KR100945978B1 - Controlling circuit for line tracer - Google Patents

Abstract

A line tracer control circuit is disclosed. The line tracer according to the embodiment of the present invention tracks the line drawn on the floor by controlling the first side drive unit and the second side drive unit respectively driving the wheels installed on both sides, and include a signal detector and a controller. do. The signal detector is disposed to face the floor, and includes at least one light emitting device that generates electromagnetic waves and radiates to the floor, and is installed at both sides of the line tracer to receive the electromagnetic waves reflected from the floor, respectively. And a first sensing unit and a second sensing unit generating a second sensing signal. The control unit may include a first driving signal and a first driving signal for controlling the first side driving part and the second side driving part, respectively, in response to the first sensing signal and the second sensing signal, and the previous first sensing signal and the second sensing signal. A braking signal, and a second driving signal and a second braking signal are generated. In this case, the first driving signal and the second driving signal have logic levels opposite to the first braking signal and the second braking signal, respectively. The line tracer control circuit according to an embodiment of the present invention has an advantage that a line tracer can be realized at high speed by stably and quickly driving the line tracer on a line.

Description

Line Tracer {Controlling circuit for line tracer}

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a line tracer, and more particularly, to a line tracer that can be stably tracked at the same time and can be driven quickly and can be safely operated and stopped.

In general, a line tracer is a concept that includes all kinds of robots that can move along a line. The basic operation principle of this line tracer is as follows.

Lines are drawn in the space where the line tracer can move, and the line tracer moves along the line by tracking the line. Lines are drawn to distinguish them from the floor. Lines are typically drawn in a different color (eg white or black) than the floor color (eg black or white).

On the back of the line tracer (that is, the surface facing the bottom), a light emitting sensor (or light emitting element) emitting electromagnetic waves, preferably infrared rays, and a light receiving sensor detecting infrared rays reflected by the emitting infrared rays are provided. As described above, since the color of the line is different from the color of the floor, the characteristics of the infrared rays reflected by the lines are different from those of the infrared rays reflected by the floor.

The line tracer moves along the line in such a manner as to control the driving device for driving the line tracer using the difference in the reflected infrared rays detected by the light receiving sensor. That is, the light receiving sensor generates the detection signal generated by detecting the reflected infrared rays and transmits the detection signal to the control circuit for controlling the line tracer, and the control circuit analyzes the detection signal to control the driving device, whereby the line tracer is line You can track it and move it along the line.

1 is a view for explaining a conventional line tracking method, Figure 2 is a view for explaining the speed relationship between the left wheel and the right wheel of the line tracer, when moving according to the conventional line tracking method. In FIG. 1, ES1 and ES2 are light emitting sensors, and S1 and S2 are light receiving sensors for detecting whether the line tracer is separated to the left or the right. In FIG. 2, the light emitting sensors ES1 and ES2 are respectively installed to correspond to the light receiving sensors S1 and S2, but one light emitting sensor may be used. The light receiving sensors S1 and S2 detect infrared rays emitted by the adjacent light emitting sensors ES1 and ES2 and reflected by a floor or a line.

Referring to FIG. 1, (a) is a case where all of the light receiving sensors S1 and S2 deviate to the left of the line, and (b) is a case where one side (ie, the left) light receiving sensor S1 deviates to the left of the line. (c) is the case where all of the light receiving sensors (S1, S2) do not leave the line, (d) is the case where one (ie right) light receiving sensor S2 is off the right side of the line, and (e) This is the case when all of the light receiving sensors S1 and S2 deviate to the right of the line.

In each case, the line tracer is controlled in three ways. That is, the line tracer is controlled to turn the left wheel faster by turning in the case of (a) and (b), and is controlled to turn left by turning the right wheel faster in the case of (d) and (e), and In the case of (c), both wheels are controlled to go straight at the same speed. In other words, the conventional line tracking method is a line tracer to change the direction not only when both of the light receiving sensors on both sides are off the line (a, e), but also when the sensor on one side is off the line (b, d). To control.

On the other hand, according to the user's demand for speed, the speed of the line tracer continues to increase. When the line tracer proceeds at high speed, the line tracer actually moves as shown in FIG. 2. That is, the line tracer does not go straight along the line but moves zigzag along the line, thereby causing a serious vibration in the line tracer.

