CN212060979U - Vehicle automatic driving control system based on microwave tracking sensing technology - Google Patents
Vehicle automatic driving control system based on microwave tracking sensing technology Download PDFInfo
- Publication number
- CN212060979U CN212060979U CN202020836101.3U CN202020836101U CN212060979U CN 212060979 U CN212060979 U CN 212060979U CN 202020836101 U CN202020836101 U CN 202020836101U CN 212060979 U CN212060979 U CN 212060979U
- Authority
- CN
- China
- Prior art keywords
- module
- microwave
- operational amplifier
- stage operational
- pwm
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000005516 engineering process Methods 0.000 title claims abstract description 25
- 230000003321 amplification Effects 0.000 claims abstract description 34
- 238000003199 nucleic acid amplification method Methods 0.000 claims abstract description 34
- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 claims abstract description 29
- 229910052751 metal Inorganic materials 0.000 claims abstract description 27
- 239000002184 metal Substances 0.000 claims abstract description 27
- 238000001514 detection method Methods 0.000 claims abstract description 21
- 230000010355 oscillation Effects 0.000 claims description 9
- 230000000694 effects Effects 0.000 abstract description 5
- 230000001276 controlling effect Effects 0.000 description 12
- 238000010586 diagram Methods 0.000 description 11
- 239000002390 adhesive tape Substances 0.000 description 4
- 230000003287 optical effect Effects 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 230000000737 periodic effect Effects 0.000 description 3
- 239000004568 cement Substances 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005684 electric field Effects 0.000 description 1
- 230000005672 electromagnetic field Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The utility model discloses a vehicle automatic driving control system based on microwave tracking sensing technology, including metal conduction band, microwave detection module, signal amplification module, PWM turn signal generation module and steering engine module, the metal conduction band is laid on driving the road, the microwave detection module sets up the front end at the vehicle, the signal amplification module links to each other with the output of microwave detection module and the input of PWM turn signal generation module respectively, the output of PWM turn signal generation module links to each other with steering engine module; the signal amplification module comprises a first-stage operational amplifier, a switching circuit formed by an NPN triode and a second-stage operational amplifier. The system detects the position of a vehicle relative to a metal conduction band by utilizing the difference of reflection coefficients of a metal track and the common ground to microwaves, and the output signal of the system controls the on-off of a PWM (pulse-width modulation) signal after being amplified, so that the steering angle of a steering engine is controlled, the driving of the vehicle is finally controlled, and the system is convenient, rapid, low in cost and stable and reliable in tracking effect.
Description
Technical Field
The utility model relates to a vehicle driving control technical field, concretely relates to vehicle automatic driving control system based on microwave tracking sensing technology.
Background
Automatically driving the automobile: an Automated Guided Vehicle, abbreviated as AGV, is a transport Vehicle equipped with an electromagnetic or optical automatic guidance device, which can travel along a predetermined guidance route, and has safety protection and various transfer functions. With the development of vehicle driving control technology, various tracking automatic driving vehicles are widely applied to the fields of logistics sorting, scenic spot navigation, automatic parking and the like, and a large amount of manpower and material resources are saved. Tracking modes currently applied to an automatic vehicle driving control system mainly include photoelectric tracking, image recognition tracking, electromagnetic tracking and the like.
The photoelectric tracking is a technology of tracking by using a photoresistor by using different reflection coefficients of a black and white runway to visible light or infrared rays. The technology has poor adaptability to different optical environments, is easy to be interfered by external light, and has higher requirements on the chromatic aberration and the width of a laying track.
The image recognition tracking is a technology for recognizing a track by using an image processing technology so as to realize tracking. The technology has the problems of easy interference under strong light and incapability of normally working under weak light, and is complex in technology.
The electromagnetic tracking is realized by sensing an electromagnetic field generated by a power-on lead buried in a preset path by using an electromagnetic sensor, and the technology is not influenced by illumination, but has the problems of large wiring engineering quantity and energy waste.
SUMMERY OF THE UTILITY MODEL
The utility model provides a technical problem provide a vehicle autopilot control system based on microwave tracking sensing technique, solve traditional vehicle and drive control system and to poor, the tracking track of different environment adaptability and lay the problem that the degree of difficulty is high.
