side using volume size Formula, when to put in storage with export, trolley can precisely be quickly found out cargo and is carried to destination.

However, at present still without for the fairly perfect intelligent carriage of function in terms of storehouse management, existing intelligent carriage Environmental information and the information of itself to surrounding can not be perceived effectively, and there is also certain for the information interchange between the roads Che Yu Obstacle, simultaneously because its own processor, the limitation of the components such as sensor, make trolley in accuracy, stability, flexibility side There are still certain defects in face.

Invention content

The purpose of this utility model is to provide one kind being based on monolithic processor controlled Intelligent tracking trolley system, in rail Electromagnetic tracking and avoiding obstacles by supersonic wave also have on infrared obstacle avoidance, realize tracking, remote control, avoidance, are shown in one so that warehouse Management becomes quick and easy and depositary management solution is made to release portion of time and energy, is the cost-effective raising efficiency of company.

The technical scheme adopted by the utility model is that：One kind being based on monolithic processor controlled Intelligent tracking trolley system, this is System includes single chip processing module, metal detection module, ultrasound examination module, infrared obstacle avoidance sensing module, infrared remote control mould Block, speed measuring module, OLED display module and PWM motor drive modules, it is the metal detection module, ultrasound examination module, red Outer avoidance sensing module, infrared remote control module signal output end be separately connected the signal input part of single chip processing module, it is single The signal output end of piece machine processing module is separately connected OLED display module and PWM motor drive modules；The metal detection mould Block includes one piece of tracking sensor for detecting metal iron wire position, and the tracking sensor uses LDC1000 electromagnetic sensings Device, the ultrasound examination module and infrared obstacle avoidance sensing module are for assisting tracking, ultrasound examination module detecting trolley just Whether face has shelter and detection signal is transmitted to microcontroller, and infrared obstacle avoidance sensing module detects the left and right in trolley driving process Both sides situation is simultaneously timely feedbacked to microcontroller, and the infrared remote control module includes infrared receiver and infrared transmitter, described Speed measuring module detects the velocity of rotation of motor by using velocity sensor, and the OLED display module is for showing trolley shape State, the PWM motor drive modules drive four DC speed-reducings using four tunnel H-bridge circuits, and by receiving microcontroller production Raw PWM wave controls the speed of trolley.

Further, the microprocessor of the single chip processing module uses STM32F103 microcontrollers.

Further, SPI connection type and the STM32F103 of the LDC1000 electromagnetic sensors using four-wire system Microcontroller is attached, and SDI, SDO, SCLK, CSB signal pin of LDC1000 electromagnetic sensors correspond to respectively and STM32F103 PA7, PA6, PA5, PA8 signal pin of microcontroller connect.

Further, the ultrasound examination module uses HC-SR04 ultrasonic sensors, the HC-SR04 ultrasonic waves The TRIG pins port of sensor is connect as triggering end with the PF9 signal pins of STM32F103 microcontrollers, HC-SR04 ultrasounds The ECHO pins port of wave sensor is connect as detection end signal end with the PF8 signal pins of STM32F103 microcontrollers.

Further, the infrared obstacle avoidance sensing module uses ITR9608 slot optical coupling sensors as velocity sensor.

Further, the PWM motor drive modules integrate H-bridge circuit chip using L293.

Further, the OLED display module includes OLED display screen and the SSD1306 for driving the display screen Driving chip.

The utility model has the beneficial effects that：This system makes the management of bulk storage plant become simple and quick, using advance The iron wire track set properly and with electric power storage charge function trolley will be a kind of advanced side using volume size Formula, when to put in storage with export, trolley can precisely be quickly found out cargo and is carried to destination.

In addition, tracking system also has ultrasonic wave and infrared obstacle avoidance module as additional function, may be implemented in field It is handled when with obstacle, to improve trolley tracking system.Meanwhile this system uses the LDC1000 inductance of TI companies Formula sensor carries out a series of detection, on the basis of this sensor, trolley may be implemented according to the iron pre-set Silk route running.

The additional aspect and advantage of the utility model will be set forth in part in the description, partly will be from following description In become apparent, or recognized by the practice of the utility model.

Description of the drawings

Fig. 1 is the principles of the present invention block diagram.

Fig. 2 is single chip processing module circuit diagram.

Fig. 3 is ultrasound examination module circuit diagram.

Fig. 4 is metal detection module circuit diagram.

Fig. 5 is infrared receiving circuit figure.

Fig. 6 is OLED display module circuit diagram.

Fig. 7 is infrared obstacle avoidance sensing module circuit diagram.

Fig. 8 is speed measuring module circuit diagram.

Fig. 9 is PWM motor drive module circuit diagrams.

Figure 10 is the utility model integrated circuit figure.

Specific implementation mode

The utility model is described in detail in the following with reference to the drawings and specific embodiments.

