CN208061026U - A kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module - Google Patents
A kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module Download PDFInfo
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- CN208061026U CN208061026U CN201820624843.2U CN201820624843U CN208061026U CN 208061026 U CN208061026 U CN 208061026U CN 201820624843 U CN201820624843 U CN 201820624843U CN 208061026 U CN208061026 U CN 208061026U
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Abstract
Include inductance sensing module, photoelectric sensing module and car body the utility model discloses a kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module；Car body includes vehicle frame and controller, and it is respectively and fixedly installed to multiple wheels of the bottom surface of vehicle frame, controller is electrically connected with power supply module, multiple wheels are driven by multiple steering gear electric-machines respectively, multiple steering gear electric-machines are controlled with speed measuring module and are connected, further include the ultrasonic sensor for detecting barrier, and ultrasonic sensor is communicated to connect with controller；Inductance sensing module includes the inductance coil group by power supply module continued power, and the inductance digital quantizer for matching with inductance coil group and being communicated to connect by I2C buses and controller, and for matching the first tracking track used with inductance coil group mutual inductance；Photoelectric sensing module includes multiple photoelectric sensors and the second tracking track being used cooperatively with multiple photoelectric sensors, and photoelectric sensing module and controller serial communication.
Description
Technical field
The utility model belongs to field of intelligent control technology, and in particular to one kind being based on inductance sensing module and photoelectric sensing
The Intelligent tracking trolley of module.
Background technology
Currently, common intelligent vehicle is all based on photoelectric sensor, advance for track along the black line of laying.So
And in the practical application of intelligent carriage, environment is complex, easily using the intelligent vehicle only based on photoelectric sensor
It is influenced by factors such as environment light, pollutants, leads to its cisco unity malfunction, intelligent vehicle also has to be sensed using inductance
It based on module, can be moved along the track of intelligent vehicle, but inductance sensing module must rely on the sense of coil and metal
The traffic direction of intelligent vehicle should be controlled, although inductance sensing module can not be influenced by light, in light and external rings
In the case of border is good, the intelligent vehicle based on inductance sensing module does not have the flexible operation of photoelectric sensor.
Existing intelligent vehicle does not record the running orbit of intelligent vehicle, cannot record intelligent carriage well
Operation area can be good at the position of positioning intelligent trolley if intelligent carriage can record running orbit well
It sets, being applied to investigation field for intelligent carriage will play a great role.
Moreover, existing intelligent vehicle is run in defined track, and all it is artificial finger in the process of running
It waves trolley avoiding obstacles to be run, it has not been convenient to use.
The above-mentioned prior art has the following disadvantages；
1, existing intelligent vehicle easily receives the influence of environment based on photoelectric sensor, especially bad in light
In the case of, it is not normally functioning.
2, existing intelligent vehicle is based on inductance sensing module, although not influenced by light, pollutant factor,
Running orbit is unstable in the case of electromagnetic interference is stronger, it has not been convenient to use.
3, existing intelligent carriage does not record running orbit in real time, can not be positioned to trolley.
4, existing intelligent carriage is only capable of being moved by the way that avoiding obstacles are manually operated, and cannot automatically get around obstacle
Object is not carried out intelligence.
Utility model content
The purpose of the utility model is to overcome the deficiencies in the prior art, provide a kind of based on inductance sensing module and photoelectricity
The Intelligent tracking trolley of sensing module, the utility model are combined co- controlling intelligence using photoelectric sensor and inductance sensing module
Energy tracking cart movement, and the utility model also has the function of automatic avoiding obstacles and in real time record running orbit.