In order to solve the technical problem, the utility model discloses the technical scheme who adopts is: a vehicle automatic driving control system based on microwave tracking sensing technology comprises: the steering system comprises a metal conduction band, a microwave detection module, a signal amplification module, a PWM steering signal generation module and a steering engine module, wherein the metal conduction band is laid on a driving road, the microwave detection module is arranged at the front end of a vehicle and used for detecting the position of the vehicle relative to the metal conduction band, the signal amplification module is respectively connected with the output end of the microwave detection module and the input end of the PWM steering signal generation module, and the output end of the PWM steering signal generation module is connected with the steering engine module; the signal amplification module comprises a switching circuit consisting of a first-stage operational amplifier and an NPN triode and a second-stage operational amplifier.
Further, the microwave detection module comprises 3 microwave sensors, and the 3 microwave sensors are respectively installed at the left, middle and right positions of the front end of the vehicle.
Furthermore, the non-inverting input end of the first-stage operational amplifier is connected with the output end of the microwave detection module, the output end of the first-stage operational amplifier is connected with the base electrode of the NPN tube of the switching circuit, the output end of the first-stage operational amplifier is connected with the inverting input end of the first-stage operational amplifier through a resistor, and the inverting input end of the first-stage operational amplifier is grounded through a resistor.
Furthermore, the base electrode of an NPN tube in the switching circuit formed by the NPN triode is connected with the output end of the first-stage operational amplifier, the collector electrode of the NPN tube is connected with a power supply, and the emitter electrode of the NPN tube is grounded through a resistor.
Furthermore, the non-inverting input terminal of the second-stage operational amplifier is connected to the emitter of the NPN transistor in the switching circuit formed by the NPN triode, the output terminal of the second-stage operational amplifier is connected to the input terminal of the nand gate in the signal generating module, the output terminal of the second-stage operational amplifier is connected to the inverting input terminal of the second-stage operational amplifier through a resistor, and the inverting input terminal of the second-stage operational amplifier is grounded through a resistor.
Furthermore, the PWM steering signal generation module comprises a 3-path PWM signal generation circuit, the main body of the 3-path PWM signal generation circuit is an oscillation circuit formed by NE555, and the output end of the 3-path oscillation circuit is connected with the steering engine module through an NAND gate.
Further, the steering engine module is an MG996R steering engine module.
According to the scheme, the motor driving device further comprises a PWM rotating speed signal generating module and a motor driving module, wherein the PWM rotating speed signal generating module comprises a PWM signal generating circuit, the main body of the PWM signal generating circuit is an oscillating circuit formed by NE555, the output end of the oscillating circuit is connected with the motor driving module, and the motor driving module is connected with a motor.
Further, the motor drive module is an L298N motor drive module.
The utility model has the advantages that: the utility model provides a vehicle autopilot control system based on microwave tracking sensing technology, wherein, the tracking route of this system is laid with metal adhesive tape, convenient and fast, is convenient for maintain, and is with low costs simultaneously, and the tracking effect is reliable and stable. Just the utility model discloses a circuit is simple reliable, and signal amplification module can accurately play the effect of signal amplification and gating, and the obvious difference of high level and low level reduces the error for follow-up circuit to the control of vehicle gesture.
Drawings
The embodiments of the present invention will be further described with reference to the accompanying drawings, in which:
fig. 1 is a system block diagram of a vehicle automatic driving control system based on microwave tracking sensing technology.
FIG. 2 is a schematic structural diagram of a microwave tracking vehicle.
FIG. 3 is a schematic diagram of the operation of the microwave tracking vehicle driving control system.
FIG. 4 is a schematic diagram of microwave tracking.
FIG. 5 is a schematic diagram of a normal incidence model of electromagnetic waves to the interface of conductive media.
Fig. 6 is a schematic diagram of a signal amplification module.
Fig. 7 is a circuit diagram of the PWM steering signal generation module.
Fig. 8 is a circuit diagram of the PWM rotation speed signal generating module.
In the figure: the device comprises a microwave detector 1, a signal amplification module 2, a PWM steering signal generation module 3, a steering engine module 4, a steering wheel 5, a motor driving module 6 and a motor 7.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The utility model is based on the principle of microwave tracking, the tracking route only needs to be laid by metal adhesive tape, which is convenient, fast and low in cost; compared with the traditional optical tracking mode, the microwave tracking method has the advantages that the microwave tracking effect is stable and reliable.
