CN209625053U

CN209625053U - One kind tracks vehicle system

Info

Publication number: CN209625053U
Application number: CN201920637150.1U
Authority: CN
Inventors: 刘国华
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-07
Filing date: 2019-05-07
Publication date: 2019-11-12
Anticipated expiration: 2029-05-07

Abstract

It tracks vehicle system the utility model discloses one kind, is related to intelligent carriage field, mainly for solving the problems, such as that the existing vehicle that tracks is affected by environment big；The vehicle system that tracks, including track and the vehicle car body that tracks, the wheel connecting with driving motor output shaft is additionally provided on the vehicle car body that tracks, infrared photoelectric sensor and single-chip microcontroller are additionally provided on the vehicle car body that tracks, the infrared photoelectric sensor includes transmitting tube and reception pipe, the track is made of the different paster of chequered with black and white or two or more colors, and the track can be with paintbrush on ground or platform；When car walking, the voltage that different reflecting rate materials are formed on the reception pipe identification track to track on vehicle car body changes over time, and variation time it is close when, show that the vehicle car body that tracks moves on the track, improves the recognition capability for the vehicle car body that tracks and can remain on track and travel.

Description

One kind tracks vehicle system

Technical field

The utility model relates to intelligent carriage field, specifically a kind of vehicle system that tracks.

Background technique

With being increasingly taken seriously for quality-oriented education, many schools are all using production intelligent carriage as preferred project, intelligence Trolley vivid and interesting also involves mechanical structure, basic electronic, Fundamentals of Sensors, automatically controls the even crowds such as mcu programming Multidisciplinary, the vehicle that tracks is exactly one kind of above-mentioned intelligent carriage.

The existing vehicle that tracks compares track and the reflective difference of non-track, to judge vehicle by detecting the reflecting rate of track Body whether offset track;This vehicle that tracks haves the shortcomings that one very big in use: to track and ground reflective rate differential More demanding, ground when the reflective reflecting rate with track is not much different when ground, or by track and track is just difficult to by after dirt Identification is easy misrecognition.

Utility model content

It tracks vehicle system the purpose of this utility model is to provide one kind, it is affected by environment big to solve the existing vehicle that tracks Problem.

To achieve the above object, the utility model provides the following technical solutions:

One kind tracks vehicle system, including track and the vehicle car body that tracks, and is additionally provided on the vehicle car body that tracks and driving motor The wheel of axis connection is exported, is additionally provided with infrared photoelectric sensor and single-chip microcontroller, the infrared light fax on the vehicle car body that tracks Sensor includes transmitting tube and reception pipe, which is characterized in that the track paster different by chequered with black and white or two or more colors Composition, the also direct paintbrush of the track is on ground or platform；When car walking, the reception pipe to track on vehicle car body is known The voltage that different reflecting rate materials are formed on other track changes over time, and when the time changed is close, shows the vehicle that tracks Car body moves on the track.

In a kind of optinal plan: the track is arranged on the ground below the vehicle car body that tracks, the vehicle car body that tracks Bottom is equipped with universal wheel.

In a kind of optinal plan: being electrically connected between the single-chip microcontroller and infrared photoelectric sensor and driving motor.

In a kind of optinal plan: the single-chip microcontroller controls two driving motors by PWN.

In a kind of optinal plan: it is described penetrate pipe and reception pipe and be mounted on side by side track on vehicle car body.

In a kind of optinal plan: the quantity of the driving motor is two, controls two wheels respectively.

