CN204965187U - Tracking dolly based on machine vision - Google Patents
Tracking dolly based on machine vision Download PDFInfo
- Publication number
- CN204965187U CN204965187U CN201520762903.3U CN201520762903U CN204965187U CN 204965187 U CN204965187 U CN 204965187U CN 201520762903 U CN201520762903 U CN 201520762903U CN 204965187 U CN204965187 U CN 204965187U
- Authority
- CN
- China
- Prior art keywords
- module
- machine vision
- base
- radio frequency
- camera
- 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
Landscapes
- Steering Control In Accordance With Driving Conditions (AREA)
- Closed-Circuit Television Systems (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model discloses a tracking dolly based on machine vision, including singlechip host system, camera and router module, platform system is handled to the computer, module of wireless radio frequency, motor and drive module, steering wheel turn to module, power module, be connected with on the singlechip host system motor driver module the steering wheel turn to the module power module with module of wireless radio frequency, module of wireless radio frequency connects gradually the computer handle platform system with camera and router module. This system adopts the camera to carry out information acquisition to the dolly course, not only can realize real time monitoring, can also realize automatic tracking, the automatic identification object, traversing is stable, and the system is with low costs, and intelligent degree is high, can realize industrial field's unmanned on duty function.
Description
Technical field
The utility model relates to intelligentized control method field, particularly a kind of tracking cart based on machine vision.
Background technology
Intelligent vehicle is the one of robot, is a collection environment sensing, decision rule, the system ensemble that automatic running is integrated.Intelligent tracking trolley is the one of intelligent vehicle, and unmanned, the many-sides such as industry is patrolled and examined, Science Explorations have a wide range of applications.Present tracking cart scheme on the market, primarily of the infrared tracking scheme of employing, as practical novel C N204406203U " high speed infrared tracking cart ".Infrared tracking scheme form is single, and antijamming capability is weak, and can only identify a tracking route, function is limited, cannot meet the demand of each field to tracking cart functional diversities.
Summary of the invention
The purpose of this utility model is single in order to solve prior art form, antijamming capability is weak, can only identify that a tracking route can not the problem of content with funtion diversified demand, a kind of line stabilization is provided, functional diversities, can recognition object automatically, many tracking tracks can be identified, can be applicable to the intelligent patrol detection dolly of industry spot.
The technical solution adopted in the utility model is: a kind of tracking cart based on machine vision, comprises single-chip microcomputer main control module, camera and router-module, computer processing platform system, wireless radio frequency modules, motor and driver module, steering wheel steering module, power module; Described single-chip microcomputer main control module is connected with described motor drive module, described steering wheel steering module, described power module and described wireless radio frequency modules, described wireless radio frequency modules connects described computer processing platform system and described camera and router-module successively.
Further, described single-chip microcomputer main control module comprises single-chip microcomputer, reset circuit, crystal oscillating circuit, power circuit.
Further, MSP430F149 single-chip microcomputer selected by described single-chip microcomputer.
Further, described computer processing platform system comprises image processing system and alarm lamp.
Further, described image processing system utilizes the VISION Development of Module of LabVIEW software.
Further, described camera and router-module comprise CCD camera and WIFI router.
Further, described power module adopts voltage to be 12V, and capacity is the chargeable lithium cell of 6500mAh.
Further, described motor and driver module comprise 370 reducing motors, BTN7871 driving circuit.
Further, described steering wheel steering module adopts MG995 steering wheel.
Further, described wireless radio frequency modules adopts NRF24L01 module.
The course of work of the present utility model is, under Remote pattern, operating personnel can pass through operating computer processing platform system, and remote operated vehicle, realizes the control to moving of car, and observes on-the-spot working condition from camera.
Under automatic tracking pattern, camera collection is to image, by router, image is sent to computer processing platform system, after computer processing platform system receives image, image processing system can process image, extract the moving line set, calculate steering order, and by wireless radio frequency modules, steering order is sent to the single-chip microcomputer main control module of dolly, single-chip microcomputer main control module is to after instruction decoding, motor and driver module and steering wheel steering module can be controlled, make dolly along line-of-road movement, thus realize tracking function.
In the process of tracking, image processing system also can screen the image received, and finds the object that we need to identify, if the object finding us pre-set, can start alarm lamp and report to the police, prompting operator.
The beneficial effects of the utility model are: adopt camera to carry out information acquisition to dolly course, not only can realize real-time monitoring, can also realize automatic tracking, automatic recognition object; Trolley travelling is stablized, and system cost is low, and intelligence degree is high, can realize the automatic inspection function of industry spot.
Accompanying drawing explanation
Fig. 1 is the utility model theory diagram;
Fig. 2 is tracking cart structural representation of the present utility model;
Wherein, 1 – single-chip microcomputer main control module, 3 – camera and router-modules, 4 – power modules, 5 – motor and driver modules, 6 – steering wheel steering modules, 7 – wireless radio frequency modules;
Fig. 3 is 2 – computer platform disposal system schematic diagram.
