CN107244150A - It is a kind of can automatic tracking Intelligent printing machine people - Google Patents
It is a kind of can automatic tracking Intelligent printing machine people Download PDFInfo
- Publication number
- CN107244150A CN107244150A CN201710567019.8A CN201710567019A CN107244150A CN 107244150 A CN107244150 A CN 107244150A CN 201710567019 A CN201710567019 A CN 201710567019A CN 107244150 A CN107244150 A CN 107244150A
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- 238000007639 printing Methods 0.000 title claims abstract description 52
- 238000000034 method Methods 0.000 claims description 5
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 238000004891 communication Methods 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000003139 buffering effect Effects 0.000 claims description 3
- 230000007246 mechanism Effects 0.000 claims description 3
- 230000003993 interaction Effects 0.000 claims description 2
- 230000008569 process Effects 0.000 claims description 2
- 230000003068 static effect Effects 0.000 claims description 2
- 238000010009 beating Methods 0.000 claims 1
- 238000005516 engineering process Methods 0.000 abstract description 26
- 239000000463 material Substances 0.000 abstract description 7
- 239000002699 waste material Substances 0.000 abstract description 2
- 238000001514 detection method Methods 0.000 description 2
- 230000004927 fusion Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 239000003086 colorant Substances 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000005183 dynamical system Methods 0.000 description 1
- 230000002708 enhancing effect Effects 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 238000011010 flushing procedure Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000010358 mechanical oscillation Effects 0.000 description 1
- 238000004377 microelectronic Methods 0.000 description 1
- 230000035515 penetration Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B41—PRINTING; LINING MACHINES; TYPEWRITERS; STAMPS
- B41J—TYPEWRITERS; SELECTIVE PRINTING MECHANISMS, i.e. MECHANISMS PRINTING OTHERWISE THAN FROM A FORME; CORRECTION OF TYPOGRAPHICAL ERRORS
- B41J29/00—Details of, or accessories for, typewriters or selective printing mechanisms not otherwise provided for
- B41J29/38—Drives, motors, controls or automatic cut-off devices for the entire printing mechanism
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention relates to it is a kind of can automatic tracking Intelligent printing machine people, the hardware circuit of whole system is made up of tracking governor circuit, printing governor circuit and power circuit, and the tracking governor circuit includes tracking master controller, tracking sensor circuit, avoidance sensor circuit, e-tag reader circuit, motor-drive circuit；The printing governor circuit includes printing master controller, wireless interface module, print unit module, LCD display, key circuit.The autonomous positioning and tracking of indoor printer are realized by technologies such as integrated application RFID indoor positioning technologies, infrared ray tracking technology and avoiding obstacles by supersonic wave, intelligent mobileization performs print job, user is after print request is sent, printed material is waited or collected without scene, thus greatly reduce the manpower that user prints in LAN to waste, improve operating efficiency.
Description
Technical field
The present invention relates to information and automatic control technology field, and in particular to it is a kind of can automatic tracking Intelligent printing machine
People.
Background technology
With the fast development of electronic information technology, indoor positioning technologies, Path Planning Technique, multi-sensor fusion technology
Ripe application, the product for possessing independent navigation tracking technology initially entered the visual field of people, the automobile of automatic Pilot, intelligence
The appearance of express delivery robot sorting system and tracking transfer robot embodies Intelligent tracking technology application prospect and valency invariably
Value.
Outdoor positioning technology is compared to, indoor positioning technologies are ripe not enough, exactly because not yet unify at present
Technical specification, there is many solutions, wherein radio frequency identification (RFID) using the products of indoor positioning technologies on the market
Indoor positioning technologies are exactly the technical scheme that one of which lower deployment cost is relatively low, positioning precision is higher, and RFID utilizes reader day
The mode of line transmitting electromagnetic wave carries out two-way communication with the electronic tag on object, path, reaches target identification and the skill of positioning
Art, has the advantages that fast reading speed, noncontact, non line of sight, is the comparatively ideal selection of indoor positioning technologies.
