CN202003229U - Induction type tracking cart - Google Patents
Induction type tracking cart Download PDFInfo
- Publication number
- CN202003229U CN202003229U CN2011201113117U CN201120111311U CN202003229U CN 202003229 U CN202003229 U CN 202003229U CN 2011201113117 U CN2011201113117 U CN 2011201113117U CN 201120111311 U CN201120111311 U CN 201120111311U CN 202003229 U CN202003229 U CN 202003229U
- Authority
- CN
- China
- Prior art keywords
- circuit module
- metal detector
- tracking
- induction type
- control circuit
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses an induction type tracking cart. A plurality of metal detector circuits with same functions are installed on a tracking circuit module, output ports of all circuits are connected with a control circuit module through connecting lines, input ends are connected with a sensing probe; each metal detector circuit is provided with a potentiometer (RP) capable of regulating detecting sensitivity; electrical level of an output port of the metal detector circuit can change when the sensing probe is close to metal substances; electrical level signal is input to the control circuit module, and the control circuit module outputs control instruction to the cart body. The induction type tracking cart uses aluminum foil tape to replace the black tape as the track of the cart, the stability and the reliability are increased for the tracking cart, and the active space of the tracking cart is widened. Meanwhile, the aluminum foil tape can be pasted to the back surface of photo paper or jet-jawing cloth with different patterns so as to form invisible track. The induction type tracking cart can be applied to demonstration of various dynamic building models, commercial models and military models.
Description
Technical field
The utility model relates to a kind of electronics automatic control equipment, specifically is a kind of induction type tracking dolly.
Background technology
The tracking dolly is used comparatively general in the activity of teenager's scientific practice, and Operations Requirements tracking dolly is following a track circuit and advancing up to terminal point, and the track circuit sticks on white ground with black belt usually and forms.Chinese patent wherein, patent announcement number: CN6484303, the day for announcing: 2005.03.09; Chinese patent, patent announcement number: CN101976075A, the disclosed utility model of the day for announcing: 2011.02.16, all be to adopt photoelectric sensor as the tracking device, utilize the Strength Changes of black trajectory and white ground return light, detect the position of tracking circuit, make dolly follow the trajectory operation.The shortcoming of this tracking scheme is the interference that the photoelectric sensor of dolly very easily is subjected to ambient light, and the stability of its operation, reliability are not high, is not suitable for environment and the more intense place operation of illumination in the open.
Summary of the invention
Technical problem to be solved in the utility model provides a kind of induction type tracking dolly, and the tracking dolly is not disturbed by light, and is easy to use, reliable, can reach operation under the high light environment in the open.
For solving the problems of the technologies described above, the technical scheme that the utility model is taked is: a kind of induction type tracking dolly, comprise car body, car body is provided with control circuit module, car body is equipped with power motor, power wheel, angle sheave, power supply, control circuit module is provided with single-chip microcomputer IC, described power motor, power supply is connected with control circuit module by first winding displacement, car body is provided with the tracking circuit module, the tracking circuit module is provided with the metal detector circuit, the metal detector circuit is connected with inductive probe by connecting line, the metal detector circuit is connected with control circuit module by second winding displacement, and the car body below is provided with the track band.
Described metal detector circuit is a plurality of, and each metal detector circuit connects an inductive probe, and each metal detector circuit is equipped with potentiometer RP and LED lamp.
Described inductive probe is installed on the car body by support, and support is provided with screw rod.
Described track band is an aluminum foil and adhesive tape.
Described track band is description paper or the spray painting cloth that the back side is provided with aluminum foil and adhesive tape.
Described inductive probe is formed by coiling enameled wire coil on the magnetic core.
Described magnetic core is E type magnetic core, jar type magnetic core or I-shaped magnetic core.
The utility model device tracking method, the identical metal detector circuit of a plurality of functions is installed on the tracking circuit module, the output port of each circuit by connecting line be connected with control circuit module, input end is connected with inductive probe, each metal detector circuit all is provided with a potentiometer RP that can regulate detection sensitivity, when inductive probe when the metal object, the level of metal detector circuit output end mouth can change, level signal input control circuit module, control circuit module output steering order is given car body.
The beneficial effect of a kind of induction type tracking of the utility model dolly is as follows:
The identical metal detector circuit of a plurality of functions has been installed above the tracking circuit module, and each circuit is all connecting an inductive probe, utilizes inductive probe to detect road surface track line information.Can detect the line status in a plurality of sites simultaneously, improve the control accuracy of trolley travelling.