More specifically, in the case of the control method of FIG. 1, the line tracer may be configured when the light receiving sensors S1 and S2 on both sides are on the line (that is, the light receiving sensors S1 and S2 on both sides are on the line). When detecting the infrared rays reflected by the same, go straight. On the other hand, in general, a certain acceleration time is required to drive a drive motor for driving a line tracer at a normal speed.

However, when the line tracer travels at high speed, the next turning point is reached before the line tracer is accelerated to the normal speed between the respective turning points 1, 2, 3, 4, and 5. That is, when using the conventional control method shown in FIG. 1, since the time required for the line tracer to run at the normal speed may be short or the time for running at the normal speed may be short, the line tracer may not go straight along the line but may be zigzag. Will move. Therefore, when using the conventional control method, there is a limit to increase the speed of the line tracer, there is a problem that can not apply a high-speed motor to the line tracer.

On the other hand, when playing a game using a line tracer, conventionally, the game was started by manually turning on the power, that is, driving the wheels, and then lowering the line tracer to the stadium. Also, when stopping the line tracer, the user stopped the line tracer in such a manner as to turn off the power by holding the moving line tracer.

However, in this manner, since the driving and the stop is made directly by the hand of a person, there is a problem that a safety accident may occur, especially for users, such as children when driving and stopping. This risk increases with increasing speed of the line tracer. In addition, if the force is excessively applied to stop the line tracer, the line tracer may be broken.

The technical problem to be achieved by the present invention is to provide a line tracer that can be stably tracked at the same time and can be driven quickly, the drive and stop can be safely performed.

The line tracer according to an embodiment of the present invention for achieving the above technical problem is to control the first side drive unit and the second side drive unit for driving the wheels respectively installed on both sides independently to track the line drawn on the floor, It includes a signal detector and a controller. The signal detector is disposed to face the floor, and includes at least one light emitting device that generates electromagnetic waves and radiates to the floor, and is installed at both sides of the line tracer to receive the electromagnetic waves reflected from the floor, respectively. And a first sensing unit and a second sensing unit generating a second sensing signal. The control unit may include a first driving signal and a first driving signal for controlling the first side driving part and the second side driving part, respectively, in response to the first sensing signal and the second sensing signal, and the previous first sensing signal and the second sensing signal. A braking signal, and a second driving signal and a second braking signal are generated. In this case, the first driving signal and the second driving signal have logic levels opposite to the first braking signal and the second braking signal, respectively.

On the other hand, the first detection signal and the second detection signal is a first level when the electromagnetic wave is reflected from the line, and the second level when the electromagnetic wave is reflected from a position other than the line, wherein the control unit, When at least one of the first sensing signal and the second sensing signal is the second level, the first driving signal and the second driving signal of the second level are output, and the first sensing signal and the second sensing signal are both made of In the case of one level, the first driving signal and the second driving signal having different levels are output according to the state of the previous first sensing signal and the second sensing signal.

The controller may output a first driving signal having a second level when the first detection signal and the second detection signal have a first level, and when the previous first detection signal is a first level, When the previous second detection signal is the first level, the second driving signal of the second level is output.

The controller includes a flip-flop circuit and first to eighth inversion logic circuits. The flip-flop circuit includes two inverted logic circuits in which the first sensing signal and the second sensing signal are input and cross-coupled. The first inversion logic circuit performs an inversion logic sum operation on the first and second sensing signals. The second inversion logic circuit inverts the output of the first inversion logic circuit. The third inversion logic circuit performs an inversion logic sum operation on the first output of the flip-flop circuit and the output of the second inversion logic circuit to output the first braking signal. The fourth inversion logic sum circuit performs an inversion logic sum operation on the first output of the flip-flop circuit and the output of the second inversion logic sum circuit. The fifth inversion logic circuit inverts the output of the fourth inversion logic circuit and outputs the first driving signal. The sixth inversion logic sum circuit performs an inversion logic sum operation on the second output of the flip-flop circuit and the output of the second inversion logic sum circuit to output the second braking signal. The seventh inversion logic circuit performs an inversion logic sum operation on the second output of the flip-flop circuit and the output of the second inversion logic circuit. The eighth inversion logic circuit inverts the output of the seventh inversion logic circuit and outputs the second driving signal.

