CN204129528U - A kind of multifunctional intellectual dolly - Google Patents
A kind of multifunctional intellectual dolly Download PDFInfo
- Publication number
- CN204129528U CN204129528U CN201420587451.5U CN201420587451U CN204129528U CN 204129528 U CN204129528 U CN 204129528U CN 201420587451 U CN201420587451 U CN 201420587451U CN 204129528 U CN204129528 U CN 204129528U
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- infrared tube
- vehicle frame
- module
- dolly
- tube
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Abstract
A kind of multifunctional intellectual dolly, comprise vehicle frame and two wheels, described wheel connects direct current generator, direct current generator is fixed on vehicle frame, vehicle frame is fixed with ultrasonic wave module, LCDs, control module, driver module and photoelectric tube, reflective infrared tube and correlation infrared tube is fixed with under vehicle frame, wherein, described ultrasonic wave module, photoelectric tube, the output of reflective infrared tube and correlation infrared tube is all connected to control module, described control module connects direct current generator by driver module, the utility model will track, keep away barrier, range finding, the function synthesized such as to test the speed in one, the distance of barrier is measured by ultrasonic wave module, and distance is presented in LCD12864 LCDs, realize testing the speed of multifunctional intellectual dolly by code-disc and correlation infrared tube, and distance is presented in LCD12864 LCDs, realize keeping away barrier by photoelectric tube, realize tracking by reflective infrared tube, achieve a car multiplex.
Description
Technical field
The utility model belongs to field of mechanical technique, particularly a kind of multifunctional intellectual dolly.
Background technology
Intelligent carriage, i.e. wheeled robot are the one of mobile robot, and be a collection environment sensing, programmed decision-making, the functions such as automatic running, in the system ensemble of one, can be applicable to complexity, danger, severe working environment.But along with scientific and technological development, what require Automated condtrol improves constantly, originally intelligent carriage that is simple, function singleness has been not suitable with the development of scientific and technological level, now, is necessary to the research & design of the multi-functional intelligent carriage be integrated in one.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the purpose of this utility model is to provide a kind of multifunctional intellectual dolly, and function synthesizeds such as will tracking, and keep away barrier, and find range, test the speed is in one.
To achieve these goals, the technical solution adopted in the utility model is:
A kind of multifunctional intellectual dolly, comprise vehicle frame and two wheels 6, described wheel 6 connects direct current generator 8, direct current generator 8 is fixed on vehicle frame, vehicle frame is fixed with ultrasonic wave module 1, LCDs 2, control module 3, driver module 4 and photoelectric tube 5, reflective infrared tube 7 and correlation infrared tube 9 is fixed with under vehicle frame, wherein, the output of described ultrasonic wave module 1, photoelectric tube 5, reflective infrared tube 7 and correlation infrared tube 9 is all connected to control module 3, and described control module 3 connects direct current generator 8 by driver module 4.
Described direct current generator 8 motor shaft is fixed with code-disc 10, and code-disc 10 extend into correlation infrared tube 9.
Universal wheel 11 is fixed with below described vehicle frame.
Compared with prior art, the utility model multifunctional intellectual dolly will track, keep away barrier, find range, the function synthesized such as to test the speed in one, measured the distance of barrier by ultrasonic wave module, and distance be presented in LCD12864 LCDs; Realize testing the speed of multifunctional intellectual dolly by code-disc and correlation infrared tube, and distance is presented in LCD12864 LCDs; Realize keeping away barrier by photoelectric tube; Realize tracking by reflective infrared tube, achieve a car multiplex.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model control module theory diagram.
Fig. 3 is the utility model control module minimum system circuit theory diagrams.
Fig. 4 is the utility model driver module circuit theory diagrams.
Fig. 5 is that the utility model tracks circuit theory diagrams.
Fig. 6 is the utility model liquid crystal display circuit schematic diagram.
Fig. 7 is the utility model the obstacle avoidance circuit interface schema.
Fig. 8 is the utility model range-measuring circuit interface schema.
Fig. 9 is the utility model program flow diagram.
Embodiment
Embodiment of the present utility model is described in detail below in conjunction with drawings and Examples.
