CN206648662U - Automatic tracking device based on inductance sensor - Google Patents
Automatic tracking device based on inductance sensor Download PDFInfo
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- CN206648662U CN206648662U CN201720226348.1U CN201720226348U CN206648662U CN 206648662 U CN206648662 U CN 206648662U CN 201720226348 U CN201720226348 U CN 201720226348U CN 206648662 U CN206648662 U CN 206648662U
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- inductance
- inductance sensor
- main control
- control unit
- sensor
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Abstract
The utility model discloses a kind of automatic tracking device based on inductance sensor, including tracking line and body system along track laying；Body system includes some inductance sensors for being arranged on headstock, the motor of some driving moments and the single-chip microcomputer for connecting inductance sensor and motor respectively；Power module is powered by main control unit, after with tracking line mutual inductance effect occurs for inductance sensor, sensor sends the data to main control unit, then the tracking of dolly is realized in controlled motor operating, while realizes the precise positioning for dolly with automatically controlling for the data of each inductance sensor feedback.Under electromagnetic shielding system, inductance sensor will not be influenceed by weather and complex environment, and electromagnetic navigation will be far superior to the navigation mode based on light or image to the antijamming capability of extraneous factor.The device can realize prompt facility for barrier, pass through real-time display speed and operating range on display screen.Present apparatus design accuracy is high, low in energy consumption, has very strong practicality.
Description
Technical field
It the utility model is related to a kind of automatic tracking device, and in particular to a kind of automatic tracking dress based on inductance sensor
Put.
Background technology
In recent years, oneself focus and auto industry through turning into the research of world's Vehicle Engineering of intelligent vehicle increase new dynamic
Power, many developed countries are all brought into the intelligent transportation system each given priority to.Domestic contrast is commonly used at present
Tracking airmanship have optical navigation, camera navigation etc., but these modes be limited in that can by daytime, night and
The influence of the factors such as weather conditions, it is larger to the dependence of external environment condition.And in data processing and algorithm optimization, this
A little mode all existing defects, it is impossible on certain cost basis, realize high-precision requirement.
The content of the invention
To solve the deficiencies in the prior art, the purpose of this utility model is to design a kind of based on the automatic of inductance sensor
Tracking device.
The utility model adopts the following technical scheme that：
Automatic tracking device based on inductance sensor, including tracking line and body system along track laying；Car body system
System include some inductance sensors for being arranged on headstock, the motor of some driving moments, display module, alarm module, encoder,
Power module and main control unit；Wherein power module, inductance sensor, the motor of some driving moments, display module, alarm mould
Block, encoder are connected with main control unit respectively.
Above-mentioned inductance sensor is connected with main control unit, inductance sensor distribution finished product shape and/or linear, for detecting
Tracking line simultaneously feeds back signal to main control unit controlled motor driving moment.
Above-mentioned display module is connected with main control unit, using LCD12864 chips, for showing current vehicle speed and time.
Above-mentioned alarm module is connected with main control unit, including buzzer and triode, small to remind with light by sound
Whether car deviates tracking line.
Above-mentioned encoder device is connected with main control unit, including Hall sensor, for measuring speed.
Above-mentioned power module is connected with main control unit, for for system power supply.
Above-mentioned tracking line uses iron material matter, is easy to the detection of inductance sensor.
Above-mentioned main control unit includes the single-chip microcomputer of connection oscillating circuit and reset circuit.
Further, above-mentioned single-chip microcomputer uses MSP430F149 chips.
It is of the present utility model to be beneficial in that：Automatic tracking device of the present utility model is based on inductance sensor, in electricity
Under the protection of magnetic shielding system, inductance sensor will not be influenceed by weather and some complex environments, electromagnetic navigation to it is extraneous because
The antijamming capability of element will be far superior to the navigation mode based on light or image.Position is put by adjust inductance sensor
Put, after mutual inductance effect occurs for inductance sensor and track, sensing data is sent to main control unit, then controlled motor is transported
Turn to realize that dolly tracking moves, and make different processing for the data of each inductance sensor feedback, realize for dolly
Precise positioning is with automatically controlling.
The device can be made to judge and realize voice prompt function for barrier, can also be by showing in real time on display screen
Show speed and operating range.
Brief description of the drawings
Fig. 1 is the structural representation of the automatic tracking device of the present utility model based on inductance sensor；
Fig. 2 is the pinouts of MSP430F149 main control units of the present utility model；
Fig. 3 is oscillating circuit figure of the present utility model；
Fig. 4 is reset circuit figure of the present utility model；
Fig. 5 is the circuit diagram of power module of the present utility model；
Fig. 6 is the circuit diagram of inductance sensor of the present utility model；
Fig. 7 is the circuit diagram of encoder of the present utility model；
Fig. 8 is the circuit diagram of display module of the present utility model；
Fig. 9 is the schematic diagram of alarm module circuitry of the present utility model；
Figure 10 is the inductance sensor of the present utility model structural representation in parallel in product shape；
Figure 11 is the linear structural representation of inductance sensor of the present utility model series connection；
Figure 12 is the schematic diagram of car body of the present utility model inductance sensor and tracking line under straight-going state；
Figure 13 is the schematic diagram of car body of the present utility model inductance sensor and tracking line under left turn state；
Figure 14 is the schematic diagram of car body of the present utility model inductance sensor and tracking line under right turn state.