As shown in fig. 1, the utility model discloses vehicle autopilot control system based on microwave tracking sensing technique includes: the steering gear signal amplification device comprises a metal conduction band, a microwave detection module, a signal amplification module 2, a PWM steering signal generation module 3 and a steering gear module 4, wherein the metal conduction band is laid on a driving road, the microwave detection module is arranged at the front end of a vehicle and is used for detecting the position of the vehicle relative to the metal conduction band, the signal amplification module is respectively connected with the output end of the microwave detection module and the input end of the PWM steering signal generation module, and the output end of the PWM steering signal generation module is connected with the steering gear module.
The signal amplification module comprises a switching circuit consisting of a first-stage operational amplifier and an NPN triode and a second-stage operational amplifier. As shown in fig. 6, the first-stage operational amplifier is used for performing first-stage amplification on an output signal of the microwave detector, the first-stage operational amplifier may be powered by a single power supply of a +12V battery, a non-inverting input terminal of the first-stage operational amplifier is connected to an output terminal of the microwave detection module, an output terminal of the first-stage operational amplifier is connected to a base of an NPN transistor of the switching circuit, an output terminal of the first-stage operational amplifier is connected to an inverting input terminal of the first-stage operational amplifier through a resistor R1, and the inverting input terminal of the first-stage operational amplifier is grounded through a resistor R2. The base electrode of an NPN tube in a switching circuit formed by the NPN triode is connected with the output end of the first-stage operational amplifier, the collector electrode of the NPN tube is connected with a power supply, and the emitter electrode of the NPN tube is grounded through a resistor R3. The switch circuit is used for gating the signal output by the first-stage amplifier, enabling the signal larger than the threshold value to pass through and cutting off the signal smaller than the threshold value. The second-stage operational amplifier is used for amplifying the output signal of the switching circuit, the second-stage operational amplifier can also be powered by a single power supply of a +12V battery, the non-inverting input end of the second-stage operational amplifier is connected with the emitter of an NPN tube in the switching circuit formed by the NPN triode, the output end of the second-stage operational amplifier is connected with the input end of a NAND gate in the signal generation module, the output end of the second-stage operational amplifier is connected with the inverting input end of the second-stage operational amplifier through a resistor R4, and the inverting input end of the second-stage operational amplifier is grounded through a resistor R5.
The signal amplification module can accurately play a role in signal amplification and gating, when the microwave detector is positioned above the metal track, the signal amplification module outputs a high level, when the microwave detector is positioned above the common ground, the signal amplification module outputs 0, and the obvious difference between the high level and the low level is that a subsequent circuit controls the steering wheel 5 through a steering engine, so that the vehicle posture is controlled to lay a foundation. Further, the microwave detection module includes 3 microwave sensors, as shown in fig. 2, and 3 microwave sensors 1 are respectively installed at left, middle and right positions of the front end of the vehicle. The microwave detection module can adopt an HB100 microwave sensor and is arranged on a cross bar at the front end of the vehicle, the microwave frequency is 10.525GHz, and the complete coverage of the ground below the front of the vehicle can be realized. The microwave detection module arranged at the front end of the vehicle detects the position of the vehicle relative to the metal conduction band by utilizing the difference of reflection coefficients of the metal track and common ground to microwaves.
The microwave detection module can only adopt 2 microwave sensors which are respectively arranged at the left and right positions of the front end of the vehicle, so that the detection of the position of the vehicle can be completed, but the vehicle can only straightly move left and right due to the lack of the microwave sensor at the middle position, and the vehicle is difficult to straightly move, and if the vehicle wants to straightly move, software or other hardware needs to be combined. Meanwhile, the output end of each group of microwave sensors is connected with the non-inverting input end of the first-stage operational amplifier of one group of signal amplification modules.
Furthermore, the PWM steering signal generation module comprises a 3-path PWM signal generation circuit for controlling the steering angle of the steering engine. The main body of the 3 paths of PWM signal generating circuits is an oscillating circuit formed by NE555, and the output ends of the 3 paths of oscillating circuits are connected with the steering engine module through a NAND gate. The oscillation frequency and the duty ratio of the oscillation circuit can be controlled by the resistance value of the resistor in the regulating circuit, the output ends of the three oscillation circuits are connected with the NAND gate so as to realize the purpose of controlling the on-off of the PWM signals of the three steering engines by using the output signals of the signal amplification module, if the NAND gate is an OC gate, the output ends of the three PWM signal generation circuits can be directly connected and then connected with the steering engines,
further, the steering engine module is an MG996R steering engine module. Steering angle of the steering engine can be conveniently controlled by using PWM signals.