The control unit includes a flip-flop circuit, first to fourth inverted logic circuits, and first to fourth inverted logical sum circuits. A first inversion logical circuit inverts the first sense signal. The second inversion logical circuit inverts the second sensing signal. The flip-flop circuit includes two inverted logical circuits, the output of the first inverted logical circuit and the output of the second inverted logical circuit are input and cross-coupled. The first inversion logic circuit performs an inversion logic sum operation on the first and second sensing signals. The second inversion logic circuit inverts the output of the first inversion logic circuit. The third inversion logic circuit performs an inversion logic sum operation on the first output of the flip-flop circuit and the output of the second inversion logic circuit to output the first braking signal. The third inversion logical circuit outputs the first driving signal by performing an inversion logical operation on the first output of the flip-flop circuit and the output of the first inversion logical sum circuit. The fourth inversion logic sum circuit performs an inversion logic sum operation on the second output of the flip-flop circuit and the output of the second inversion logic sum circuit to output the second braking signal. The fourth inversion logical circuit outputs the second driving signal by performing an inversion logical operation on the second output of the flip-flop circuit and the output of the first inversion logical sum circuit.

On the other hand, the line tracer according to an embodiment of the present invention may further include a switching control unit for generating a switching control signal for controlling the on / off of the side drive unit by sensing the electromagnetic waves generated from adjacent light emitting sources.

The switching controller may include a switching light emitting device, a switching sensor, and a control signal output unit. The switching light emitting device generates the electromagnetic wave as the adjacent light emitting source. The switching detector detects the electromagnetic wave and outputs a switching detection signal. The control signal output unit outputs the switching control signal in response to the switching detection signal.

The control signal output unit may include a first switching inversion logic circuit, a second switching inversion logic circuit, and a switching transistor. The first switching inversion logic circuit inverts the switching detection signal. The second switching inversion logic circuit inverts the output of the first switching inversion logic circuit. The switching transistor is turned on / off in response to the output of the second switching inversion logic circuit to output the switching control signal.

The line tracer according to another embodiment of the present invention for achieving the above technical problem is independently controlled by the first side drive unit and the second side drive unit for driving the wheels respectively installed on both sides to track the line drawn on the floor , A plurality of signal sensing units, a control unit, and a switching interface unit. Each of the plurality of signal detectors is disposed to face the floor, and includes at least one light emitting device that generates electromagnetic waves and emits them to the floor, and is installed at both sides of the line tracer to receive electromagnetic waves reflected from the floor. And a first sensing unit and a second sensing unit generating a first sensing signal and a second sensing signal. The control unit may include a first driving signal and a first driving signal for controlling the first side driving part and the second side driving part, respectively, in response to the first sensing signal and the second sensing signal, and the previous first sensing signal and the second sensing signal. A braking signal, and a second driving signal and a second braking signal are generated. The switching interface connects one of the plurality of signal detectors to the controller according to the color of the line. In this case, the first driving signal and the second driving signal have logic levels opposite to the first braking signal and the second braking signal, respectively.

The switching control circuit according to another embodiment of the present invention for achieving the above technical problem is to control the on / off of the electric device, and includes a light emitting device for generating an electromagnetic wave, a switching sensing unit, and a control signal output unit. The switching detection unit detects the electromagnetic wave and outputs a switching detection signal. The control signal output unit outputs a switching control signal for controlling on / off in response to the switching detection signal.

The control signal output unit may include first and second switching inversion logic circuits and a switching transistor. The first switching inversion logic circuit inverts the switching detection signal. The second switching inversion logic circuit inverts the output of the first switching inversion logic circuit. The switching transistor is turned on / off in response to the output of the second switching inversion logic circuit to output the switching control signal.

As described above, the line tracer control circuit according to the embodiment of the present invention has an advantage that the line tracer can be realized at high speed by stably and quickly driving the line tracer on the line.

In addition, the line tracer control circuit according to the embodiment of the present invention has an advantage of safely driving and stopping the line tracer by using a sensor for recognizing the starting device and the stopping device.

DETAILED DESCRIPTION In order to fully understand the present invention, the operational advantages of the present invention, and the objects achieved by the practice of the present invention, reference should be made to the accompanying drawings which illustrate preferred embodiments of the present invention and the contents described in the drawings.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Like reference numerals in the drawings denote like elements.

3 is a view for explaining the principle of tracking the line according to an embodiment of the present invention, Figure 4 is a view for explaining the speed relationship between the left wheel and the right wheel of the line tracer, when moving according to the principle of FIG. to be.