Used in fields such as material allocation robot, the market guide robots of automatic production line more than tracking technology, pass through
Plan and typically distinguished on given route, these routes using different colors or mark in the operating area of robot,
Robot uses specific sensor scan route area, and induced signal is fed back into main control unit progress signal transacting, from
And control machine people's motor amendment route realizes automatic tracking.At present, different material surface is reflected not using infrared ray
With characteristic realize it is indoor from the tracking of robot walking be a kind of more ripe solution.
Ultrasonic wave has a good directionality, stronger penetration capacity, and ranging, avoidance can be reached using this characteristic
Purpose.
In actual use environment, the data obtained using single sensor are easily by environmental factor, sensor sheet
Body error influences and larger deviation occurs, lifting and multisensor Data Fusion technology with chip data disposal ability
Application, some same types or sensor can be used to carry out Wrong control, increase the precision of gathered data.
Under normal circumstances, in order to improve the printer in the utilization rates of Internet resources, a LAN often by many masters
Machine is shared to be used.But personnel for some frequent use printer sharings or in large-scale Administrative Area, perform once
Print out task, related personnel need to run back and forth, particularly need repeatedly modification printing or time-write interval in printed document
When longer, the problem of there is inefficiency.
The content of the invention
Regarding the issue above, the present invention provides it is a kind of can automatic tracking Intelligent printing machine people, by comprehensive
The technologies such as conjunction application RFID indoor positioning technologies, infrared ray tracking technology and avoiding obstacles by supersonic wave realize oneself of indoor printer
Main positioning and tracking, intelligent mobileization perform print job, and user waits or collected without scene after print request is sent
Printed material, thus the manpower waste that user prints in LAN is greatly reduced, improve operating efficiency.
For achieving the above object, the technical scheme that provides of the present invention is：
The present invention devise it is a kind of can intelligent mobile operation printer, by using infrared ray, ultrasonic technology realize
Autonomous tracking avoidance, the fixed point location of machine is realized using the RFID technique of high efficiency, low cost.The hardware circuit of whole system by
Tracking governor circuit and printing governor circuit composition.Tracking governor circuit includes tracking master controller, tracking sensor circuit, kept away
Hinder sensor circuit, e-tag reader circuit, motor-drive circuit, power circuit；Printing governor circuit includes printing master
Controller, wireless interface module, print unit module, LCD display, key circuit, power circuit.Below to each several part circuit
Introduce respectively.
Tracking governor circuit：1) tracking master controller is the core control electricity that printer device people realizes automatic tracking function
Road, the controller handles the sensor signal related to tracking, avoidance, output tracking obstacle avoidance algorithm control signal to motor in real time
Drive circuit, while being communicated using its can EBI with printing master controller.It is general on hardware to be using 32 8-digit microcontrollers
Demand can be met；2) tracking sensor circuit uses infrared ray transceiving sensor in pairs, realizes the identification to marking route；3) keep away
Hinder sensor circuit using ultrasonic distance measuring module as core, realize the real-time spy to printing robot surrounding obstacle distance information
Survey；4) e-tag reader circuit is used to obtain the electronic position label information on mark route, wherein electronic position label
Information is unique static position code in whole route, and position code host ip corresponding with position is bound, when in LAN certain
Individual main frame is successfully transmitted after print request to printer device people, and printer device people can inquire corresponding according to the IP of requesting host
Electronic position label position code, so as to navigate to position of host machine；5) motor-drive circuit main function is to realize tracking main control
Device is for the accurate control of robot dynamical system, such as start and stop, rotating；6) power circuit provides conjunction for the partial circuit
Suitable level and enough current values.