As shown in Figure 1, a kind of being based on monolithic processor controlled Intelligent tracking trolley system comprising single chip processing module, Metal detection module, ultrasound examination module, infrared obstacle avoidance sensing module, infrared remote control module, speed measuring module, OLED show mould Block and PWM motor drive modules, the metal detection module, ultrasound examination module, infrared obstacle avoidance sensing module, infrared remote control The signal output end of module is separately connected the signal input part of single chip processing module, the signal output end of single chip processing module It is separately connected OLED display module and PWM motor drive modules；The metal detection module includes one piece for detecting metallic iron The tracking sensor of silk position, and the tracking sensor uses LDC1000 electromagnetic sensors, the ultrasound examination module and red Outer avoidance sensing module is for assisting whether tracking, ultrasound examination module detection trolley front have shelter and will detect signal It is transmitted to microcontroller, the right and left situation in infrared obstacle avoidance sensing module detection trolley driving process is simultaneously timely feedbacked to monolithic Machine, the infrared remote control module include infrared receiver and infrared transmitter, and the speed measuring module is by using velocity pick-up Device detects the velocity of rotation of motor, and the OLED display module is for showing that small car state, the PWM motor drive modules use Four tunnel H-bridge circuits drive four DC speed-reducings, and control the speed of trolley by receiving the PWM wave that microcontroller generates.

As shown in Fig. 2, the microprocessor of the single chip processing module uses STM32F103 microcontrollers. STM32F103ZET6 microcontrollers are 32 low-power scms of ST companies production, are to use very large scale integration technology The central processor CPU with data-handling capacity, random access memory ram, read only memory ROM, a variety of I/O mouthfuls and interruptions The functions such as system, timer/counter（Further include display driver circuit, pulse-width modulation circuit, analog multiplexer, A/D turn The circuits such as parallel operation）It is integrated into the one piece of small and perfect microcomputer system constituted on one piece of silicon chip.

As shown in figure 3, due in the normally travel environment of intelligent carriage there is many obstacles, and a kind of only sensing Device is had no idea exhaustive.So ultrasonic sensor can be grasped to a more than the situation in trolley front, work as front There is obstacle to block the way, acoustic detection is sent out by ultrasonic sensor, a signal is then fed back within the scope of can survey to monolithic Machine is not fed back if without barrier, and such microcontroller can timely make a response

The utility model selects HC-SR04 ultrasonic sensors, and ultrasonic interface is using very convenient, four lines of need , it is tetra- lines of VCC, Trig, Echo, GND respectively.

Triggering ends of the Trig as circuit, this port are exactly the interface that microcontroller controls its work, when monolithic requires ultrasound When wave sends out sound ranging, then the high level of a 10 μ s is generated on the pin.Echo is detection end signal end, works as measurement End is that this pin will produce a high level, and pulsewidth is that ultrasonic wave module goes the time of ranging and sound wave to return from sound wave is sent out Return the sum of time.

As shown in figure 4, first inductance in the world that LDC1000 is the research and development of TI companies not only has power consumption to digital quantizer Low, the advantages that encapsulation is small, at low cost, communication protocol SPI interface general on the market is more provided, it can very easily and MCU Connection only needs a PCB coil or homemade coil connecting with LDC1000 measurement ends, practicality side when measuring Just.

The metal object that LDC1000 can be measured has very much, is broadly divided into horizontal and vertical distance detection, also angled survey Amount, displacement detecting, metal component detection, these applications can preferably be used in consumer electronics field and vehicle electric field,

LDC1000 uses the SPI connection types of four-wire system, and STM32 is connected by SPI（SDI、SDO、SCLK、CSB）It is real Now to the read-write of the control of LDC1000 and data, LDC1000 serves as slave in entire communication process.

As shown in figure 5, infrared remote control module uses common infrared receiver HX1838, power supply 5V on the market, Wherein main is photodiode in this circuit, gives the MCU processing, connection pin to be the infrared signal transmission of reception GPIO_D4 responds infrared signal using external interrupt, and R7 is pull-up resistor,

As shown in fig. 6, the driving IC used in the OLED screen of the utility model is SSD1306, there is internal boosting work( Can, so need not single-minded design booster circuit again.Four lines of OLED module are directly connected with STM32F103ZET6 simultaneously. The first row is for showing that personal LOGO, the second row then show that the state of trolley, the third line show that ultrasonic distance value, fourth line are aobvious Show operating range value.

As shown in fig. 7, the utility model uses infrared obstacle avoidance module, the more stable tracking of auxiliary system to use Fig. 7 institutes The circuit shown completes infrared auxiliary tracking system, and photosignal passes through BZ_Left_top pins and connects STM32, connect pin For GPIO_F6（It is right）、GPIO_F7（It is left）.

As shown in figure 8, this system in tracking driving process, add speed measuring module can be to the speed and distance of traveling It is calculated, which is light groove profile speed measuring module, and groove width 5mm, the form to test the speed is step-by-step counting, so a pulse is 5mm can thus measure speed and road then specified microcontroller calculates pulse width after the level change within 1s Journey, pin GPIO_A11（Right wheel）And GPIO_A12（Revolver）.