Compared to the prior art, the beneficial effects of the utility model are as follows:

1, the vehicle system that originally tracks by identifying the method for reflective pulse rule, be arranged in orbit it is isometric it is chequered with black and white instead Light paster continuously identifies several pulse signals when car is walked in orbit, and the time span of each pulse signal is similar When equal, just it is considered to recognize track, is otherwise considered as not being track；

2, the track for the vehicle system that originally tracks is chequered with black and white paster or the biggish reflective medium patch of two kinds of reflecting rate difference The continuous virtual rail of paper composition, both color reflectances difference is obvious, and discrimination is higher；Meanwhile also avoiding monochrome After track is contaminated, track itself occur it is different reflective, caused by misidentify.Pass through two kinds of setting different reflecting rate compositions Track after, even if there is light contamination, due between black and white reflecting rate difference it is larger, biggish heliogram valve can be set Value still can distinguish black-and-white signal, and pollute and be not much different to reflective difference, so that the requirement to track is substantially reduced, Improve discrimination.

Detailed description of the invention

Fig. 1 is the structural schematic diagram of vehicle system of tracking.

Fig. 2 is the regular voltage oscillogram that reception pipe in vehicle system obtains in orbit that tracks.

Fig. 3 is the irregular voltage oscillogram that reception pipe in vehicle system obtains in orbit that tracks.

Appended drawing reference annotation: 1- track, 2- track vehicle car body, 3- universal wheel, 4- single-chip microcontroller, 5- infrared photoelectric sensor, 6- driving motor, 7- wheel.

Specific embodiment

Following embodiment can be described in detail the utility model in conjunction with attached drawing, similar or identical in attached drawing or explanation Part uses identical label, and in practical applications, and shape, thickness or the height of each component can be expanded or shunk.This reality It is only to illustrate the utility model with novel cited each embodiment, not to limit the scope of the utility model.To this Spirit and scope of any modification apparent easy to know or change made by utility model without departure from the utility model.

Embodiment 1

Referring to Fig. 1, in the utility model embodiment, one kind tracks vehicle system, including track 1, track vehicle car body 2, ten thousand To wheel 3, single-chip microcontroller 4, infrared photoelectric sensor 5, driving motor 6 and wheel 7, the track 1 is arranged below the vehicle car body 2 that tracks Ground on, it is described track vehicle car body 2 by the method for identifying reflective pulse rule judge car body whether offset track 1, work as vehicle When son is walked on track 1, several pulse signals are continuously identified, when the time span of each pulse signal is nearly equal, It is considered to recognize track 1, is otherwise considered as not being track 1.

Further, the track 1 is made of the different paster of chequered with black and white or two or more colors, and the track 1 is also It can be with paintbrush on ground or platform；Both color reflectances difference is larger, and discrimination is higher；Meanwhile also avoiding monochrome Track 1 is contaminated, so that the reflectance of track 1 changes, so as to cause misrecognition.It is reflective by two kinds of differences by being arranged The track 1 of rate composition, since the reflecting rate difference between black and white is larger, can be set biggish reflective even if there is light contamination Signal threshold values still can distinguish black-and-white signal, and pollute and be not much different to reflective difference, to substantially reduce to track 1 Requirement, improve discrimination.

Further, 2 bottom of vehicle car body that tracks is equipped with universal wheel 3, and the universal wheel 3 can conveniently track vehicle car body 2 direction in moving process is adjusted, and the wheel 7 that axis connection is exported with driving motor 6 is additionally provided on the vehicle car body 2 that tracks, The quantity of the driving motor 6 is two, is connect respectively with two wheels 7, mobile with motor car wheel 7 by driving motor 6, thus The drive vehicle car body 2 that tracks is moved, and the movement for the vehicle that tracks provides power.

Fig. 2 and Fig. 3 are please referred to, is additionally provided with infrared photoelectric sensor 5 and single-chip microcontroller 4 on the vehicle car body 2 that tracks, it is described red Outer photoelectric sensor 5 includes transmitting tube and reception pipe, and the transmitting tube and reception pipe are mounted on track on vehicle car body 2 side by side, institute Transmitting tube transmitting infrared light is stated, after being reflected by ground and track 1, pipe can be received and received, and according to the power of light, Different voltage is obtained in reception pipe.When vehicle is in walking, and the infrared light that the transmitting tube issues is shone on track 1, In The reflecting rate of black region is very low, and the reflecting rate in white area is very high, these retroreflective features are received pipe reception Afterwards, it can obtain judging whether with the reflective consistent voltage of rule of track 1, the single-chip microcontroller 4 by the identification to different voltages On track 1.When car walking, the electricity of different reflecting rate materials formation on the reception pipe identification track to track on vehicle car body Pressure changes over time, and change time it is close when, it is described track vehicle car body 2 traveling on track 1, when voltage is without significant change Or voltage changes but does not have temporal regularity, then is to deviate from track 1, the single-chip microcontroller 4 is according to the voltage detected, output phase The PWN(pulse width modulation answered) speed of two driving motors 6 is controlled, to allow car to walk always on track 1.