Each metal detector circuit is equipped with potentiometer RP and LED lamp, adjusts the size of potentiometer RP, can change the positive feedback amplitude of circuit, thereby realizes the adjustment to metal detector sensitivity.
The utility model replaces black belt to make dolly track circuit with aluminum foil and adhesive tape, has fundamentally solved the influence of ambient light to the tracking trolley travelling, has improved the stability and the reliability of tracking trolley travelling greatly, has widened the space of tracking dolly activity.Simultaneously, can stick on aluminum foil and adhesive tape to draw has the description paper of different pattern or the back side of spray painting cloth, forms stealthy track circuit, and the competition field of tracking dolly will be more rich and varied.Can also be applied to various dynamic building models, business prototype, the demonstration of military model.
Description of drawings
The utility model is described in further detail below in conjunction with drawings and Examples:
1, Fig. 1 is the utility model metal detection circuit theory diagrams;
2, Fig. 2 is the utility model control circuit module figure;
3, Fig. 3 is the utility model tracking circuit module figure;
4, Fig. 4 is the utility model dolly side view;
5, Fig. 5 is the utility model structure drawing of device;
6, Fig. 6 is the outside drawing of used inductive probe among the utility model embodiment.
Embodiment
A kind of induction type tracking dolly, comprise car body 9, car body 9 is provided with control circuit module 7, car body 9 is equipped with power motor 10, power wheel 12, angle sheave 11, power supply 13, control circuit module 7 is provided with single-chip microcomputer IC, described power motor 10, power supply 13 is connected with control circuit module 7 by first winding displacement 8, car body 9 is provided with tracking circuit module 4, tracking circuit module 4 is provided with metal detector circuit 5, metal detector circuit 5 is connected with inductive probe L by connecting line 3, metal detector circuit 5 is connected with control circuit module 7 by second winding displacement 6, and car body 9 belows are provided with track band 1.
Described metal detector circuit 5 is a plurality of, and each metal detector circuit 5 connects an inductive probe L, and each metal detector circuit 5 is equipped with potentiometer RP and LED lamp.
Described inductive probe L is installed on the car body 9 by support 2, and support 2 is provided with screw rod 15.
Described track band 1 is an aluminum foil and adhesive tape.
Described track band 1 is provided with the description paper or the spray painting cloth of aluminum foil and adhesive tape for the back side.
Described inductive probe L is formed by coiling enameled wire coil on the magnetic core.
Described magnetic core is E type magnetic core, jar type magnetic core or I-shaped magnetic core.
The utility model device tracking method, the identical metal detector circuit 5 of a plurality of functions is installed on tracking circuit module 4, the output port of each circuit by connecting line be connected with control circuit module 7, input end is connected with inductive probe L, each metal detector circuit 5 all is provided with a potentiometer RP that can regulate detection sensitivity, when inductive probe L when the metal object, the level of metal detector circuit 5 output ports can change, level signal input control circuit module 7, control circuit module 7 output steering orders are given car body 9.
Embodiment 1:
Principle of work:
Parts such as control circuit module 7, tracking circuit module 4, inductive probe L are installed on the car body 9, be separately installed with two power motors 10 in the left and right sides of car body 9, by running speed and the direction of controlling two motors, control the travelling speed and the traffic direction of car body 9.
The utility model adopts metal detector to make the tracking device, and as track band 1, that is: track circuit is realized the tracking function of dolly with the mode of metal induction with metal aluminum foil.Used metal detector is made up of metal detector circuit 5 and inductive probe L, an electromagnetic oscillation circuit is arranged in the metal detector, this oscillator signal radiate by the L shaped one-tenth alternating magnetic field of inductive probe, if near have metal object, alternating magnetic field can go out eddy current at the metal object internal induction, the energy consumption of inductive probe L increases, and the vibration of metal detector circuit 5 can weaken until the failure of oscillations.Inductive probe L is during near metal object, and the level of metal detector circuit 5 output ports can change, and is low level or is high level by low transition by the high level saltus step.The tracking circuit module 4 that the utility model is related has been installed the identical metal detector circuit 5 of a plurality of functions above it, each circuit is all connecting an inductive probe L, utilizes inductive probe L to detect road surface track line information.Inductive probe L described in the utility model is the inductance element that coiling enameled wire coil is made on magnetic core, and used magnetic core adopts E type magnetic core and jar type magnetic core.Several inductive probes L by certain requirements arrangement after, be installed in the subaerial position of dolly front end, stick on ground with the metal aluminum foil adhesive tape and form aluminium foil track circuit, dolly bridges on the track circuit, during operation, be arranged in middle inductive probe L position near aluminium foil above the track circuit, the level signal of tracking circuit module 4 outputs this moment is given control circuit and is sold the instruction that dolly normally advances, when dolly off-track line, middle inductive probe L have one from the left side or the right leave the track circuit, the level signal of tracking circuit module 4 outputs is given control circuit and is sold the steering order that dolly is turned right or turned left, when dolly off-track circuit is relatively more serious or at track circuit corner, the tracking probe that is in the tracking probe on right side or left side can be near the track circuit, and the level signal of metal induction module output can make control circuit give and sell the instruction that dolly is turned by a relatively large margin.Single-chip microcomputer IC is installed in the control circuit module 7, wherein is loaded with the circuit Control Software, realize detection and operation control the dolly sensor signal.
