CN209821669U - Intelligent tracking trolley - Google Patents
Intelligent tracking trolley Download PDFInfo
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- CN209821669U CN209821669U CN201920410414.XU CN201920410414U CN209821669U CN 209821669 U CN209821669 U CN 209821669U CN 201920410414 U CN201920410414 U CN 201920410414U CN 209821669 U CN209821669 U CN 209821669U
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Abstract
The utility model discloses a tracking intelligent vehicle, including singlechip, infrared tracking module, infrared obstacle avoidance module, ultrasonic ranging module, PWM motor drive module, speed detection module and the power supply circuit module of power usefulness, the singlechip is connected with infrared tracking module, infrared obstacle avoidance module, ultrasonic ranging module, PWM motor drive module, speed detection module respectively, infrared tracking module sets up in automobile body sweep bottom surface and towards ground, infrared obstacle avoidance module includes that the obstacle avoidance module keeps away on a left side and the right side obstacle avoidance module, keeps away on a left side obstacle avoidance module and the right side obstacle avoidance module and sets up respectively in the automobile body front end left and right sides, ultrasonic module sets up in automobile body front end and towards automobile body the place ahead, PWM motor drive module is connected to the singlechip output and rotates with driving wheel. The utility model discloses set up the infrared tracking module towards ground in the sweep bottom surface, set up the infrared obstacle and the ultrasonic ranging module of keeping away towards the place ahead at the sweep front end, realize dolly tracking and keep away the obstacle.
Description
Technical Field
The utility model relates to a tracking intelligent vehicle.
Background
From the effects brought by the development of the robot, the application of the mobile robot obtains satisfactory results, and the mobile robot respectively plays unexpected effects in the fields of industrial manufacturing, military, medical, logistics transportation and deep sea and space exploration, and the like, thereby greatly promoting the application of human beings to the automation of unknown fields. The intelligent trolley is a mobile robot as a mobile tool and is also an important component in the robot research field.
The general trolley mainly comprises a single chip microcomputer main control module, a motor drive module, an infrared tracking detection module, an infrared distance measurement module, an infrared obstacle avoidance detection module and the like, wherein the infrared distance measurement module and the infrared obstacle avoidance detection module are installed at the front end of the trolley, and due to the fact that the distance is short, emitted infrared rays are likely to influence each other, and misjudgment is likely to be caused.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an invention purpose is, to above-mentioned problem, provides a tracking intelligent vehicle, adopts ultrasonic ranging and infrared obstacle detection of keeping away, avoids infrared obstacle detection to receive the interference.
In order to achieve the above purpose, the utility model adopts the technical proposal that:
a tracking intelligent trolley comprises a single chip microcomputer, an infrared tracking module, an infrared obstacle avoidance module, an ultrasonic distance measurement module, a PWM motor driving module, a speed detection module and a power supply circuit module for power supply, wherein the single chip microcomputer is respectively connected with the infrared tracking module, the infrared obstacle avoidance module, the ultrasonic distance measurement module, the PWM motor driving module and the speed detection module, the infrared tracking module is arranged on the bottom surface of a trolley body plate and faces the ground, the infrared tracking module comprises a left tracking module and a right tracking module, the left tracking module and the right tracking module are respectively arranged on the left side and the right side of the front end of the trolley body, the infrared obstacle avoidance module comprises a left obstacle avoidance module and a right obstacle avoidance module, the left obstacle avoidance module and the right obstacle avoidance module are respectively arranged on the left side and the right side of the front end of the trolley body, the ultrasonic module is arranged on the front end of the trolley body and faces the front of the trolley body, which is connected to the output end of the singlechip to drive the wheels to rotate.
Furthermore, the left obstacle avoidance module is arranged on the left side of the front end of the vehicle body and faces the left front of the vehicle body, and the right obstacle avoidance module is arranged on the right side of the front end of the vehicle body and faces the right front of the vehicle body.
Furthermore, infrared tracking module and infrared obstacle avoidance module are infrared probe, and it includes infrared emission probe and infrared ray receiving probe.
Further, the ultrasonic ranging module is an HC-SR04 ultrasonic ranging module.
Further, the singlechip is an STC89C52 singlechip.