Further, when infrared illumination is on untreated ground, regardless of reflective, the reflective of it will not all dash forward Become, or the no continuous rule of mutation, so that illumination is made to obtain the huge feature of difference on track 1 with illumination on the ground, To identify reception pipe whether according on track 1 well.

Further, it is electrically connected between the single-chip microcontroller 4 and infrared photoelectric sensor 5 and driving motor 6.

Embodiment 2

One kind tracks vehicle system, and the voltage of rule variation is formed in reception pipe by the reflective rule of track 1 to judge Whether the vehicle car body 2 that tracks exercises on track 1, then exports the speed that PWN controls two driving motors 6 by single-chip microcontroller 4, so that The vehicle system that tracks is gone on along on track 1, and the discrimination for the vehicle that tracks is improved, so that influence of the pollution to the vehicle car body 2 that tracks is big It is big to reduce.

The working principle of the utility model is: transmitting tube emits feux rouges, it, can quilt after being reflected by ground and track 1 Reception pipe receives, and according to the power of light, and different voltage, 4 pairs of different voltage identifications of single-chip microcontroller are obtained in reception pipe With compare, when vehicle is in walking, the voltage change having time rule that recognizes, then it is assumed that be on track 1, otherwise not in track On 1, single-chip microcontroller 4 exports the speed that corresponding PWN controls two driving motors 6, according to the voltage detected to allow car to begin It walks eventually on track 1.

The above, the only specific embodiment of the disclosure, but the protection scope of the disclosure is not limited thereto, it is any Those familiar with the art can easily think of the change or the replacement in the technical scope that the disclosure discloses, and should all contain It covers within the protection scope of the disclosure.Therefore, the protection scope of the disclosure should be subject to the protection scope in claims.

Claims

The vehicle system 1. one kind tracks, including track (1) and track vehicle car body (2), described track are additionally provided with and are driven on vehicle car body (2) The wheel (7) of dynamic motor (6) output axis connection, described track are additionally provided with infrared photoelectric sensor (5) and monolithic on vehicle car body (2) Machine (4), the infrared photoelectric sensor (5) includes transmitting tube and reception pipe, which is characterized in that the track (1) is by black and white phase Between or two or more colors it is different paster composition, the track (1) also paintbrush on ground or platform；When car walking, The voltage that different reflecting rate materials are formed in reception pipe identification track (1) to track on vehicle car body (2) changes over time, and When the time of variation is close, show described vehicle car body (2) traveling that tracks on track (1).
2. the vehicle system according to claim 1 that tracks, which is characterized in that the track (1) is arranged in track vehicle car body (2) On the ground of lower section, vehicle car body (2) bottom that tracks is equipped with universal wheel (3).
3. the vehicle system according to claim 1 that tracks, which is characterized in that the single-chip microcontroller (4) and infrared photoelectric sensor (5) it is electrically connected between driving motor (6).
4. the vehicle system according to claim 3 that tracks, which is characterized in that the single-chip microcontroller (4) controls two drives by PWN Dynamic motor (6).
5. the vehicle system according to claim 1 that tracks, which is characterized in that the transmitting tube and reception pipe are mounted on seek side by side On mark vehicle car body (2).
6. the vehicle system according to claim 4 that tracks, which is characterized in that the quantity of the driving motor (6) is two, point It Kong Zhi not two wheels (7).