CN207908975U - A kind of intelligent barrier avoiding travelling bogie control system - Google Patents
A kind of intelligent barrier avoiding travelling bogie control system Download PDFInfo
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- CN207908975U CN207908975U CN201820390603.0U CN201820390603U CN207908975U CN 207908975 U CN207908975 U CN 207908975U CN 201820390603 U CN201820390603 U CN 201820390603U CN 207908975 U CN207908975 U CN 207908975U
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- microprocessor
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Abstract
The utility model proposes a kind of intelligent barrier avoiding travelling bogie control systems, which is characterized in that including：Microprocessor, steering engine module, mechanical arm module, first motor drive module, the second motor drive module, third motor drive module, the first DC speed-reducing, the second DC speed-reducing, third DC speed-reducing, ultrasonic sensor modules, camera module, the first wireless data transfer module, the second wireless data transfer module and man-machine interactive platform.Compared with prior art, the utility model compact uses convenient for small space and complicated landform；Circuit is simple, and work efficiency is high, and performance is stablized；It is of low cost, it is multiple functional, it is cost-effective；Good human-computer interaction.
Description
Technical field
The utility model belongs to intelligent robot technology field, be related to one kind can intelligent barrier avoiding, carry out realtime graphic adopt
Collect and remote control is supported to realize the tool of light weight transport more particularly to a kind of intelligent barrier avoiding travelling bogie control system.
Background technology
Currently, in the environment of enterprise's production technology is continuously improved, requires constantly to deepen to automatic technology, intelligence machine
People already becomes one and applies upsurge.Many countries are all in the research and development design for actively carrying out intelligent robot in the world.
Wish to the complex environments such as the rescue task for replacing the mankind to complete some detections or danger by intelligent robot.Intelligence is small
Vehicle is a collection environment sensing, and programmed decision-making, for the functions such as automatic running in the integrated system of one, what it was concentrated has used meter
Calculation machine, sensing, information, communication, the technologies such as navigate and automatically control, are typical new and high technology synthesis.
The intelligent robot realized at present, most of research be for in-depth research in a certain respect, it is few from
It is whole to realize to be improved to the avoidance navigation performance of intelligent robot, thus from environment sensing, dynamic decision and planning,
Behaviour control carrys out design construction entity intelligent robot with three aspects are executed, and promotes Artificial Potential Field Method on the whole and inertia is fixed
The decision-making results of position method.The method that the quasi- combination using environment sensing, video acquisition, manually handle of this programme controls, realizes one
The automatic obstacle-avoiding of kind intelligent barrier avoiding travelling bogie control system and transport.
Utility model content
The utility model proposes a kind of intelligent barrier avoiding travelling bogie control systems.Solve existing in the prior art
It is the avoidance navigation performance that intelligent robot is studied in terms of single, seldom to intelligent robot from entirety and practical performance
Avoidance navigation, while by real-time image information acquisition and remote control, improve a kind of intelligent barrier avoiding travelling bogie control
The practical performance of system processed can preferably cope with all kinds of emergency situations.
The technical solution of the utility model is a kind of intelligent barrier avoiding travelling bogie control system, which is characterized in that including：It is micro-
Processor, steering engine module, mechanical arm module, first motor drive module, the second motor drive module, third motor drive mould
Block, the first DC speed-reducing, the second DC speed-reducing, third DC speed-reducing, ultrasonic sensor modules, camera
Module, the first wireless data transfer module, the second wireless data transfer module and man-machine interactive platform；
The microprocessor, steering engine module, mechanical arm module are sequentially connected in series by conducting wire；The microprocessor
Device, first motor drive module, the first DC speed-reducing are sequentially connected in series by conducting wire；The microprocessor, second
Motor drive module, the second DC speed-reducing are sequentially connected in series by conducting wire；The microprocessor, the driving of third motor
Module, third DC speed-reducing are sequentially connected in series by conducting wire；The microprocessor and the ultrasonic sensor modules
It is connected by conducting wire；The microprocessor is connect with the camera module by conducting wire；The microprocessor and described first
Wireless data transfer module is connected by conducting wire；First wireless data transfer module and the second wireless data transmission mould
Mode connects block by radio communication；Second wireless data transfer module is connected with the man-machine interactive platform by conducting wire
It connects.