The utility model is achieved through the following technical solutions：
A kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module includes inductance sensing module, photoelectricity
Sensing module and car body；
The car body includes vehicle frame and controller, and is respectively and fixedly installed to multiple wheels of the bottom surface of the vehicle frame,
The controller is electrically connected with the power supply module on the vehicle frame, and the multiple wheel is driven by multiple steering gear electric-machines respectively
Dynamic, the multiple steering gear electric-machine is controlled with the speed measuring module on the vehicle frame and is connected, and further includes being fixedly mounted on institute
Ultrasonic sensor of the vehicle frame front end for detecting barrier is stated, and the ultrasonic sensor is communicated to connect with controller；
The inductance sensing module includes being packed in the vehicle frame bottom surface respectively and by the power supply module continued power
Inductance coil group, and match with the inductance coil group and by the inductance number of I2C buses and controller communication connection
Word converter, and for matching the first tracking track used with the inductance coil group mutual inductance；
The photoelectric sensing module include multiple photoelectric sensors being arranged on the vehicle frame and with the multiple photoelectricity
The second tracking track that sensor is used cooperatively, and the photoelectric sensing module and the controller serial communication.
In the above-mentioned technical solutions, the inductance coil group includes the first inductor wire being uniformly arranged in the vehicle frame bottom surface
Circle, the second inductance coil, third inductor wire and the 4th inductance coil.
In the above-mentioned technical solutions, the photoelectric sensor includes be separately mounted to the vehicle frame both sides first infrared by one
Body formula transceiver and the second infrared integrated formula transceiver.
In the above-mentioned technical solutions, the second tracking track is black line.
In the above-mentioned technical solutions, the car body further includes being communicated to connect with the controller and for showing the speed of service
Display screen, wherein display screen is electrically connected with power supply module.
In the above-mentioned technical solutions, the controller is microcontroller, wherein is fixed with radio communication mold on the controller
Block.
In the above-mentioned technical solutions, the controller passes through RS-485 communication interfaces and/or wireless network and computer equipment
Communication connection.
In the above-mentioned technical solutions, the material of the first tracking track is iron wire, and has a diameter larger than 0.9mm.
In the above-mentioned technical solutions, video monitoring module, the video monitoring module are also installed on the car body
It is communicated to connect with the controller.
In the above-mentioned technical solutions, the car body further includes being fixedly mounted on the vehicle frame and for recording the car body
Running orbit GPS terminal, the GPS terminal and the controller communicate to connect, wherein the GPS terminal includes GPS cores
Piece and antenna, the antenna are fixedly mounted on the vehicle frame upper surface.
It the advantages of the utility model and has the beneficial effect that：
1, a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module of the utility model, by photoelectricity
Sensor and inductance sensing module are combined, and co- controlling Intelligent tracking trolley operation can automatically be sentenced according to ambient conditions
Disconnected selection controls Intelligent tracking trolley operation using photoelectric sensor or inductance sensing module, moreover, the Intelligent tracking is small
Vehicle be not only able to light, pollution ambient conditions under run, and can be moved in electromagnetic interference, extend the intelligence
The use scope of energy tracking cart.
2, a kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model is using speed
Degree sensor monitors the speed of the intelligent carriage in real time, and controller will be believed according to the speed of the intelligent carriage of real time monitoring
The speed of service of breath regulation and control trolley, enables the intelligent carriage to operate in optimal working condition always.
4, a kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model is using super
Sonic sensor and controller communicate to connect, ensure that the Intelligent tracking trolley can automatic avoiding obstacles, realize intelligence
Energyization is run.
5, a kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model uses GPS
Terminal is communicated to connect with controller, can record the running orbit of the Intelligent tracking trolley, can be in real time to the intelligence
Energy tracking cart is positioned.
6, a kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model is using also
Using video monitoring module, transmission and the storage of real time data can be carried out to the ambient enviroment and situation of trolley travelling, especially
Intelligent carriage will be changed to apply in investigation or data tracing, video monitoring module is extremely important.
7, a kind of control based on inductance sensing module Yu the Intelligent tracking trolley of photoelectric sensing module of the utility model
It is fixed with wireless communication module on device, can realize wireless transmission communication, it is easy to operation.
