CN107891413A - Laminated, compact type Two-wheeled intelligent carriage - Google Patents
Laminated, compact type Two-wheeled intelligent carriage Download PDFInfo
- Publication number
- CN107891413A CN107891413A CN201710341556.0A CN201710341556A CN107891413A CN 107891413 A CN107891413 A CN 107891413A CN 201710341556 A CN201710341556 A CN 201710341556A CN 107891413 A CN107891413 A CN 107891413A
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- Prior art keywords
- circuit
- laminated
- car body
- plate
- intelligent carriage
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- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims abstract description 5
- 229910052802 copper Inorganic materials 0.000 claims abstract description 5
- 239000010949 copper Substances 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 36
- 238000002955 isolation Methods 0.000 claims description 7
- 230000003993 interaction Effects 0.000 claims description 6
- 238000004088 simulation Methods 0.000 claims description 6
- 239000003822 epoxy resin Substances 0.000 claims description 3
- 229920000647 polyepoxide Polymers 0.000 claims description 3
- 238000010276 construction Methods 0.000 abstract description 2
- 238000011161 development Methods 0.000 abstract description 2
- 238000002474 experimental method Methods 0.000 abstract description 2
- 238000012360 testing method Methods 0.000 abstract description 2
- 230000006870 function Effects 0.000 description 10
- 238000013461 design Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 6
- 238000009434 installation Methods 0.000 description 6
- 210000003813 thumb Anatomy 0.000 description 4
- 230000005611 electricity Effects 0.000 description 3
- 230000005484 gravity Effects 0.000 description 3
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 2
- 229910052744 lithium Inorganic materials 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 230000001276 controlling effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004880 explosion Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 230000000087 stabilizing effect Effects 0.000 description 1
- 239000010959 steel Substances 0.000 description 1
- 238000003756 stirring Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- 238000004804 winding Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The present invention relates to intelligent vehicle technical field, more particularly to a kind of laminated, compact type Two-wheeled intelligent carriage, including car body, car body is divided into four laminated board type structures, head plate, top plate, middle plate and bottom plate are followed successively by from up to down, and the four laminated board types structure is fixedly connected by copper post；Structure of the present invention is novel, car body improves the loose structure of traditional car body by " 3+1 " laminated construction, substantially increase overall compactedness, and further ensure the stability of operation, in addition, abundant device can be expanded on car body and carries out all kinds of experiments, such as tracking, obstacle, acousto-optic etc., car body is driven in the form of two-way DC speed-reducing adds universal wheel, move mode is flexible, all kinds of study test tasks of development that the learning platform got started by the use of this dolly as wheeled robot can be more rapidly and efficiently.
Description
Technical field
The present invention relates to intelligent vehicle technical field, and in particular to a kind of laminated, compact type Two-wheeled intelligent carriage.
Background technology
Intelligent carriage is the high-quality platform of learning robot introduction, but existing intelligent carriage volume is often excessive, structure
Loosely, activity is got up not enough steady, uses comparatively laborious, is unfavorable for the study that beginner quickly accesses wheeled robot,
And intelligent carriage vehicle body function is less, expanding additional modules needs cumbersome wiring or assembling.
The content of the invention
To solve the above problems, it is an object of the invention to：A kind of laminated, compact type Two-wheeled intelligent carriage is provided, it is whole
Body is compact, feature-rich.
The present invention is that technical scheme is used by solving its technical problem：
The laminated, compact type Two-wheeled intelligent carriage, including car body and circuit part, car body are divided into four laminates
Formula structure, is followed successively by head plate, top plate, middle plate and bottom plate from up to down, and the four laminated board types structure is consolidated by copper post
Fixed connection, the upper end of bottom plate sets DC speed-reducing, battery and ultrasonic sensor, the output of DC speed-reducing respectively
The both sides of the fixed power wheel of axle, bottom plate and middle plate open up power wheel mounting groove, and power wheel is located in power wheel mounting groove,
The fixed steering wheel in top of top plate, the output shaft of steering wheel and the geometric center of car body are coaxial, and slotted eye is provided with the middle part of head plate,
The output shaft of steering wheel is located in slotted eye；Circuit part includes control and telecommunication circuit, motor and tracking circuit, execution and friendship
Mutual circuit and power circuit, the control and telecommunication circuit include controller, usb circuit, key encoder module,
USB priority control circuits, 2.4G radio-frequency modules and radio communication gating circuit；Motor and tracking circuit gate including tracking module
Circuit, infrared external reflection tracking module, motor control frequency dividing circuit and motor isolation and drive circuit；Perform and interaction circuit includes
Motor-drive circuit, steering wheel isolation circuit, function strobe switch, buzzer circuit, three-color LED module, ultrasonic distance measuring module,
Expand interface, OLED module；Power circuit includes battery and mu balanced circuit.
