CN206726047U - A kind of carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement - Google Patents
A kind of carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement Download PDFInfo
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- CN206726047U CN206726047U CN201720292069.5U CN201720292069U CN206726047U CN 206726047 U CN206726047 U CN 206726047U CN 201720292069 U CN201720292069 U CN 201720292069U CN 206726047 U CN206726047 U CN 206726047U
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Abstract
It the utility model is related to a kind of carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement, including the vehicle frame with front wheels and rear wheels, the vehicle frame is provided with to drive the driving structure that trailing wheel rotates, characterized in that, control unit, two infrared distance measuring devices at an angle to each other, steering wheel and power supply are additionally provided with the vehicle frame；Control unit, each infrared distance measuring device and steering wheel respectively with power electric connection, control unit communicates to connect each infrared distance measuring device and steering wheel respectively, with by control unit according to transmitted by each infrared distance measuring device come signal control steering wheel produce certain angle adjustment, change the travel direction of intelligent carriage, avoid front obstacle.The intelligent carriage automatically avoiding obstacles can travel, and realize Auto-searching track avoidance, the power of traveling can be produced without oil consumption power consumption, realize carbon-free traveling.
Description
Technical field
It the utility model is related to intelligent traveling field, more particularly to a kind of Auto-searching track avoidance based on infrared distance measurement is carbon-free
Intelligent carriage.
Background technology
Intelligent vehicle technology be it is a kind of utilize advanced electron and information technology, realization automatically control vehicle avoiding obstacles with
And the new driving technology of control vehicle driving trace, it can be automatically performed the various driver behaviors in traditional driving procedure,
The operational efficiency and security of traffic system are greatly enhanced, and fundamentally changes traditional vehicle drive mode, is had wide
General social application value.
Currently, although intelligent vehicle technology is in the test drive stage of true car, more intelligence to a certain extent
Energy car is still to demonstrate the stage in laboratory, and making Experiment Training demonstration mainly for student and numerous researchers uses, and greatly
Partial experimental demonstration is needed to obtain the power for traveling of advancing by oil consumption or power consumption with intelligent vehicle.As people are to without carbocyclic ring
How the pursuit that factoring is read, mutually merge carbon-free environmental protection concept with intelligent vehicle technology, is drilled with providing one kind for laboratory training
Show that the intelligent carriage used turns into the big problem that current intelligent vehicle traveling field needs solve.
Utility model content
Technical problem to be solved in the utility model provides a kind of based on infrared distance measurement for above-mentioned prior art
The carbon-free intelligent carriage of Auto-searching track avoidance.The carbon-free intelligent carriage of Auto-searching track avoidance automatically avoiding obstacles can travel,
Realize that Auto-searching track avoidance travels.
Technical scheme is used by the utility model solves above-mentioned technical problem：A kind of independently seeking based on infrared distance measurement
The carbon-free intelligent carriage of mark avoidance, including the vehicle frame with front wheels and rear wheels, the vehicle frame are provided with what is rotated to drive trailing wheel
Driving structure, it is characterised in that control unit, two infrared distance measuring devices at an angle to each other, steering wheels are additionally provided with the vehicle frame
And power supply；Control unit, each infrared distance measuring device and steering wheel communicate to connect each red respectively with power electric connection, control unit respectively
Outer range unit and steering wheel, with by control unit according to transmitted by each infrared distance measuring device come signal control steering wheel produce it is certain
The adjustment of angle, change the travel direction of intelligent carriage, avoid front obstacle.
Specifically, the driving structure includes being rotatably installed in the gear wheel on vehicle frame and on the power transmission shaft of trailing wheel
And the little gear that can be rotated with trailing wheel, gear wheel engage connection with little gear, the vehicle frame is provided with vertical rack, vertically
The pendency weight of free-falling can be realized by being provided with support, and the sidepiece of the gear wheel has and can rotated with gear wheel
Wheel hub, be wound with draught line on wheel hub, fixing end and the wheel hub of draught line are fixed, the free end of draught line then with the pendency
Weight is connected.
Specifically, the infrared distance measuring device has infrared signal transmitting tube and IR signal reception pipe, infrared signal hair
Penetrate pipe to communicate to connect with control unit respectively with IR signal reception pipe, with by control unit control steering wheel adjustment intelligent carriage
Corner hides obstacle to realize.
In order that the voltage that power supply is provided disclosure satisfy that each power-consuming component in the carbon-free intelligent carriage of Auto-searching track avoidance
Operating voltage needs, and further, the described carbon-free intelligent carriage of Auto-searching track avoidance also includes booster circuit, booster circuit
Input connects the output end of power supply, and the output end of booster circuit connects control unit, infrared distance measuring device and steering wheel respectively.
