Intelligent tracking trolley

Abstract

The utility model provides an intelligent tracking trolley. Comprising a tracking module used for generating a deviation electric signal when the trolley deviates from a moving route; the collision detection module is used for generating a collision electric signal when the trolley collides; the moving module is used for driving the trolley to move; and the control module generates different control electric signals according to the deviation electric signals and the collision electric signals and transmits the control electric signals to the moving module, and the moving module controls the trolley to move according to the control electric signals, so that the trolley runs along the moving route and avoids obstacles.

Description

Technical Field

[0001] The utility model relates to the technical fields of electronic information and robotics, and in particular to an intelligent tracking vehicle. Background Art

[0002] With the development of automation technology, intelligent tracking vehicles are widely used in fields such as education and logistics. Existing tracking vehicles rely primarily on simple sensors and control algorithms, making them difficult to adapt to complex environments and path changes. An improved tracking system is needed to enhance the performance and adaptability of intelligent tracking vehicles.

[0003] The main technical issues with existing tracking vehicles include the accuracy and stability of the perception system due to sensor errors and environmental changes, the complexity and efficiency of the control algorithm, the reliability and durability of the hardware, the complexity and difficulty of debugging the system, power management, and user experience. Therefore, it is necessary to provide an improved intelligent tracking vehicle system that can operate stably in complex environments and has efficient path tracking and obstacle avoidance capabilities. Utility Model Content

[0004] The utility model provides an intelligent tracking car that can move, follow the track and avoid obstacles. It includes:

[0005] Tracking module, used to generate a deviation electrical signal when the car deviates from the moving route;

[0006] A collision detection module is used to generate a collision electrical signal when the car collides;

[0007] Mobile module, used to drive the car to move;

[0008] The control module generates different control electrical signals based on the deviation electrical signal and the collision electrical signal, and transmits the control electrical signals to the mobile module. The mobile module controls the movement of the car according to the control electrical signals, so that the car can move along the moving route and avoid obstacles.

[0009] Optionally, the tracking module includes multiple detection units and a first processing chip; the multiple detection units are arranged at intervals at the bottom of the trolley, the detection units are used to detect whether the trolley is on the moving route, and the detection units generate different electrical signals according to whether the trolley is on the moving route; the first processing chip is used to obtain the electrical signals input by the multiple detection units to determine whether the trolley deviates from the moving route.

[0010] Optionally, the detection unit is an infrared tube, the moving route can absorb the light emitted by the infrared tube, and the non-moving route cannot absorb the light emitted by the infrared tube.

[0011] Optionally, the collision detection module includes:

[0012] Multiple contact collision detection units and a second processing chip. The multiple contact collision detection units are set on the side of the car to detect whether the car collides with an obstacle. The contact collision detection units generate different electrical signals according to whether the car collides with an obstacle. The second processing chip determines whether the car collides with the obstacle based on the electrical signals input by the multiple contact collision detection units.

[0013] Optionally, the contact collision detection unit includes a collision switch and a pull-up resistor, and the pull-up resistor is used to enable the contact collision detection unit to maintain a high-level signal output when the vehicle does not collide, and to output a low-level signal when the collision switch collides.

[0014] Optionally, the automatic small road trolley further includes:

[0015] The speed measuring circuit is used to obtain the rotation angle of the trolley wheel to determine the rotation speed of the trolley wheel.

[0016] Optionally, the first processing chip and the second processing chip are 74HC165 chips.

[0017] Optionally, the control module includes an Arduino Nano control board.

[0018] Optionally, the intelligent tracking vehicle further includes a power module, and the power module includes:

[0019] A power supply and a voltage stabilizing circuit, wherein the voltage stabilizing circuit is used to stabilize the voltage of the power supply.

[0020] Optionally, the voltage stabilizing circuit includes a voltage stabilizing chip connected in series with the power supply, and filter capacitors connected in parallel on both sides of the voltage stabilizing chip.