Description of the drawings
Fig. 1 is a kind of structure based on inductance sensing module Yu the Intelligent tracking trolley of photoelectric sensing module of the utility model
Schematic diagram.
Fig. 2 is a kind of inductance based on inductance sensing module Yu the Intelligent tracking trolley of photoelectric sensing module of the utility model
Sensing module structural schematic diagram.
Fig. 3 is a kind of inductance based on inductance sensing module Yu the Intelligent tracking trolley of photoelectric sensing module of the utility model
Module communicates operation programme diagram with controller.
Fig. 4 is a kind of I2C based on inductance sensing module Yu the Intelligent tracking trolley of photoelectric sensing module of the utility model
Bus timing figure.
It for those of ordinary skill in the art, without creative efforts, can be according to above attached
Figure obtains other relevant drawings.
Specific implementation mode
In order to make those skilled in the art more fully understand the utility model, below in conjunction with the accompanying drawings 1-4 with it is specific
Embodiment further illustrates the technical solution of the utility model.
Embodiment one
As shown in Figs 1-4, a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module, feature exist
In, including inductance sensing module, photoelectric sensing module and car body；Wherein, car body includes vehicle frame and controller, and fixed peace respectively
Mounted in multiple wheels of the bottom surface of vehicle frame, controller is electrically connected with the power supply module on vehicle frame, multiple wheel difference
Driven by multiple steering gear electric-machines, i.e., each steering gear electric-machine control a vehicle wheel rotation, wherein multiple steering gear electric-machines with installation
Speed measuring module control connection on vehicle frame, wherein speed measuring module can monitor the rotary speed of steering gear electric-machine in real time, in turn,
Monitor the speed of service of the Intelligent tracking trolley in real time, also, the speed of service is transferred in controller by the speed measuring module,
It realizes controller to monitor the speed of the Intelligent tracking trolley in real time, and is fixedly mounted on vehicle frame front end for detecting
The ultrasonic sensor of barrier, and the ultrasonic sensor is communicated to connect with controller.
Further, inductance sensing module includes being packed in vehicle frame bottom surface respectively and by the inductance of power supply module continued power
Coil group, and match with inductance coil group and by the inductance digital quantizer of I2C buses and controller communication connection, with
And for matching the first tracking track used with inductance coil group mutual inductance；
Further, electric sensing module include multiple photoelectric sensors being arranged on the vehicle frame and with multiple photoelectric sensings
The second tracking track that device is used cooperatively, and photoelectric sensing module and controller serial communication.
A kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module of the utility model, by photoelectric transfer
Sensor and inductance sensing module are combined, co- controlling Intelligent tracking trolley operation, can be according to ambient conditions automatic decision
Selection controls Intelligent tracking trolley operation using photoelectric sensor or inductance sensing module, moreover, the Intelligent tracking trolley
Be not only able to light, pollution ambient conditions under run, and can be moved in electromagnetic interference, extend the intelligence
The use scope of tracking cart, the Intelligent tracking trolley supervise the speed of the intelligent carriage using velocity sensor in real time
Control, controller will regulate and control the speed of service of trolley according to the velocity information of the intelligent carriage of real time monitoring, enable the intelligent carriage
Enough to operate in optimal working condition always, which is communicated to connect using ultrasonic sensor and controller, is protected
Demonstrate,proved the Intelligent tracking trolley can automatic avoiding obstacles, realize intelligent operation.