Preferably, head plate, top plate, middle plate and bottom plate are made of epoxy resin board, bottom plate and top plate
It is dodecagon.
Preferably, DC speed-reducing is connected with power wheel by D type grooves, and is fixed on bottom plate by motor fixing frame
On.
Preferably, the side of middle plate is provided for the reserved neck of mounting ultrasonic sensor.
Preferably, car body three-wheel lands, and anterior to be arranged on without support, battery in battery case, battery case is located at two power
Between wheel and universal wheel, the rear portion of bottom plate is integrally located at so that car body entirety center of gravity is to the rear, ensure that the stability of operation.
Preferably, controller only possesses one group of serial communication passage, and USB interface electricity is realized using USB priority control circuits
Road and automatic switchover of the 2.4G radio-frequency modules for serial communication passage, so as to realize the multiplexing for serial communication passage.
Preferably, controller realizes 2.4G radio-frequency modules and other external radio communication molds by radio communication gating circuit
For the multiplexing of serial communication passage during block.
Preferably, control of the controller to DC speed-reducing is real using 2 road pulse-width signals and 2 road logical signals
It is existing, the control for DC speed-reducing is realized by motor control frequency dividing circuit.
Preferably, controller possesses 8 tunnel simulation input pins, is connected respectively with 8 road infrared external reflection tracking modules.
Compared with prior art, the invention has the advantages that：
Structure of the present invention is novel, and car body improves the loose structure of traditional car body by " 3+1 " laminated construction, greatly improved
Overall compactedness, and the stability of operation is further ensured, carried out furthermore, it is possible to expand on car body abundant device
All kinds of experiments, such as tracking, obstacle, acousto-optic etc., car body are driven in the form of two-way DC speed-reducing adds universal wheel,
Move mode is flexible, and the development that the learning platform got started by the use of this dolly as wheeled robot can be more rapidly and efficiently is all kinds of
Study test task, in addition, being also the supporting function strobe circuit of volume the car design, allow on the premise of dolly expansion is ensured
Dolly itself is integrated with abundant function, facilitates vast students' practice application.
Brief description of the drawings
Fig. 1 Structure explosion diagrams of the present invention；
Fig. 2 stereograms 1 of the present invention；
Fig. 3 stereograms 2 of the present invention；
Fig. 4 structural front views of the present invention；
Fig. 5 structure left views of the present invention；
The entire block diagram of Fig. 6 circuit parts of the present invention；
Fig. 7 USB priority control circuits schematic diagrams of the present invention；
The schematic diagram of Fig. 8 radio communication gating circuits of the present invention；
Fig. 9 motor control frequency dividing circuit schematic diagrams of the present invention；
The schematic diagram of Figure 10 tracking module gating circuits of the present invention.
In figure：1st, middle plate；2nd, steering wheel mounting groove；3rd, power wheel mounting groove；4th, universal wheel；5th, motor fixing frame；6th, move
Wheels；7th, DC speed-reducing；8th, bottom plate；9th, ultrasonic sensor；10th, head plate；11st, slotted eye；12nd, steering wheel；13rd, top layer
Plate；14th, battery；15th, copper post.