In FIG. 3, ES1 and ES2 are light emitting sensors (or light emitting elements), and S1 and S2 are light receiving sensors for detecting whether the line tracer is separated to the left or the right. In FIG. 3, the light emitting sensors ES1 and ES2 are respectively installed to correspond to the light receiving sensors S1 and S2, but one light emitting sensor may be used. The light receiving sensors S1 and S2 detect infrared rays emitted by the adjacent light emitting sensors ES1 and ES2 and reflected by a floor or a line.

Referring to FIG. 3, (a) is a case where all of the light receiving sensors S1 and S2 deviate to the left of the line, and (b) is a case where one side (that is, the left) light receiving sensor S1 deviates to the left of the line. , (c) is the case where all of the light receiving sensors S1 and S2 have not left the line, (d) is the case where one side (ie right) the light receiving sensor S2 is off the right side of the line, and (e) This is the case when all of the light receiving sensors S1 and S2 deviate to the right of the line.

In each case, the line tracer is controlled in three ways. That is, the line tracer is controlled to rotate the left wheel faster by turning in the case of (a), and to turn left by turning the right wheel faster in the case of (e), and (b), (c), And in the case of (d) it is controlled to go straight by rotating both wheels at the same speed.

That is, unlike the conventional line tracking method of FIG. 1, in the present invention, when both of the light receiving sensors on both sides move away from the line (a, e), the direction is changed, and there is even one light receiving sensor on the line (b, c , d), the line tracer is controlled to go straight. In this way, the line tracer can proceed at high speed, and a high speed driving device can be mounted in the line tracer according to the embodiment of the present invention.

2 and 4, five turning points 1, 2, 3, 4, and 5 are present in FIG. 2 under the same conditions, whereas only two turning points 1 and 3 are present in FIG. 4. . That is, considering the paths (1) to (3), the present invention does not go through the turning point 2 (see FIG. 2), but goes straight during the paths of (1) to (3), whereby the line tracer is high. You can drive inside.

5 is a side view of a line tracer according to an embodiment of the present invention, Figure 6 is a block diagram of a line tracer according to an embodiment of the present invention. As shown in FIG. 5, the line tracer 500 is moved by the first and second wheels WL and WR mounted on the side, and the two wheels WL and WR are driven by the first and second motors M1, By M2). Although not shown in the drawing, the first and second motors M1 and M2 are driven by the first side driver and the second side driver 571, 573 (see FIG. 6).

Meanwhile, a signal detector 510 including at least one light emitting unit and first and second detectors is installed at a portion protruding forward with respect to the center axis of the line tracer 500 (see FIGS. 5 and 6). As shown in FIG. 5, in the present invention, the light emitting unit is preferably a light emitting sensor (or light emitting elements) ES1 and ES2, and the first and second sensing units are preferably light receiving sensors S1 and S2. Meanwhile, although the light emitting sensors ES1 and ES2 are installed in the light receiving sensors S1 and S2 in FIG. 5, the present invention may be implemented with only one light emitting sensor.

The line tracer 500 may further include a switching controller 550 for controlling on / off of the first and second side drivers 571 and 573. The switching controller 550 may include a light emitting sensor (or light emission). Element ES3) and a light receiving sensor S3 for detecting electromagnetic waves from the light emitting sensor ES3. The operation of the switching control unit 550 will be described later.

Hereinafter, the configuration and operation of the line tracer 500 will be described in detail with reference to FIGS. 6 to 13. 5 and 6, the line tracer 500 includes a signal detector 510, a controller 530, and first and second side drivers 571 and 573, and includes a switching controller 550. It may further include. In the following description, the signal detection unit 510, the control unit 530, and the switching control unit 550 are mainly focused.

As shown in FIGS. 5 and 6, the line tracer 500 includes a first side driver 571 and a second side driver 573 driving the wheels WL and WR respectively installed at both sides thereof. Independently controlled, it traces lines drawn on the floor. As described above, the motors M1 and M2 are controlled by the output signals of the first and second side driving parts 571 and 573, respectively.