Embodiment
Make specific introduce to the utility model below in conjunction with the drawings and specific embodiments.
As shown in figure 1, the automatic tracking device of the present utility model based on inductance sensor, including following along track laying
Trace and body system；Body system includes some inductance sensors for being arranged on headstock, the motor of some driving moments, display
Module, alarm module, encoder, power module and main control unit；Wherein power module, inductance sensor, some driving moments
Motor, display module, alarm module, encoder be connected with main control unit respectively.
Main control unit includes single-chip microcomputer MSP430F149, oscillating circuit, reset circuit.Single-chip microcomputer MSP430F149 pin
Figure, as shown in Figure 2.As shown in figure 3, the XIN pins of its XIN and single-chip microcomputer connect, the XOUT of XOUT and single-chip microcomputer draws oscillating circuit
Pin connects.Reset circuit, as shown in the figure 4,58 pins of its RST and single-chip microcomputer connect.Single-chip microcomputer is the control section of whole device, control
Each several part co-ordination processed.
Fig. 5 is power circuit block, using LM7805, the 12V power supplys of input is become+5V power supplys, pass through main control unit
For system power supply.
Fig. 6 is inductance sensor, and using LDC1314, the chip is a kind of contactless, short distance sensing technology inductance number
Word device chip.Controlled by iic bus, there is provided plurality of operating modes.Can be real in dust, dirt, oil and wet environment
The low cost of existing target conductor, high-resolution sensing, this make it that it is very reliable in adverse circumstances.And it has four-way
Sampling, can more easily realize the requirement to precision.The collection of data is realized in the system with the chip.
Fig. 7 is encoder circuit, and encoder is installed on 4 wheels, and main control unit detects the unit interval by encoder
The pulse number of interior output calculates the rotating speed of wheel, so as to extrapolating the speed of service of dolly.Pin is fed back in the system and meets master
Control 10 and 11 mouthfuls of unit.
Fig. 8 is display module circuit, and it uses LCD12864, and the chip shares 20 pins, actual only to have used 18.
GND pin and LEDK pins are directly grounded, and VCC pin is power input, and LEDA pins are backlight positive input terminals, all connect power supply
Positive pole, RD pins and RW pins are the control pin read or write of instruction or data, and it is independent to be connected to main control unit pin in systems
Control, E pins are used as enable signal, control LCD execute instructions or read and write data, DB0~DB7 pins are data ports, 15 pins
It is the selection of the serial/parallel working method of LCD data.RD, RW pin connect 24 and 25 mouthfuls of single-chip microcomputer respectively in the system, E pin
26 mouthfuls are connect, DB0~DB7 pin then connect 00~07 mouthful of main control unit.
If Fig. 9 is alarm module circuitry, alarm module is used to send voice prompt when detecting barrier (coin).The electricity
Road drives buzzer to realize by PNP triode, and the base stage of triode, main control unit are controlled by main control unit I/O mouths
I/O mouths export low level when, triode ON, then alarm module positive pole and power on, alarm module send auditory tone cues,
When main control unit I/O mouths export high level, triode cut-off, alarm module is stopped.The pin connects main control unit in the system
48 mouthfuls.
Realize that the detailed process of straight trip and the left and right turning of dolly is as follows：
As shown in Figure 10, in order that dolly keeps certain speed during tracking, 3 probes in parallel is placed and are in
Triangle disposition is put, and takes LDC1314 IN0A and IN0B, IN1A and IN1B3, IN2A and IN2B passages respectively.
As shown in figure 11, when detecting barrier (coin), the present invention is using 3 spies for placing series connection again above headstock
The method of head (inductance coil), this method can fully cover tracking line, then accurately find barrier and alarm, simultaneously
Turn to.Take LDC1314 IN3A and IN3B passage.
During dolly tracking, LDC1314 four passages sample and send the data to main control unit processing simultaneously,
Then the control of motor is carried out, if without tracking line dolly when stopping travels.
As shown in figure 12, straight-going state.Popped one's head in when No. 1 in orbit, when 2 and No. 3 inductance sensors are not in orbit,
The position of now dolly is judged on straight way, and now dolly should take the action of straight trip.During straight trip, main control unit controlled motor is protected
Demonstrate,prove four wheel speeds and keep the same.
As shown in figure 13, left-hand bend state.Popped one's head in when No. 1 and No. 3 outside track, and No. 2 in orbit, judges now
The position of dolly it is left it is curved enter curved mouth, now dolly should take the action of left-hand bend.During left-hand bend, main control unit control is left front
With left rear wheel transfixion, off-front wheel and off hind wheel rotate, and realize (because track curves radius differs with dolly vehicle body
Less, therefore the design is errorless after tested).