Preferably, the microprocessor is used to receive the purpose coordinate of the first wireless data transfer module transmission,
Output first motor control signal controls the first motor drive module to third motor control signal to third electricity respectively
Machine drive module, distance and position or described first of the front obstacle for being transmitted according to the ultrasonic sensor modules
The urgent avoidance signal of wireless data transfer module transmission is controlled with exporting the first avoidance signal respectively to third avoidance signal
The first motor drive module is to third motor drive module, for receiving the picture signal of the camera module output simultaneously
It is transmitted to first wireless data transfer module, the mechanical arm control for receiving the first wireless data transfer module transmission
Signal processed is simultaneously exported to the steering engine module；The steering engine module is used to receive the mechanical arm control letter of the microprocessor output
Number carry out servos control；The mechanical arm module is used to realize the transportation function of gripping and release according to servos control；Described
The first motor that one motor drive module is used to receive the microprocessor output controls signal or the first avoidance signal to drive
First DC speed-reducing；First DC speed-reducing is used to control signal according to first motor or the first avoidance is believed
The operating of number carry out motor；Second motor drive module is used to receive the second motor control letter of the microprocessor output
Number or the second avoidance signal to drive second DC speed-reducing；Second DC speed-reducing is used for according to the second electricity
Machine control signal or the second avoidance signal carry out the operating of motor；The third motor drive module is for receiving the microprocessor
The third motor control signal or third avoidance signal of device output are to drive the third DC speed-reducing；The third direct current
Decelerating motor is used to carry out the operating of motor according to third motor control signal or third avoidance signal；The ultrasonic sensor
Module is used to acquire the distance of front obstacle and position and is transmitted to the microprocessor；The camera module is for acquiring
Picture signal is simultaneously transmitted to the microprocessor；First wireless data transfer module is for exporting picture signal to described the
Two wireless data transfer modules；Second wireless data transfer module for export purpose coordinate, mechanical arm control signal with
And urgent avoidance signal is to first wireless data transfer module；The man-machine interactive platform is for exporting purpose coordinate to institute
The second wireless data transfer module is stated, for exporting urgent avoidance signal to second wireless data transfer module, for defeated
Go out mechanical arm control signal to second wireless data transfer module, it is defeated for receiving second wireless data transfer module
The picture signal gone out.
Compared with prior art, the utility model has the beneficial effects that relative to general avoidance trolley, only to road
The barrier on road is identified, and carries out hiding action after recognition, lacks the utility function after avoidance, is not drawn to environment
Real-time acquisition, the display in face.And a kind of intelligent barrier avoiding travelling bogie control system can not only hide itself in practical applications
Barrier, while site environment picture can be acquired in real time, and host computer is transferred to by wireless device, encountering burst
Also the recycling of trolley can be realized in the case of situation avoidance failure by long-range remote control function, secondly, when reaching target location,
A kind of intelligent barrier avoiding travelling bogie control system can launch belongings in real time using mechanical arm.Afield or rescue work
In, it can usually encounter various accidents.At this moment, a kind of intelligent barrier avoiding travelling bogie control system will play good work
With.It can not only detect chemistry leakage substance and fetch sample material, and to finding quilt in ruins after violent earthquake generation
Personnel are buried, simple drug and food etc. are sent to；It can also be lacked for mechanical damage in industrial pipeline, crackle etc. in manufacturing field
Sunken seeks, the lookup and positioning of leakage and breaking point to oil transportation and gas transmission line.
Description of the drawings
Fig. 1：For the system structure diagram of the utility model；
Fig. 2：For the circuit diagram of microprocessor；
Fig. 3：For the circuit diagram of motor drive module；
Fig. 4：For the circuit diagram of wireless data transfer module；
Fig. 5：For four-operational amplifier circuit diagram；
Fig. 6：Circuit is adjusted for switching voltage.
Specific implementation mode
The utility model is understood and implemented for the ease of those of ordinary skill in the art, it is right with reference to the accompanying drawings and embodiments
The utility model is described in further detail, it should be understood that implementation example described herein is only used for describing and explaining this
Utility model is not used to limit the utility model.
As shown in Figure 1, the system structure diagram of the utility model.It is kept away referring to Fig.1, the utility model provides a kind of intelligence
Hinder travelling bogie control system, the technical solution of the utility model is a kind of intelligent barrier avoiding travelling bogie control system, feature
It is, including：Microprocessor, steering engine module, mechanical arm module, first motor drive module, the second motor drive module, third
Motor drive module, the first DC speed-reducing, the second DC speed-reducing, third DC speed-reducing, ultrasonic sensor
Module, camera module, the first wireless data transfer module, the second wireless data transfer module and man-machine interactive platform；Institute
The microprocessor stated, steering engine module, mechanical arm module are sequentially connected in series by conducting wire；The microprocessor, first motor
Drive module, the first DC speed-reducing are sequentially connected in series by conducting wire；The microprocessor, the second motor drive mould
Block, the second DC speed-reducing are sequentially connected in series by conducting wire；The microprocessor, third motor drive module, third
DC speed-reducing is sequentially connected in series by conducting wire；The microprocessor is connected with the ultrasonic sensor modules by conducting wire
It connects；The microprocessor is connect with the camera module by conducting wire；The microprocessor is passed with first wireless data
Defeated module is connected by conducting wire；First wireless data transfer module passes through wireless with second wireless data transfer module
Communication mode connects；Second wireless data transfer module is connect with the man-machine interactive platform by conducting wire.