[0021] The technical solutions provided by the embodiments of the present disclosure have the following beneficial effects:

[0022] In an embodiment of the present disclosure, an intelligent tracking vehicle is provided. The intelligent tracking vehicle includes a tracking module and a collision detection module. The control module determines whether the vehicle is on a moving route through the tracking module. If the vehicle is not on the moving route, the control module determines a control signal based on a deviation signal transmitted by the tracking module to control the moving module to drive the vehicle back to the moving route. The control module detects whether the vehicle has collided with an obstacle through the collision detection module. If the vehicle collides with an obstacle, the control module generates a control signal based on the collision signal to control the moving module to drive the vehicle to avoid the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A structural block diagram of an intelligent tracking vehicle provided in an embodiment of the present disclosure;

[0025] Figure 2 A circuit diagram of an intelligent path-finding vehicle provided in an embodiment of the present disclosure;

[0026] Figure 3 A timing diagram of a 74HC165 chip provided in an embodiment of the present disclosure;

[0027] Figure 4 A circuit diagram of a speed measurement circuit provided in an embodiment of the present disclosure;

[0028] Figure 5 A circuit diagram of a reflective infrared detector provided in an embodiment of the present disclosure;

[0029] Figure 6 A circuit diagram of a detection unit provided in an embodiment of the present disclosure;

[0030] Figure 7 A circuit diagram of a mobile module provided in an embodiment of the present disclosure;

[0031] Figure 8 A circuit diagram of an L293 chip provided in an embodiment of the present disclosure;

[0032] Figure 9 A circuit diagram of a power module provided in an embodiment of the present disclosure.

[0033] The reference numerals are as follows:

[0034] 100: tracking module; 101: detection unit; 102: first processing chip;

[0035] 200: collision detection module; 201: collision switch; 202: second processing chip; 203: control button;

[0036] 300: mobile module;

[0037] 400: control module; 401: signal light;

[0038] 500: speed measurement module; 501: speed measurement unit; 502: speed measurement point;

[0039] 600: power module; 601: power supply; 602: voltage regulator chip; 603: filter capacitor. DETAILED DESCRIPTION

[0040] To make the purpose, technical solutions, and advantages of the present invention more clear, the following will be combined with the accompanying drawings to clearly and completely describe the technical solutions of the present invention. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0041] Figure 1 This is a block diagram of the structure of an intelligent tracking car provided by the embodiment of the present disclosure. Figure 1 , the trolley includes:

[0042] The tracking module 100 is used to generate a deviation electrical signal when the vehicle deviates from the moving route;

[0043] The collision detection module 200 is used to generate a collision electrical signal when the vehicle collides;

[0044] The mobile module 300 is used to drive the vehicle to move;

[0045] The control module 400 generates different control electrical signals according to the deviation electrical signal and the collision electrical signal, and transmits the control electrical signals to the mobile module 300. The mobile module 300 controls the movement of the vehicle according to the control electrical signals, so that the vehicle travels along the moving route and avoids obstacles.

[0046] In an embodiment of the present disclosure, an intelligent tracking vehicle is provided. The intelligent tracking vehicle includes a tracking module and a collision detection module. The control module determines whether the vehicle is on a moving route through the tracking module. If the vehicle is not on the moving route, the control module determines a control signal based on a deviation signal transmitted by the tracking module to control the moving module to drive the vehicle back to the moving route. The control module detects whether the vehicle has collided with an obstacle through the collision detection module. If the vehicle collides with an obstacle, the control module generates a control signal based on the collision signal to control the moving module to drive the vehicle to avoid the obstacle.

[0047] Figure 2 This is a circuit diagram of an intelligent path-finding vehicle provided by an embodiment of the present disclosure. Figure 2 ,exist Figure 2 , a circuit diagram of the tracking module 100 , the collision detection module 200 and the control module 400 is shown.

[0048] In the embodiment of the present disclosure, the tracking module 100 includes a plurality of detection units 101 and a first processing chip 102; the plurality of detection units 101 are arranged at intervals at the bottom of the trolley, and the detection unit 101 is used to detect whether the trolley is on the moving route, and the detection unit 101 generates different electrical signals according to whether the trolley is on the moving route; the first processing chip 102 is used to obtain the electrical signals input by the plurality of detection units 101 to determine whether the trolley deviates from the moving route.

[0049] In one example, the number of detection units is 7. Of course, the present disclosure does not limit the number of detection units.

[0050] In the embodiment of the present disclosure, multiple detection units are provided at the bottom of the trolley to determine whether the trolley deviates from the moving route. The positions of the detection units can be used to determine whether the trolley deviates to the left or to the right.