Embodiment
Feature of the present utility model and advantage can be understood further by reference to the accompanying drawings by following detailed description.The embodiment provided is only to explanation of the present utility model, and limits all the other contents of the utility model announcement never in any form.
Embodiment 1
As shown in Figure 1, a kind of tracking cart based on machine vision, comprises single-chip microcomputer main control module, camera and router-module, computer processing platform system, wireless radio frequency modules, motor and driver module, steering wheel steering module, power module; Described single-chip microcomputer main control module is connected with described motor drive module, described steering wheel steering module, described power module and described wireless radio frequency modules, described wireless radio frequency modules and is connected described computer processing platform system and described camera and router-module successively.
As shown in Figure 2 and Figure 3, a kind of tracking cart based on machine vision, comprises single-chip microcomputer main control module 1, computer processing platform system 2, camera and router-module 3, power module 4, motor and driver module 5, steering wheel steering module 6, wireless radio frequency modules 7.
Single-chip microcomputer main control module 1 selects the MSP430F149 single-chip microcomputer of Texas Instrument, also comprises reset circuit, crystal oscillating circuit, power circuit, and this part is responsible for compiling the signal sent by computer processing platform, controls advancing and turning of dolly.
Computer processing platform system 2 comprises image processing system and alarm lamp.Image processing system utilizes the VISION Development of Module of LabVIEW software to form, and can identify the function of the object of dolly tracking route and identification setting, also supporting have alarm lamp.
Camera and router-module 3 comprise high-speed CCD photography head and WIFI router.Compared with traditional CMOS camera, the high-speed CCD photography head time shutter is shorter, and the frequency gathering image is faster, in the motion process of dolly, the dynamic effect of camera is very important, and the dynamic effect of high-speed CCD photography head is tens times of common CMOS camera.Because the data volume of video is comparatively large, common radio transmission mode cannot meet at a high speed, the transmission requirement of big data quantity, and the video collected is launched by WIFI router well at high speed, and dynamic effect is good.
Power module 4 adopts voltage to be 12V, and capacity is the chargeable lithium cell of 6500mAh, and this model output voltage is high, can provide suitable voltage for drive motor.Large Copacity can ensure that dolly has good flying power simultaneously.
Motor and driver module 5 comprise 370 reducing motors, BTN7871 driving circuit.370 reducing motors can take into account the requirement of speed and torsion, make little vehicle speed moderate, have very strong climbing ability.BTN7871 driving circuit can have the big current realizing below 30A, provides powerful electric power for dolly travels.
Steering wheel steering module 6 adopts brightness to contain MG995 steering wheel, and this type steering wheel torsion is large, and corner amplitude is large, can meet the requirement that dolly turns to.
Wireless radio frequency modules 7 adopts NRF24L01 chip, and speed is fast, and command range is far away, is applicable to Long-distance Control.
The remote control function of the present embodiment is achieved in that
The image collected by high-speed CCD photography head is launched through WiFi router; Image processing system receives image by WiFi, and processes image, identifies path; Calculate travel speed and direction simultaneously, and steering order is sent via NRF24L01 wireless radio frequency modules 7; Single-chip microcomputer main control module 1 receives the steering order of being sent by NRF24L01 wireless radio frequency modules 7, controls motor and driver module 5 motion and steering wheel steering module 6 and turn to after resolve command.
Tracking function and the object identification function of the present embodiment are achieved like this:
Gather the image information needing recognition object in advance, be stored in computer processing platform system 2; The image collected by high-speed CCD photography head is launched through WiFi router; Image processing system receives image by WiFi, and image is processed, extract the moving line set, calculate steering order, and by wireless radio frequency modules 7, steering order is sent to the single-chip microcomputer main control module 1 of dolly, after single-chip microcomputer main control module 1 pair of instruction decoding, motor and driver module 5 and steering wheel steering module 6 can be controlled, make dolly along line-of-road movement, thus realize tracking function.In the process of tracking, image processing system also can screen the image received, and finds the object that we need to identify, if the object finding us pre-set, computer processing platform system 2 can start alarm lamp and report to the police, prompting operator.
Claims (10)
1. based on a tracking cart for machine vision, it is characterized in that: comprise single-chip microcomputer main control module, camera and router-module, computer processing platform system, wireless radio frequency modules, motor and driver module, steering wheel steering module, power module; Described single-chip microcomputer main control module is connected with described motor drive module, described steering wheel steering module, described power module and described wireless radio frequency modules, described wireless radio frequency modules connects described computer processing platform system and described camera and router-module successively.
2. the tracking cart based on machine vision according to claim 1, base is characterised in that: described single-chip microcomputer main control module comprises single-chip microcomputer, reset circuit, crystal oscillating circuit, power circuit.
3. the tracking cart based on machine vision according to claim 2, base is characterised in that: MSP430F149 selected by described single-chip microcomputer.
4. the tracking cart based on machine vision according to claim 1, base is characterised in that: described computer processing platform system comprises image processing system and alarm lamp.
