CN2532889Y

CN2532889Y - Automatic tracking movable platform

Info

Publication number: CN2532889Y
Application number: CN02219869U
Authority: CN
Inventors: 董大为
Original assignee: Meihua Robot (kunshan) Research And Development Co Ltd
Current assignee: Meihua Robot (kunshan) Research And Development Co Ltd
Priority date: 2002-04-10
Filing date: 2002-04-10
Publication date: 2003-01-29
Anticipated expiration: 2012-04-10

Abstract

Disclosed is an automatic tracking and moving platform whose main frame is provided with a driving wheel, a receiver, a control circuit of a remote-control transmitter (21), a steering control motor and a driving motor. The utility model is characterized in that a heavy weight support frame is arranged on the main frame; the steering control motor is fixed on the front end of the main frame, and a cone-tooth pair with an arresting pin is arranged on a main shaft; the main frame corresponding to the arresting pin is provided with a left and a right limit switch; a driven cone-tooth shaft is provided with a cam on the upper end and connected with the steering framework of the driving wheel on the lower end; the main frame corresponding to the cam is provided with a left and a right reset switches; the driving motor is connected with the driving wheel through a transmission mechanism; the output end of controlling signals of the receiver is connected with a signal input end of the controlling circuit; and the controlling circuit controls the steering control motor and the driving motor to realize steering, advancing and stopping of the platform. The device has the advantages of tracking a transmitter with loading, which can be applied for sending golf shaft bags and small heavy weights.

Description

From the motion tracking mobile platform

Technical field:

The utility model relates to a kind of remote control mobile platform, be meant especially a kind of can be from its emitter of motion tracking carrier's remote control mobile platform.

Background technology:

People always wish can carry more even heavier thing and the carrying that need not to take action on one's own in walking, and carry-on weight going along with is trudged to people's spirit and all is a kind of torment animally.

At present, world's golf has attracted a lot of aficionados, and bout is covered in walking, and is concerning the golf fan, not only interesting but also be a well exercise.Yet, the golf bag of filling golf clubs not only heavily but also inconvenience carry, play a ball and get off, can make the people feel drained.Many votaries of golf are difficult to cover the golf course of a standard, because bear heavy so long the working hard apart from all too of golf bag walking.For this reason, pull golf cart and come into operation for a long time, but it uses extremely inconvenience, user's manipulation strength is big.Electric golf cart also comes into operation, but electric golf cart needs the linksman to drive, and can't reach the effect of votary of golf's desired motion section refining.

In recent years, vehicularized towed golf cart has been developed abroad and has developed.Use this equipment, the player can not bear a heavy burden and cover a golf course, though need not to spend more muscle power, need manually to realize the ball car starting, stop to control with direction.When the ball car moved, the player must handle the ball car at any time.The player just can not concentrate on playing golf fully like this.In addition, in some place of golf course, this golf cart can't enter at all, and the golfer can only control oneself and enter these zones and the ball car can not.After the player chooses club, go to the residing position of golf, return golf cart after the batting, handle the ball car and walk around this zone.This just makes troubles to operation.

Summary of the invention:

The purpose of this utility model provide a kind of can be used for loading weight such as golf bag, can from its user of motion tracking, and the mode of available remote operation keep with than the mobile platform of even velocity by the landform of more complicated.

Above-mentioned purpose of the present utility model realizes by following technical solution:

Described in the utility model from the motion tracking mobile platform, comprising that main body rack, one turn to drives front-wheel, two trailing wheels, one and is installed in receiver, the telecontrol transmitter on the main body rack and is installed in control circuit on the main body rack, turns to control motor, drive motors, bracing frame etc., be characterized in: turn to drive front-wheel and be fixed on the front end of main body rack by its movable support frame, two trailing wheels are fixed on the rear end of main body rack by connecting rod; Also be fixed with the weight bracing frame on main body rack, its upper support frame is fixed on the upper support arm, and the upper support arm is fixed on the main body rack, and the lower support frame is fixed on the lower support arm, and the lower support arm is fixed on the below, rear end of main body rack; Turn to the control motor to be fixed on the front end of main body rack, the first awl tooth is housed on its main shaft, on the second awl tooth that is engaged with a spacer pin is housed, corresponding with this spacer pin, left and right limit switch is housed on main body rack; And the main shaft upper end of this second awl tooth is fixed with a cam, correspondingly with this cam is provided with left and right reset switch on main body rack, and the main shaft lower end links to each other with turning to the steering mechanism that drives front-wheel; Drive motors is fixed on and turns on the movable support frame that drives front-wheel, and its main shaft is connected by transmission mechanism and the transmission mechanism that is installed on the driving front-wheel main shaft; After receiver received the signal of telecontrol transmitter, the signal input part of its control signal output and control circuit joined; Turn to control motor, drive motors, limit switch, reset switch to be serially connected in the control circuit, wherein turn to control motor, the control signal input of drive motors and the control signal output of control circuit to join, and by the power supply power supply that is fixed on the main body rack.