[0051] In the embodiment of the present disclosure, the detection unit 101 is an infrared tube, the moving route can absorb the light emitted by the infrared tube, and the non-moving route cannot absorb the light emitted by the infrared tube.

[0052] Among them, the ground corresponding to the moving route is black, and the ground corresponding to the non-moving area is white. The black area can absorb the light emitted by the infrared tube, and the white area can reflect the light emitted by the infrared tube back. The infrared tube can determine whether the car deviates from the moving route based on whether the ground reflects light.

[0053] In the disclosed embodiment, it is possible to determine whether the vehicle deviates from its moving route through an infrared pair of tubes.

[0054] In the embodiment of the present disclosure, the collision detection module 200 includes:

[0055] Multiple contact collision detection units and a second processing chip 202, multiple contact collision detection units are set on the side of the car, and are used to detect whether the car collides with an obstacle. The contact collision detection units generate different electrical signals according to whether the car collides with an obstacle. The second processing chip 202 determines whether the car collides with the obstacle based on the electrical signals input by the multiple contact collision detection units.

[0056] In one example, four contact-type collision detection units are provided on the front side of the vehicle, and two contact-type collision detection units are provided on the rear side of the vehicle. Of course, the number of contact-type collision detection units is not limited in the present disclosure.

[0057] In the embodiment of the present disclosure, multiple contact collision detection units are set on the side of the car, and the contact collision detection units can be used to determine whether the car has collided. The multiple contact collision detection units are electrically connected to the second processing chip, and the first processing chip can be used to determine which specific contact collision detection unit detected the collision of the car, thereby transmitting to the control module in the form of an electrical signal whether the car has collided with the front side or the rear side. The control module can control the moving module to drive the car to move.

[0058] In an embodiment of the present disclosure, the contact collision detection unit includes a collision switch and a pull-up resistor. The pull-up resistor is used to enable the contact collision detection unit to maintain a high-level signal output when the vehicle does not collide, and to output a low-level signal when the collision switch collides.

[0059] In the disclosed embodiment, the second processing chip can determine whether the vehicle has collided by determining whether the contact collision detection unit specifically outputs a high level or a low level. Multiple contact collision detection units are connected to different pins of the second processing chip. The second processing unit can determine which contact collision switch detected the collision based on which pin received the signal.

[0060] In the embodiment of the present disclosure, the first processing chip and the second processing chip are both 74HC165 chips.

[0061] In the embodiment of the present disclosure, the electrical signals input from multiple detection units and multiple contact-type collision detection units can be converted into a single offset electrical signal or a single collision electrical signal through the 74HC165 chip.

[0062] In the embodiment of the present disclosure, Figure 2 In the embodiment, the first processing chip and the second processing chip are cascaded, and the output electrical signals of the first processing chip and the second processing chip are both input to the control module 400 through the QH pin of the first processing chip.

[0063] In the embodiment of the present disclosure, the moving module 300 includes two electrically controlled moving wheels, which are respectively arranged on both sides of the vehicle.

[0064] In the embodiment of the present disclosure, the control module 400 includes an Arduino Nano control board.

[0065] In the disclosed embodiment, the Arduino Nano control board itself integrates the LM1117 chip, which can output a 3.3V voltage, thereby eliminating the need to set up an additional 3.3V voltage output unit in the power module.

[0066] In the embodiment of the present disclosure, Figure 2Also shown are control buttons 203 (also known as KEY1 and KEY2) and signal lights 401 (also known as W1 and W2). The two control buttons are used to enable the car to have a menu function. The first control button is used for "return" and "select", and the second control button is used for "confirmation". The signal lights are used to display the status of the two control buttons. For example, the control buttons can select the operating mode of the car. The car's mode can be "tracking mode", "obstacle avoidance mode", etc. When selecting the operating mode of the car, click the first control button. Each time the first control button is clicked, the color of the signal light will change, indicating that the operating mode of the car has changed. Clicking the second control button can confirm the current mode as the operating mode of the car.

