CN202661877U - Intelligent trolley for environment sanitation - Google Patents
Intelligent trolley for environment sanitation Download PDFInfo
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- CN202661877U CN202661877U CN 201220244552 CN201220244552U CN202661877U CN 202661877 U CN202661877 U CN 202661877U CN 201220244552 CN201220244552 CN 201220244552 CN 201220244552 U CN201220244552 U CN 201220244552U CN 202661877 U CN202661877 U CN 202661877U
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- trolley
- steering wheel
- intelligent carriage
- environmental sanitation
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Abstract
The utility model discloses an intelligent trolley for environment sanitation. The intelligent trolley comprises a trolley body. An electric control portion is installed on the trolley body. The electric control portion comprises a core controller, an image collection module, an ultrasonic range finder, a motor driving module, a steering engine managing module, an auxiliary debugging module and a power supply managing module. The trolley body further comprises a back wheel driving module and a mechanical arm driving module. The intelligent trolley can achieve timing patrol of designated areas to clean garbage on the ground and enables the ground to maintain clean. Further, application of the intelligent trolley emancipates a large amount of labor from repeated work and achieves high-efficiency sustainable development. The intelligent trolley follows the simple principle, meets requirements for energy saving, environment protection and sustainable development, simultaneously adopts some artistic elements to improve appearance of the trolley and shows breath of the new era.
Description
Technical field
The utility model relates to a kind of intelligent carriage, relates in particular to a kind of environmental sanitation intelligent carriage.
Background technology
Along with the development in epoch, economic rapid development, china's overall national strength constantly strengthens, and the people's living standard is also improving constantly.Automobile as the product of the human industrial revolution, is becoming indispensable walking-replacing tool in our life increasingly.In the today of growing with each passing day, the kind of vehicle has also had very large abundant, ambulance, transport vehicle, paving truck, bridging car, Bulldozer, wheeled digging machine, obstacles removing car etc. in automobile quantity.The vehicle of these Various Functions is being brought into play very important effect in different field in the modern society, has greatly accelerated human modernization.
Summary of the invention
For the problem that above-mentioned prior art exists, the utility model provides a kind of environmental sanitation intelligent carriage.
To achieve these goals, the technical solution adopted in the utility model is: a kind of environmental sanitation intelligent carriage, comprise car body, be equiped with automatically controlled part on this car body, this electric control part is divided and is comprised: core controller, image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module; This car body also comprises rear wheel drive module and mechanical arm driver module, core controller is electrically connected with rear wheel drive module and mechanical arm driver module respectively through motor drive module, and image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module are electrically connected with core controller respectively.
As preferably, the image sampling module comprises the AD module, peripheral video separation chip circuit and camera.
As preferably, core controller is the MC9S12XS128 single-chip microcomputer.
As preferably, the steering wheel administration module comprises steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit.
As preferably, ultrasonic distance measuring module is the SRF05 ultrasonic sensor.
As preferably, the rear wheel drive module adopts two BTS7960 to consist of full-bridge circuits to come drive motor.
Compared with prior art, the utility model has the advantage of: can realize that the appointed area regularly goes on patrol, cleaning floor rubbish keeps clean ground at any time.And the application of this intelligent carriage also can free a large amount of labours from repetitive operation, realizes high-efficiency continuous sexual development; Follow succinct principle, suited the green requirement of energy-conserving and environment-protective, sustainable development, take simultaneously some artistic elements to improve the aesthetic property of vehicle, embody the breath of its New Times.
Description of drawings
Fig. 1 is structural representation of the present utility model;
Fig. 2 is the image synoptic diagram that camera of the present utility model is taken.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing.
As a kind of embodiment of the present utility model, consult Fig. 1, the utility model comprises car body, is equiped with automatically controlled part on the described car body, electric control part is divided and is comprised
Core controller be used for to receive view data, ultrasonic sensor ranging information, the state feedback information such as dolly current acceleration, and these information are carried out comprehensive processing, exporting suitable controlled quentity controlled variable comes steering wheel and drive motor are controlled;
The image sampling module is for the view data of obtaining scene;
Ultrasonic range finder is used for the distance between measurement and the barrier;
Motor drive module is respectively applied to realize the motor-driven of dolly and turns to control;
The steering wheel administration module is used for dolly commutation control;
The assistant adjustment module, for the program burn writing of trolley control system, function debugging and test and dolly condition monitoring, systematic parameter and operation strategy arrange; And
Power management module is responsible for above-mentioned each module for power supply;
Also comprise rear wheel drive module and mechanical arm driver module, described core controller is electrically connected with rear wheel drive module and mechanical arm driver module respectively through motor drive module, and described image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module are electrically connected with core controller respectively.