Another characteristics of the present utility model are: described telecontrol transmitter comprises the wireless transmitter and an electromagnetic signal radiating circuit that can produce the radio signal of radio frequency range; This electromagnetic signal radiating circuit comprises a dibit timer integrated circuit, and a direct current power supply and its power input join, and its output and an Electromagnetic Launching diode join.

Another characteristics of the present utility model are; The receiver that is installed on the main body rack comprises that a receiving sensor circuit, radio signal receiving circuit and turn to control motor, drive motors control circuit; Wherein, three the sensor devices in left, center, right are housed in the receiving sensor circuit, a shadow shield is equipped with on the right of left sensor, and a shadow shield also is equipped with on the left side of right sensor; The output of left and right sensor joins with the signal input part that turns to its corresponding amplifying circuit in control motor, the drive motors control circuit respectively, and the signal output part of the amplifying circuit signal input part of its corresponding modulation decoder circuit respectively joins; The signal output part of modulation decoder circuit respectively be serially connected in the relay coil that turns in the control motor current supply circuit and join; The output of intermediate sensor joins with the signal input part that turns to its corresponding amplifying circuit in control motor, the drive motors control circuit, and the signal input part of its corresponding voltage comparator circuit of signal output part of amplifying circuit joins; The signal output part of voltage comparator circuit joins with the relay coil that is serially connected in the drive motors speed regulating control loop; The signal output part one tunnel of the radio signal receiver in the radio signal receiving circuit joins with the signal input part in drive motors speed regulating control loop, another Lu Yuyi department clothes device signal input part joins, and the signal output part of department's clothes device joins with turning to the amplifying circuit signal input part in control motor, the drive motors control circuit.

Characteristics more of the present utility model are: described turning in control motor, the drive motors control circuit comprises one for turning to the power supply of control motor, drive motors power supply, the power supply for the radio signal receiver power supply; On relay coil in the drive motors speed regulating control loop and the main body rack and after corresponding two reset switches of cam on the second awl tooth main shaft are connected in series mutually, with power supply and connect; Drive motors is serially connected in the speed regulating control loop, and speed regulating control loop and power supply also connect; Turn in the control loop of controlling motor and be connected to a double-contact relay, the first group of contact of this relay and the control end of second group of contact join with turning to control motor power end respectively; Wherein, the normally opened contact of first group of contact and the negative pole of power supply join, and the stationary contact of the normally-closed contact in normally-closed contact and the right sensor joins; The normally opened contact of second group of contact and the positive pole of power supply join, and the negative pole of normally-closed contact and power supply joins; The stationary contact of the normally opened contact in the relay of left side sensor control and the normally opened contact of left limit switch join, the forward voltage input of movable contact and double-contact relay control coil joins, the backward voltage input of the stationary contact of its normally-closed contact and double-contact relay control coil joins, and the normally-closed contact of movable contact and left limit switch joins; The stationary contact of the normally opened contact in the relay of right sensor control and the normally opened contact of right limit switch join, the backward voltage input of movable contact and double-contact relay control coil joins, and the normally-closed contact of the movable contact of its normally-closed contact and right limit switch joins; The control end of right limit switch and the positive pole of power supply join.

The utility model has the advantages that: (1) power-on, the i.e. work automatically of wireless remotecontrol of the present utility model, receiving system or electromagnetic signal emission, receiving system, need not the user and import any operation signal, can be from the moving of motion tracking user, with the weight of its carrying at any time from the motion tracking user.(2) for the golf range game person, this platform can be followed it at any time, and transport the golf bag to it, its effective following range can reach 9 meters, when the player stops, this platform stops automatically at about 1-1.2 rice, distance player rear, greatly facilitates its match, has reduced it and has got the complicated work of club back and forth.(3) the utility model all can move more evenly regardless of the gradient of landform.When the user who carries emitter is slack, can stop in the distance that the user sets after one's death.(4) should can control by remote control from the operation of motion tracking mobile platform; Radio remote controller carrier from its setpoint frequency of motion tracking.And antijamming capability is strong.(5) the utility model can be applied to a lot of fields, and as being used as the cargo transport dolly, baggage train etc. transport the vehicles of article.

Description of drawings:

Fig. 1 is that the structure master of the utility model one embodiment looks schematic diagram;

Fig. 2 is that schematic diagram is looked on the structure right side of the utility model one embodiment;

Fig. 3 is the structure schematic top plan view of the utility model one embodiment;

Fig. 4, Fig. 5 are that control electromechanics, drive motors, the gauge tap etc. of turning to of the present utility model are installed in frame for movement schematic diagram on the theme support;

Fig. 6 is a control principle block diagram of the present utility model;

Fig. 7 is an emitter electrical schematic diagram of the present utility model;

Fig. 8 is the sensor electrical schematic diagram of receiver of the present utility model;

Fig. 9 is the control principle figure of the utility model;

Figure 10-Figure 13 is that the utility model is when being in different terrain, to the speed regulating control schematic diagram of drive motors;

Figure 14 is an emitter of the present utility model when being in different positions with mobile platform, turns to the control principle schematic diagram.