Further, inductance coil group includes the first inductance coil, the second inductor wire being uniformly arranged in the vehicle frame bottom surface
Circle, third inductor wire and the 4th inductance coil, and be connected with inductance data-converting block, wherein inductance number modulus of conversion
Block is the inductance digital quantizer of four-way 12, and model LCD1314 has higher precision, and the four-way of the chip
Road is communicated to connect with the first inductance coil, the second inductance coil, third inductor wire and the 4th inductance coil successively, wherein inductance
Data-converting block is supported using multichannel and remote sensing technology, and inductance coil group sensing is obtained with least cost and minimum power consumption
Performance And Reliability.Inductance digital quantizer can be controlled to different metal, same metal different size, same by software programming
Inductive pick-up is to different data in different distance for the inductance coil of kind metal different size, in addition, setting inductance number turns
The crystal oscillator of parallel operation and the crystal oscillator of controller are the crystal oscillator of same model, and by the way that suitable baud rate is arranged, realize controller with
Inductance digital quantizer is into row data communication, wherein inductance digital quantizer uses I2C bus connection communications, electricity with controller
SDA, SCL interface of sense digital quantizer are respectively set to the serial data line and Serial Bus Clock interface of I2C bus communications,
Relevant communication functions can be write according to the sequence diagram of I2C buses, are communicated.
A kind of inductance based on inductance sensing module and the Intelligent tracking trolley of photoelectric sensing module of the utility model passes
Defeated module uses I2C bus connection communications, and controller is facilitated to be communicated with the inductance digital quantizer of model LCD1314,
Keep circuit structure fairly simple, facilitate realization, inductance coil group is carried out using the inductance digital quantizer of model LCD1314
Signal acquisition realizes high-precision signal acquisition.
Further, photoelectric sensor includes the first infrared integrated formula transceiver for being separately mounted to the vehicle frame both sides
With the second infrared integrated formula transceiver, which is used cooperatively with the second tracking track, ensure that the intelligence is followed
Mark trolley being capable of normal operation, wherein the second tracking track is black line.
Further, the operation principle of photoelectric sensing module is：Since the second tracking track absorbs infrared light, when first infrared
The Infrared irradiation that the transmitting tube of integral type transceiver and the second infrared integrated formula transceiver is sent out is in the second tracking
The infrared light that back reflection comes above track is fewer, the first infrared integrated formula transceiver and the transmitting of the second infrared integrated formula
The infrared ray that receiver receives is also fewer, and the resistance for showing as reception pipe is bigger, can by the controller of communication connection
To judge the state of photoelectric sensing module, similarly, when being radiated at white surface (not being irradiated on the second tracking track)
When the first infrared integrated formula transceiver and the infrared ray that receives of the second infrared integrated formula transceiver transmitting just compare
It is more, the resistance of reception pipe is shown as with regard to smaller, and the shape of photoelectric sensing module is may determine that by the controller of communication connection
State.
Photoelectric transfer of the kind of the utility model based on the Intelligent tracking trolley under inductance sensing module and photoelectric sensing module
Sensor uses the first infrared integrated formula transceiver and the second infrared integrated formula transceiver, can reduce environment light source
Interference.
Further, car body further includes the display screen for communicating to connect with controller and be used to show the speed of service, wherein display
Screen is electrically connected with power supply module.
Further, the controller is microcontroller, wherein wireless communication module is fixed on the controller, moreover, should
Controller is communicated to connect by RS-485 communication interfaces and/or wireless network with computer equipment, which can will receive
Positioning signal communicated with computer equipment by wireless network, computer equipment can deposit the positioning signal received
Storage.In addition, controller is communicatively coupled by RS-485 communication interfaces with computer equipment, the software stored in controller is completed
The update and operation of program, further, the model ATK-ESP8266 of the wireless communication module, using wireless communication module into
Row communication, it is easy to use, so that communication line is become simple, simple operation.
Further, the material of the first tracking track is iron wire, and has a diameter larger than 0.9mm, due to the first tracking track
Diameter thickness directly influences the precision of the measurement of inductance sensing module, if diameter is too small, inductance sensing module perceives
Signal is weaker, even without signal, is impacted to tracking process, and using the first tracking track being relatively large in diameter, inductance passes
What sense module can be apparent from perceives signal, easy to use.
Further, video monitoring module, video monitoring module and the controller communication link are also installed on car body
Connect, video monitoring module can in the Intelligent tracking trolley operational process exterior environmental conditions and operating condition remember
Record, and record information is transferred to controller and is stored, facilitate Intelligent tracking trolley investigation and data tracing.