As an option, an isolation layer is disposed between the left tracking module and the right tracking module to isolate infrared light interference of the left tracking module and the right tracking module. Furthermore, the isolation layer is arranged on the bottom surface of the vehicle body and extends to the ground from the bottom surface of the vehicle body. Further, the isolation layer is a flexible black isolation curtain.
Due to the adoption of the technical scheme, the utility model discloses following beneficial effect has:
the utility model discloses a tracking intelligent vehicle sets up the infrared tracking module towards ground in the sweep bottom surface, sets up towards the infrared obstacle and the ultrasonic ranging module of keeping away in the sweep front end in the place ahead, realizes the dolly tracking and keeps away the obstacle.
Drawings
Fig. 1 is a system block diagram of the present invention.
Fig. 2 is the utility model discloses an infrared obstacle avoidance module and ultrasonic ranging module installation sketch map.
Fig. 3 is a circuit diagram of the single chip microcomputer of the present invention.
Fig. 4 is a circuit diagram of the infrared tracking module and the infrared obstacle avoidance module of the present invention.
Fig. 5 is the speed measuring circuit of the present invention.
Fig. 6 is a circuit diagram of the ultrasonic ranging apparatus of the present invention.
Fig. 7 is a power supply circuit diagram of the present invention.
Fig. 8 is a display circuit diagram of the present invention.
Fig. 9 is a schematic view of the infrared tracking installation of the present invention.
Detailed Description
Example 1
Referring to fig. 1-9, the tracking intelligent cart of the present embodiment includes a single chip, an infrared tracking module, an infrared obstacle avoidance module, an ultrasonic distance measurement module, a PWM motor driving module, a speed detection module, and a power supply circuit module for supplying power, the single chip is connected to the infrared tracking module, the infrared obstacle avoidance module, the ultrasonic distance measurement module, the PWM motor driving module, and the speed detection module, respectively, the infrared tracking module is disposed on the bottom surface of a cart body deck 11 and faces the ground, the infrared tracking module includes a left tracking module 41 and a right tracking module 42, the left tracking module and the right tracking module are respectively disposed on the left and right sides of the front end of the cart body, the infrared obstacle avoidance module includes a left obstacle avoidance module 31 and a right obstacle avoidance module 32, the left obstacle avoidance module 31 and the right obstacle avoidance module 32 are respectively disposed on the left and right sides of the front end of the cart body, the ultrasonic module 21 is disposed on the front end of, the PWM motor driving module comprises a left driving module and a right driving module, and the left driving module and the right driving module are connected to the output end of the single chip microcomputer to drive the wheels 12 to rotate.
The trolley body comprises a trolley plate and wheels arranged at the bottom of the trolley plate, and a motor, a power supply and the like for driving the wheels are arranged at the same time. In this embodiment, the infrared obstacle avoidance module and the ultrasonic module are both disposed on the upper surface of the vehicle body panel 11, and may also be disposed on the bottom surface of the vehicle body panel. The obstacle avoidance module is arranged on the left side of the front end of the vehicle body vehicle plate 11 and faces the left front of the vehicle body, and the obstacle avoidance module is arranged on the right side of the front end of the vehicle body vehicle plate 11 and faces the right front of the vehicle body, as shown in fig. 2.
Referring to fig. 3, the single chip microcomputer is typically an STC89C52 single chip microcomputer. The STC89C52 series single-chip microcomputer is internally provided with a ROM/EPROM (erasable programmable ROM) storage memory, and a system formed by the series single-chip microcomputers is extremely small and simple, has stable working performance, high safety and extremely high cost performance, and is a control system with low power consumption, high performance and high stability. Therefore, an external complex circuit is not needed, and only the RST reset circuit and the TIME clock circuit which are required by the minimum system are connected.
The PWM motor driving module comprises a left driving motor and a right driving motor which are both PWM speed regulating motors, and controls the armature voltage of the direct current motor by means of PWM pulse width modulation and digital output signals of the microprocessor, so that the speed regulation and control are realized. In pulse width modulation there are 3 important parameters, respectively frequency, duty cycle and period. Because the motor has only one coil, when the motor has a positive direct current voltage input, namely a high level 1, the motor can enable the coil to have a rotation direction which is assumed to be positive rotation, namely forward movement; when the external input voltage is reverse direct current, i.e. low level 0, the motor will make the coil have a reverse rotation direction, i.e. backward movement. Typically, two motors are respectively arranged on two rear wheels to form a left driving motor and a right driving motor, the left rear motor is connected with pins P1.0 and P1.1 of the single chip microcomputer, and the right rear motor is connected with pins P1.2 and P1.3 of the single chip microcomputer; for another example, four motors are used to drive four wheels respectively, and the four wheels are connected to pins P1.0-P1.7 of the single chip microcomputer respectively.