The microprocessor uses STM32F103C6 chips；The steering engine module uses MG996 steering engine modules；Described
One motor drive module to third motor drive module is all made of L298N driving chips；First DC speed-reducing is to
Three DC speed-reducings are all made of JGA25-13CPR motors；The ultrasonic sensor modules use HC-SR04 supersonic sensings
Device；The camera uses OV2640 image sensor modules；First wireless data transfer module and the second wireless data
Transmission module is all made of USR-WIFI232 modules；The man-machine interactive platform uses server terminal.
The utility model embodiment is introduced in conjunction with Fig. 1 to Fig. 6.The man-machine interactive platform is for exporting purpose coordinate to institute
The second wireless data transfer module is stated, second wireless data transfer module is for exporting described in purpose coordinate to described first
Wireless data transfer module, the purpose coordinate of the first wireless data transfer module output described in the microprocessor export the respectively
One motor control signal controls the first motor drive module to third motor control signal to third motor drive module；
The distance of front obstacle when there is barrier in front for being transmitted according to the ultrasonic sensor modules is distinguished with position
The first avoidance signal is exported to third avoidance signal to control the first motor drive module to third motor drive module, institute
It states first motor drive module and institute is controlled according to the first avoidance signal to third avoidance signal respectively to third motor drive module
Stating the first direct current accelerates motor to third DC speed-reducing with avoiding barrier；When there is barrier in front and hides not in time,
The microprocessor is used to receive the picture signal of the camera module output and is transmitted to first wireless data transmission
Module, first wireless data transfer module is used to export picture signal to second wireless data transfer module, described
Man-machine interactive platform is used to receive the picture signal of the second wireless data transfer module output, and is exported by manual operation
Urgent avoidance signal is to second wireless data transfer module, and second wireless data transfer module is by urgent avoidance signal
It is transmitted to first wireless data transfer module, first wireless data transfer module is by urgent avoidance signal transmission to institute
Microprocessor is stated, the microprocessor exports the first avoidance signal to third avoidance signal respectively further according to urgent avoidance signal to be come
The first motor drive module is controlled to third motor drive module, the first motor drive module to third motor drives
Module controls first direct current according to the first avoidance signal to third avoidance signal and motor to third direct current is accelerated to slow down respectively
Motor is with avoiding barrier；When the man-machine interactive platform needs conveying objects by picture signal discovery, mechanical arm control is exported
To second wireless data transfer module, second wireless data transfer module controls mechanical arm to be believed signal processed
Number it is transmitted to first wireless data transfer module, first wireless data transfer module is by mechanical arm control signal transmission
To the microprocessor, the microprocessor controls signal control steering engine module and then control machinery arm module pair according to mechanical arm
In the transport operation of gripping and the release of object.
Although this specification has more used microprocessor, steering engine module, mechanical arm module, first motor driving mould
Block, the second motor drive module, third motor drive module, the first DC speed-reducing, the second DC speed-reducing, third are straight
Flow decelerating motor, ultrasonic sensor modules, camera module, the first wireless data transfer module, the second wireless data transmission
The terms such as module and man-machine interactive platform, but the possibility using other terms is not precluded.It is only using these terms
In order to more easily describe the essence of the utility model, it is new with this practicality to be construed as any one of the additional limitations all
Type spirit is disagreed.
It should be understood that the part that this specification does not elaborate belongs to the prior art.
It should be understood that the above-mentioned description for preferred embodiment is more detailed, can not therefore be considered to this
The limitation of utility model patent protection domain, those skilled in the art are not departing under the enlightenment of the utility model
Under the ambit that the utility model claims are protected, replacement or deformation can also be made, the utility model is each fallen within
Within protection domain, the utility model is claimed range and should be determined by the appended claims.