The image sampling module comprises AD module (S12XS128), peripheral video separation chip (LM1881) circuit and camera, and described camera obtains the view data of scene, is further analyzed processing through peripheral video separation chip and AD module.
Core controller is the MC9S12XS128 single-chip microcomputer.
The steering wheel administration module comprises steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit, by the position feedback of steering wheel inside, makes its steering wheel output corner be proportional to given control signal.
Ultrasonic distance measuring module is the SRF05 ultrasonic sensor.
The rear wheel drive module adopts two BTS7960 formation full-bridge circuits to come drive motor, makes it finish rotating.
The control system of environmental sanitation intelligent carriage comprises the correlation modules such as system initialization, data acquisition, information processing, control strategy;
System initialization is for the required configuration of finishing corresponding registers of modules;
Data acquisition comprises camera image signals collecting, ultrasonic ranging;
Information processing is mainly finished the correlation analysis of above-mentioned data is processed, and identifies various sign, judges the residing current state of car etc.;
Control section provides corresponding steering order for the result of information processing.
Power management module
Power module provides needed power supply for other modules of system.In the design, consider except needs the basic parameters such as voltage range and current capacity, also will be optimized at aspects such as power supply conversion efficiency, reduction noise and circuit are simple.Power source design is the basis of the reliable and stable operation of whole hardware circuit reliably.All the power supply of hardware circuit is provided with 7.2V, 2000mAh Ni-cd accumulator by the standard vehicle mould of allotting.Because the needed operating voltage of different circuit modules and current capacity in the circuit are different, so power module should comprise a plurality of mu balanced circuits, converts charged battery voltage to modules needed voltage.Mainly comprise following different voltage.
7.2V voltage: this part directly takes from the accumulator both end voltage, is mainly steering wheel, rear-wheel motor driver module and part of interface circuit power supply is provided.
5V voltage: be mainly Single Chip Microcomputer (SCM) system, signal conditioning circuit and part of interface circuit power supply is provided, voltage request is stable, noise is little, and current capacity is greater than 500mA.
12V voltage: the working power that 12V is provided for camera.
6V voltage: be the steering wheel power supply of 6V for operating voltage.
3.3V voltage: be the power supply of mechanical arm motor drive module.
The decompression voltage regulator design
LM2940-5 is the series voltage stabilizing chip, and operating voltage is poor can be less than 0. 5V voltage stabilizing chip, and output current is greater than 1A.The high efficiency of switching regulator IC, but higher power supply noise is arranged, the circuit that power consumption is larger is suitable for adopting switch voltage-stabilizing circuit, and we have used LM2940 as the lowering and stabilizing blood pressure chip here, and its performance is all well and good, the following Fig. 2 of its typical wiring figure; In addition, the mechanical arm motor drive module needs the 3.3V Power supply, and we select LM1117 here, and wiring diagram is illustrated in fig. 3 shown below;
The voltage boosting and stabilizing circuit design
12 volts of WRB_S-2W series of products that adopt that boost of camera design for needing to produce one group of application scenario with the single supply of input power isolation in the distributed power supply system on the wiring board specially, are applicable to:
1) the change in voltage scope＜=2:1 of input power
2) require isolation＜=1.5KVDC between the input and output
3) output voltage stabilization degree and output ripple noise requirements are higher.
And just corresponding herein, so select power supply.
Its characteristic is mainly as follows
Wide input voltage range:
The wide operating temperature range of 2:1 :-40 ℃～+ 85 ℃
Short-circuit protection (certainly recovering)
MTBF＞1,000,000 hour
Use this power supply to should be noted item:
1. CS holds this terminal that a tie point (connecing capacitance cathode) that connects DC/DC converter output end internal main filter capacitor is provided, and can further improve output ripple and noise figure by the electric capacity that meets a low ESR between this terminal and the 7th foot (connecing the negative pole of electric capacity); (general CS＜=100 μ F)
2. output load requirement
In order to ensure the work of circuit high efficient and reliable ground, the DC/DC converter of the type except prescribed maximum load (being full load), has also been stipulated a minimum load simultaneously.In use, guarantee in whole input voltage range that its output minimum load can not be less than 10% of full load.If load is really lighter for a long time in the actual circuit, at the resistance of an output terminal suitable resistance in parallel to increase load.