Further, controller controls steering gear electric-machine by PWM, i.e., controller generates a PWM wave (pulse
Width modulated) respectively control steering gear electric-machine duty ratio, wherein each steering gear electric-machine correspond to control one wheel, in turn, with
Achieve the purpose that control body movement speed and the direction of motion.
Further, car body further includes the GPS terminal for the running orbit for being fixedly mounted on vehicle frame and being used to record car body,
GPS terminal is communicated to connect with controller, and realization records the running orbit of the Intelligent tracking trolley in real time, and in real time by this
The information of record is transferred on controller, and controller can position the Intelligent tracking trolley in real time, wherein GPS terminal
Including GPS chips and antenna, antenna is fixedly mounted on vehicle frame upper surface.
A kind of GPS terminal based on inductance sensing module Yu the Intelligent tracking trolley of photoelectric sensing module of the utility model
It can be communicatively coupled, the running orbit of the Intelligent tracking trolley can be positioned in real time with controller, it can be extensive
It is applied to investigation field.
Embodiment two
As shown in Figs 1-4, based on embodiment one, a kind of intelligence based on inductance sensing module Yu photoelectric sensing module
Inductance sensing module and photoelectric sensor are effectively combined the operation of co- controlling Intelligent tracking trolley by tracking cart, with vehicle frame bottom
(the first wheel is controlled by the first steering gear electric-machine, and the second wheel is controlled by the second rudder for face both sides the first wheel of installation and the second wheel
Electromechanical machine) for, specific implementation mode is as follows：
First infrared integrated formula transceiver is mounted on the first wheel and for measuring the first wheel and the second tracking
The signal of the distance between track and the second infrared integrated formula transceiver are mounted on the second wheel and for surveying
The signal of the distance between two wheel of flow control and the second tracking track, install four inductance coils (wherein, the first inductance coil and
Second inductance coil is used to detect the signal of the distance between the first wheel and the first tracking track, third inductance coil and the 4th
Inductance coil is for detecting the distance between the second wheel and the first tracking track).
Start Intelligent tracking trolley, to be set as first excellent by photoelectric sensing module detection Intelligent tracking trolley by software programming
First grade, inductance sensing module measure Intelligent tracking trolley and are set as the second priority, carry out differentiating that selection first is preferential by software
Grade or the second priority select photoelectric sensing module to control the fortune of the Intelligent tracking trolley when selecting the first priority
Row track, the first infrared integrated formula transceiver and the second infrared integrated formula transceiver pass through Du Pont's line and controller
It is connected, first the first wheel of infrared integrated formula transceiver pair is examined with the distance between the second tracking track signal
It surveys, the distance between second infrared integrated formula transceiver pair the second tracking track and the second wheel signal are detected, and
Signal transmission will be detected to controller, when Intelligent tracking trolley is run according to setting tracking track, the first infrared integrated
Formula transceiver and the second infrared integrated formula transceiver detect normal optical signal；When the first infrared integrated formula is sent out
It penetrates receiver and the continual detection of the second infrared integrated formula transceiver and constantly transmits the optical signal detected
To controller, controller receives the signal and judges the Intelligent tracking trolley traffic direction, when controller judges the intelligence
When tracking cart traffic direction is biased to the first wheel direction, controller adjusts the duty ratio of PWM wave signal, that is, increases by the second steering engine
The duty ratio of the PWM wave signal of motor, in turn, the rotating speed of corresponding second steering gear electric-machine of the second wheel of adjustment makes the intelligence follow
Mark trolley turns to the second wheel direction, similarly, when controller judges that the Intelligent tracking trolley traffic direction is biased to the second wheel
When direction, and controller adjusts the duty ratio of the PWM wave signal of the first steering gear electric-machine, adjusts the rotation direction of the first wheel, makes
The rotation direction of the Intelligent tracking trolley is deviated to the first wheel and is adjusted.