The specific embodiment:

Below in conjunction with accompanying drawing technical solution of the present utility model is further elaborated:

Shown in Fig. 1-5, described in the utility model from motion tracking mobile platform 20, comprise main body rack 5, turn to and drive front-wheel 55, two

trailing wheels

1 and 2, be installed in receiver, the telecontrol transmitter 21 (referring to Fig. 6) on the main body rack 5 and be installed in control circuit, drive motors 72 on the main body rack 5, turn to and control motor 52 etc.The fixing rack for sensor 25 of receiver fixes by connecting rod 82 and main body rack 5, and the control circuit 24 corresponding signal inputs on the output of sensor and the main body rack 5 join.Turn to drive front-wheel 55 and be fixed on the front end of main body rack 5 by its movable support frame 61, two

trailing wheels

1,2 are fixed on the rear end of main body rack 5 by connecting rod 3,4.On main body rack 5, also be fixed with the weight bracing frame, form by upper support frame 23, upper support arm 6, lower support frame 231, lower support arm 811; Wherein, upper support frame 23 is fixed on the upper support arm 6, and upper support arm 6 is fixed on the main body rack 5, and lower support frame 23 1 is fixed on the lower support arm 81, and the lower support arm is fixed on the below, rear end of main body rack 5; Turn to control motor 52 to be fixed on the front end of main body rack 5, reduction box 56 is housed on its main shaft, fix the first awl tooth 57 on the output shaft of reduction box 56, on the second awl tooth 60 that is engaged with a spacer pin 51 is housed, left and right limit switch 53 is housed accordingly on main body rack 5 with this spacer pin; Main shaft 59 upper ends of the second awl tooth are fixed with a cam 58, correspondingly with this cam are provided with left and right reset switch 63 on main body rack 5, and main shaft 59 lower ends link to each other with turning to the steering mechanism that drives front-wheel 55.Drive motors 72 is fixed on and turns on the movable support frame 61 that drives front-wheel, and drive 73 is housed on its main shaft, is connected by driving belt 75 and the drive 76 that is installed on the drive motors main shaft.On main body rack 5, also be provided with battery case 67, internal battery 68, by switch 69 to control circuit, turn to 72 power supplies of control motor 52, drive motors.After receiver receives the signal of telecontrol transmitter, the signal input part of its control signal output and control circuit join (referring to Fig. 6); Turn to control motor 52, drive motors 72, limit switch 53, reset switch 63 to be serially connected in (referring to Fig. 9) in the control circuit, wherein turn to control motor 52, the control signal input of drive motors 72 and the control signal output of control circuit to join, and by power supply 68 power supplies that are fixed on the main body rack 5.

In Fig. 6, telecontrol transmitter 21 comprises the wireless transmitter 211 and an electromagnetic signal radiating circuit 212 of launching electromagnetic control signal 29 that can produce the radio signal of radio frequency range.Wireless transmitter 211 is made of crystal resonator 33, frequency source circuit 33, power conditioning circuitry 41, adjusting resistance 38, rf output circuit 31.Electromagnetic signal radiating circuit 212 comprises a dibit timer integrated circuit 42 and one and the Electromagnetic Launching diode 27 that joins of its output.

The receiving sensor circuit is housed in the fixing rack for sensor 25, and control circuit 24 comprises that radio signal receiving circuit and turns to control motor, drive motors control circuit.Wherein, three sensor devices in left, center, right 44,45,46 are housed in the receiving sensor circuit, a shadow shield 17 is equipped with on the right of left sensor 44, and a shadow shield 16 is equipped with on the left side of right sensor; The output of left and right sensor 44,46 joins with the signal input part that turns to its corresponding amplification in control motor, the drive motors control circuit, modulation decoder circuit 48 respectively, amplify, the signal output part of modulation decoder circuit 48 respectively be serially connected in the relay coil that turns in control motor 52 current supply circuits and join; The output of middle sensing 45 joins with the signal input part that turns to its corresponding amplifying circuit 481 in control motor 52, drive motors 72 control circuits, and the signal input part of its corresponding voltage comparator circuit 65 of the signal output part of amplifying circuit 481 joins; The signal output part of voltage comparator circuit joins with the relay coil that is serially connected in the drive motors 72 speed regulating control loops 77; The signal output part one tunnel of the radio signal receiver 32 in the radio signal receiving circuit and department's clothes device 26 signal input parts join, and the signal input part in another road and speed regulating control loop 77 joins; The signal output part of department's clothes device 26 joins with turning to amplification, modulation decoder circuit 48 signal input parts in control motor, the drive motors control circuit.

In Fig. 7, emitter is its power supply by power supply E, dibit timer IC 1 (promptly 42, model is LM556) when K switch is closed by the resistance-capacitance circuit timing, and by its 9 pin output pulse signal, make Electromagnetic Launching diode (this diode can adopt laser diode, infrared emission tube, ultraviolet emissioning tube etc.) 27 send pulse control signal, the motion of the mobile platform of control the utility model.The intensity of its output signal can be adjusted by the resistance of regulating variable resistor R1, R2.