As shown in Figure 1, a kind of multifunctional intellectual dolly, comprise vehicle frame and the universal wheel 11 that is positioned at below vehicle frame and two wheels 6, vehicle frame is tricycle frame, and adopt two-wheel drive, universal wheel 11 is trailing wheel, mainly plays a supportive role.Wheel 6 connects direct current generator 8, and direct current generator 8 is fixed on vehicle frame, uses the charging of 5.5V direct supply, is driven by driver module 4.Vehicle frame is fixed with ultrasonic wave module 1, LCDs 2, control module 3, driver module 4 and photoelectric tube 5, reflective infrared tube 7 and correlation infrared tube 9 is fixed with under vehicle frame, wherein, the output of ultrasonic wave module 1, photoelectric tube 5, reflective infrared tube 7 and correlation infrared tube 9 is all connected to control module 3, and control module 3 connects direct current generator 8 by driver module 4.Direct current generator 8 motor shaft is fixed with code-disc 10, and code-disc 10 extend into correlation infrared tube 9.
Control module 3 adopts STC89C52 single-chip microcomputer to adopt the manufacture of high density nonvolatile memory manufacturing technology as this device of main control chip, with the MCS-51 instruction set of industrial standard and output pin mutually compatible.
Ultrasonic wave module 1, for realizing range finding, forms range finder module, and its ultimate range detecting barrier is 5m, maximum error 2cm, and just the distance of surveyed barrier can be read by LCDs 2, LCDs 2 selects LCD12864.
Photoelectric tube 5 keeps away barrier for realizing, and forms and keeps away barrier module, and when detecting front and having barrier, dolly can stop automatically; When barrier is removed, dolly can move ahead automatically.
Correlation infrared tube 9 and code-disc 10 test the speed for realizing, and form speed measuring module, and are shown by LCDs 2.
Reflective infrared tube 7 tracks for realizing, and forms the module that tracks, and make dolly along the walking of fixing track, reflective infrared tube 7 adopts TCR5000.
As shown in Figure 2, this multifunctional intellectual dolly control section primarily of display module, driver module, range finder module, keep away barrier module, the module that tracks, reset circuit and clock circuit composition.
As shown in Figure 3, the clock circuit of single-chip microcomputer is made up of crystal oscillator X1, electric capacity C1, C2.Crystal oscillator X1, electric capacity C1, C2 form stable self-excited oscillator, electric capacity C1, C2 stabilized frequency to frequency trim.The clock circuit of single-chip microcomputer provides the built-in circuit of accurate timing for single-chip microcomputer, is mainly used in timing, communication clock generator, time interrupt source etc.
As shown in Figure 3, the reset circuit of single-chip microcomputer is made up of electric capacity C3, resistance R1 and button B1.This reset circuit has the function of electrification reset, and this function is realized by electric capacity C3 (polar capacitor).When a system is powered up, electric capacity C3 has the process of a charging and discharging, and discharge process can produce a high level, and the time of electric discharge calculates according to formula (t=RC extraction of square root).R is the resistance of resistance R1, and C is the size of polar capacitor C3.When system is normally run, push button B1 time, RST end level be a high level, now chip also can produce a high level reset signal.Reset circuit presses B1 when program performs and causes confusion, and is default data the Refresh Data of special function register.Single-chip microcomputer in executive routine process, due to the outside causes such as interference cause data corruption in register can not make its normally continue executive routine (claim crash) or the result that produces incorrect time all need to reset, restart to make program to run.
As shown in Figure 4, for motor-drive circuit schematic diagram, acp chip is L298, control signal is passed to L298 by I/O mouth P1.0, P1.1, P1.2, P1.3, P1.4, P1.5 by STC89C52 single-chip microcomputer, control rotating and reverse of direct current generator respectively, thus realize the advance of multifunctional intellectual dolly, retrogressing, left-hand rotation and right-hand rotation.
As shown in Figure 5, for liquid crystal display circuit schematic diagram, display adopts LCD12864 LCDs, can Display of Chinese characters and figure, built-in GB GB2312 code simplified form of Chinese Character character library (16*16 dot matrix), 128 characters (8*16 dot matrix), and 64*256 lattice display RAM (GDRAM).Can with single-chip microcomputer direct interface, transmitting data in parallel, provides two kinds of interfaces to connect microprocessor.The distance of the main display speed of a motor vehicle and barrier.
As shown in Figure 6, be infrared tube circuit theory diagrams, the signal that infrared tube exports is digital quantity that is 0 or 1, and the sidewalk for visually impaired people information of detection is given single-chip microcomputer by P1.7 mouth by infrared tube.