The signal detector 510 may be disposed to face the floor in order to radiate electromagnetic waves to the floor and to detect electromagnetic waves reflected from the floor. The signal detector 510 includes at least one light emitting device ES1 and ES2 and first and second detectors S1 and S2. At least one of the light emitting devices ES1 and ES2 generates electromagnetic waves and radiates them to the floor. The first and second detectors S1 and S2 are installed at both sides of the line tracer 500 and receive electromagnetic waves reflected from the bottom to respectively receive the first and second detection signals SEN1 and SEN2. Create

The controller 530 may respond to the first sensing signal SEN1 and the second sensing signal SEN2, and the first side driving unit 571 in response to the previous first sensing signal SEN1 and the second sensing signal SEN2. ) And a first driving signal G1 and a first braking signal B1, and a second driving signal G2 and a second braking signal B2 for controlling the second side driving unit 573, respectively. In the embodiment of the present invention, for the convenience of operation, the logic level of the first driving signal G1 and the second driving signal G2 is the logic of the first braking signal B1 and the second braking signal B2, respectively. It is desirable to be opposite the level.

Hereinafter, the configuration and operation of the line tracer 500 to operate according to the above-described operating principle will be described. In the embodiment of the present invention, the first sensing signal SEN1 and the second sensing signal SEN2 output from the signal sensing unit 510 are at a second level when the first and second sensing units are on a line, It is preferably at the first level if it is on a position other than the line. Hereinafter, a description will be given on the assumption that the first level is logic 0 and the second level is logic 1, but the present invention is not limited by such a relationship of logic values.

7 is a circuit diagram of a signal detector when the line is dark color, and FIG. 8 is a circuit diagram of a signal detector when the line is light color. When the line is dark (preferably black), the infrared rays emitted by the signal detector 510 are absorbed by the line, while when the line is light (preferably white), the signal is emitted by the signal detector 510. Infrared rays are reflected by lines.

The signal detector 510 of FIG. 7 and FIG. 8 uses the above-described principle, when the first and second sensing signals SEN1 and SEN2 are on the line. It is implemented to have a first level when at a second level and on a position other than a line. On the other hand, those skilled in the art will be able to easily understand the configuration and operation of the signal detection unit 510 shown in Figs. 7 and 8, a detailed description thereof will be omitted.

9 is an example of a circuit diagram of the controller of FIG. 6 and the first and second side drivers. Those skilled in the art will be able to easily understand the configuration and operation of the first and second side drive parts 571 and 573, and thus a detailed description thereof will be omitted. Hereinafter, the configuration and operation of the controller 530 will be described.

The controller 530, when at least one of the first sensing signal SEN1 and the second sensing signal SEN2 is the second level, the first driving signal G1 and the second driving signal G2 of the second level. When the first detection signal SEN1 and the second detection signal SEN2 are both at the first level, the first detection signal SEN1 and the second detection signal SEN2 are different from each other according to the state of the previous first detection signal SEN1 and the second detection signal SEN2. The first driving signal G1 and the second driving signal G2 having the level are output.

In a more detailed description of the case where the first detection signal SEN1 and the second detection signal SEN2 are at the first level, the controller 530 may determine that the previous first detection signal SEN1 is at the first level. In this case, the first driving signal G1 of the second level is output, and if the previous second sensing signal SEN2 is the first level, the second driving signal G2 of the second level is output.

Referring to FIG. 9, the controller 530 includes a flip-flop circuit 531 and first to eighth inverted logic circuits NOR1 to NOR8. The flip-flop circuit 531 includes two inverted logic circuits that are input with a first sensing signal SEN1 and a second sensing signal SEN2 and are cross-coupled.

The first inversion logic sum circuit NOR1 performs an inversion logic sum operation on the first sensing signal SEN1 and the second sensing signal SEN2. The second inversion logic sum circuit NOR2 inverts the output of the first inversion logic sum circuit NOR1.

The third inversion logic sum circuit NOR3 performs an inversion logic sum operation on the first output of the flip-flop circuit 531 and the output of the second inversion logic sum circuit NOR2 to output the first braking signal B1.

The fourth inversion logic sum circuit NOR4 performs an inversion logic sum operation on the first output of the flip-flop circuit and the output of the second inversion logic sum circuit NOR2. The fifth inversion logic circuit NOR5 inverts the output of the fourth inversion logic circuit NOR4 to output the first driving signal G1.

The sixth inversion logic sum circuit NOR6 outputs a second braking signal B2 by performing an inversion logic sum operation on the second output of the flip-flop circuit 531 and the output of the second inversion logic sum circuit NOR2.

The seventh inversion logic sum circuit NOR7 performs an inversion logic sum operation on the second output of the flip-flop circuit 531 and the output of the second inversion logic sum circuit NOR2. The eighth inverted logic circuit NOR8 inverts the output of the seventh inverted logic circuit NOR7 to output the second driving signal G2.