[0067] Figure 3 This is a timing diagram of a 74HC165 chip provided in an embodiment of the present disclosure. Figure 3 , Figure 3 for Figure 2 Timing diagram of the 74HC165 chip in the collision detection module 2, for Figure 2 The timing diagram of the 74HC165 chip in the tracking module is removed. Figure 3 The H end in the middle is enough.

[0068] Figure 4 This is a circuit diagram of a speed measurement circuit provided by an embodiment of the present disclosure. Figure 4 The speed measuring circuit includes a speed measuring unit 501 and a speed measuring point 502 .

[0069] The speed measurement unit is a reflective infrared detector, and the speed measurement point is located on the electrically controlled moving wheels in the vehicle's mobility module. For every rotation of the electrically controlled moving wheels, the control module receives 12 level signals from the reflective infrared detector. The number of level signals determines the vehicle's wheel speed.

[0070] It is worth noting that both of the two electrically controlled moving wheels of the trolley have a speed measuring circuit.

[0071] Figure 5 This is a circuit diagram of a reflective infrared detector provided by an embodiment of the present disclosure. Figure 5 The reflective infrared detector uses the ITR8307 reflective infrared photoelectric tube to measure the speed of the electronically controlled moving wheel of the car and feeds it back to the control module.

[0072] Figure 6 This is a circuit diagram of a detection unit provided by an embodiment of the present disclosure. Figure 6 The detection unit uses ITR20001 reflective photoelectric switch to determine whether the car is on the moving route.

[0073] Figure 7 A circuit diagram of a mobile module provided by an embodiment of the present disclosure is shown in FIG. Figure 7 The mobile module controls the two electrically controlled moving wheels of the car through the L293 chip.

[0074] Among them, the L293 chip is connected to the control module (that is, through Figure 2 and Figure 7 The L293 chip can output control commands to control the movement of the robot.

[0075] Figure 7 M1 and M2 in FIG. 5 represent electrically controlled moving wheels.

[0076] Figure 8 This is a circuit diagram of an L293 chip provided in an embodiment of the present disclosure. Figure 8 ,exist Figure 8 The circuit diagram and function table of the L293 chip are shown in FIG.

[0077] Among them, L293 uses transistors as electronic switches internally, integrates transistor drivers, and includes 2 sets of H-bridges, which can simultaneously control the speed and direction of two electronically controlled moving wheels.

[0078] In the function table, the electric-controlled moving wheel has three states. In the Turn right state, the L293 chip controls the electric-controlled moving wheel to rotate forward. In the Turn left state, the L293 chip controls the electric-controlled moving wheel to rotate backward. In the Fast motor stop state, the speed of the electric-controlled moving wheel is reduced.

[0079] If you need to control the steering of the car, you can control the electric-controlled moving wheel on one side of the car to slow down, and keep the speed of the electric-controlled moving wheel on the other side of the car unchanged.

[0080] By controlling the output signals of the 1A and 2A output terminals through the L293 chip, the car can realize functions such as forward, backward, and steering.

[0081] Figure 9 This is a circuit diagram of a power module provided by an embodiment of the present disclosure. Figure 9 , the power module includes:

[0082] The power supply 601 and the voltage stabilizing circuit are used to stabilize the voltage of the power supply.

[0083] In the embodiment of the present disclosure, the voltage of the power supply is stabilized by the voltage stabilizing circuit, thereby ensuring that the power supply can stably supply power to each module of the vehicle.

[0084] In the embodiment of the present disclosure, the voltage stabilizing circuit includes a voltage stabilizing chip 602 connected in series with a power supply 601 , and a filter capacitor 603 connected in parallel on both sides of the voltage stabilizing chip.

[0085] Among them, the voltage regulator chip is L7805 chip, and the filter capacitors include two 47uF capacitors and two 0.01uF capacitors.

[0086] In the disclosed embodiment, providing a filter capacitor is beneficial for further stabilizing the voltage output by the power module. The filter capacitor is generally composed of a non-polar capacitor with a smaller capacitance and a polar capacitor with a larger capacitance, respectively filtering out high-frequency and low-frequency noise.