Fig. 1 is the metal detection circuit theory diagrams that are used for present embodiment, telefault L, capacitor C 1, C2, C3, triode VT1 etc. has formed an inductance of three-point oscillatory circuit, during work, the sine wave signal of generation is by the output of VT1 emitter, after VT2 amplifies, by voltage multiplying rectifier, filtering such as D1, D2, C6, make the base stage of triode VT3 obtain the base voltage of certain amplitude and conducting, its collector output low level, the LED conducting is luminous.If near metal object, the variation magnetic field of coil can go out eddy current and produce iron loss at the metal object internal induction telefault L, the Q value of coil descends, Q=XL(induction reactance)/R(resistance), circuit oscillation weakens until the failure of oscillations.Act on the loss of voltage on the VT3 base stage, triode VT3 is become by conducting and ends, its collector output high level, and LED extinguishes.Adjust the size of potentiometer RP resistance, can change the positive feedback amplitude of circuit, thereby realize adjustment metal detector sensitivity.On dolly, a plurality of metal detector circuit 5 are installed, just can detect the line status in a plurality of sites simultaneously, improve the control accuracy of trolley travelling.
Fig. 3 is the utility model tracking circuit module, on tracking circuit module 4, four metal detector circuit 5 that function is identical has been installed, and can detect the trajectory line state in four sites simultaneously.During installation, earlier the detector circuit on the tracking circuit module 4 is coupled together with inductive probe L by connecting line 3, regulator potentiometer RP then, make LED just in time luminous, with one piece of coin from the below slowly near inductive probe L, just in time extinguish until LED, at this moment, distance between inductive probe L and the coin is presented as the detection sensitivity of detector, and distance is big more, and sensitivity is high more.Regulator potentiometer RP repeatedly, the sensitivity that makes several detector circuits is about 10mm.The output terminal of metal detector circuit 5 is connected to Fig. 2 control circuit module 7 by second winding displacement 6, single-chip microcomputer IC circuit on the control circuit module 7 changes by the signal that detects this input port, produce control signal, connecting line 8 by output port, power motor 10 runnings on the driving trolley car body realize the detection of tracking line information and the control of trolley travelling state.
Fig. 5 has further showed the installation situation of each module the present embodiment from the dolly front, the installation site situation of inductive probe L particularly, four inductive probe L are installed to dolly the place ahead near ground location by support 2, the height of support 2 can be adjusted by screw rod 15 is installed, make the height on end distance ground under the probe be not less than 5mm, two middle probes will be according to the width decision distance between the two of the aluminum foil and adhesive tape that sticks on ground, this distance should be less than the width of adhesive tape, and the probe of both sides is installed near wheel position.
Fig. 6 is the outside drawing of used inductive probe L in the present embodiment, and it uses the enameled wire coiling on the E13 magnetic core, and inductance value is about 1mH.
Claims (7)
1. induction type tracking dolly, comprise car body (9), car body (9) is provided with control circuit module (7), car body (9) is equipped with power motor (10), power wheel (12), angle sheave (11), power supply (13), control circuit module (7) is provided with single-chip microcomputer IC, described power motor (10), power supply (13) is connected with control circuit module (7), it is characterized in that: car body (9) is provided with tracking circuit module (4), tracking circuit module (4) is provided with metal detector circuit (5), metal detector circuit (5) is connected with inductive probe (L) by connecting line (3), metal detector circuit (5) is connected with control circuit module (7), and car body (9) below is provided with track band (1).
2. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described metal detector circuit (5) is for a plurality of, each metal detector circuit (5) connects an inductive probe (L), and each metal detector circuit (5) is equipped with potentiometer RP and LED lamp.
3. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described inductive probe (L) is installed on the car body (9) by support (2), and support (2) is provided with screw rod (15).
4. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described track band (1) is an aluminum foil and adhesive tape.
5. according to the described a kind of induction type tracking dolly of claim 1, it is characterized in that: described track band (1) is provided with the description paper or the spray painting cloth of aluminum foil and adhesive tape for the back side.
6. according to claim 1 or 2 or 3 described a kind of induction type tracking dollies, it is characterized in that: described inductive probe (L) is formed by coiling enameled wire coil on the magnetic core.
7. according to the described a kind of induction type tracking dolly of claim 6, it is characterized in that: described magnetic core is E type magnetic core, jar type magnetic core or I-shaped magnetic core.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201113117U CN202003229U (en) | 2011-04-15 | 2011-04-15 | Induction type tracking cart |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201113117U CN202003229U (en) | 2011-04-15 | 2011-04-15 | Induction type tracking cart |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202003229U true CN202003229U (en) | 2011-10-05 |
Family
ID=44705962
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201113117U Expired - Fee Related CN202003229U (en) | 2011-04-15 | 2011-04-15 | Induction type tracking cart |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202003229U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102141813A (en) * | 2011-04-15 | 2011-08-03 | 三峡电力职业学院 | Inductive tracking trolley and tracking method thereof |
| CN107244150A (en) * | 2017-07-12 | 2017-10-13 | 南京信息工程大学 | It is a kind of can automatic tracking Intelligent printing machine people |
| CN112032569A (en) * | 2020-08-24 | 2020-12-04 | 绍兴晋元生态环保科技有限公司 | Pipeline detection and maintenance device |
-
2011
- 2011-04-15 CN CN2011201113117U patent/CN202003229U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102141813A (en) * | 2011-04-15 | 2011-08-03 | 三峡电力职业学院 | Inductive tracking trolley and tracking method thereof |
| CN107244150A (en) * | 2017-07-12 | 2017-10-13 | 南京信息工程大学 | It is a kind of can automatic tracking Intelligent printing machine people |
| CN107244150B (en) * | 2017-07-12 | 2024-02-02 | 南京信息工程大学 | Intelligent printing robot capable of automatically tracking |
| CN112032569A (en) * | 2020-08-24 | 2020-12-04 | 绍兴晋元生态环保科技有限公司 | Pipeline detection and maintenance device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102141813B (en) | Inductive tracking trolley and tracking method thereof | |
| Wang et al. | A novel magnetic coupling mechanism for dynamic wireless charging system for electric vehicles | |
| CN205945249U (en) | Adopt magnetic field principle to carry out wireless charging device who counterpoints | |
| CN110492622B (en) | Electric automobile non-stop wireless charging system and control method thereof | |
| CN104898673A (en) | Intelligent tracking trolley based on infrared sensors and tracking method thereof | |
| CN103904880B (en) | A kind of circuit for correcting part active power factor of input voltage threshold value control | |
| CN104015723B (en) | A kind of intelligent vehicle control system and method based on intelligent transportation platform | |
| CN106627842A (en) | Mobile robot system | |
| CN202003229U (en) | Induction type tracking cart | |
| CN108973767A (en) | The suspension control method of suspension type magnetic suspension train | |
| CN106828185A (en) | A kind of electromagnetic suspension train suspension control method | |
| CN104810934B (en) | Based on multi-level racks electric automobile wireless power guide rail commutation control circuit and method | |
| CN201280386Y (en) | Automatic deviation correction system of tire crane | |
| CN207496493U (en) | For the vehicle alignment guide of wireless charging system for electric automobile | |
| CN112444403A (en) | Method for testing unmanned automobile by moving target | |
| CN201397372Y (en) | Single-phase earthing fault locating device for electric distribution network | |
| CN115508912A (en) | Wireless charging auxiliary calibration test device and test method | |
| CN105929366A (en) | Plane position sensing method in indoor environment | |
| CN204719535U (en) | Based on the Intelligent tracking trolley of infrared sensor | |
| CN106227217A (en) | A kind of intelligent truck based on electromagnetic tracking principle and control method for correcting thereof | |
| CN212290093U (en) | Intelligent vehicle based on metal induction technology | |
| CN203805987U (en) | Power-assisted steering system of electric truck | |
| CN112444401A (en) | Unmanned vehicle testing device with controllable road surface moving target | |
| CN215415593U (en) | Close on electrified body safety alarm system | |
| CN208689442U (en) | A kind of orbit determination tracking vehicle system |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111005 Termination date: 20120415 |