Embodiment
The embodiment of the present invention is described further below in conjunction with the accompanying drawings：
Embodiment 1
As Figure 1-5, laminated, compact type Two-wheeled intelligent carriage of the present invention, including car body and circuit composition portion
Point, car body is divided into four laminated board type structures, is followed successively by head plate 10, top plate 13, middle plate 1 and bottom plate 8, bottom from up to down
Plate 8 and top plate 13 are dodecagon, and head plate 10, top plate 13, middle plate 1 and bottom plate 8 use epoxy resin board
It is made, the four laminated board types structure is fixedly connected by copper post 15, and related control circuit can be designed directly onboard, also may be used
It is arranged on individually designed on each laminate, the upper end of bottom plate 8 sets DC speed-reducing 7, battery 14 and ultrasonic wave to pass respectively
Sensor 9, the fixed power wheel 6 of output shaft of DC speed-reducing 7, DC speed-reducing 7 are connected with power wheel 6 by D type grooves,
And be fixed on by motor fixing frame 5 in bottom plate 8, the installation site of DC speed-reducing 7 can adjust according to the actual requirements, be
The overall center of gravity of optimization car body, the installation site of DC speed-reducing 7 be located at dolly it is overall in the middle part of position to the front, bottom plate
8 and the both sides of middle plate 1 open up power wheel mounting groove 3, be tire reserved location, power wheel 6 is located in power wheel mounting groove 3,
So design can play a part of protecting power wheel 6, while make it that the global design of car body is compacter, the top of top plate 13
Fixed steering wheel 12, steering wheel 12 are arranged in steering wheel mounting groove 2, and the output shaft of steering wheel 12 and the geometric center of car body are coaxial, this
Outside, the middle part of middle plate 1 fluting is the installation reserved location of steering wheel 12, and head plate 10 is located at the top of steering wheel 12, head plate 10
Middle part is provided with slotted eye 11, and the output shaft of steering wheel 12 is located in slotted eye 11, and head plate 10 is the device installed on the output shaft of steering wheel 12
Support is provided.
Circuit part includes control and telecommunication circuit, motor and tracking circuit, execution and interaction circuit and power supply
Circuit, it is described control and telecommunication circuit include controller, usb circuit, key encoder module, USB priority control circuits,
2.4G radio-frequency modules and radio communication gating circuit；Motor and tracking circuit include tracking module gating circuit, infrared external reflection follows
Mark module, motor control frequency dividing circuit and motor isolation and drive circuit；Perform and interaction circuit includes motor-drive circuit, rudder
Machine isolation circuit, function strobe switch, buzzer circuit, three-color LED module, ultrasonic distance measuring module, expansion interface, OLED moulds
Block；Power circuit includes battery 14 and mu balanced circuit.
Wherein, controller only possesses one group of serial communication passage, and usb circuit is realized using USB priority control circuits
With automatic switchover of the 2.4G radio-frequency modules for serial communication passage, so as to realize the multiplexing for serial communication passage, when small
When car is connected by usb circuit, 2.4G radio-frequency modules do not enable, and dolly is in wired communication modes；Work as usb circuit
Disconnect, dolly enables 2.4G radio-frequency modules automatically, in wireless connection pattern.
Wherein, due to special occasions in use, 2.4G radio-frequency modules are unsatisfactory for use condition, it is necessary to additionally expand other classes
The wireless communication module of type, controller realize 2.4G radio-frequency modules and other external radio communications by radio communication gating circuit
For the multiplexing of serial communication passage during module.Radio communication gating circuit is controlled by a way switch, when the switches are opened,
2.4G radio-frequency modules are in starting state, and dolly carries out radio communication using 2.4G radio-frequency modules；When the switch is closed, 2.4G is penetrated
Frequency module is closed, and dolly can external wireless communication module progress radio communication.
Wherein, control of the controller to DC speed-reducing 7 is realized using 2 road pulse-width signals and 2 road logical signals,
Control for DC speed-reducing 7 is realized by motor control frequency dividing circuit, controller possesses 8 tunnel simulation input pins, point
It is not connected with 8 road infrared external reflection tracking modules, and can be realized for infrared external reflection tracking mould by tracking module gating circuit
The gating of block.Tracking module gating circuit is made up of 8 road toggle switch, when the switches are opened, the hair of infrared external reflection tracking module
Pipe extinguishing is penetrated, the corresponding analog input channel of module disconnects；When the switch is closed, the hair of infrared external reflection tracking module
Penetrate pipe to light, the corresponding analog input channel connection of module.