Further, described control unit be STC15f series single-chip microcomputer, infrared distance measuring device model GP2D12, rudder
Machine model SG90.
In order to ensure the stabilization and smooth during pendency weight free-falling, by the gravitional force for the weight that dangles at utmost
Ground is converted to the power potential energy of intelligent carriage advance traveling, has with improvement, on the vertical rack under pendency weight freedom
The track fallen.
Further, wheel carrier is fixed with the top of the vertical rack, fixed pulley is installed, draught line is around fixed on wheel carrier
Pendency weight and wheel hub are connected after pulley respectively.By setting the fixed pulley bypassed for draught line, to ensure the weight-drop that dangles
Process and stationarity during bull gear drive.
The continuity of stationarity and traveling during in order to be further ensured that intelligent carriage traveling, the number of the trailing wheel are
Two, one of trailing wheel in two trailing wheels is provided with the wheel hub, front-wheel on the perpendicular bisector of two trailing wheel connecting lines,
And the diameter of front-wheel is less than the diameter of trailing wheel.
In order to farthest mitigate the overall weight of intelligent carriage, to increase the operating range of intelligent carriage and improvement
The accurate control that steering wheel travels angle to intelligent carriage adjusts, and with improvement, the front wheels and rear wheels use acrylic material system
Make, vehicle frame is made using carbon fibre material, and vertical rack is made using resin material.Further, the front-wheel, trailing wheel and
Vehicle frame is designed using hollow out.
Compared with prior art, the utility model has the advantage of：
First, two infrared distance measuring devices at an angle to each other on intelligent carriage constantly outwards launch infrared signal, and not
The infrared signal reflected through front obstacle is received in disconnecting, then infrared by what is returned respectively by two infrared distance measuring devices
The angle at signal and two infrared distance measuring device right angles is sent to control unit processing, hinders so as to obtain front by control unit
After the azran information for hindering thing, control unit control steering wheel produces the adjustment of certain angle, to change the traveling of intelligent carriage
Direction, front obstacle is avoided, to be travelled on the circuit of front clear, it is achieved thereby that the Auto-searching track of intelligent carriage
Avoidance travels；
Secondly, the pendency weight on vertical rack has gravitional force in itself, pendency weight along vertical rack oneself
During whereabouts, pendency weight by draught line pull bull gear drive, the large gear turn the small gear rotate, rotation it is small
Gear drives rear wheel by power transmission shaft, so as to which the gravitional force for the weight that dangles to be converted to the power potential of intelligent carriage traveling
Can, intelligent carriage is avoided by power consumption oil consumption to produce power, and the autonomous offer of intelligent carriage driving dynamics is provided
With carbon-free environmental-protection running.
Brief description of the drawings
Fig. 1 is that the structure of the carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement in the utility model embodiment is shown
It is intended to；
Fig. 2 is the top view of the carbon-free intelligent carriage of Auto-searching track avoidance shown in Fig. 1；
Fig. 3 is the connection diagram of main function components in the carbon-free intelligent carriage of Auto-searching track avoidance shown in Fig. 1.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing embodiment.
As shown in Figure 1 to Figure 3, the carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement in the present embodiment, including
Vehicle frame 3 with front-wheel 1 and trailing wheel 2, vehicle frame 3 are provided with to drive the driving structure that trailing wheel 2 rotates, and vehicle frame 3 is provided with control
4, two infrared distance measuring devices at an angle to each other 5 of unit, steering wheel 6 and power supply 7 processed；Control unit 4, the and of each infrared distance measuring device 5
Steering wheel 6 electrically connects with power supply 7 respectively, and control unit 4 communicates to connect each infrared distance measuring device 5 and steering wheel 6 respectively, with single by control
The adjustment for the signal control steering wheel generation certain angle that member is come according to transmitted by each infrared distance measuring device, changes the row of intelligent carriage
Direction is sailed, avoids front obstacle.Driving structure in the present embodiment specifically includes the gear wheel 91 being rotatably installed on vehicle frame 3
And it can be engaged with the little gear 92 that trailing wheel rotates, gear wheel 91 on the power transmission shaft 12 of trailing wheel 2 and with little gear 92
Connection, vehicle frame 3 are provided with vertical rack 10, are provided with the pendency weight 11 that can realize free-falling in vertical rack 10, greatly
The sidepiece of gear 91 has the wheel hub that can be rotated with gear wheel 91, and draught line 8, the fixation of draught line 8 are wound with wheel hub
End is fixed with wheel hub, and the free end of draught line 8 is then connected with pendency weight 11.Power supply 7 herein is mainly responsible for control unit
4th, two infrared distance measuring devices 5 and steering wheel 6 provide the electric energy of work, and power supply 7 itself is carried out before will not being provided to intelligent carriage
The electric energy sailed.