Further, the vehicle speed control system further comprises a PWM (pulse-width modulation) rotating speed signal generating module and a motor driving module 6, and the PWM rotating speed signal generating module and the motor driving module are used for controlling the rotating speed of the motor 7 so as to control the vehicle speed. The PWM rotating speed signal generating module comprises a PWM signal generating circuit, the main body of the PWM signal generating circuit is an oscillating circuit formed by NE555, the output end of the oscillating circuit is connected with the motor driving module, and the motor driving module is connected with the motor. The signal of the path does not need to be connected with a NAND gate, and can be directly connected with the logic input end of the motor driving module for controlling the rotating speed of the motor. Further, the motor drive module is an L298N motor drive module. The motor driving module adopts an L298N motor driving module to drive a rear wheel motor, the L298N motor driving module can adopt a +12V lithium battery to directly supply power, and the rotating speed of the motor can be conveniently controlled by a PWM signal.
The working principle of the utility model is as shown in fig. 3, microwave sensor utilizes metal track and ordinary ground to be different to the reflection coefficient of microwave for survey the position of the relative metal conduction band of vehicle, its output signal is used for controlling the break-make of three routes PWM turn signal production circuit after signal amplification module enlargies. The three-way PWM steering signal generating circuit can respectively generate periodic signals with different frequencies and duty ratios, for example, the periodic signals with the frequency of 50Hz and the duty ratios of 10%, 7.5% and 5% can respectively enable the steering engine to rotate left, move straight and rotate right. And the PWM rotating speed signal generating circuit is used for controlling the rotating speed of the motor, and the duty ratio of the PWM rotating speed signal generating circuit is adjustable.
As shown in fig. 4, the microwave detector vertically emits microwaves, such as microwaves with a frequency of 10.525GHz, to the ground, and after the microwaves are reflected by the metal track or the ground, reflected waves are received by the microwave detector.
As shown in fig. 5, a normal incidence model of electromagnetic waves to the interface of conductive media,
medium 1 incident wave:
reflected wave from medium 2:
medium 2 transmitted wave:
at the boundary surface z equal to 0, the electric field intensity and the magnetic field intensity tangential component are continuous, and the obtained result is
I.e. the reflection coefficient
In the practical application scenario of the utility model, the medium 1 is air, the medium 2 is metal track or ground,
wherein,
therefore, RMetal＞＞RGround surface
Therefore, the electromagnetic wave reflection coefficient of the metal track is larger than that of the cement ground, and the feasibility of microwave tracking is theoretically demonstrated. In practical tests, the microwave sensor with the frequency of 10.525GHzHB100 is placed above the cement ground at the height of two centimeters, the output is about +80mV, and the microwave sensor is placed above the metal adhesive tape at the height of two centimeters, the output is about +225mV, so that the requirement of distinguishing the metal track can be met.
The microwave sensors are distributed as shown in figure 2, the microwave sensors are arranged at the left, middle and right positions on a cross bar in front of the vehicle, when the vehicle normally runs along a metal track, the output voltage signals of the microwave sensors at the middle part of the cross bar are larger, and the output voltage signals of the microwave sensors at the left and right positions of the cross bar are smaller; when the vehicle position is more right than the metal track, the output voltage signals of the microwave sensors on the left side of the cross rod are larger, and the output voltage signals of the microwave sensors on the middle and right sides of the cross rod are smaller; similarly, when the vehicle position is deviated to the left compared with the metal track, the output voltage signal of the microwave sensor on the right side of the cross rod is larger, and the output voltage signals of the microwave sensors on the middle and left sides of the cross rod are smaller. Output voltage signals of the three microwave sensors are transmitted to the PWM signal generation module after passing through the signal amplification module and are used for controlling the vehicle posture.
The schematic diagram of the signal amplification module is shown in fig. 6, and in this example, the calculated amplification factor of the first stage operational amplification circuit is about 3.5 times, and the calculated amplification factor of the second stage operational amplification circuit is about 23 times. In the signal amplification module, if the output signal of the HB100 microwave detector is a small voltage signal of +80mV, the signal is amplified by a first stage to be +0.28V and acts on the base electrode of the NPN transistor, and at this time, the switching circuit is turned off. If the output signal of the HB100 microwave detector is a +225mV large voltage signal, the signal is amplified by a first stage to be +0.79V and acts on the base electrode of the NPN tube, the switch circuit is conducted at the moment, the output voltage of the NPN emitter is about +0.24V and acts on the non-inverting input end of the second stage amplifying circuit, and the output of the second stage amplifying circuit is about +5.2V at the moment. In summary, when the output of the HB100 microwave detector is a small voltage signal, the output of the signal amplification module is 0, and when the output of the HB100 microwave detector is a large voltage signal, the output of the signal amplification module is about + 5.2V. The output of the signal amplification module is connected with the input end of the NAND gate of the PWM steering signal generation circuit and is used for controlling the on-off of the three steering engine control signals.