The infrared tracking module is a first group of infrared probes and comprises two infrared probes; the infrared obstacle avoidance module is a second group of infrared probes and comprises two infrared probes. The infrared probe comprises an infrared emission probe and an infrared receiving probe, after the infrared emission probe emits infrared rays, the infrared receiving probe receives the reflected infrared rays, so that signals are received, and further level signals are transmitted to the single chip microcomputer, and then the system executes corresponding instructions.
Referring to fig. 4, taking a general infrared transmitting tube and an infrared receiving tube as an example, the infrared transmitting tube transmits infrared rays, and different colors of objects to be irradiated have different absorption conditions, so that the infrared receiving tube receives the infrared rays with different intensities, and then outputs different level signals to the single chip microcomputer. However, the infrared obstacle avoidance utilizes a longer distance to detect whether obstacles exist or not, so that signals are transmitted to the single chip microcomputer. The 4 comparators U6 are all LM 324.
The trolley tracks the ground, so that the receiving distance of the signal is suitable for the distance between a base plate of the trolley and the ground, and a variable resistance regulator for regulating the distance of the tracking sensor is arranged on the development plate of the singlechip. The infrared tracking module comprises a left infrared probe and a right infrared probe. Taking the probe to detect the black line as an example, the left probe is taken as an example as follows: when the infrared emission probe and the receiving probe are both in the black line, it is indicated that the trolley is too far to the right, the receiving probe cannot receive signals at the moment, a high level is input into the single chip microcomputer system at the moment, the trolley is adjusted towards the left side, the single chip microcomputer is required to send an instruction to enable the left driving motor to be not rotated or the rotating speed to be slowed down, the right driving motor keeps the original speed unchanged, and as long as when the probe is in a color except the black line, the left wheels move forwards at the initial set speed. If the infrared probes on the two sides are positioned outside the black line, namely the infrared probes are high level, the trolley moves forwards in a straight line; and if the infrared probes on the two sides are positioned in the black line, stopping the trolley from moving forwards.
Because the sensors used by the obstacle avoidance part are also infrared probes, the distance signals are required to be detected and then sent to the single chip microcomputer, meanwhile, the indicator lamps are lightened, and an avoiding or stopping instruction is executed, and the single chip microcomputer development board is also provided with a variable resistance regulator for adjusting the distance of the obstacle avoidance sensors. And if the adjusting distance reaches about 20cm, executing corresponding instructions, namely driving when the set distance is beyond 20cm, and stopping when the set distance is within 20 cm. Taking the obstacle avoidance probe on the left as an example: when an obstacle appears in the left front direction, the infrared probe receives a signal, and at the moment, the signal end inputs a low level to the single chip microcomputer system, so that the trolley is decelerated and adjusted or stopped to the right; when the infrared probe can not detect the barrier, the trolley can move forward at the initial set speed. Taking the right obstacle avoidance probe as an example: when an obstacle appears in the right front direction, the infrared receiving signal probe receives a signal, and at the moment, the signal end inputs a low level to the single chip microcomputer system, so that the trolley is decelerated and adjusted or stopped towards the left side; when the infrared obstacle avoidance probe cannot detect the obstacle, the trolley can move forward at the initial set speed.
Referring to fig. 5, for left and right sides speed detection circuit, speed detection module adopts photoelectric pulse coder, sets up two photoelectric pulse coders in order to connect respectively on left and right sides driving wheel, and its signal output part is connected to respectively on the P3.2 and the P3.3 foot of this singlechip, and it can be through converting some parameters with machinery, for example: the displacement, rotation angle or speed change is converted into an electric pulse form output. Therefore, the device is widely used in reality, and particularly, the device is relatively more used in instruments with relatively high precision.