In Fig. 8, the output signal of left and right sensor 44, (46) is delivered to the base stage of T1 in the transistor amplifier by 3 pin, signal after the amplification is closed signal input part 3 pin of delivering to code modulation decoder IC 2 (model is LM567) by capacitor C 1 lotus root, by producing output signal behind its decode-regulating, through this sensor corresponding relays coil of its 8 foot control system J2, (J1), thereby control turns to turning to of control motor.The output signal of intermediate sensor 45 is delivered to the base stage of T1 in the transistor amplifier by 3 pin, signal after the amplification is closed the comparative voltage input of delivering to voltage comparator circuit 65 by capacitor C 11 lotus roots, and produce output signal control and this sensor corresponding relays coil J3, thereby the advancing or stop of control drive motors.

In Fig. 9, turn in control motor, the drive motors control circuit, comprise one for turning to 69, one power supply E2 of power supply E1 (68), power switch of control motor 52, drive motors 72 power supplies for the radio signal receiver power supply; Relay coil in the drive motors 72 speed regulating control loops 77 (is the relay coil J3 in the intermediate sensor circuit, referring to Fig. 8) with main body rack 5 on and after cam 58 corresponding two reset switches 63 (K1, K2) on second awl tooth 60 main shafts are connected in series mutually, with power supply E1 and connect; Drive motors 72 is serially connected in the speed regulating control loop 77, and speed regulating control loop 77 is with power supply E1 and meet (referring to Figure 10); Turn in the control loop of controlling motor 52 and be connected to a double-contact relay 90, the first group of contact of this relay and the control end 5,6 of second group of contact join with turning to control motor 52 power ends respectively; Wherein, the normally opened contact 3 of first group of contact joins with the negative pole of power supply E1, and the stationary contact of the relay coil J2 normally-closed contact JK1 in normally-closed contact 1 and the right sensor 46 joins; The normally opened contact 4 of second group of contact joins with the positive pole of power supply E1, and normally-closed contact 2 joins with the negative pole of power supply E2; The stationary contact of the normally opened contact JK4 of relay coil J1 in the sensor 44 of a left side and the normally opened contact of left limit K switch 4 (53) join, the forward voltage input 8 of the control coil of movable contact and double-contact relay 90 joins, the backward voltage input 7 of the stationary contact of its normally-closed contact JK3 and the control coil of double-contact relay 90 joins, and the normally-closed contact of movable contact and left limit K switch 4 joins; The stationary contact of the normally opened contact JK2 of relay coil J2 in the right sensor 46 and the normally opened contact of right limit K switch 3 (53) join, the backward voltage input 7 of the control coil of movable contact and double-contact relay 90 joins, and the normally-closed contact of the movable contact of its normally-closed contact JK1 and right limit K switch 3 (53) joins; The control end of left and right limit switch K4, K3 and the positive pole of power supply E1 join.

In Figure 10, the speed regulating control of drive motors is realized by

mercoid switch

78,79, resistance 80,81.1 pin of mercoid switch 78 is serially connected in the positive pole of the current supply circuit of

drive motors

72, and 1 pin of 2 pin and mercoid switch 79 joins; 1,2 pin of resistance 80 and mercoid switch 78 also connect, and 1,2 pin of

mercoid switch

79 and 2 pin of mercoid switch 78 also connect, and the negative pole of 3 pin of mercoid switch 79 and the current supply circuit of drive motors 72 joins, and resistance 81 is attempted by between 3,4 pin of mercoid switch 79.

Operation principle of the present utility model is as follows: when the utility model is worked, weight is placed the weight bracing frame of mobile platform 20, the user carries and opens emitter 21 and mobile platform power supply.

1, when selecting to follow the tracks of mode of operation automatically, then electromagnetic signal radiating circuit 212 work (referring to Fig. 7), the K switch closure, 1 (42) work of dibit timer IC, by its 9 pin output pulse signal, make Electromagnetic Launching diode 27 send pulse control signal, the sensor in the mobile platform will be followed the tracks of this control signal.

(1), when the user is positioned at the right front of mobile platform (referring to Figure 14), mobile platform will turn right to and the operation advancing, stop to the emitter carrier.