As described above, the controller 530 of FIG. 9 may be configured of only an inverted logic circuit, and thus there is an advantage in that the circuit can be simply implemented.

Meanwhile, the controller 530 of FIG. 6 may be implemented by mixing an inversion logic circuit and an inversion logic circuit. 10 is another example of a circuit diagram of the controller of FIG. 6 and the first and second side drivers. In FIG. 10, the controller 530 ′ is implemented by mixing an inversion logic circuit and an inversion logic circuit.

Referring to FIG. 10, the controller 530 ′ includes a flip-flop circuit 531 ′, first to fourth inverted logic circuits NAND1 to NAND4, and first to fourth inverted logic circuits NOR1 to NOR4. It includes.

The first inversion logical circuit NAND1 inverts the first sensing signal SEN1. The second inversion logical circuit NAND2 inverts the second sensing signal SEN2. The flip-flop circuit 530 'receives two inverted logical circuits that are cross-coupled with the output of the first inverted logical circuit NAND1 and the output of the second inverted logical circuit NAND2. Include.

The first inversion logic sum circuit NOR1 performs an inversion logic sum operation on the first sensing signal SEN1 and the second sensing signal SEN2. The second inversion logic sum circuit NOR2 inverts the output of the first inversion logic sum circuit NOR1.

The third inversion logic sum circuit NOR3 performs an inversion logic sum operation on the first output of the flip-flop circuit 530 ′ and the output of the second inversion logic sum circuit NOR2 to output the first braking signal B1.

The third inversion logical circuit NAND3 performs an inversion logical operation on the first output of the flip-flop circuit 530 'and the output of the first inversion logical sum circuit NOR1 to perform the first driving signal G1. Output

The fourth inversion logic sum circuit NOR4 outputs a second braking signal B2 by performing an inversion logic sum operation on the second output of the flip-flop circuit 530 'and the output of the second inversion logic sum circuit NOR2.

The fourth inversion logical circuit NAND4 performs an inversion logical operation on the second output of the flip-flop circuit 530 'and the output of the first inversion logical sum circuit NOR1 to perform a second driving signal G2. Outputs

On the other hand, when operating or stopping the line tracer, a method of manually holding the line tracer to supply or cut off power is used. In this case, however, when operating the line tracer after supplying power or holding the line tracer to cut off the power, there is a risk of injury due to the line tracer running at high speed, and the line tracer may break. There is also concern.

In order to solve this problem, the line tracer 500 may further include a switching controller 550 for generating a switching control signal SW_CTRL for controlling on / off of both side driving parts 571 and 573.

FIG. 11 is a circuit diagram of the switching controller of FIG. 6. The line tracer is generally operated with the ambient light on. The switching controller 550 considers such an operating environment. The switching controller 550 operates both side driving units when the surrounding lighting is turned on and does not operate both side driving units when the surrounding lighting is turned off. Control the operation.

The configuration and operation of the switching control unit 550 will be described. The switching controller 550 detects electromagnetic waves generated from adjacent light emitting sources and generates a switching control signal SW_CTRL for controlling the on / off of both side drivers 571 and 573. Referring to FIG. 11, the switching controller 550 includes a switching light emitting device D5, a switching detector Q10, and a control signal output unit 551.

The switching light emitting device D5 is a light emitting source adjacent to the switching detection unit Q10 and generates electromagnetic waves. The switching detector Q10 detects electromagnetic waves and outputs a switching detection signal SW_SEN, and may be implemented as a light receiving sensor. The control signal output unit 551 outputs the switching control signal SW_CTRL in response to the switching detection signal SW_SEN.

The control signal output unit 551 includes a first switching inversion logic circuit SW_NOR1, a second switching inversion logic circuit SW_NOR2, and a switching transistor Q9. The first switching inversion logic circuit SW_NOR1 inverts the switching detection signal SW_SEN. The second switching inversion logic circuit SW_NOR2 inverts the output of the first switching inversion logic circuit SW_NOR1. The switching transistor Q9 is turned on / off in response to the output of the second switching inversion logic circuit SW_NOR2 to output the switching control signal SW_CTRL.

In the above description, the switching controller 550 operates the both side driving units in a state where the illumination is turned on, and controls the switching controller 550 in such a manner that the both side driving units are not operated while the surrounding illumination is turned off. Those skilled in the art will readily understand the configuration to control in the opposite case.