Print governor circuit：1) the main finishing man-machine interaction of printing master controller, control print unit circuit, control tracking
The functions such as governor circuit, therefore be the host computer of tracking governor circuit, the process performance requirement of microcontroller is than tracking master control
Device processed is some higher；2) wireless interface module is the network service electricity of main frame printer sharing in the artificial LAN of printer device
Road, is that printer device people turns into the physical equipment of network share printer；3) print unit module is that printer device people realization is beaten
Print the control circuit of operation；4) LCD display is used for the display of printer device people working condition and configuration information；5) key circuit
Realize configuration of the user to printing robot mode of operation；6) power circuit provides suitable level and enough for the partial circuit
Current value.
The Intelligent printing machine people includes tracking mobile device, print apparatus and ground color mark track band；Institute
Ground color mark track is stated to take provided with electronic position label；The print apparatus includes printing paper storehouse, printing main frame, beaten
Print exit slot and the system control panel with LCD display and button；The tracking mobile device includes avoidance, tracking and sensed
Device detecting window, RFID location tags reader, automatic tracking governor circuit and lithium battery bin, motor and driving wheel.
The print apparatus is installed in tracking mobile device, between the print apparatus and tracking mobile device
Provided with elastic buffering mechanism.
The technologies such as integrated application of the present invention RFID indoor positioning technologies, infrared ray tracking technology and avoiding obstacles by supersonic wave are real
Showed can automatic tracking move operation printer device people.By having marked route and position electronic tag in working region, electricity
Position code information in sub- location tags is corresponded with close host IP address, and printer device people passes through wireless network card access network
Network and printer sharing, after certain main frame is successfully transmitted print out task in LAN, printer device people performs print job
Position code is found by destination host IP address simultaneously, is confirmed whether to start tracking movement after comparing with current location code, it is ensured that
The paper material that printing is completed is delivered to safely at the main frame of request printing.Run and wait back and forth without personnel in print procedure and beat
Print machine operation to complete, greatly reduce human input, improve the degree of office automation, with stronger invention value with promoting
Meaning.
Brief description of the drawings
Fig. 1 is Intelligent printing machine people's circuit composition frame chart.
Fig. 2 is Intelligent printing machine people's structural representation.
Embodiment
With reference to specific embodiment, the invention will be further described.
As shown in figure 1, tracking master controller, printing master controller can be micro- using ST Microelectronics ARM series STM32
Controller, the former is slave computer (slave), and using 103 series, the latter is host computer (main frame), using 407 series to improve place
Device performance is managed, is the demand for control that 32 8-digit microcontrollers meet the system, is carried out in addition between slave using can buses double
Machine communicates；Tracking sensor and avoidance sensor use technical grade infrared ray transceiving detection sensor and ultrasonic ranging respectively
Sensor；Wireless interface module uses the wireless network modem for supporting the WLANs of IEEE 802.11 access standard.
As shown in Fig. 2 it is a kind of can automatic tracking Intelligent printing machine people, the Intelligent printing machine people include tracking move
Dynamic device 1, print apparatus 2 and ground color mark track band 3；The ground color mark track band 3 is provided with electronic bits
Put label 4；The print apparatus 2 includes printing paper storehouse 5, printing main frame 6, printing exit slot 7 and with LCD display and pressed
The system control panel 8 of key；The tracking mobile device 1 includes avoidance, tracking sensor detecting window 9, RFID location tags and read
Take device 10, automatic tracking governor circuit and lithium battery bin 11, motor and driving wheel 12.
The print apparatus 2 is installed in tracking mobile device 1, in the print apparatus 2 and tracking mobile device 1
Between be provided with elastic buffering mechanism 13.