Claims (2)
1. a kind of intelligent barrier avoiding travelling bogie control system, it is characterised in that：Including microprocessor, steering engine module, mechanical arm mould
Block, first motor drive module, the second motor drive module, third motor drive module, the first DC speed-reducing, second are directly
Flow decelerating motor, third DC speed-reducing, ultrasonic sensor modules, camera module, the first wireless data transfer module,
Second wireless data transfer module and man-machine interactive platform；
The microprocessor, steering engine module, mechanical arm module are sequentially connected in series by conducting wire；The microprocessor,
One motor drive module, the first DC speed-reducing are sequentially connected in series by conducting wire；The microprocessor, the second motor drive
Dynamic model block, the second DC speed-reducing are sequentially connected in series by conducting wire；The microprocessor, third motor drive module,
Third DC speed-reducing is sequentially connected in series by conducting wire；The microprocessor is with the ultrasonic sensor modules by leading
Line connects；The microprocessor is connect with the camera module by conducting wire；The microprocessor is with described first without line number
It is connected by conducting wire according to transmission module；First wireless data transfer module passes through with second wireless data transfer module
Communication connects；Second wireless data transfer module is connect with the man-machine interactive platform by conducting wire.
2. intelligent barrier avoiding travelling bogie control system according to claim 1, it is characterised in that：The microprocessor is used for
The purpose coordinate for receiving the first wireless data transfer module transmission exports first motor and controls signal to third motor respectively
Signal is controlled to control the first motor drive module to third motor drive module, for according to the ultrasonic sensor
The urgent avoidance signal that the distance of the front obstacle of module transfer is transmitted with position or first wireless data transfer module
It is driven to third avoidance signal to control the first motor drive module to third motor with exporting the first avoidance signal respectively
Module, picture signal for receiving camera module output are simultaneously transmitted to first wireless data transfer module, use
In the mechanical arm control signal for receiving the first wireless data transfer module transmission and export to the steering engine module；The rudder
The mechanical arm control signal that machine module is used to receive the microprocessor output carries out servos control；The mechanical arm module is used for
The transportation function of gripping and release is realized according to servos control；The first motor drive module is for receiving the microprocessor
The first motor control signal of output or the first avoidance signal are to drive first DC speed-reducing；First direct current subtracts
Speed motor is used to control signal according to first motor or the first avoidance signal carries out the operating of motor；Second motor drives mould
Block is used to receive the second motor control signal that the microprocessor exports or the second avoidance signal to drive second direct current
Decelerating motor；Second DC speed-reducing is used to carry out motor according to the second motor control signal or the second avoidance signal
Operating；The third motor drive module is used to receive the third motor control signal or third avoidance of the microprocessor output
Signal is to drive the third DC speed-reducing；The third DC speed-reducing be used for according to third motor control signal or
Third avoidance signal carries out the operating of motor；The ultrasonic sensor modules are used to acquire distance and the position of front obstacle
And it is transmitted to the microprocessor；The camera module is for acquiring picture signal and being transmitted to the microprocessor；It is described
First wireless data transfer module is for exporting picture signal to second wireless data transfer module；Described second without line number
It is passed according to transmission module for exporting purpose coordinate, mechanical arm control signal and urgent avoidance signal to first wireless data
Defeated module；The man-machine interactive platform is for exporting purpose coordinate to second wireless data transfer module, for exporting tightly
Anxious avoidance signal controls signal to second wireless data to second wireless data transfer module, for exporting mechanical arm
Transmission module, the picture signal for receiving the second wireless data transfer module output.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820390603.0U CN207908975U (en) | 2018-03-21 | 2018-03-21 | A kind of intelligent barrier avoiding travelling bogie control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820390603.0U CN207908975U (en) | 2018-03-21 | 2018-03-21 | A kind of intelligent barrier avoiding travelling bogie control system |
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| Publication Number | Publication Date |
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| CN207908975U true CN207908975U (en) | 2018-09-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820390603.0U Expired - Fee Related CN207908975U (en) | 2018-03-21 | 2018-03-21 | A kind of intelligent barrier avoiding travelling bogie control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109502260A (en) * | 2018-12-21 | 2019-03-22 | 江苏甬金金属科技有限公司 | A kind of control system of track carrier loader |
-
2018
- 2018-03-21 CN CN201820390603.0U patent/CN207908975U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109502260A (en) * | 2018-12-21 | 2019-03-22 | 江苏甬金金属科技有限公司 | A kind of control system of track carrier loader |
| CN109502260B (en) * | 2018-12-21 | 2021-05-14 | 江苏甬金金属科技有限公司 | Control system of track carrying trolley |
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| Date | Code | Title | Description |
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| 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: 20180925 Termination date: 20190321 |