The steering control system comprises a PWM steering signal generating module, a PWM signal generating circuit for controlling the steering engine, and a PWM rotating speed signal generating module for controlling the rotating speed of the motor. The PWM steering signal generation module and the PWM rotating speed signal generation module are both composed of an NE555 oscillation circuit, and the frequency and the duty ratio of the PWM signals can be conveniently changed by changing the resistance value of the circuit, so that the steering angle of the steering engine and the rotating speed of the motor can be conveniently controlled. Wherein, the schematic diagram of three paths of PWM signal generating circuits for controlling the steering engine is shown in FIG. 7, NE555 constitutes an oscillating circuit, the generated periodic signal is inverted by a NAND gate and then output, and the oscillating frequency is
With a duty cycle of
Therefore, the three-way PWM signal generation circuit can generate PWM signals with the frequency of 50Hz and the duty ratios of 10%, 7.5% and 5% by adjusting the resistance values of R6 and R7.
FIG. 8 shows a schematic diagram of a PWM signal generating circuit for controlling the rotational speed of a motor, which has an oscillation frequency and a duty ratio of not passing through a NAND gate
Therefore, the duty ratio of the generated PWM signal can be changed by adjusting the resistance values of R11 and R12 to control the motor speed, and therefore the vehicle forward speed.
In summary, the driving control system of the utility model adopts the microwave tracking technology, the tracking route only needs to be laid by the metal adhesive tape, which is convenient and fast, convenient for maintenance and low in cost; compared with the traditional optical tracking mode, the microwave tracking mode has no special requirements on illumination conditions, so that the system is suitable for occasions where the traditional tracking system cannot work normally, such as weak light, strong light and the like, and the tracking effect is stable and reliable.
The above embodiments and principles are only used to illustrate the design ideas and features of the present invention, and the purpose thereof is to enable those skilled in the art to understand the contents of the present invention and to implement the present invention, and the protection scope of the present invention is not limited to the above embodiments. Therefore, any simple modification made according to the technical essence of the present invention, equivalent changes and modifications all belong to the scope of the technical solution of the present invention.
Claims (9)
1. A vehicle automatic driving control system based on microwave tracking sensing technology is characterized by comprising: the metal conduction band is laid on a driving road, the microwave detection module is arranged at the front end of a vehicle, the signal amplification module is respectively connected with the output end of the microwave detection module and the input end of the PWM steering signal generation module, and the output end of the PWM steering signal generation module is connected with the steering engine module;
the signal amplification module comprises a first-stage operational amplifier, a switching circuit formed by an NPN triode and a second-stage operational amplifier.
2. The microwave tracking sensing technology-based vehicle automatic driving control system according to claim 1, characterized in that: the microwave detection module comprises 3 microwave sensors which are respectively arranged at the left, middle and right positions of the front end of the vehicle.
3. The microwave tracking sensing technology-based vehicle automatic driving control system according to claim 1, characterized in that: the non-inverting input end of the first-stage operational amplifier is connected with the output end of the microwave detection module, the output end of the first-stage operational amplifier is connected with the base electrode of an NPN tube of the switching circuit, the output end of the first-stage operational amplifier is connected with the inverting input end of the first-stage operational amplifier through a resistor, and the inverting input end of the first-stage operational amplifier is grounded through a resistor.
4. The microwave tracking sensing technology-based vehicle automatic driving control system according to claim 1, characterized in that: and the base electrode of an NPN tube in a switching circuit formed by the NPN triode is connected with the output end of the first-stage operational amplifier, the collector electrode of the NPN tube is connected with a power supply, and the emitter electrode of the NPN tube is grounded through a resistor.
5. The microwave tracking sensing technology-based vehicle automatic driving control system according to claim 1, characterized in that: the non-inverting input end of the second-stage operational amplifier is connected with the emitting electrode of an NPN tube in a switching circuit formed by the NPN triode, the output end of the second-stage operational amplifier is connected with the input end of a NAND gate in the signal generation module, the output end of the second-stage operational amplifier is connected with the inverting input end of the second-stage operational amplifier through a resistor, and the inverting input end of the second-stage operational amplifier is grounded through a resistor.