In the above description, the line tracer 500 has been described based on the configuration of tracking one type of line (for example, a black line or a white line). However, the line tracer 500 has various types by replacing the signal detection unit. It can also be implemented to track the line of.

As in the line tracer of FIG. 6, the line tracer according to another embodiment of the present invention capable of replacing the signal sensing unit independently of the first side driving unit and the second side driving unit respectively driving the wheels installed on both sides is independently. The control unit traces a line drawn on the floor, and includes a plurality of signal detection units, a control unit, and a switching interface unit.

In the line tracer according to another embodiment of the present invention, since the configuration and operation of each signal detector and the controller are the same as those of the signal detector and the controller of FIG. 6, a detailed description thereof will be omitted.

In the line tracer according to another embodiment of the present invention, the switching interface unit connects one of the plurality of signal detection units to the control unit according to the color of the line. In an embodiment of the present invention, the switching interface unit may be implemented by a female connector and a male connector. That is, the switching interface unit may be implemented by installing a female connector (or male connector) at the output terminals of the signal sensing units and a male connector (or female connector) at the input terminal of the control unit. In this case, the line tracer may be implemented to track various types of lines by connecting the output terminal connector of the signal sensing unit suitable for the line type with the input terminal connector of the controller.

12 and 13 are diagrams for describing an example in which the switching controller is applied to a conventional line tracer. As shown in FIGS. 12 and 13, the switching controllers 1230 and 1330 of FIG. Not only the line tracer according to the embodiment but also other types of line tracers 1210 and 1310 may be applied.

Those skilled in the art will also appreciate that the switching control of FIG. 11 may be applied as a switching control circuit for controlling the on / off of any electrical device.

As described above, optimal embodiments have been disclosed in the drawings and the specification. Although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will understand that various modifications and equivalent other embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

BRIEF DESCRIPTION OF THE DRAWINGS In order to better understand the drawings cited in the detailed description of the invention, a brief description of each drawing is provided.

1 is a view for explaining a conventional line tracking method.

2 is a view for explaining the speed relationship between the left wheel and the right wheel of the line tracer when moving according to the conventional line tracking method.

3 is a view for explaining the principle of tracing a line according to an embodiment of the present invention.

4 is a view for explaining the relationship between the speed of the left wheel and the right wheel of the line tracer when moving according to the principle of FIG.

5 is a side view of a line tracer according to an embodiment of the present invention.

6 is a block diagram of a line tracer according to an embodiment of the present invention.

7 is a circuit diagram of a signal detector when a line is dark in color.

8 is a circuit diagram of a signal detector when a line is bright in color.

9 is an example of a circuit diagram of the controller of FIG. 6 and the first and second side drivers.

FIG. 10 is another example of a circuit diagram of the controller of FIG. 6 and the first and second side drivers.

FIG. 11 is a circuit diagram of the switching controller of FIG. 6.

12 and 13 are diagrams for explaining examples in which the switching controller is applied to a conventional line tracer.

Claims (10)