The operation principle of speed measuring module is：High level, unobstructed output low level, by LM393 ratios are exported when blocking That output signal is clean compared with being filtered for device and slsllwwde circuit, waveform is good, and has the advantages that driving capability is strong, this module its Operating voltage is 5V, and output signal is 0 or 1.

As shown in figure 9, motor drive module drives DC speed-reducing using H bridges, control can reach by both threads The purpose of one motor has the advantages that driving current is big, and circuit is simple.

L293 is integrated H-bridge circuit, and voltage range is 4.5V~36V, and inside has ESD protections, Thermal shutdown, strong noise anti- Degree of disturbing inputs, and output channel electric current is up to 1A, peak value 2A.Compatible all TTL inputs, each output is plug-type driving Circuit reaches woods source with Darlington triode and puppet.

The utility model is using STM32F103ZET6 as Master control chip, with LDC1000 modules, HC-SR04 ultrasonic wave moulds Block, infrared obstacle avoidance module by the data of detection pass to main control chip carry out tracking data processing, by velocity sensor to speed into Row detects and is transmitted to the processing of microcontroller vehicle speed data, and display module is responsible for showing speed and transport condition, infrared remote control Configuration remote control is carried out to trolley.

The basic principles and main features and advantage of the utility model have been shown and described above.The ordinary skill of this field Personnel are not it should be appreciated that above-described embodiment limits the scope of protection of the utility model, all use equivalent replacements etc. in any form The technical solution that mode is obtained, falls in the scope of protection of the utility model.

The parts not involved in the utility model is the same as those in the prior art or can be realized by using the prior art.

Claims (7)

1. one kind being based on monolithic processor controlled Intelligent tracking trolley system, it is characterised in that the system includes microcontroller processing mould Block, metal detection module, ultrasound examination module, infrared obstacle avoidance sensing module, infrared remote control module, speed measuring module, OLED are aobvious Show module and PWM motor drive modules, it is the metal detection module, ultrasound examination module, infrared obstacle avoidance sensing module, infrared The signal output end of remote control module is separately connected the signal input part of single chip processing module, and the signal of single chip processing module is defeated Outlet is separately connected OLED display module and PWM motor drive modules；The metal detection module includes one piece for detecting gold Belong to the tracking sensor of iron wire position, and the tracking sensor uses LDC1000 electromagnetic sensors, the ultrasound examination module With infrared obstacle avoidance sensing module for assisting whether tracking, ultrasound examination module detection trolley front have shelter and will detection Signal is transmitted to microcontroller, and the right and left situation in infrared obstacle avoidance sensing module detection trolley driving process is simultaneously timely feedbacked to list Piece machine, the infrared remote control module include infrared receiver and infrared transmitter, and the speed measuring module is passed by using speed Sensor detects the velocity of rotation of motor, and the OLED display module is for showing that small car state, the PWM motor drive modules are adopted Four DC speed-reducings are driven with four tunnel H-bridge circuits, and the vehicle of trolley is controlled by receiving the PWM wave that microcontroller generates Speed.

2. according to claim 1 a kind of based on monolithic processor controlled Intelligent tracking trolley system, it is characterised in that described The microprocessor of single chip processing module uses STM32F103 microcontrollers.

3. according to claim 2 a kind of based on monolithic processor controlled Intelligent tracking trolley system, it is characterised in that described LDC1000 electromagnetic sensors are attached using the SPI connection types of four-wire system with the STM32F103 microcontrollers, LDC1000 SDI, SDO, SCLK, CSB signal pin of electromagnetic sensor respectively corresponding PA7, PA6 with STM32F103 microcontrollers, PA5, PA8 signal pins connect.

4. according to claim 2 a kind of based on monolithic processor controlled Intelligent tracking trolley system, it is characterised in that described Ultrasound examination module uses HC-SR04 ultrasonic sensors, the TRIG pins port of the HC-SR04 ultrasonic sensors to make It is connect with the PF9 signal pins of STM32F103 microcontrollers for triggering end, the ECHO pins port of HC-SR04 ultrasonic sensors It is connect with the PF8 signal pins of STM32F103 microcontrollers as detection end signal end.

5. according to claim 1 or 2 a kind of based on monolithic processor controlled Intelligent tracking trolley system, it is characterised in that institute Infrared obstacle avoidance sensing module is stated using ITR9608 slot optical coupling sensors as velocity sensor.

6. according to claim 1 or 2 a kind of based on monolithic processor controlled Intelligent tracking trolley system, it is characterised in that institute It states PWM motor drive modules and H-bridge circuit chip is integrated using L293.

7. according to claim 1 or 2 a kind of based on monolithic processor controlled Intelligent tracking trolley system, it is characterised in that institute It includes OLED display screen and the SSD1306 driving chips for driving the display screen to state OLED display module.