As shown in Figure 6, U3 is made up of light emitting diode and phototriode, and according to the difference of carriage walking route road surface color, the light that light emitting diode sends is absorbed or is reflected back toward.When the light that light emitting diode sends is absorbed, phototriode can not conducting, and 2 pins of voltage comparator U4 are input as high level, now the 1 pin output low level of voltage comparator U4 that is 0; When the light that light emitting diode sends is reflected back toward, phototriode conducting, 2 pins of voltage comparator U4 are input as low level, and now 1 pin of voltage comparator U4 exports high level that is 1.
As shown in Figure 7, be the obstacle avoidance circuit interface schema, employing be photoelectric tube, photoelectric tube export be digital quantity.When an obstacle is detected, P2.0 and P2.1 mouth exports high level, otherwise, P2.0 and P2.1 mouth output low level, the start and stop of the signal control motor that single-chip microcomputer exports according to P2.0 and P2.1.
As shown in Figure 8, be range-measuring circuit interface schema, utilize ultrasound wave to realize range finding.Ultrasonic wave module often launches ultrasound wave at regular intervals, when there being barrier, ultrasound wave can be reflected back, utilize the timer of single-chip microcomputer and external interrupt can measure ultrasound wave and be issued to the time be reflected back, recycling distance S=Vt/2 just can calculate the distance of barrier, and distance is presented on LCD12864.
As shown in Figure 9, this multifunctional intellectual dolly course of work is as follows:
After multifunctional intellectual dolly powers on, program carries out initialization to modules, such as, make distance be presented at which row and which row of liquid crystal.Then the initialization of single-chip microcomputer is carried out: select timer and timing.
Drive motor, infrared tube detects road surface simultaneously, and whether photocell detection front has barrier, and ultrasonic wave module launches ultrasound wave.When photocell detection is to barrier, dolly halts; When barrier not detected, dolly advances, and infrared tube detects surface conditions, when infrared tube does not detect black line, dolly is kept straight on, when the infrared tube on the left side detects black line, dolly turns left, and the infrared tube when the right detects black line, and dolly is turned right.In the whole walking process of dolly, dolly is launched ultrasound wave always and is found range.
Claims (3)
1. a multifunctional intellectual dolly, comprise vehicle frame and two wheels (6), described wheel (6) connects direct current generator (8), direct current generator (8) is fixed on vehicle frame, it is characterized in that, vehicle frame is fixed with ultrasonic wave module (1), LCDs (2), control module (3), driver module (4) and photoelectric tube (5), reflective infrared tube (7) and correlation infrared tube (9) is fixed with under vehicle frame, wherein, described ultrasonic wave module (1), photoelectric tube (5), the output of reflective infrared tube (7) and correlation infrared tube (9) is all connected to control module (3), described control module (3) connects direct current generator (8) by driver module (4).
2. multifunctional intellectual dolly according to claim 1, is characterized in that, described direct current generator (8) motor shaft is fixed with code-disc (10), and code-disc (10) extend into correlation infrared tube (9).
3. multifunctional intellectual dolly according to claim 1, is characterized in that, is fixed with universal wheel (11) below described vehicle frame.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420587451.5U CN204129528U (en) | 2014-10-11 | 2014-10-11 | A kind of multifunctional intellectual dolly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420587451.5U CN204129528U (en) | 2014-10-11 | 2014-10-11 | A kind of multifunctional intellectual dolly |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204129528U true CN204129528U (en) | 2015-01-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420587451.5U Expired - Fee Related CN204129528U (en) | 2014-10-11 | 2014-10-11 | A kind of multifunctional intellectual dolly |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204129528U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104317290A (en) * | 2014-06-20 | 2015-01-28 | 西安科技大学 | Infrared remote-control multi-functional dolly |
| CN104842900A (en) * | 2015-03-05 | 2015-08-19 | 南宁市鼎天机械制造有限公司 | Multifunctional miniature agricultural tractor |
-
2014
- 2014-10-11 CN CN201420587451.5U patent/CN204129528U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104317290A (en) * | 2014-06-20 | 2015-01-28 | 西安科技大学 | Infrared remote-control multi-functional dolly |
| CN104842900A (en) * | 2015-03-05 | 2015-08-19 | 南宁市鼎天机械制造有限公司 | Multifunctional miniature agricultural tractor |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150128 Termination date: 20151011 |
|
| EXPY | Termination of patent right or utility model |