In the line tracer for tracking the line drawn on the floor by controlling the first side drive unit and the second side drive unit for driving the wheels installed on both sides, respectively, It is disposed so as to face the floor, and at least one light emitting device for generating an electromagnetic wave to radiate to the floor, and installed on both sides of the line tracer to receive the electromagnetic wave reflected from the floor, respectively, the first detection signal and the second A signal detector including a first detector and a second detector for generating a detection signal; And A first driving signal and a first braking signal for controlling the first side driving part and the second side driving part, respectively, in response to the first sensing signal and the second sensing signal, and the previous first sensing signal and the second sensing signal. And a controller for generating a second driving signal and a second braking signal, The first driving signal and the second driving signal have logic levels opposite to the first braking signal and the second braking signal, respectively. The control unit, A flip-flop circuit comprising two inverted logic circuits, the first sensed signal and the second sensed signal being input and cross-coupled; A first inversion logic circuit for performing an inversion logic sum operation on the first sense signal and the second sense signal; A second inversion logic circuit for inverting the output of the first inversion logic circuit; A third inversion logic sum circuit configured to perform an inversion logic sum operation on the first output of the flip-flop circuit and the output of the second inversion logic sum circuit to output the first braking signal; A fourth inversion logic sum circuit performing an inversion logic sum operation on the first output of the flip-flop circuit and the output of the second inversion logic sum circuit; A fifth inversion logic circuit for inverting the output of the fourth inversion logic circuit and outputting the first driving signal; A sixth inversion logic circuit for outputting the second braking signal by performing an inversion logic sum operation on a second output of the flip-flop circuit and an output of the second inversion logic circuit; A seventh inversion logic circuit performing an inversion logic sum operation on a second output of the flip-flop circuit and an output of the second inversion logic circuit; And And an eighth inversion logic circuit for inverting the output of the seventh inversion logic circuit and outputting the second driving signal. The method of claim 1, The first sensing signal and the second sensing signal are at a first level when the first sensing unit and the second sensing unit are on the line, and at a second level when on the non-line position. The control unit, Outputting a first driving signal and a second driving signal of a second level when at least one of the first sensing signal and the second sensing signal is a second level, When the first detection signal and the second detection signal are both at the first level, the first driving signal and the second driving signal having different levels are output according to the state of the previous first sensing signal and the second sensing signal. Line tracer characterized in that. The method of claim 2, wherein the controller is further configured to control the first detection signal and the second detection signal to have a first level. When the previous first detection signal is the first level, the first driving signal of the second level is output; when the previous second detection signal is the first level, the second driving signal of the second level is output. Line tracer characterized in that. The method of claim 1, And a switching control unit for sensing an electromagnetic wave generated from an adjacent light emitting source and generating a switching control signal for controlling on / off of both side driving units. The method of claim 4, wherein the switching control unit, As the adjacent light emitting source, the switching light emitting device for generating the electromagnetic wave; A switching sensing unit sensing the electromagnetic wave and outputting a switching sensing signal; And And a control signal output unit configured to output the switching control signal in response to the switching detection signal. The method of claim 5, wherein the control signal output unit, A first switching inversion logic circuit for inverting the switching detection signal; And A second switching inversion logic circuit for inverting the output of the first switching inversion logic circuit; And And a switching transistor which is turned on / off in response to an output of the second switching inversion logic circuit and outputs the switching control signal. In the line tracer for tracking the line drawn on the floor by controlling the first side drive unit and the second side drive unit for driving the wheels installed on both sides, respectively, It is disposed so as to face the floor, and at least one light emitting device for generating an electromagnetic wave to radiate to the floor, and installed on both sides of the line tracer to receive the electromagnetic wave reflected from the floor, respectively, the first detection signal and the second A signal detector including a first detector and a second detector for generating a detection signal; And A first driving signal and a first braking signal for controlling the first side driving part and the second side driving part, respectively, in response to the first sensing signal and the second sensing signal, and the previous first sensing signal and the second sensing signal. And a controller for generating a second driving signal and a second braking signal, The first driving signal and the second driving signal have logic levels opposite to the first braking signal and the second braking signal, respectively. The control unit, A first inversion logical circuit for inverting the first detection signal; A second inversion logical circuit for inverting the second detection signal; A flip-flop circuit comprising two inverted logical circuits, the output of the first inverted logical circuit and the output of the second inverted logical circuit, being cross-coupled; A first inversion logic circuit for performing an inversion logic sum operation on the first sense signal and the second sense signal; A second inversion logic circuit for inverting the output of the first inversion logic circuit; A third inversion logic sum circuit configured to perform an inversion logic sum operation on the first output of the flip-flop circuit and the output of the second inversion logic sum circuit to output the first braking signal; A third inversion logic circuit configured to perform an inversion logical operation on the first output of the flip-flop circuit and the output of the first inversion logic circuit to output the first driving signal; A fourth inversion logic circuit for outputting the second braking signal by performing an inversion logic sum operation on the second output of the flip-flop circuit and the output of the second inversion logic circuit; And a fourth inverted logical circuit configured to perform an inverse logical operation on the second output of the flip-flop circuit and the output of the first inverted logical sum circuit to output the second driving signal. delete In the switching control circuit for controlling the on / off of the electrical device, Light emitting device for generating an electromagnetic wave; A switching sensing unit sensing the electromagnetic wave and outputting a switching sensing signal; And A control signal output unit configured to output a switching control signal for controlling on / off in response to the switching detection signal, The control signal output unit, A first switching inversion logic circuit for inverting the switching detection signal; And A second switching inversion logic circuit for inverting the output of the first switching inversion logic circuit; And And a switching transistor which is turned on / off in response to an output of the second switching inversion logic circuit and outputs the switching control signal. delete

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