Because this moment, emitter was positioned at the right-hand of mobile platform, right sensor 46 will receive the electromagnetic signal of emitter.And left sensor 44 is owing to be subjected to blocking of shadow shield 17 can not receive signal, thereby its do not work (referring to Fig. 6).After right sensor 46 is received this signal, as shown in Figure 8, make triode T1 conducting and amplify this voltage signal from its 3 pin output voltage signal, be defeated by 3 pin of code modulation decoder IC2, with this signal decode-regulating, produce control voltage from its 8 pin output, relay coil J1 is got.J1 get electric after, as shown in Figure 9, its normally opened contact JK2 closure, normally-closed contact JK1 disconnect.This moment is because the spacer pin 51 of second awl on the tooth 60 is in position with the 3 normally opened contact pressings of right limit K switch (referring to Fig. 4, Fig. 5), the positive pole of power supply E1 will be by K3 by the normally opened contact of pressing, normally opened contact JK2 closed among the J1 powers to control coil backward voltage input 7 pin of double-contact relay 90, make it with the normally opened contact adhesive in two groups of contacts, normally-closed contact disconnects, then power supply E1 positive pole will be by the contact 4 of double-contact relay 90,6, turn to the positive pole of control motor 52, negative pole, the contact 5 of double-contact relay 90,3 negative poles to power supply form the forward current supply circuit to turning to control motor 52, turn to control motor 52 just changeing, driving the second awl tooth 60 is just changeing, and drives front-wheel 55 right-hand rotations thereby drive to turn to.In the process that front-wheel 55 is turned right, the moving spacer pin 51 of awl cingulum, cam 58 transfers.When awl tooth 60 goes to set angle, the normally opened contact of spacer pin 51 pressing left limit K switch 4, right limit K switch 3 resets, right sensor 46 will not receive the signal of emitter, this moment, cam 58 was with left and right reset switch K1, K2 pressing (K1, K2 have only by pressing at ordinary times) simultaneously, for drive motors 72 is prepared.Reset owing to right limit K switch 3 normally opened contacts disconnect this moment, the normally-closed contact closure, and the current supply circuit of the control coil backward voltage input of double-contact relay 90 is cut off, its two groups of contacts reset, turn to the current supply circuit of control motor to be cut off, steer motor 52 stalls, steering procedure finishes.This moment is owing to turn to driving front-wheel 55 to turn right, intermediate sensor 45 will be received the electromagnetic signal of emitter, and as shown in Figure 8, its generation control signal is delivered to produce after triode T amplifies by its 3 pin and relatively controlled voltage, deliver to voltage comparator 65, control the intensity of voltage and judge.When this magnitude of voltage was in the scope of setting, when promptly mobile platform 20 and emitter 21 are in the distance range of setting (setting value is 9 meters), voltage comparator 65 produced the control voltages and exports, and relay coil J3 is got.Relay coil J3 get electric after, as shown in Figure 9, it is the JK5 adhesive of its contact, connects the current supply circuit of drive motors 72, it is got electricly just changes, and drives mobile platform 20 and advances, and moves to emitter 21.When mobile platform 20 was mobile on the level ground, as shown in figure 11, in the current supply circuit of drive motors 72, mercoid switch 79 was connected, and series resistor 80 for it provides normal power supply power, makes it advance with setting speed.When mobile platform 20 is mobile on upward slope ground, as shown in figure 12, in the current supply circuit of drive motors 72,

mercoid switch

78,79 is connected,

resistance

80,81 can not seal in current supply circuit, and the output power of drive motors 72 strengthens, and makes it to advance near setting speed.When mobile platform 20 was mobile on descending ground, shown in Fig. 13, in the current supply circuit of drive motors 72, mercoid switch 79 was connected, and

resistance

80,81 seals in current supply circuit, and the output power of drive motors 72 reduces, and also makes it to advance near setting speed.When mobile platform 20 advances to distance with emitter 21 and reaches the minimum range of setting (setting value is 1-1.2 rice), this moment, voltage signal reached maximum, the signal strength values maximum that sensor 45 receives, as shown in Figure 8, triode T exports maximum, this moment, voltage comparator 65 generation upsets did not have the output of control voltage, relay coil J3 dead electricity, its contact JK5 disconnects (referring to Fig. 9), the current supply circuit of drive motors 72 disconnects, drive motors 72 stalls, and mobile platform halts.Turning right of mobile platform finishes to, the course of work advancing, stop to the emitter carrier.

(2) when the user is positioned at the left front of mobile platform (referring to Figure 14), mobile platform will turn left to and the operation advancing, stop to the emitter carrier.

Because this moment, emitter was positioned at the left of mobile platform, left sensor 44 will receive the electromagnetic signal of emitter, and right sensor 46 is same owing to be subjected to blocking of shadow shield 16 can not receive signal, thereby its do not work (referring to Fig. 9).After left side sensor 44 is received this signal, as shown in Figure 8, from its 3 pin output voltage signal, make triode T2 conducting and amplify this voltage signal, be defeated by 3 pin of code modulation decoder IC2, with this signal decode-regulating, produce control voltage from its 8 pin output, relay coil J2 is got.J2 get electric after, as shown in Figure 9, its normally opened contact JK4 closure, normally-closed contact JK3 disconnect.This moment is because the spacer pin 51 on the second awl tooth 60 is in the position with the 4 normally opened contact pressings of left limit K switch, the positive pole of power supply E1 will be by K4 by the normally opened contact of pressing, normally opened contact JK4 closed among the J2 powers to control coil forward voltage input 8 pin of double-contact relay 90, it is disconnected the normally opened contact in two groups of contacts, the normally-closed contact adhesive, then power supply E1 positive pole will be by the normally-closed contact of right limit K switch 3, the normally-closed contact JK1 of relay J 1, the contact 1 of double-contact relay 90,5, turn to the negative pole of control motor 52, anodal, the contact 6 of double-contact relay 90,2 negative poles to power supply form reverse current supply circuit to turning to control motor 52, turn to 52 counter-rotatings of control motor, drive 60 counter-rotatings of the second awl tooth, turn to driving front-wheel 55 to turn left thereby drive.In the process that front-wheel 55 turns left, the moving spacer pin 51 of awl cingulum, cam 58 transfers.When awl tooth 60 goes to set angle, the normally opened contact of spacer pin 51 pressing right limit K switch 4, left side sensor 44 will not receive the signal of emitter, this moment, cam 58 was with left and right reset switch K1, K2 pressing (K1, K2 have only by pressing at ordinary times) simultaneously, for drive motors 72 is prepared.Left limit K switch 4 normally opened contacts disconnected and resetting this moment, the normally-closed contact closure, and the current supply circuit of the control coil forward voltage input of double-contact relay 90 is cut off, its two groups of contacts reset, turn to the current supply circuit of control motor to be cut off, steer motor 53 stalls, steering procedure finishes.Intermediate sensor 45 will be received the electromagnetic signal of emitter owing to turn to driving front-wheel 55 to turn left this moment, and it will advancing, stopping by above-mentioned (1) described control procedure control drive motors 72.