As shown in figure 14, right-hand bend state.Popped one's head in when No. 1 and No. 2 outside track, and No. 3 in orbit, judges now
The position of dolly it is right it is curved enter curved mouth, now dolly should take the action of right-hand bend.During right-hand bend, before main control unit control is right
With off hind wheel transfixion, the near front wheel and left rear wheel rotate, and realize that (line radius differs not with dolly vehicle body due to tracking for right-hand bend
Greatly, therefore the design is errorless after tested).
Above-mentioned motion process has the following advantages that：1st, when excessively curved, because No. 1 probe is eventually outside bend, dolly can be with
Simple processing, judges perform action rapidly, and excessively curved (especially U bending tracks road) is more smooth compared to other vehicles；2、
In straight way, once go out it is curved after 2 or No. 3 probes will leave track, No. 1 access, take straight trip to act at once, ensure speed and stream
Smooth property, it is therefore prevented that due to go out it is curved make sensor signal suddenly change caused by dolly yaw hidden danger.
When probe detects barrier, control signal driving alarm module module sound prompting is sent by main control unit,
In trolley travelling whole process by regularly realizing accurate timing, so as to the real-time display trolley travelling time；Main control unit passes through reading
The pulse signal number of unit interval inner encoder output, to measure vehicle wheel rotational speed, so as to realize real-time display operating range.
Real-time display speed and operating range on LCD display.
The dolly is based on inductance sensor, can realize tracking, detection obstacle, test the speed, shows the functions such as operating range,
In actual test, data error is minimum.Later stage can also improve hardware configuration, quantity for inductance sensor and put can basis
Demand is for further adjustments, so as to realize the requirement of higher precision and processing speed, then improves dolly adaptability to changes, realizes more
Fast tracking travel speed.
General principle, principal character and advantage of the present utility model has been shown and described above.The technical staff of the industry
It should be appreciated that above-described embodiment does not limit the utility model in any form, it is all by the way of equivalent substitution or equivalent transformation
The technical scheme obtained, all falls within the scope of protection of the utility model.
Claims (8)
1. the automatic tracking device based on inductance sensor, it is characterised in that including the tracking line along track laying and car body system
System；Body system includes some inductance sensors for being arranged on headstock, the motor of some driving moments and connects inductance biography respectively
The main control unit of sensor and motor；
Main control unit detects the signal control motor driving moment of tracking line feedback, main control unit and power supply according to inductance sensor
Module connects.
2. the automatic tracking device according to claim 1 based on inductance sensor, it is characterised in that the main control unit
By encoder measuring car wheel speed, the encoder includes Hall sensor.
3. the automatic tracking device according to claim 1 based on inductance sensor, it is characterised in that the inductance sensing
Device is distributed finished product shape and/or linear.
4. the automatic tracking device according to claim 1 based on inductance sensor, it is characterised in that the main control unit
Display module is connect, the display module uses LCD12864 chips.
5. the automatic tracking device according to claim 1 based on inductance sensor, it is characterised in that the main control unit
Module taking alarm, the alarm module include buzzer and triode.
6. the automatic tracking device according to claim 1 based on inductance sensor, it is characterised in that the main control unit
Single-chip microcomputer including connection oscillating circuit and reset circuit.
7. the automatic tracking device according to claim 6 based on inductance sensor, it is characterised in that the single-chip microcomputer is adopted
With MSP430F149 chips.
8. the automatic tracking device according to claim 1 based on inductance sensor, it is characterised in that the tracking line
Material is iron.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720226348.1U CN206648662U (en) | 2017-03-09 | 2017-03-09 | Automatic tracking device based on inductance sensor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720226348.1U CN206648662U (en) | 2017-03-09 | 2017-03-09 | Automatic tracking device based on inductance sensor |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206648662U true CN206648662U (en) | 2017-11-17 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720226348.1U Expired - Fee Related CN206648662U (en) | 2017-03-09 | 2017-03-09 | Automatic tracking device based on inductance sensor |
Country Status (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696914A (en) * | 2019-01-02 | 2019-04-30 | 安徽师范大学 | A kind of indoor patrol robot based on electromagnetic navigation |
| CN109947104A (en) * | 2019-03-27 | 2019-06-28 | 河海大学常州校区 | A kind of unilateral side rotary island automatic tracking method |
-
2017
- 2017-03-09 CN CN201720226348.1U patent/CN206648662U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109696914A (en) * | 2019-01-02 | 2019-04-30 | 安徽师范大学 | A kind of indoor patrol robot based on electromagnetic navigation |
| CN109947104A (en) * | 2019-03-27 | 2019-06-28 | 河海大学常州校区 | A kind of unilateral side rotary island automatic tracking method |
| CN109947104B (en) * | 2019-03-27 | 2021-12-21 | 河海大学常州校区 | Automatic tracking method for unilateral roundabout |
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|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171117 Termination date: 20200309 |
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| CF01 | Termination of patent right due to non-payment of annual fee |