Two infrared distance measuring devices 5 on intelligent carriage constantly outwards launch infrared signal, and infrared distance measuring device 5
Constantly receive the infrared signal reflected through front obstacle, then will be returned respectively by two infrared distance measuring devices 5
Angle between infrared signal and two infrared distance measuring devices is sent to control unit 4 and handled, so as to be obtained by control unit 4
To after the azran information of front obstacle, control unit 4 controls the adjustment of the generation certain angle of steering wheel 6, to change intelligence
The travel direction of dolly, avoids front obstacle, to be travelled on the circuit of front clear, it is achieved thereby that intelligent carriage
Carbon-free traveling and Auto-searching track avoidance traveling；Pendency weight 11 itself on vertical rack 10 has gravitional force,
Weight 11 dangle along during the free-falling of vertical rack 10, pendency weight 11 passes through draught line 8 and pulls 91 turns of gear wheel
Dynamic, the gear wheel 91 and then drive little gear 92 of rotation rotate, and the little gear 92 of rotation drives trailing wheel 2 to rotate by power transmission shaft,
So as to which the gravitional force for the weight 11 that dangles to be converted to the power potential energy of intelligent carriage advance traveling, avoid intelligent carriage and pass through
Power consumption oil consumption produces power, is truly realized the autonomous offers of intelligent carriage advance driving dynamics, when intelligent carriage travels without
Carbocyclic ring is protected.
Wherein, in the present embodiment, control unit 4 is using the single-chip microcomputer of STC15f series, the model of infrared distance measuring device 5
GP2D12, the model SG90 of steering wheel 6；Infrared distance measuring device 5 has infrared signal transmitting tube and IR signal reception pipe, infrared letter
Number transmitting tube communicates to connect with control unit respectively with IR signal reception pipe, to control steering wheel adjustment intelligence by control unit 4
The corner of dolly hides obstacle to realize.
In order that the voltage that power supply is provided disclosure satisfy that each power-consuming component in the carbon-free intelligent carriage of Auto-searching track avoidance
Operating voltage needs, and further, the intelligent carriage in the present embodiment also includes booster circuit 13, the input of booster circuit 13
The output end of power supply 7 is connected, the output end of booster circuit 13 connects control unit 4, infrared distance measuring device 5 and steering wheel 6 respectively.
It is in order to ensure the stabilization and smooth during pendency 11 free-falling of weight, the gravitional force for the weight 11 that dangles is maximum
The power potential energy of intelligent carriage traveling is converted to degree, with improvement, is had on vertical rack 10 for pendency weight 11 freely
The track of whereabouts.
In addition, the top of vertical rack 10 is fixed with wheel carrier, fixed pulley 14 is installed, draught line 8 is around fixed sliding on wheel carrier
Pendency weight 11 and wheel hub are connected after wheel 14 respectively.By setting the fixed pulley 14 bypassed for draught line 8, to ensure the weight that dangles
Dropping process and stationarity during bull gear drive.
The continuity of stationarity and traveling during in order to be further ensured that intelligent carriage traveling, intelligence is small in the present embodiment
The number of the trailing wheel 2 of car is two, and one of trailing wheel in two trailing wheels 2 is provided with wheel hub, and front-wheel 1 connects positioned at two trailing wheels
On the perpendicular bisector of wiring, and the diameter of front-wheel 1 is less than the diameter of trailing wheel 2.
In order to farthest mitigate the overall weight of intelligent carriage, to increase the operating range of intelligent carriage and improvement
The accurate control that steering wheel travels angle to intelligent carriage adjusts, and with improvement, in the intelligent carriage of the present embodiment, front-wheel 1 is with after
Wheel 2 is made using acrylic material, and vehicle frame 3 is made using carbon fibre material, and vertical rack 10 is made using resin material.Enter
One step, front-wheel 1, trailing wheel 2 and vehicle frame 3 are designed using hollow out.
Although preferred embodiment of the present utility model described in detail above, it is to be clearly understood that for this
For the technical staff in field, the utility model can have various modifications and variations.It is all in the spirit and principles of the utility model
Within any modification, equivalent substitution and improvements made etc., should be included within the scope of protection of the utility model.