The intelligent carriage switchs achievable interface of expanding by function strobe and isolates electricity with motor-drive circuit, steering wheel
Road, buzzer circuit, three-color LED module, ultrasonic distance measuring module, the multiplexing functions of OLED module.Gating switch is dialled using 8
Code switch, when the switches are opened, expanding interface can external other sensor；When the switch is closed, controller with it is onboard corresponding
Module is connected.
Dolly employs thumb wheel and the key encoder module of button one, and signal is read by 3 railway digital input pins,
By controller handle thumb wheel to the left with stir to the right caused by phase different pulse judge direction and the number stirred.
Wherein, the side of middle plate 1 is provided for the reserved neck of mounting ultrasonic sensor 9, and ultrasonic wave passes after fixing
Any part of sensor 9 is without departing from upright projection of the bottom plate 8 on ground.
In addition, the bottom plate 8 of car body, top plate have reserved sufficient space, can with all kinds of trackings of design and installation, obstacle,
The sensors such as acousto-optic and other devices, device both can directly Design PCB be welded on plate, mechanical structure can also be passed through
It is fixed in four laminated board type structures, flexible occupation mode ensure that the sufficient expansion of dolly.
During operation, car body three-wheel lands, and anterior to be arranged on without support, battery 14 in battery case, battery case is dynamic positioned at two
Between wheels 6 and universal wheel 4, the rear portion of bottom plate 8 is integrally located at so that car body entirety center of gravity is to the rear, ensure that the steady of operation
It is qualitative.
Embodiment 2
On the basis of embodiment 1, when specifically applying, the size selection radius of car body sheet material is 5 centimetres circular
On the basis of external dodecagon, then the bottom plate 8 of dolly, middle plate 1, top plate are that parallel opposite side distance is 10 centimetres
Dodecagon.
The installation site of DC speed-reducing 7 of dolly is located to the front in the middle part of dolly；Steel of the universal wheel 4 from 12 millimeters of diameter
Pearl, plastic casing universal wheel 4, it is installed on the rear portion of car body.
Battery 14 chooses 10440 specification lithium batteries 14, is fixed in bottom plate 8, between power wheel 6 and universal wheel 4,
The two section series winding power supplies of lithium battery 14, full piezoelectric voltage is 8.4V.
Motor driving selection DRV8833, is encapsulated from paster, reduces circuit area, be easily installed in the middle level of car body
On plate 1.Mu balanced circuit selects LM1117-5.0, LM1117-3.3 voltage stabilizing chip, and 5V and 3.3V electricity is provided to each several part circuit
Source.
In the design and installation TCRT5000 type infrared tube sensors of dolly bottom plate 8, tracking function can be achieved.Ultrasonic wave mould
Block selects HC-SR04 type ultrasonic distance measuring modules, and obstacle function can be achieved.The further head expanded using steering wheel 12 is installed additional
Infrared obstacle switch, can be achieved dolly to carrying out flexible obstacle in the 180 degree region of front.
LCD display and keypress function are installed additional in dolly top plate 13, so as to increase Human-computer Interactive Design.From HC-05
Principal and subordinate's one bluetooth module can realize the Remote to dolly by upper computer equipments such as computer, mobile phones.
As shown in fig. 6, dolly uses ATMEGA328P single-chip microcomputers, as master controller, it is 1 tunnel to initialize its pin resource
Serial communication (including RX, TX), 8 tunnel simulation inputs, the output of 12 railway digitals.Because ATMEGA328P only possesses 1 road serial communication,
Then by multiplex mode, the multiplexing of usb circuit, 2.4G radio-frequency modules and other wireless communication modules is realized.
As shown in fig. 7, USB priority control circuits：USB and UART (asynchronous receiving-transmitting transmitter) are realized using CH340G chips
The conversion of signal.Diode is sealed in USB power source input, GND is pulled down in diode front end.When then USB is accessed, 5V_USB letters
Number it is high level, when USB disconnects, 5V_USB signals are low level.The choosing of 2.4G radio-frequency modules LS12C CS pin control modules
Logical, low level is effective, then when USB is accessed, module is not gated, USB priority communications；When USB disconnects, module gating, radio communication.