(3) when the user is positioned at the place ahead of mobile platform (referring to Figure 14), mobile platform will carry out the operation advancing, stop to the emitter carrier.Left and right sensor 44,46 did not receive signal two and quit work owing to have only intermediate sensor 45 can receive the signal of emitter this moment.After intermediate sensor 45 receives the signal of emitter, control advancing, stopping of drive motors 72 by the control procedure of aforementioned (1).

2, when selecting the remote control mode of operation, as shown in Figure 6, wireless transmitter 211 work by the radiofrequency signal of crystal resonator 33, frequency source circuit 35 generation certain frequencies, are outwards launched by rf output circuit 31.The resistance of regulating in the power conditioning circuitry 41 38 can be adjusted power output and frequency.

(1) when wireless transmitter 211 is sent the right-hand rotation control signal, after radio signal receiving circuit 32 received the signal of transmitter, the one road delivered to the drive motors control loop, controlled it and advanced, stops.Department's clothes device 26 is delivered on another road, is judged that by its frequency to this signal as the right-hand rotation controlled frequency for setting, then it sends the right-hand rotation control signal, and control turns to control motor 52 to turn right.

(2) when wireless transmitter 211 is sent the left-hand rotation control signal, after radio signal receiving circuit 32 received the signal of transmitter, the one road delivered to the drive motors control loop, controlled it and advanced, stops.Department's clothes device 26 is delivered on another road, is judged that by its frequency to this signal as the left-hand rotation controlled frequency for setting, then it sends the left-hand rotation control signal, and control turns to control motor 52 to turn left.

(3) send when advancing control signal when wireless transmitter 211, after radio signal receiving circuit 32 received the signal of transmitter, the one road delivered to the drive motors control loop, controlled it and advanced, stops.Department clothes device 26 is delivered on another road, is judged by its frequency to this signal, is advancing during control signal of setting, and 26 the no control signals outputs of department's clothes device turn to and control motor and do not work.

When the utility model was worked in the remote control state of a control, for fear of the phase mutual interference between the mobile platform, the setting of the remote control frequency of each mobile platform was all inequality.The utility model is when tracking mode is worked automatically, because the Electromagnetic Launching signal that emitter adopts is that laser, infrared ray, ultraviolet isotropy are strong, the less signal of diffusingsurface, therefore, the phase mutual interference between the mobile platform is also little, has guaranteed the reliability of mobile platform work.

Claims

1, from the motion tracking mobile platform, comprising that main body rack (5), one turn to drives front-wheel (55), two trailing wheels (1,2), one and is installed in receiver, the telecontrol transmitter (21) on the main body rack and is installed in control circuit on the main body rack, turns to control motor (52), drive motors (72), bracing frame (61) etc., it is characterized in that: turn to drive front-wheel (55) and be fixed on the front end of main body rack (5) by its movable support frame (61), two trailing wheels (1,2) are fixed on the rear end of main body rack (5) by connecting rod (3,4); On main body rack (5), also be fixed with the weight bracing frame, its upper support frame (23) is fixed on the upper support arm (6), upper support arm (6) is fixed on the main body rack (5), lower support frame (231) is fixed on the lower support arm (811), and lower support arm (811) is fixed on the below, rear end of main body rack (5); Turn to control motor (52) to be fixed on the front end of main body rack (5), the first awl tooth (57) is housed on its main shaft, on the second awl tooth (60) that is engaged with a spacer pin (51) is housed, corresponding with this spacer pin, left and right limit switch (53) is housed on main body rack (5); And the main shaft upper end of this second awl tooth (60) is fixed with a cam (58), the corresponding left and right reset switch (63) that on main body rack, is provided with this cam, and the main shaft lower end is connected with turning to the steering mechanism that drives front-wheel (55); Drive motors (72) is fixed on and turns on the movable support frame (61) that drives front-wheel (55), and its main shaft is connected by transmission mechanism and the transmission mechanism that is installed on driving front-wheel (55) main shaft; The control signal output of receiver and the signal input part of control circuit join; Turn to control motor (52), drive motors (72), limit switch (53), reset switch (63) to be serially connected in the control circuit, wherein turn to control motor (52), the control signal input of drive motors (72) and the control signal output of control circuit to join, and by the power supply power supply that is fixed on the main body rack.