Referring to fig. 6, the ultrasonic ranging module is an HC-SR04 ultrasonic ranging module, and its pins are connected to the pins P2.4 and P2.5 of the single chip. The ultrasonic sensor will receive signals after sending ultrasonic waves, if the detected distance is in the set range, the signals can be displayed through the LCD12864 liquid crystal display, and corresponding instructions are executed. If the set distance is 20cm, the vehicle can run when the distance is beyond 20cm, and stop when the distance is within 20cm, and a buzzer or the like can be arranged for indication.
Referring to fig. 7, the power circuit module uses two 3.7V lithium ion batteries connected in series to obtain a voltage of approximately 7.2V, and then the power conversion circuit converts the 7.2V voltage into a 5V voltage for system operation, so that a normal voltage required by system operation can be quickly provided, and the operating power supply voltage is more stable.
Referring to fig. 8, a display module can be added, wherein the pins DB0-DB7 of the display module are respectively and correspondingly connected to the pins P0.0-P0.7 of the single chip microcomputer in sequence, and the display module is arranged on the upper surface of the vehicle body and is used for displaying the distance measured by ultrasonic waves so as to enable people to know the distance between the vehicle and an obstacle at a glance and better control the motion state of the vehicle.
After the system is started, starting detection signals of all detection modules (an infrared tracking module, an infrared obstacle avoidance module, an ultrasonic distance measurement module and a speed detection module) and sending the detection signals to the single chip microcomputer; the single chip microcomputer receives a tracking module signal, processes and judges left deviation, right deviation, straight movement or stopping, and then outputs a signal to control the left driving motor and the right driving motor, when the left deviation is needed, the left driving motor decelerates or stops and the right driving motor rotates, when the right deviation is needed, the left driving motor rotates and the right driving motor decelerates or stops, when the straight movement is needed, the left driving motor rotates, and when the stopping is needed, the left driving motor decelerates until the stopping; meanwhile, the singlechip receives the ultrasonic ranging detection signal and processes the ultrasonic ranging detection signal to obtain a front obstacle distance, and judges whether to advance or stop, when the front obstacle distance is greater than a preset value, the front obstacle distance is judged to advance according to the tracking module, and when the front obstacle distance is less than the preset value, the left and right driving motors are decelerated until the front obstacle distance stops; meanwhile, the single chip microcomputer receives and processes signals of the infrared obstacle avoidance module to judge the obstacle avoidance deflection direction in the tracking advancing process, when an obstacle appears in the left front, the single chip microcomputer advances to the right front, the left driving motor rotates and the right driving motor decelerates or stops, when an obstacle appears in the right front, the single chip microcomputer advances to the left front, the right driving motor rotates and the left driving motor decelerates or stops, when an obstacle appears in the left front and the right front and the obstacle in the front is smaller than a preset value, the single chip microcomputer stops advancing, and the left driving motor decelerates until the single chip microcomputer stops; meanwhile, the single chip microcomputer receives signals of the speed detection module, and corresponding running speed is obtained through calculation and processing.
As mentioned above, the single chip microcomputer receives signals of the ultrasonic ranging module to process to obtain the front obstacle distance, when the front obstacle distance is larger than the preset value, the trolley is driven to move according to the infrared tracking module, and then the trolley moves to the left front or the right front according to the left and right infrared obstacle avoidance modules, so that the tracking and obstacle avoidance of the trolley are realized.
Example 2
As in the foregoing embodiment 1, since the distance between the two infrared probes as the infrared tracking modules is not very long, there is a certain mutual interference in the tracking process, which affects the acquisition of the tracking signal.
Referring to fig. 9, in embodiment 2, on the basis of embodiment 1, an isolation layer 51 is disposed between the left tracking module 41 and the right tracking module 42 to isolate infrared ray interference of the left tracking module and the right tracking module. Further, the isolation layer 51 is disposed on the bottom surface of the vehicle body and extends from the bottom surface of the vehicle body to the ground. Further, the isolation layer is a flexible black isolation curtain
So, hang down flexible isolation layer at the sweep bottom, shield the infrared ray that sets up in the left tracking module of sweep bottom surface and right tracking module and influence each other, possess the flexibility simultaneously and can not hinder the dolly to go forward.
The above description is for the detailed description of the preferred possible embodiments of the present invention, but the embodiments are not intended to limit the scope of the present invention, and all equivalent changes or modifications accomplished under the technical spirit suggested by the present invention should fall within the scope of the present invention.