As shown in figure 8, radio communication gating circuit：The multiplexing of 2.4G radio-frequency modules and other wireless communication modules is by dialling
Code switch is realized with 74HC4066 analog switches.When the switches are opened, 74,HC4,066 4 control terminal CNTL are high level,
Controller is connected with 2.4G modules.When BT_SW is closed, 74HC4066 wherein 2 tunnel control terminals are low level, then controller with
2.4G modules disconnect, and can carry out wireless communication module expansion by two pins drawn outside of RXD_EX, TXD_EX.
As shown in figure 9, motor control frequency dividing circuit：Because ATMEGA328P single-chip microcomputers only possess 3 groups of timers, every group 2
Individual output channel, if thinking, the road DC motor positive and negative rotation of control 2 needs 4 road pwm signals, but motor rotates forward or always has one when inverting
Road signal output is low level.So do the timer resource of serious waste single-chip microcomputer.Then pass through 74HC08 and 74HC2G04
Realize the multiplexing for PWM (pulse width modulation) signal.Two-way pwm signal is produced by DIG5, DIG6；DIG7, DIG8 are defeated
Go out logic level, it is always opposite with DIG7, DIG8 logic by rear DIG7_T and DIG8_T caused by 74HC2G04.By above-mentioned 6
After road signal input 74HC08, when PWM1 output signals can be achieved, PWM2 is low level；During PWM2 output signals, PWM1 is low
Level.PWM3, PWM4 are identical.So as to only be achieved that pair with additional 2 digital output pins of 2 road PWM passages of 1 timer
In the rotating speed regulating control of 2 direct current generators.
As shown in Figure 10, dolly possesses 8 road trackings and touches fast ST178, in actual use can according to different use occasions
It can need not be all turned on, then devise tracking module gating circuit to realize.Circuit is real with 74HC4066 using toggle switch
Existing, when toggle switch close, 74HC4066 control terminals are low level, the simulation input stitch and infrared external reflection tracking of controller
Module is not connected to, the transmitting tube non-transformer power supply of infrared external reflection tracking module.When toggle switch close, 5V plant-grid connections,
74HC4066 control terminals are high level, and controller simulation input stitch is connected with infrared external reflection tracking module, and tracking module
Transmitting tube is lighted.It is so reasonable in design to make use of resource, and transmitting tube is closed when not in use in module, reduce power consumption.
Dolly realizes man-machine interaction using the module of rotary encoder and button one, when thumb wheel rotates, produces two-way
Dephased pulse A and B.When turning clockwise, 90 degree of the phase-lead B phases of A phases；When rotate counterclockwise, the phase of B phases
Leading 90 degree of the A phases in position.Judge that the level logic of B phases during A phase trailing edges can determine whether that thumb wheel turns to using this characteristic.
Dolly is integrated with the isolation circuit of steering wheel 12, buzzer circuit, three-color LED module, ultrasonic distance measuring module, OLED moulds
The conventional module such as block, it is convenient and practical.In order to strengthen expansion, also the digital pin for controlling above-mentioned module is drawn simultaneously
Go out.By eight toggle switch come the gating of control module, closed when dial-up is opened and closed, controller is connected with vehicle module, when group
Code switch disconnects, and controller disconnects with vehicle module, can be by expanding the external other equipment of interface.