2, according to claim 1 from the motion tracking mobile platform, it is characterized in that: described telecontrol transmitter (21) comprises the wireless transmitter (211) and an electromagnetic signal radiating circuit (212) that can produce the radio signal of radio frequency range; Electromagnetic signal radiating circuit (212) comprises a dibit timer integrated circuit (42), and a direct current power supply and its power input join, and its output and an Electromagnetic Launching diode (27) join.

3, according to claim 1 and 2 from the motion tracking mobile platform, it is characterized in that: the receiver that is installed on the main body rack (5) comprises that a receiving sensor circuit, radio signal receiving circuit and turn to control motor, drive motors control circuit; Wherein, three sensors in left, center, right (44,45,46) are housed in the receiving sensor circuit, a shadow shield (17) is equipped with on the right of left sensor (44), and a shadow shield (16) also is equipped with on the left side of right sensor (46); The output of left and right sensor (44,46) joins with the signal input part that turns to its corresponding amplifying circuit in control motor (52), drive motors (72) control circuit respectively, and the signal output part of the amplifying circuit signal input part of its corresponding modulation decoder circuit respectively joins; The signal output part of modulation decoder circuit respectively be serially connected in the relay coil (J1, J2) that turns in control motor (52) current supply circuit and join; The output of intermediate sensor (45) joins with the signal input part that turns to its corresponding amplifying circuit in control motor (52), drive motors (72) control circuit, and the signal input part of its corresponding voltage comparator circuit of the signal output part of amplifying circuit (65) joins; The signal output part of voltage comparator circuit (65) joins with the relay coil (J3) that is serially connected in drive motors (72) the speed regulating control loop (77); The signal output part one tunnel of the radio signal receiver in the radio signal receiving circuit (32) joins with the signal input part in drive motors (72) speed regulating control loop (77), the signal input part of another Lu Yuyi department clothes devices (26) joins, and the signal output part of department's clothes device joins with turning to the amplifying circuit signal input part in control motor (52), drive motors (72) control circuit.

4, according to claim 1 from the motion tracking mobile platform, it is characterized in that: described turning in control motor (52), drive motors (72) control circuit, comprise one for turning to the power supply (68) of control motor, drive motors power supply, a power supply (E2) for the radio signal receiver power supply; Relay coil in drive motors (72) the speed regulating control loop (77) and main body rack (5) go up and second awl tooth (60) main shaft on corresponding two reset switches of cam (58) (63) be connected in series mutually after, with power supply (68) and connect; Drive motors (72) is serially connected in the speed regulating control loop, and speed regulating control loop and power supply (68) also connect; Turn in the control loop of controlling motor (52) and be connected to a double-contact relay (90), the first group of contact of this relay and the control end of second group of contact join with turning to control motor (52) power end respectively; Wherein, the negative pole of the normally opened contact of first group of contact and power supply (68) joins, and the stationary contact of the normally-closed contact in normally-closed contact and the right sensor (46) joins; The positive pole of the normally opened contact of second group of contact and power supply (68) joins, and the negative pole of normally-closed contact and power supply (68) joins; The stationary contact of the normally opened contact in the relay of left side sensor (44) control and the normally opened contact of left limit switch (K4) join, the forward voltage input of movable contact and double-contact relay (90) control coil joins, the backward voltage input of the stationary contact of its normally-closed contact and double-contact relay control coil joins, and the normally-closed contact of movable contact and left limit switch joins; The stationary contact of the normally opened contact in the relay of right sensor (46) control and the normally opened contact of right limit switch (K3) join, the backward voltage input of movable contact and double-contact relay (90) control coil joins, and the normally-closed contact of the movable contact of its normally-closed contact and right limit switch joins; The positive pole of the control end of right limit switch and power supply (68) joins.

5, according to claim 2 from the motion tracking mobile platform, it is characterized in that: described turning in control motor (52), drive motors (72) control circuit, comprise one for turning to the power supply (68) of control motor, drive motors power supply, a power supply (E2) for the radio signal receiver power supply; Relay coil in drive motors (72) the speed regulating control loop (77) and main body rack (5) go up and second awl tooth (60) main shaft on corresponding two reset switches of cam (58) (63) be connected in series mutually after, with power supply (68) and connect; Drive motors (72) is serially connected in the speed regulating control loop, and speed regulating control loop and power supply (68) also connect; Turn in the control loop of controlling motor (52) and be connected to a double-contact relay (90), the first group of contact of this relay and the control end of second group of contact join with turning to control motor (52) power end respectively; Wherein, the negative pole of the normally opened contact of first group of contact and power supply (68) joins, and the stationary contact of the normally-closed contact in normally-closed contact and the right sensor (46) joins; The positive pole of the normally opened contact of second group of contact and power supply (68) joins, and the negative pole of normally-closed contact and power supply (68) joins; The stationary contact of the normally opened contact in the relay of left side sensor (44) control and the normally opened contact of left limit switch (K4) join, the forward voltage input of movable contact and double-contact relay (90) control coil joins, the backward voltage input of the stationary contact of its normally-closed contact and double-contact relay control coil joins, and the normally-closed contact of movable contact and left limit switch joins; The stationary contact of the normally opened contact in the relay of right sensor (46) control and the normally opened contact of right limit switch (K3) join, the backward voltage input of movable contact and double-contact relay (90) control coil joins, and the normally-closed contact of the movable contact of its normally-closed contact and right limit switch joins; The positive pole of the control end of right limit switch and power supply (68) joins.