[0087] In the embodiment of the present disclosure, the following design concept is adopted for the automatic line-finding driving function: if the leftmost detection unit detects a black line (that is, detects a moving route), and the other detection units all detect white ground, it means that the car is seriously deviated to the right of the black line, and at this time it needs to turn left sharply; if the second detection unit on the left detects a black line, it means that the car is deviated to the right of the black line, but not seriously, and only a small left turn is needed; if the middle detection unit detects a black line, it means that the car may be driving along the black line, and at this time it can go straight at a not too fast speed; if the lower detection units detect black lines at the same time, it means that the car must be driving in a straight line and can go straight at a faster speed.

[0088] By following the above ideas and adjusting the speed, automatic black line tracking can basically be achieved.

[0089] In the disclosed embodiment, the intelligent tracking car has the ability to avoid obstacles and prevent falls down stairs. Using a total of six collision switches, the car can detect obstacles while traveling forward in multiple directions and backward in a limited number of directions. Upon encountering an obstacle, the car will first back off slightly, then determine the rotation angle based on the location of the collision, and then continue its journey.

[0090] The fall prevention function is implemented using five front-mounted detection units. These units detect light-colored surfaces. If a step is encountered, less infrared light is reflected back. Therefore, if no infrared light is reflected back, it is considered to have encountered a step or edge. At this point, the robot will back off slightly, rotate according to the sensor position, and continue its journey, just like encountering an obstacle.

[0091] In summary, this utility model provides an improved intelligent tracking vehicle. Designed with an L7805-based voltage regulator circuit, collision detection and key sampling circuit, infrared tracking and infrared speed measurement circuit, digital signal shift sampling, and motor drive circuit, the vehicle implements automatic line-finding, obstacle avoidance, and stair fall prevention. By fully considering the vehicle's overall shape and structure, rational component layout, and welding reliability, and by optimizing the sensors, control algorithms, and motor drive systems, the vehicle's performance and adaptability in complex environments are significantly improved.

[0092] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. An intelligent tracking car, characterized in that: include: Tracking module, used to generate a deviation electrical signal when the car deviates from the moving route; The tracking module includes a plurality of detection units and a first processing chip; A plurality of detection units are arranged at intervals on the bottom of the trolley, and the detection units are used to detect whether the trolley is on the moving route, and the detection units generate different electrical signals according to whether the trolley is on the moving route; The first processing chip is used to obtain electrical signals input by multiple detection units to determine whether the vehicle deviates from the moving route; The detection unit is an infrared pair tube, the moving route can absorb the light emitted by the infrared pair tube, and the non-moving route cannot absorb the light emitted by the infrared pair tube; A collision detection module is configured to generate a collision electrical signal when the vehicle collides; multiple contact collision detection units and a second processing chip are provided on the side of the vehicle to detect whether the vehicle collides with an obstacle. The contact collision detection units generate different electrical signals depending on whether the vehicle collides with an obstacle. The second processing chip determines whether the vehicle collides with the obstacle based on the electrical signals input by the multiple contact collision detection units. The contact collision detection units include a collision switch and a pull-up resistor. The pull-up resistor is configured to maintain a high-level signal output from the contact collision detection units when the vehicle does not collide, and to output a low-level signal when the collision switch collides. The first processing chip and the second processing chip are 74HC165 chips. The mobile module is used to drive the car to move. The mobile module includes two electrically controlled mobile wheels, one on each side of the car. The mobile module controls the movement of the two electrically controlled mobile wheels of the car through the L293 chip, which is connected to the control module. The control module generates different control electrical signals based on the deviation electrical signal and the collision electrical signal, and transmits the control electrical signals to the mobile module. The mobile module controls the movement of the car based on the control electrical signals, so that the car travels along the moving route and avoids obstacles. The control module includes an Arduino Nano control board.

2. The intelligent tracking car according to claim 1, characterized in that: The intelligent tracking car also includes: The speed measuring circuit is used to obtain the rotation angle of the trolley wheel to determine the rotation speed of the trolley wheel.

3. The intelligent tracking car according to claim 1, characterized in that: The intelligent tracking car also includes a power module, which includes: A power supply and a voltage stabilizing circuit, wherein the voltage stabilizing circuit is used to stabilize the voltage of the power supply.

4. The intelligent tracking car according to claim 3, characterized in that: The voltage stabilizing circuit includes a voltage stabilizing chip connected in series with a power supply, and filter capacitors connected in parallel on both sides of the voltage stabilizing chip.

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