Claims (9)
1. a kind of laminated, compact type Two-wheeled intelligent carriage, including car body and circuit part, it is characterised in that car body point
For four laminated board type structures, head plate (10), top plate (13), middle plate (1) and bottom plate (8) are followed successively by from up to down, it is described
Four laminated board type structures are fixedly connected by copper post (15), and the upper end of bottom plate (8) sets DC speed-reducing (7), battery respectively
And ultrasonic sensor (9), the fixed power wheel of output shaft (6) of DC speed-reducing (7), bottom plate (8) and middle level (14)
The both sides of plate (1) open up power wheel mounting groove (3), and power wheel (6) is located in power wheel mounting groove (3), top plate (13) it is upper
The fixed steering wheel in portion (12), the geometric center of the output shaft and car body of steering wheel (12) is coaxial, and head plate is provided with groove in the middle part of (10)
Hole (11), the output shaft of steering wheel (12) are located in slotted eye (11)；Circuit part includes control and telecommunication circuit, motor and followed
Mark circuit, execution and interaction circuit and power circuit, the control and telecommunication circuit include controller, usb circuit, pressed
Key encoder module, USB priority control circuits, 2.4G radio-frequency modules and radio communication gating circuit；Motor and tracking circuit bag
Include tracking module gating circuit, infrared external reflection tracking module, motor control frequency dividing circuit and motor isolation and drive circuit；Perform
And interaction circuit include motor-drive circuit, steering wheel isolation circuit, function strobe switch, buzzer circuit, three-color LED module,
Ultrasonic distance measuring module, expand interface, OLED module；Power circuit includes battery (14) and mu balanced circuit.
2. laminated, compact type Two-wheeled intelligent carriage according to claim 1, it is characterised in that head plate (10), top
Laminate (13), middle plate (1) and bottom plate (8) are made of epoxy resin board；Bottom plate (8) and top plate (13) are positive ten
Two side shapes.
3. laminated, compact type Two-wheeled intelligent carriage according to claim 1, it is characterised in that DC speed-reducing
(7) it is connected by D type grooves with power wheel (6), and is fixed on by motor fixing frame (5) in bottom plate (8).
4. laminated, compact type Two-wheeled intelligent carriage according to claim 1, it is characterised in that the one of middle plate (1)
Side is provided for the reserved neck of mounting ultrasonic sensor (9).
5. laminated, compact type Two-wheeled intelligent carriage according to claim 1, it is characterised in that battery (14) is arranged on
In battery case, battery case is integrally located at the rear portion of bottom plate (8) between two power wheels (6) and universal wheel (4).
6. laminated, compact type Two-wheeled intelligent carriage according to claim 1, it is characterised in that controller only possesses one
Group serial communication passage, realizes that usb circuit leads to 2.4G radio-frequency modules for serial communication using USB priority control circuits
The automatic switchover in road, so as to realize the multiplexing for serial communication passage.
7. the laminated, compact type Two-wheeled intelligent carriage according to claim 1 or 6, it is characterised in that controller passes through
Answering for serial communication passage when radio communication gating circuit realizes 2.4G radio-frequency modules and other external wireless communication modules
With.
8. laminated, compact type Two-wheeled intelligent carriage according to claim 1, it is characterised in that controller subtracts to direct current
The control of speed motor (7) is realized using 2 road pulse-width signals and 2 road logical signals, is realized by motor control frequency dividing circuit
Control for DC speed-reducing (7).
9. laminated, compact type Two-wheeled intelligent carriage according to claim 1, it is characterised in that controller possesses 8 tunnels
Simulation input pin, it is connected respectively with 8 road infrared external reflection tracking modules.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710341556.0A CN107891413A (en) | 2017-05-16 | 2017-05-16 | Laminated, compact type Two-wheeled intelligent carriage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710341556.0A CN107891413A (en) | 2017-05-16 | 2017-05-16 | Laminated, compact type Two-wheeled intelligent carriage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107891413A true CN107891413A (en) | 2018-04-10 |
Family
ID=61802611
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710341556.0A Pending CN107891413A (en) | 2017-05-16 | 2017-05-16 | Laminated, compact type Two-wheeled intelligent carriage |
Country Status (1)
| Country | Link |
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| CN (1) | CN107891413A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109531596A (en) * | 2018-12-28 | 2019-03-29 | 深圳市奇信智能科技有限公司 | The robot of building blocks of function arrangement specification |
| CN112304035A (en) * | 2020-10-30 | 2021-02-02 | 皖江工学院 | Intelligent ground dehumidification machine and working method thereof |
| CN112947452A (en) * | 2021-02-24 | 2021-06-11 | 上海机电工程研究所 | Intelligent tracking robot trolley |
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