In the case that the light environment of Intelligent tracking trolley operation is bad, controller selects second according to software programming
Priority uses inductance sensing module to control Intelligent tracking trolley, wherein inductance sensing module controls intelligent carriage tracking rail
The specific implementation mode of mark is as follows：
Inductance sensing module is by acquiring the first inductance coil, the second inductance coil, third inductance coil and the 4th inductance
Electromagnetic induction signal between coil and the first tracking track, and the electromagnetic induction signal is transferred in controller, Jin Erfen
The first wheel and the distance between the second wheel and the first tracking track for not judging car body, so as to adjust the Intelligent tracking trolley
Traffic direction, when Intelligent tracking trolley is run according to the first tracking track, inductance sensing module collects the first inductor wire
The signal of circle, the second inductance coil, third inductance coil and the 4th inductance coil is normal setting value, works as Intelligent tracking trolley
When traffic direction is deviated to the first wheel direction, inductance sensing module collects the letter of the first inductance coil and the second inductance coil
When number more higher than setting value, and controller is transmitted the signal to, controller judges the signal, and adjusts the first steering engine electricity
The rotating speed of machine and the second steering gear electric-machine adjusts the rotation direction of the first wheel and the second wheel, ensure the Intelligent tracking trolley
It is run along the first tracking track；When inductance sensing module collects the signal of third inductance coil and the 4th inductance coil than setting
When definite value is higher, and controller is transmitted the signal to, controller judges the signal, and adjusts the first steering gear electric-machine and second
The rotating speed of steering gear electric-machine adjusts the rotation direction of the first wheel and the second wheel, make the Intelligent tracking trolley along the first tracking
Track is run.
A kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module of the utility model, by photoelectric transfer
Sensor and inductance sensing module are combined, co- controlling Intelligent tracking trolley operation, can be according to ambient conditions automatic decision
Selection controls Intelligent tracking trolley operation using photoelectric sensor or inductance sensing module, moreover, the Intelligent tracking trolley
Be not only able to light, pollution ambient conditions under run, and can be moved in electromagnetic interference, extend the intelligence
The use scope of tracking cart.
Embodiment three
As shown in Figs 1-4, based on embodiment one and embodiment two, car body further includes the use communicated to connect with controller
In the display screen for showing the car body speed of service, wherein display screen is electrically connected with power supply module, multiple steering engines electricity on car body
Machine is connected with speed measuring module control, wherein speed measuring module is Hall effect tachometric transducer, moreover, speed measuring module and control
Device communicates to connect, and can be transferred to the speed of the Intelligent tracking trolley on controller in real time, and controller can be real-time
The speed of the Intelligent tracking trolley is monitored, and can be according to the velocity information real-time monitoring of the Intelligent tracking trolley tracking
The speed of trolley makes it operate in always in optimal velocity interval, wherein controller receives the letter of speed measuring module transmission
Number, and the signal is converted by speed values by software program, the speed values are intuitively shown by display screen,
In, which is dot matrix screen, and dot matrix screen has that energy consumption is small, display speed is fast, long lifespan, brightness are high and that visual range is remote is excellent
Point, performance easy to use.
A kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model, which uses, to test the speed
Module is measured in real time the speed of the Intelligent tracking trolley, and the speed signal is transferred in controller, and controller is logical
Display screen is crossed intuitively to show speed signal, it is easy to use.