Printer device people uses split-type design, and printing body and tracking control cabinet body is relatively independent, slow using elasticity
Flushing device is isolated, the interference that the mechanical oscillation that drive part is produced during reducing printer device people motion are caused to printer, is supplied
Connected to the power supply of printer and data communication between the two using high intensity Du Pont winding displacement；Printing the control panel of main frame is
Whole printer device people and the control centre of user mutual, including LCD display and keyboard, user can be looked into by control panel
See or configure printer device people；Tracking control casing four sides under printing main frame are respectively mounted tracking, avoidance sensor
Detecting window so that printer device people can be with full angle avoidance, while fuselage angle need not be rotated by coordinating drive system to realize
Can laterally, longitudinal tracking；Motor and driving wheel are the important components of printer device people's drive system, and driving wheel can essence
True advance and retrogressing, while when needing switching direction tracking, driving wheel realizes 90 degree of adjustment under the control of steering wheel；RFID
Putting label reader needs the electronic position label of every main frame on real time scan land mark route, therefore the detection of reader
Window is located at printer device people's bottom lower surface middle position to obtain machine best orientation state；In order to reduce printer device people weight
The lithium battery group of the heart, enhancing autostability, automatic tracking governor circuit and whole machine is placed in tracking control casing centre bit
Put；When printer device people moves operation, density bullet can be used in its tracking route, and passive type RFID can be used in electronic position label
Label, the tracking avoidance detecting window and RFID location tags readers Ying Lu of machine corresponding two sides parallel with route
Directly over line.
Automatic tracking Intelligent printing machine people of the present invention realizes mobile print job function, by LAN
Interior to share printer device people, user radio is connected and sent after print out task, without going to waiting print job and fetching
Printed material, printer device people determines the physical location of that main frame of request printing while print job is performed, and utilizes
Printed paper material automatic tracking is sent to use by infrared ray, ultrasonic wave tracking avoidance technology and RFID indoor positioning technologies
Near householder's machine working position, this runs back and forth when completely avoid user's printing, waits the manpower caused such as to be printed, time wave
Take, greatly improve office efficiency, cater to the market demand, embody office automation, intelligentized developing direction, invention meaning
It is huge with market promotion prospect.
It is described above, only it is presently preferred embodiments of the present invention, any formal limitation not is made to the present invention, it is any ripe
Professional and technical personnel is known, it is without departing from the scope of the present invention, real to more than according to the technical spirit of the present invention
Apply any simple modification, equivalent substitution that example made and improve etc., still fall within technical solution of the present invention protection domain it
It is interior.
Claims (6)
1. it is a kind of can automatic tracking Intelligent printing machine people, it is characterised in that：The hardware circuit of whole system is by tracking master control
Circuit, printing governor circuit and power circuit composition, the tracking governor circuit include tracking master controller, tracking sensor electricity
Road, avoidance sensor circuit, e-tag reader circuit, motor-drive circuit；The printing governor circuit, which includes printing, to be led
Controller, wireless interface module, print unit module, LCD display, key circuit；The Intelligent printing machine people includes following
Mark mobile device, print apparatus and ground color mark track band；The ground color mark track is taken provided with electronic bits
Put label；The print apparatus includes printing paper storehouse, printing main frame, printing exit slot and with LCD display and button
System control panel；The tracking mobile device include avoidance, tracking sensor detecting window, RFID location tags reader, from
Dynamic tracking governor circuit and lithium battery bin, motor and driving wheel；The print apparatus is installed in tracking mobile device,
Elastic buffering mechanism is provided between print apparatus and the tracking mobile device.
2. it is according to claim 1 can automatic tracking Intelligent printing machine people, it is characterised in that：The tracking main control
Device is the core control circuit that printer device people realizes automatic tracking function, and processing is related to tracking, avoidance in real time for the controller
Sensor signal, output tracking obstacle avoidance algorithm control signal is to motor-drive circuit, while using its can EBI and beating
Print master controller communication；The tracking sensor circuit realizes the identification to marking route using infrared ray transceiving sensor；Institute
Avoidance sensor circuit is stated using ultrasonic distance measuring module as core, the reality to printing robot surrounding obstacle distance information is realized
When detect.