5. the tracking cart based on machine vision according to claim 4, base is characterised in that: described image processing system utilizes the VISION Development of Module of LabVIEW software.
6. the tracking cart based on machine vision according to claim 1, base is characterised in that: described camera and router-module comprise CCD camera and WIFI router.
7. the tracking cart based on machine vision according to claim 1, base is characterised in that: described power module adopts voltage to be 12V, and capacity is the chargeable lithium cell of 6500mAh.
8. the tracking cart based on machine vision according to claim 1, base is characterised in that: described motor and driver module comprise 370 reducing motors, BTN7871 driving circuit.
9. the tracking cart based on machine vision according to claim 1, base is characterised in that: described steering wheel steering module adopts MG995 steering wheel.
10. the tracking cart based on machine vision according to claim 1, base is characterised in that: described wireless radio frequency modules adopts NRF24L01 module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520762903.3U CN204965187U (en) | 2015-09-29 | 2015-09-29 | Tracking dolly based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520762903.3U CN204965187U (en) | 2015-09-29 | 2015-09-29 | Tracking dolly based on machine vision |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204965187U true CN204965187U (en) | 2016-01-13 |
Family
ID=55060241
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520762903.3U Expired - Fee Related CN204965187U (en) | 2015-09-29 | 2015-09-29 | Tracking dolly based on machine vision |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204965187U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105511474A (en) * | 2016-01-18 | 2016-04-20 | 安徽工程大学 | Independent type vehicle tracking and controlling system |
| CN106444758A (en) * | 2016-09-27 | 2017-02-22 | 华南农业大学 | Road identification and path optimization AGV (automatic guided vehicle) based on machine vision and control system of AGV |
| CN109991985A (en) * | 2019-04-23 | 2019-07-09 | 上海工程技术大学 | A kind of CCD shakes the head tracking cart and tracking method |
| CN115123926A (en) * | 2022-07-13 | 2022-09-30 | 长春工业大学 | Electromagnetic trolley control system |
-
2015
- 2015-09-29 CN CN201520762903.3U patent/CN204965187U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105511474A (en) * | 2016-01-18 | 2016-04-20 | 安徽工程大学 | Independent type vehicle tracking and controlling system |
| CN106444758A (en) * | 2016-09-27 | 2017-02-22 | 华南农业大学 | Road identification and path optimization AGV (automatic guided vehicle) based on machine vision and control system of AGV |
| CN106444758B (en) * | 2016-09-27 | 2019-07-23 | 华南农业大学 | A kind of road Identification based on machine vision and the preferred AGV transport vehicle in path |
| CN109991985A (en) * | 2019-04-23 | 2019-07-09 | 上海工程技术大学 | A kind of CCD shakes the head tracking cart and tracking method |
| CN115123926A (en) * | 2022-07-13 | 2022-09-30 | 长春工业大学 | Electromagnetic trolley control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204965187U (en) | Tracking dolly based on machine vision | |
| CN205193589U (en) | Intelligence tracking dolly control system based on multisensor | |
| CN106185151A (en) | A kind of intelligent warehousing system | |
| CN204069209U (en) | A kind of transformer station ground cruising inspection system | |
| CN206833250U (en) | A kind of unmanned investigation dolly based on laser radar | |
| CN103552073B (en) | A kind of control system of bridge cable measuring robots | |
| CN107089458A (en) | A kind of new intelligent environment protection rubbish automatic recovery system | |
| CN105022392A (en) | Granary environment trolley control method | |
| CN205080434U (en) | WIFI intelligent video dolly based on 51 singlechip | |
| CN107253203A (en) | Multimode Intelligent toy collects robot | |
| CN206544183U (en) | A kind of crusing robot system communicated based on wide area Internet | |
| CN108287553A (en) | A kind of unmanned cruiser system of two-wheel drive low speed and working method | |
| CN206311970U (en) | Intelligent tracking monitoring cart system based on STM32 | |
| CN106708029A (en) | Intelligent inspection trolley system with low cost | |
| CN203472854U (en) | Video monitoring trolley | |
| CN206200970U (en) | Remove the intelligent robot of powder ash | |
| CN206096938U (en) | Intelligent vehicle with two -way characteristic of traveling | |
| CN202433773U (en) | Control device of automatic track searching intelligent vehicle based on single chip microcomputer (SCM) | |
| CN107678430A (en) | AGV trolley control systems | |
| CN203338136U (en) | Mobile phone controlling-based remote control car | |
| CN206639042U (en) | A kind of Vegetable Distribution center intelligent vehicle control system | |
| CN210428193U (en) | Electromagnetism inspection trolley with obstacle avoidance function based on K66 treater | |
| CN212322113U (en) | Trolley obstacle avoidance system based on laser radar | |
| CN103399327A (en) | Beidou system-based satellite signal optimizing system and method | |
| CN206627828U (en) | SCM Based intelligent distant control search and rescue device |
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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160113 Termination date: 20160929 |