6, according to claim 3 from the motion tracking mobile platform, it is characterized in that: described turning in control motor (52), drive motors (72) control circuit, comprise one for turning to the power supply (68) of control motor, drive motors power supply, a power supply (E2) for the radio signal receiver power supply; Relay coil in drive motors (72) the speed regulating control loop (77) and main body rack (5) go up and second awl tooth (60) main shaft on corresponding two reset switches of cam (58) (63) be connected in series mutually after, with power supply (68) and connect; Drive motors (72) is serially connected in the speed regulating control loop, and speed regulating control loop and power supply (68) also connect; Turn in the control loop of controlling motor (52) and be connected to a double-contact relay (90), the first group of contact of this relay and the control end of second group of contact join with turning to control motor (52) power end respectively; Wherein, the negative pole of the normally opened contact of first group of contact and power supply (68) joins, and the stationary contact of the normally-closed contact in normally-closed contact and the right sensor (46) joins; The positive pole of the normally opened contact of second group of contact and power supply (68) joins, and the negative pole of normally-closed contact and power supply (68) joins; The stationary contact of the normally opened contact in the relay of left side sensor (44) control and the normally opened contact of left limit switch (K4) join, the forward voltage input of movable contact and double-contact relay (90) control coil joins, the backward voltage input of the stationary contact of its normally-closed contact and double-contact relay control coil joins, and the normally-closed contact of movable contact and left limit switch joins; The stationary contact of the normally opened contact in the relay of right sensor (46) control and the normally opened contact of right limit switch (K3) join, the backward voltage input of movable contact and double-contact relay (90) control coil joins, and the normally-closed contact of the movable contact of its normally-closed contact and right limit switch joins; The positive pole of the control end of right limit switch and power supply (68) joins.

7, according to claim 1 from the motion tracking mobile platform, it is characterized in that: be connected to two mercoid switches (78,79), two resistance (80,81) in the speed regulating control loop of described drive motors (72), wherein, 1 pin of first mercoid switch (78) is serially connected in the positive pole of the current supply circuit of drive motors (72), and 1 pin of 2 pin and second mercoid switch (79) joins; 1,2 pin of first resistance (80) and first mercoid switch (78) also connect, 1,2 pin of second mercoid switch (79) and 2 pin of first mercoid switch (78) also connect, the negative pole of the current supply circuit of 3 pin of second mercoid switch (79) and drive motors (72) joins, and second resistance (81) is attempted by between 3,4 pin of second mercoid switch (79).

8, according to claim 2 from the motion tracking mobile platform, it is characterized in that: be connected to two mercoid switches (78,79), two resistance (80,81) in the speed regulating control loop of described drive motors (72), wherein, 1 pin of first mercoid switch (78) is serially connected in the positive pole of the current supply circuit of drive motors (72), and 1 pin of 2 pin and second mercoid switch (79) joins; 1,2 pin of first resistance (80) and first mercoid switch (78) also connect, 1,2 pin of second mercoid switch (79) and 2 pin of first mercoid switch (78) also connect, the negative pole of the current supply circuit of 3 pin of second mercoid switch (79) and drive motors (72) joins, and second resistance (81) is attempted by between 3,4 pin of second mercoid switch (79).

9, according to claim 3 from the motion tracking mobile platform, it is characterized in that: be connected to two mercoid switches (78,79), two resistance (80,81) in the speed regulating control loop of described drive motors (72), wherein, 1 pin of first mercoid switch (78) is serially connected in the positive pole of the current supply circuit of drive motors (72), and 1 pin of 2 pin and second mercoid switch (79) joins; 1,2 pin of first resistance (80) and first mercoid switch (78) also connect, 1,2 pin of second mercoid switch (79) and 2 pin of first mercoid switch (78) also connect, the negative pole of the current supply circuit of 3 pin of second mercoid switch (79) and drive motors (72) joins, and second resistance (81) is attempted by between 3,4 pin of second mercoid switch (79).

10, according to claim 4 from the motion tracking mobile platform, it is characterized in that: be connected to two mercoid switches (78,79), two resistance (80,81) in the speed regulating control loop of described drive motors (72), wherein, 1 pin of first mercoid switch (78) is serially connected in the positive pole of the current supply circuit of drive motors (72), and 1 pin of 2 pin and second mercoid switch (79) joins; 1,2 pin of first resistance (80) and first mercoid switch (78) also connect, 1,2 pin of second mercoid switch (79) and 2 pin of first mercoid switch (78) also connect, the negative pole of the current supply circuit of 3 pin of second mercoid switch (79) and drive motors (72) joins, and second resistance (81) is attempted by between 3,4 pin of second mercoid switch (79).