3. it is according to claim 1 can automatic tracking Intelligent printing machine people, it is characterised in that：The electronic tag is read
Take device circuit be used for obtain mark route on electronic position label information, wherein electronic position label information is in whole route
Unique static position code, position code host ip corresponding with position is bound, when in LAN some main frame to printer device
People is successfully transmitted after print request, and printer device people can inquire corresponding electronic position label position according to the IP of requesting host
Code, so as to navigate to position of host machine；The motor-drive circuit main function is to realize that tracking master controller is dynamic for robot
The accurate control of Force system.
4. it is according to claim 1 can automatic tracking Intelligent printing machine people, it is characterised in that：The printing main control
The functions such as the main finishing man-machine interaction of device, control print unit circuit, control tracking governor circuit, therefore be tracking governor circuit
Host computer, the process performance of microcontroller requires more some higher than tracking master controller；The wireless interface module is to beat
The network communications circuits of main frame printer sharing in the artificial LAN of machine are printed, are that printer device people turns into network share printer
Physical equipment.
5. it is according to claim 1 can automatic tracking Intelligent printing machine people, it is characterised in that：The print unit mould
Block is the control circuit that printer device people realizes print job；The LCD display is used for printer device people's working condition with matching somebody with somebody
The display of confidence breath；The key circuit realizes configuration of the user to printing robot mode of operation.
6. it is according to claim 1 can automatic tracking Intelligent printing machine people, it is characterised in that：The power circuit is
Tracking governor circuit, printing governor circuit provide suitable level and enough current values.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710567019.8A CN107244150B (en) | 2017-07-12 | 2017-07-12 | Intelligent printing robot capable of automatically tracking |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710567019.8A CN107244150B (en) | 2017-07-12 | 2017-07-12 | Intelligent printing robot capable of automatically tracking |
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| Publication Number | Publication Date |
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| CN107244150A true CN107244150A (en) | 2017-10-13 |
| CN107244150B CN107244150B (en) | 2024-02-02 |
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| CN201710567019.8A Active CN107244150B (en) | 2017-07-12 | 2017-07-12 | Intelligent printing robot capable of automatically tracking |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469833A (en) * | 2018-03-15 | 2018-08-31 | 瞿美芬 | A method of providing print service by unmanned plane |
| CN108703850A (en) * | 2018-05-22 | 2018-10-26 | 丁涛 | A kind of autonomous medicine distributing device and system |
| CN109279014A (en) * | 2018-03-15 | 2019-01-29 | 瞿美芬 | A kind of UAV system for printing |
| CN110641160A (en) * | 2019-09-23 | 2020-01-03 | 闽南师范大学 | Portable mobile printer with correction function |
| CN114290681A (en) * | 2021-12-30 | 2022-04-08 | 李子墨 | Automatic intelligent robot of 3D printer |
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| CN207241188U (en) * | 2017-07-12 | 2018-04-17 | 南京信息工程大学 | It is a kind of can automatic tracking Intelligent printing machine people |
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| JP2001195215A (en) * | 2000-01-07 | 2001-07-19 | Sharp Corp | Print network system |
| JP2007038569A (en) * | 2005-08-04 | 2007-02-15 | Fuji Xerox Co Ltd | Ink ribbon and impact printer |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108469833A (en) * | 2018-03-15 | 2018-08-31 | 瞿美芬 | A method of providing print service by unmanned plane |
| CN109279014A (en) * | 2018-03-15 | 2019-01-29 | 瞿美芬 | A kind of UAV system for printing |
| CN108703850A (en) * | 2018-05-22 | 2018-10-26 | 丁涛 | A kind of autonomous medicine distributing device and system |
| CN110641160A (en) * | 2019-09-23 | 2020-01-03 | 闽南师范大学 | Portable mobile printer with correction function |
| CN114290681A (en) * | 2021-12-30 | 2022-04-08 | 李子墨 | Automatic intelligent robot of 3D printer |
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| CN107244150B (en) | 2024-02-02 |
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