Claims (10)
1. a kind of carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement, including the car with front-wheel (1) and trailing wheel (2)
Frame (3), the vehicle frame (3) are provided with to drive the driving structure that trailing wheel (2) rotates, it is characterised in that：On the vehicle frame (3)
It is additionally provided with control unit (4), two infrared distance measuring devices (5) at an angle to each other, steering wheel (6) and power supply (7)；Control unit (4),
Each infrared distance measuring device (5) and steering wheel (6) electrically connect with power supply (7) respectively, and control unit (4) communicates to connect each infrared survey respectively
Away from device (5) and steering wheel (6), with by control unit according to transmitted by each infrared distance measuring device come signal control steering wheel produce one
Determine the adjustment of angle, change the travel direction of intelligent carriage, avoid front obstacle.
2. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 1, it is characterised in that：The driving structure includes
The gear wheel (91) that is rotatably installed on vehicle frame (3) and it can revolve on the power transmission shaft (12) of trailing wheel (2) and with trailing wheel
The little gear (92) turned, gear wheel (91) engage connection with little gear (92), and the vehicle frame (3) is provided with vertical rack (10),
The pendency weight (11) that can realize free-falling is provided with vertical rack (10), the sidepiece of the gear wheel (91) has energy
The wheel hub rotated with gear wheel, draught line (8) is wound with wheel hub, the fixing end of draught line (8) is fixed with wheel hub, traction
The free end of line (8) is then connected with the pendency weight (11).
3. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 1, it is characterised in that the infrared distance measuring device
(5) there is infrared signal transmitting tube and IR signal reception pipe, infrared signal transmitting tube and IR signal reception pipe respectively with control
Unit communication connection processed, obstacle is hidden to realize with the corner by control unit control steering wheel adjustment intelligent carriage.
4. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 1, it is characterised in that also including booster circuit
(13), the output end of the input connection power supply (7) of booster circuit (13), the output end of booster circuit (13) connect control respectively
Unit (4), infrared distance measuring device (5) and steering wheel (6).
5. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 1, it is characterised in that described control unit (4)
For the single-chip microcomputer of STC15f series, infrared distance measuring device (5) model GP2D12, steering wheel (6) model SG90.
6. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 2, it is characterised in that the vertical rack (10)
The upper track with for pendency weight (11) free-falling.
7. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 6, it is characterised in that the vertical rack (10)
Top be fixed with wheel carrier, fixed pulley (14) is installed, draught line (8) bypasses after fixed pulley (14) connection pendency respectively on wheel carrier
Weight (11) and wheel hub.
8. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 2, it is characterised in that of the trailing wheel (2)
Number is two, and one of trailing wheel in two trailing wheels (2) is provided with the wheel hub, and front-wheel (1) is located at two trailing wheel connecting lines
Perpendicular bisector on, and the diameter of front-wheel (1) be less than trailing wheel (2) diameter.
9. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 2, it is characterised in that the front-wheel (1) and after
Take turns (2) to make using acrylic material, vehicle frame (3) is made using carbon fibre material, and vertical rack (10) uses resin material
Make.
10. the carbon-free intelligent carriage of Auto-searching track avoidance according to claim 9, it is characterised in that the front-wheel (1), after
(2) and vehicle frame (3) is taken turns to design using hollow out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292069.5U CN206726047U (en) | 2017-03-23 | 2017-03-23 | A kind of carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292069.5U CN206726047U (en) | 2017-03-23 | 2017-03-23 | A kind of carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement |
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| Publication Number | Publication Date |
|---|---|
| CN206726047U true CN206726047U (en) | 2017-12-08 |
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| CN201720292069.5U Expired - Fee Related CN206726047U (en) | 2017-03-23 | 2017-03-23 | A kind of carbon-free intelligent carriage of Auto-searching track avoidance based on infrared distance measurement |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108176060A (en) * | 2018-03-21 | 2018-06-19 | 桂林电子科技大学 | By gravitional force provide power can crossing obstacle automatically automatically controlled carbon-free trolley |
| CN111974005A (en) * | 2020-07-30 | 2020-11-24 | 常州信息职业技术学院 | Electric control carbon-free obstacle avoidance trolley based on embedded system development |
-
2017
- 2017-03-23 CN CN201720292069.5U patent/CN206726047U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108176060A (en) * | 2018-03-21 | 2018-06-19 | 桂林电子科技大学 | By gravitional force provide power can crossing obstacle automatically automatically controlled carbon-free trolley |
| CN111974005A (en) * | 2020-07-30 | 2020-11-24 | 常州信息职业技术学院 | Electric control carbon-free obstacle avoidance trolley based on embedded system development |
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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: 20171208 Termination date: 20180323 |
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| CF01 | Termination of patent right due to non-payment of annual fee |