Example IV
As shown in Figs 1-4, based on embodiment one, a kind of intelligence based on inductance sensing module Yu photoelectric sensing module
The car body of tracking cart further includes the GPS for the running orbit for being fixedly mounted on the vehicle frame and being used to record the car body whole
End, the GPS terminal are communicated to connect with the controller, wherein the GPS terminal includes GPS chip and antenna, the day
Line is fixedly mounted on the vehicle frame upper surface.Wherein, GPS chip with antenna by carrying out positioning signal interaction, and this is determined
For position signal transmission to controller, specific implementation mode is as follows：
Computer equipment by RS-485 communication interfaces by controller with the software that communicates of GPS terminal be loaded into controller
In, start the Intelligent tracking trolley, controller is judged by software and selects to control the Intelligent tracking using photoelectric sensing module
The running orbit of trolley controls the running orbit of the Intelligent tracking trolley using inductance sensing module, and makes the tracking cart just
Often operation, controller start GPS terminal by software program, and antenna is communicated with satellite using certain frequency, received
Signal of communication, and transmit the signal on GPS chip, GPS chip receives the signal, and converts the signal to the intelligence
The location information of tracking cart, longitude and latitude, height above sea level, precision, time parameter information are simultaneously positioned, and it is small to realize the Intelligent tracking
The location information, longitude and latitude, height above sea level, precision, time parameter information are simultaneously transferred to controller by the positioning function of vehicle, GPS chip,
Controller is by the information received by the way that in wireless network transmissions to computer equipment, which deposits the location information
Storage, realizes and is recorded to the running orbit of the Intelligent tracking trolley, easy to use.
Moreover, can also be navigated to the Intelligent tracking trolley running orbit using GPS terminal, when the Intelligent tracking is small
Vehicle operates in when cannot form the second tracking track in the first tracking track of unsuitable laying or running environment, and controller passes through soft
Part program starts GPS terminal, navigates to the running orbit of the Intelligent tracking trolley, ensures that the Intelligent tracking trolley can be just
Often operation.
It is used cooperatively to the Intelligent tracking trolley using GPS terminal navigation, inductance sensing module and photoelectric sensing module
Running orbit is controlled, and ensure that the Intelligent tracking trolley can be run along set tracking track.
A kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model is whole using GPS
End is communicated to connect with controller, can record the running orbit of the Intelligent tracking trolley, can be in real time to the intelligence
Tracking cart is positioned, also, GPS terminal also has the function of playing navigation to the running orbit of the Intelligent tracking trolley,
Make the Intelligent tracking trolley can not only be along the first tracking track and the second tracking track normal operation, it can also ensureing should
Tracking cart being capable of normal operation in being not suitable for the first tracking track of laying and the second tracking orbital environment.
Further, it is fixed with installation video monitoring module on vehicle frame, and the video monitoring module and vehicle frame is made to have centainly
Height distance, ensure video monitoring module can completely take the ambient enviroment in the Intelligent tracking trolley operational process
And the video monitoring information received by wireless network transmissions to computer equipment, and is stored in by operating status, controller
It is convenient that the environmental data and operating status of the Intelligent tracking trolley are tracked in computer equipment.
A kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model, which uses, also to be adopted
With video monitoring module, transmission and the storage of real time data can be carried out to the ambient enviroment and situation of trolley travelling, especially will
Change intelligent carriage to apply in investigation or data tracing, video monitoring module is extremely important.
Further, the front end of vehicle frame is also installed with ultrasonic sensor, model MB1043, by power supply module into
Row power supply, which is interfered with high-resolution, high-precision low-power consumption, noise resistance and the work(of sensitive voltage compensation
Can, which communicates to connect with controller, and ultrasonic sensor can detect that the intelligent carriage was run in real time
The case where barrier is encountered in journey, and Real-time Feedback is to controller the case where will detect, controller is according to ultrasonic sensor
It detects that barrier situation controls multiple steering gear electric-machine rotations, to control the running orbit of the intelligent carriage, keeps control intelligent
Trolley being capable of avoiding obstacles operation.
A kind of Intelligent tracking trolley based on inductance sensing module and photoelectric sensing module of the utility model is using ultrasound
Wave sensor is detected the environment of the Intelligent tracking trolley operational process, and the signal of detection is fed back to controller, energy
Enough barriers effectively avoided on running orbit, ensure that the Intelligent tracking trolley being capable of normal operation.