6. The microwave tracking sensing technology-based vehicle automatic driving control system according to claim 1, characterized in that: the PWM steering signal generation module comprises 3 paths of PWM signal generation circuits, the main body of the 3 paths of PWM signal generation circuits is an oscillation circuit formed by NE555, and the output ends of the 3 paths of oscillation circuits are connected with the steering engine module through NAND gates.
7. The microwave tracking sensing technology-based vehicle automatic driving control system according to claim 1, characterized in that: the steering engine module is MG996R steering engine module.
8. The microwave tracking sensing technology-based vehicle automatic driving control system according to any one of claims 1-7, characterized in that: the motor driving device is characterized by further comprising a PWM rotating speed signal generating module and a motor driving module, wherein the PWM rotating speed signal generating module comprises a PWM signal generating circuit, the main body of the PWM signal generating circuit is an oscillating circuit formed by NE555, the output end of the oscillating circuit is connected with the motor driving module, and the motor driving module is connected with a motor.
9. The microwave tracking sensing technology-based vehicle automatic driving control system according to claim 8, characterized in that: the motor driving module is an L298N motor driving module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020836101.3U CN212060979U (en) | 2020-05-19 | 2020-05-19 | Vehicle automatic driving control system based on microwave tracking sensing technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020836101.3U CN212060979U (en) | 2020-05-19 | 2020-05-19 | Vehicle automatic driving control system based on microwave tracking sensing technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN212060979U true CN212060979U (en) | 2020-12-01 |
Family
ID=73521045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020836101.3U Active CN212060979U (en) | 2020-05-19 | 2020-05-19 | Vehicle automatic driving control system based on microwave tracking sensing technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN212060979U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022371A (en) * | 2021-05-12 | 2021-06-25 | 陈维加 | Self-propelled lifting device for battery replacement of electric automobile |
-
2020
- 2020-05-19 CN CN202020836101.3U patent/CN212060979U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113022371A (en) * | 2021-05-12 | 2021-06-25 | 陈维加 | Self-propelled lifting device for battery replacement of electric automobile |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN201926927U (en) | Intelligent tracking trolley | |
| CN201799111U (en) | Autonomous tracking model car based on single chip microcomputer (SCM) | |
| CN102854878A (en) | Infrared photoelectric guiding automatic guided vehicle (AGV) device and control method thereof | |
| CN212060979U (en) | Vehicle automatic driving control system based on microwave tracking sensing technology | |
| CN202795055U (en) | Infrared light electric guide AGV (automatic guided vehicle) device | |
| CN103345250A (en) | Intelligent obstacle-avoiding trolley | |
| CN204462846U (en) | A kind of intelligent automatic tracking dolly | |
| CN203502825U (en) | Line tracking vehicle | |
| Hanumante et al. | Low cost obstacle avoidance robot | |
| CN202735844U (en) | Intelligent trolley control system | |
| CN204515131U (en) | A kind of monolithic processor controlled intelligent automobile tests the speed and reversing alarm device | |
| Li et al. | Intelligent tracking obstacle avoidance wheel robot based on arduino | |
| CN202711064U (en) | AGV guiding sensing device | |
| CN103324199A (en) | Intelligent tracing trolley | |
| CN202337258U (en) | Intelligent automobile obstacle avoidance control device | |
| CN207541500U (en) | A kind of adjustable speed automatic tracking motor-driven carrier applied to warehouse transport | |
| CN106094821A (en) | A kind of intelligent carriage control system based on infrared sensor | |
| CN202887591U (en) | Intelligent vehicle teaching experimental facility based on laser double-edge tracking | |
| CN210639464U (en) | Differential-control intelligent tracking obstacle avoidance trolley | |
| CN109750885A (en) | A kind of parking lot route guidance system based on FPGA | |
| CN105867393A (en) | Intelligent trolley system | |
| CN203837691U (en) | Incident azimuth detection sensor for sunlight | |
| CN203324814U (en) | Intelligent obstacle avoidance trolley | |
| CN204695101U (en) | A kind of intelligent carriage of the line data-logging for intelligent substation | |
| CN111230927A (en) | Tracking robot based on infrared and ultrasonic sensors |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |