KR200305238Y1 - Line tracer control circuit - Google Patents

Abstract

The present invention relates to a control circuit of a line tracer moving along a line drawn on the floor, and more particularly, a line tracer control circuit that automatically returns to a line when the line tracer is out of the line by using a low-cost logic circuit. It is about.

To this end, the present invention provides a line tracer for tracing black lines drawn on a white floor while moving to left and right wheels driven by respective motors M1 and M2. First and second sensors generating a sensing signal; A line return signal generator for generating a signal for maintaining a state in which the line tracer is straight, left, right, or rotated in place by inputting the detection signals of the first and second sensors; First and second inverters for inverting the output signal output from the line return signal generator again; The technical configuration is characterized in that it comprises a motor drive unit for driving the motor (M1, M2) by inputting the output signal of the first and second inverter.

In the present invention, it is preferable that the line return signal generator comprises a flip-flop circuit using a NAND gate so that the line tracer rotates in place until the line tracer goes straight, left turn, right turn or finds a line according to the state of the sensor.

Therefore, according to the present invention, when the line tracer is out of the line by using a low-cost logic circuit without using an expensive microcomputer, the line tracer is automatically returned to the line, thereby reducing the cost of the product. It can fully function as.

In addition, it is preferable that first and second light emitting diodes are provided at the rear ends of the first and second inverters to visually display a state in which the left or right motor is driven.

Description

Line tracer control circuit

The present invention relates to a control circuit of a line tracer moving along a line drawn on the floor. More specifically, a low-cost logic circuit is used instead of an expensive microcomputer to automatically return to a line when the line tracer leaves the line. One line tracer control circuit.

In general, a line tracer refers to a mini robot that moves along a line drawn on the floor. If a black line of about 1.5 cm is drawn on the white floor, the line tracer moves along the black line. If the sensor detects the difference between the infrared rays reflected from the sensor and sends the detection signal to the microcomputer, the microcomputer analyzes it and then controls the driving of the motor to trace the black line.

However, in the conventional line tracer, expensive microcomputers are used to track the line, which increases the manufacturing cost. Also, when the line tracer runs at a low speed, there is no problem in moving along the line. The line tracer leaves the line when the vehicle runs at high speed. In this case, the sensor cannot detect the line efficiently and the line tracer cannot automatically return to the line. There was a problem to put on the line.

Accordingly, the present invention has been made to solve the above problems, and the object of the present invention is to simply configure the control circuit so that the line tracer automatically returns to the line when the line tracer is out of the line even when the line tracer is running at high speed or at low speed. To provide a line tracer control circuit.

1 is a perspective view showing the appearance of a line tracer having a line tracer control circuit according to the present invention;

2 is a view showing a state in which a line tracer having a control circuit according to the present invention moves along a line;

3 is a circuit diagram showing a line tracer control circuit according to the present invention;

4 is a diagram illustrating a process of returning into a line when a line tracer moves along a line or leaves a line when a line tracer having a control circuit shown in FIG. 3 moves along a line and the sensor senses the line. .

* Explanation of symbols for main parts of the drawings

1: line tracer 2a, 2b, 2c: wheels

3a, 3b: sensor 12: main switch

M1, M2: Motor LED1, LED2: Light Emitting Diode

NAND1 ~ NAND4: NAND gate Q1 ~ Q4: transistor

SW: power switch

The present invention for solving the above problems, in the line tracer for tracing the black line drawn on the white floor while moving to the left and right wheels driven by the respective motor (M1, M2): First and second sensors installed on the right side to generate a signal for detecting a line; A line return signal generator for generating a signal for maintaining a state in which the line tracer is straight, left, right, or rotated in place by inputting the detection signals of the first and second sensors; First and second inverters for inverting the output signal output from the line return signal generator again; The technical configuration is characterized in that it comprises a motor drive unit for driving the motor (M1, M2) by inputting the output signal of the first and second inverter.

In the present invention, it is preferable that the line return signal generator comprises a flip-flop circuit using a NAND gate so that the line tracer rotates in place until the line tracer goes straight, left turn, right turn or finds a line according to the state of the sensor.

Therefore, according to the present invention, when the line tracer is out of the line, the line tracer is automatically returned to the line, thereby fully performing the function as the line tracer which is a toy mini robot.

In addition, it is preferable that first and second light emitting diodes are provided at rear ends of the first and second inverters to visually display a state in which a left or right motor is driven.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

1 shows a schematic perspective view of a line tracer 1 having a control circuit according to the present invention. The line tracer 1 shown in FIG. 1 has a form of a three-wheeled vehicle driven by two motors. However, this is merely exemplary and is not intended to limit the present invention. Therefore, the shape and shape of the line tracer to which the present invention is applied may, of course, be replaced with others.

Accordingly, the line tracer 1 shown in FIG. 1 is moved by the left and right wheels 2a and 2b and the idle wheels 2c driven by the respective motors M1 and M2, as shown in FIG. It is to trace the black line (L) drawn on the white floor as a bar, two sensors (3a, 3b) for generating a signal for detecting the line (L) on the lower left and right of the tracer 1 for this purpose It is. Here, each of the sensors 3a and 3b uses an infrared diode, and it is assumed that each of the sensors 3a and 3b includes a light receiving unit and a light emitting unit, respectively. The line L width is about 1.5 cm, and the distance between the sensors 3a and 3b is assumed to be about 1 cm narrower than the line L width.

3 shows a line tracer control circuit diagram according to the present invention. The control circuit diagram shows two motors M1 of the line tracer 1 by inputting detection signals of the first and second sensors 3a and 3b. , M2) are operated simultaneously so that the line tracer 1 goes straight along the line as shown in Fig. 4 (A), or if the line tracer 1 is slightly displaced to the right side of the line L, the left side Stop the rotation of the motor M2 so that the line tracer 1 moves along the line to the left and into the line (B), and if the line tracer 1 is slightly displaced to the left of the line L, the right side The rotation of the motor M1 is stopped so that the line tracer 1 moves to the right along the line and is positioned in the line (C), and the line tracer 1 is placed on the left side E or right side of the line L ( In case of complete departure from D) Bar, hayeotneun comprising a line return signal is generated to maintain the (C) or (B) which consists of a flip-flop circuit using the NAND gate (NAND1, NAND2). As shown in Fig. 3, load resistors 4a and 4b are connected to the input terminals of the sensors 3A and 3B, and NAND gates NAND1 via bias resistors 5a and 5b to the output terminals of the sensors 3a and 3b. Input terminals (In-a, In-b) of NAND2 are connected, and output terminals (Out-a, Out-b) of NAND gates (NAND1, NAND2) are fed back to the remaining input terminals of NAND gates (NAND1, NAND2). It is connected. Here, the states of the input terminal and the output terminal are shown in Table 1 below.

Flip-flop input and output status input Print In-a In-b Out-a Out-b 0 0 One One 0 One One 0 One 0 0 One One One Maintain previous state Maintain previous state

On the other hand, the signals output from the NAND gates NAND1 and NAND2 constituting the line return signal generator are inverted by the first and second inverters of the NAND gates NAND3 and NAND4 to drive the motors M1 and M2. It is applied to the bases of the transistors Q1 and Q2 forming the motor driver. Here, when the transistors Q1 and Q2 are turned on, the respective transistors Q3 and Q4 are also turned on to operate the respective motors M1 and M2.

On the other hand, the first and second light emitting diodes LED1 and LED2 are installed at the rear ends of the NAND gates NAND3 and NAND4 to visually display the state in which the left or right motor is driven. Power on / off switch, BAT indicates battery.

Referring to the operation of the present invention configured in this way in more detail as follows.

When the user turns on the power switch unit SW of the line tracer 1 and places the line tracer 1 at the starting point of the white bottom surface on which the black line L is drawn, the line tracer 1 becomes the black line L. Will move along.

As can be seen in Table 1, the present invention exhibits a return function such that the line tracer 10 goes along the line L and returns to the line tracer 1 when the line tracer 1 leaves the line L due to an external environment. To do that.

As can be seen in FIG. 2, the bottom surface is white, and when the infrared sensors 3a and 3b detect the bottom, the input terminals In-a and In-b are supplied with logic “1”, and vice versa. Is black. When the infrared sensors 3a and 3b detect a line, the input terminals In-a and In-b are supplied with logic "0".

Therefore, when the outputs (Out-a and Out-b) of the NAND gates NAND1 and NAND2 are "1" in Table 1, the motors M1 and M2 are turned on and the NAND gates NAND1 and NAND2 are turned off. When the outputs Out-a and Out-b are " 0 ", the motors M1 and M2 are turned off. Each case will be described with reference to Figs.

One). If the sensors are all in line (position (A) in Figure 4):

In this case, since the sensors 3a and 3b both sensed the line, the inputs of the NAND gates NAND1 and NAND2 are In-a = 0 and In-b = 0, and the outputs thereof are Out-a = 1 and Out-. When b = 1, the output signal is inverted to the low state " 0 " by the inverters NAND3 and NAND4 and simultaneously applied to the bases of the transistors Q1 and Q2. At this time, since the transistors Q1 and Q2 are turned on and the transistors Q3 and Q4 are turned on accordingly, the motors M1 and M2 operate so that the line tracer 1 moves along the line as shown in FIG. will be.

2). If the sensor on the right is slightly off the right side of the line (position (B) in Figure 4):

As shown in FIG. 4A, when the line tracer 1 slightly deviates to the right side of the line as shown in FIG. 4B, since only the sensor 3a detects the line, inputs of the NAND gates NAND1 and NAND2 are detected. Are In-a = 0, In-b = 1, and the corresponding outputs are Out-a = 1 and Out-b = 0, so the output signals are low by inverters NAND3 and NAND4, respectively. Inverted to 0 " and high state " 1 " and applied simultaneously to the bases of transistors Q1 and Q2. At this time, since only transistors Q1 and Q3 are turned on and transistors Q2 and Q4 are turned off, the left motor M2 is stopped, and only the right motor M1 is operated so that the line tracer 1 is shown in FIG. Rotate left toward the line such that the line tracer 1 moves along the line.

3). If the sensor on the right is slightly off the left side of the line ((C) position in Fig. 4):

As shown in FIG. 4B, when the line tracer 1 slightly deviates to the left side of the line as shown in FIG. 4C, since only the sensor 3b sensed the line, inputs of the NAND gates NAND1 and NAND2 were detected. Are In-a = 1, In-b = 0, and the corresponding outputs are Out-a = 0 and Out-b = 1. The output signals are high by the inverters NAND3 and NAND4, respectively. 1 " and low state " 0 " are inverted and simultaneously applied to the bases of transistors Q1 and Q2. At this time, since only the transistors Q2 and Q4 are turned on and the transistors Q1 and Q3 are turned off, the right motor M1 is stopped and only the left motor M2 is operated so that the line tracer 1 is shown in FIG. Rotate to the right toward the line to move the line tracer 1 along the line.

4). If the two sensors are completely off to the right of the line (position (D) in Figure 4):

As shown in FIG. 4D, when the two sensors 3a and 3b are completely displaced from the line, the inputs of the NAND gates NAND1 and NAND2 are In-a = 1 and In-b = 1. The outputs of NAND1, NAND2), Out-a and Out-b, are kept in their previous state, and are rotated in place until a line is found. In FIG. 4D, the immediately preceding state corresponds to the state of FIG. 4B, and the situation as shown in FIG. 4A occurs only when both inputs become “0”. In other words, the output as shown in Fig. 4A does not occur in the developing state. As a result, as indicated by the dotted line in Figure 4 (D) it will be rotated in place until the line is found.

5). If the two sensors are completely off to the left of the line (position (E) in Figure 4):

As shown in FIG. 4E, even when the two sensors 3a and 3b are completely separated from the line, the inputs of the NAND gates NAND1 and NAND2 are In-a = 1 and In-b = 1. The outputs Out-a and Out-b of NAND1, NAND2) will be maintained just before they are rotated in place until the line is found. In FIG. 4E, the immediately preceding state corresponds to the state of FIG. 4C, which is rotated in place until a line is found as indicated by the dotted line in FIG. 4E.

On the other hand, when each of the motors M1 and M2 is operated, that is, when the outputs of the NAND gates NAND3 and NAND4 are in the low state "0", a bias voltage VCC and a predetermined potential difference are caused to flow a predetermined bias current. Accordingly, the light emitting diodes LED1 and LED2 emit light. In other words, the light emitting diode LED1 emits light when the right motor M1 operates, and the light emitting diode LED2 emits light when the left motor M2 operates.

Here, the light emitting diodes (LED1, LED2) can be used in combination with the melody to have an auditory and visual function to induce interest as well as to improve the concentration and creativity of the user.

As can be seen from the above description, the present invention has an effect of lowering the cost of the product by automatically returning to the line when the line tracer is out of the line by using a low-cost logic circuit without using an expensive microcomputer. It is a useful design that can further induce efficient driving and interest of the tracer.

Although the present invention has been described with reference to the accompanying drawings, the present invention is not limited thereto, but many changes and modifications may be made without departing from the scope of the following utility model registration claims. For example, the body shape of the line tracer is not limited to the present embodiment and may be implemented in various shapes such as a mouse.

Claims (3)

In the line tracer which traces the black line drawn on the white ground while moving to the left and right wheels driven by the respective motors M1 and M2: First and second sensors disposed at left and right sides of the line tracer to generate a signal for detecting a line; A line return signal generator configured to generate a signal for maintaining a state in which the line tracer is straight, left, right, or rotated in place by inputting detection signals of the first and second sensors; First and second inverters for inverting an output signal output from the line return signal generator; And a motor driver for driving the motors (M1, M2) by inputting the output signals of the first and second inverters. The line tracer control circuit as claimed in claim 1, wherein the line return signal generator comprises a flip-flop circuit using a NAND gate. The line tracer control circuit of claim 1, wherein first and second light emitting diodes are installed at rear ends of the first and second inverters to visually display a state in which a left or right motor is driven.