The spatially relative terms such as "upper", "lower", "left", "right" have been used in embodiment for ease of explanation, have been used for
Relationship of the elements or features relative to another elements or features shown in definition graph.It should be understood that in addition to figure
Shown in except orientation, spatial terminology is intended to include the different direction of device in use or operation.For example, if in figure
Device be squeezed, the element for being stated as being located at other elements or feature "lower" will be located into other elements or feature "upper".
Therefore, exemplary term "lower" can include both upper and lower orientation.Device can be positioned in other ways (be rotated by 90 ° or
Positioned at other orientation), it can be interpreted accordingly used herein of the opposite explanation in space.
Moreover, the relational terms of such as " first " and " second " or the like are used merely to one with another with identical
The component of title distinguishes, without necessarily requiring or implying between these components there are any this actual relationship or
Sequentially.
Illustrative description has been done to the utility model above, it should explanation, in the core for not departing from the utility model
In the case of the heart, it is any it is simple deformation, modification or other skilled in the art can not spend creative work etc.
The scope of protection of the utility model is each fallen with replacing.
Claims (10)
1. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module, which is characterized in that passed including inductance
Feel module, photoelectric sensing module and car body；
The car body includes vehicle frame and controller, and is respectively and fixedly installed to multiple wheels of the bottom surface of the vehicle frame, described
Controller is electrically connected with the power supply module on the vehicle frame, and the multiple wheel is driven by multiple steering gear electric-machines respectively,
The multiple steering gear electric-machine is controlled with the speed measuring module on the vehicle frame and is connected, and further includes being fixedly mounted on the vehicle
Frame front end is used to detect the ultrasonic sensor of barrier, and the ultrasonic sensor is communicated to connect with controller；
The inductance sensing module includes being packed in the vehicle frame bottom surface respectively and by the electricity of the power supply module continued power
Feel coil group, and matches with the inductance coil group and turned by the inductance number of I2C buses and controller communication connection
Parallel operation, and for matching the first tracking track used with the inductance coil group mutual inductance；
The photoelectric sensing module include multiple photoelectric sensors being arranged on the vehicle frame and with the multiple photoelectric sensing
The second tracking track that device is used cooperatively, and the photoelectric sensing module and the controller serial communication.
2. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
Be characterized in that, the inductance coil group include be uniformly arranged the first inductance coil in the vehicle frame bottom surface, the second inductance coil,
Third inductor wire and the 4th inductance coil.
3. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
Be characterized in that, the photoelectric sensor include be separately mounted to the vehicle frame both sides the first infrared integrated formula transceiver and
Second infrared integrated formula transceiver.
4. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
It is characterized in that, the second tracking track is black line.
5. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
It is characterized in that, the car body further includes the display screen for communicating to connect with the controller and be used to show the speed of service, wherein aobvious
Display screen is electrically connected with power supply module.
6. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
It is characterized in that, the controller is microcontroller, wherein is fixed with wireless communication module on the controller.
7. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
It is characterized in that, the controller is communicated to connect by RS-485 communication interfaces and/or wireless network with computer equipment.
8. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
It is characterized in that, the material of the first tracking track is iron wire, and has a diameter larger than 0.9mm.
9. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
It is characterized in that, video monitoring module is also installed on the car body, and the video monitoring module is communicated with the controller
Connection.
10. a kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module according to claim 1,
It is characterized in that, the car body further includes the GPS for the running orbit for being fixedly mounted on the vehicle frame and being used to record the car body
Terminal, the GPS terminal are communicated to connect with the controller, wherein the GPS terminal includes GPS chip and antenna, the day
Line is fixedly mounted on the vehicle frame upper surface.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820624843.2U CN208061026U (en) | 2018-04-27 | 2018-04-27 | A kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module |
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| CN201820624843.2U CN208061026U (en) | 2018-04-27 | 2018-04-27 | A kind of Intelligent tracking trolley based on inductance sensing module Yu photoelectric sensing module |
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| CN (1) | CN208061026U (en) |
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2018
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