Claims (7)
1. The utility model provides a tracking intelligent vehicle which characterized in that: the intelligent vehicle speed control system comprises a single chip microcomputer, an infrared tracking module, an infrared obstacle avoidance module, an ultrasonic distance measurement module, a PWM (pulse width modulation) motor driving module, a speed detection module and a power supply circuit module for supplying power, wherein the single chip microcomputer is respectively connected with the infrared tracking module, the infrared obstacle avoidance module, the ultrasonic distance measurement module, the PWM motor driving module and the speed detection module, the infrared tracking module is arranged on the bottom surface of a vehicle body plate and faces the ground, the infrared tracking module comprises a left tracking module and a right tracking module, the left tracking module and the right tracking module are respectively positioned on the left side and the right side of the front end of the vehicle body, an isolation layer is arranged between the left tracking module and the right tracking module to isolate the infrared ray interference of the left tracking module and the right tracking module, the infrared obstacle avoidance module comprises a left obstacle avoidance module and a right obstacle avoidance module, the left obstacle avoidance module and the right obstacle avoidance module are respectively arranged on, the ultrasonic module is arranged at the front end of the vehicle body and faces the front of the vehicle body, and the PWM motor driving module comprises a left driving module and a right driving module which are connected to the output end of the single chip microcomputer to drive the wheels to rotate.
2. The intelligent tracking trolley according to claim 1, wherein: the left obstacle avoidance module is arranged on the left side of the front end of the vehicle body and faces the left front of the vehicle body, and the right obstacle avoidance module is arranged on the right side of the front end of the vehicle body and faces the right front of the vehicle body.
3. The intelligent tracking trolley according to claim 1, wherein: the infrared tracking module and the infrared obstacle avoidance module are both infrared probes and comprise infrared transmitting probes and infrared receiving probes; the method comprises the following specific steps: the power supply circuit module comprises 4 infrared transmitting probes, 4 infrared receiving probes, 4 amplifiers and 4 adjustable resistors, wherein a single infrared transmitting probe, an infrared receiving probe, an amplifier and an adjustable resistor are used in a matched mode, the positive pole of the output end of the power supply circuit module is respectively connected to a single chip machine pin P3.4-P3.7 after being respectively connected with the output ends of the 4 infrared transmitting probes and the 4 amplifiers, the positive pole of the output end of the power supply circuit module is respectively connected to the negative pole of the output end of the power supply circuit module and the positive input end of the corresponding amplifier through the 4 adjustable resistors, and the output ends of the 4 infrared receiving probes are respectively connected to the negative input end of the corresponding amplifier.
4. The intelligent tracking trolley according to claim 1, wherein: the ultrasonic ranging module is an HC-SR04 ultrasonic ranging module.
5. The intelligent tracking trolley according to claim 1, wherein: the single-chip microcomputer is an STC89C52 single-chip microcomputer, the power circuit module adopts a 78L05 voltage stabilizer to serially connect two sections of 3.7V lithium ion batteries to convert the two sections of 3.7V lithium ion batteries into 5V system voltage, and a group of capacitor groups comprising capacitors and polar capacitors are respectively connected in parallel at the input end and the output end of the 78L05 voltage stabilizer.
6. The intelligent tracking trolley according to claim 1, wherein: the car body of dolly includes sweep and sets up in the wheel of sweep bottom, and the isolation layer sets up in the car body sweep bottom surface and extends to ground by the sweep bottom surface.
7. The intelligent tracking trolley according to claim 6, wherein: the isolation layer is a flexible black isolation curtain.
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| CN201920410414.XU CN209821669U (en) | 2019-03-28 | 2019-03-28 | Intelligent tracking trolley |
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| CN201920410414.XU CN209821669U (en) | 2019-03-28 | 2019-03-28 | Intelligent tracking trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947242A (en) * | 2021-03-18 | 2021-06-11 | 南通大学 | Embedded engineering dolly for education |
| CN114557267A (en) * | 2022-03-31 | 2022-05-31 | 广州大学 | Automatic tracking vehicle for irrigation |
-
2019
- 2019-03-28 CN CN201920410414.XU patent/CN209821669U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112947242A (en) * | 2021-03-18 | 2021-06-11 | 南通大学 | Embedded engineering dolly for education |
| CN114557267A (en) * | 2022-03-31 | 2022-05-31 | 广州大学 | Automatic tracking vehicle for irrigation |
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