The image sampling module
(1) camera principle of work
The principle of work of camera is: by certain resolution, gather point on the image in interleaved mode, when scanning certain point, just by image sensor chip the gradation conversion of this some place image is become and gray scale magnitude of voltage one to one, then this magnitude of voltage is exported by the vision signal end.Particularly (referring to Fig. 5), camera be the delegation on the scan image continuously, and then output is exactly one section continuous voltage signal, and the low fluctuating of this voltage signal has reflected the grey scale change of this row image.When having scanned delegation, the vision signal end is just exported a level (such as 0.3V) that is lower than minimum video voltage, and keeps a period of time.Be equivalent to like this, and then have a voltage " groove " after every row picture signal, this " groove " is called horizontal synchronizing pulse, and it is the sign of scanning line feed.
Then, skip after the delegation (because camera is interleaved), begin to scan new delegation, so go down, until scanned the vision signal of this field, and one section field blanking district can appear.Several composite blanking pulses are arranged in this district, wherein have and far be wider than (namely lasting longer than) other blanking pulse, be called field system chronizing impulse, it is the sign of scanning carry over.Field system chronizing impulse indicates one new arrival, and but, the field blanking district across the ending of Shang Yichang and the beginning of next, waits the field blanking district to go over just, and the vision signal of next just really arrives.
The camera per second scans 25 width of cloth images, and every width of cloth divides again very, two of idols, and first idol after strange is so per second scans 50 field picture.Odd-numbered line in the time of strange in the scan image then only scans even number line during the idol field.Camera has two important indexs: valid pixel and resolution.In fact resolution be exactly every horizontal synchronizing pulse number, and this is because the horizontal synchronizing pulse number is more, and then the line number to every field picture scanning is also more.
In fact, the resolution reflection is the vertical resolution of camera.Valid pixel is often write as two forms that multiply each other of number, such as " 320 * 240 ", and the wherein fine degree of previous numeric representation single file vision signal, at once resolution characteristic; A rear numerical value is resolution, thereby valid pixel=row resolution characteristic * resolution.
(2) vision signal is separated
Will be to effectively vision signal being sampled, the problem that at first will handle well is the horizontal synchronizing pulse that how to extract in the camera signals, blanking pulse and field system chronizing impulse.
Two kinds of feasible methods are arranged here.The first, directly extract by Chip Microcomputer A/D.Because the level of horizontal synchronizing pulse, blanking pulse or field system chronizing impulse signal is lower than the level of camera signals beyond these pulses, so can set accordingly whether the signal that a signal level threshold values judges that AD samples is above-mentioned three class pulses.The second, be equipped with suitable peripheral chip to single-chip microcomputer exactly, horizontal synchronizing pulse, blanking pulse and field system chronizing impulse that this chip wants to extract camera signals done control for single-chip microcomputer.
The speed of considering single-chip microcomputer is limited, and the interval time of some pulses is shorter, in order to alleviate its processing load, adopted second method to carry out the time sequence information of signal, such as horizontal synchronizing pulse, field system chronizing impulse and strange, even field signal information etc., and convert them to the TTL level and directly export to the I/O mouth of monolithic and be used as control signal.
The image sampling module is by the AD module of S12XS128, peripheral video separation chip (LM1881), and camera forms.Its function is to obtain the view data of scene, makes further analyzing and processing for S12XS128.
The steering wheel administration module
Steering wheel itself is a Stellungsservosteuerung.It is comprised of steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit.By the position feedback of inside, make its steering wheel output corner be proportional to given control signal, therefore can use open loop control mode for its control.
The control of steering wheel is to control by fixing pulse signal of cycle, and the transposition of steering wheel is proportional to the width of pulse, and this continuous pulse signal can be realized by PWM.Steering wheel is inner can to produce the reference signal that frequency is 50Hz, compares by the positive pulse duration of reference signal with the outside PWM ripple of giving, thereby determines to turn to size with corner.When adding PWM wave frequency is 50Hz, satisfy lower linear relationship shown in Figure 8 between pulsewidth and the corner.
Ultrasonic distance measuring module
What select is the SRF05 ultrasonic sensor, and SRF05 is the enhanced edition of SRF04, has increased dirigibility and amplitude on the basis of SRF04, and has further reduced cost, and sweep limit is increased to 3 meters to 4 meters.SRF exists a kind of new operator scheme (making pattern pin ground connection): allow SRF05 to use single pin to trigger simultaneously and echo, thereby save valuable controller pin.Unsettled when the MODE pin, SRF05 triggers and the echo pin works alone respectively.But this moment, SRF05 had the delay of a forward echo impulse controller.Range measurement principle provides the input short pulse of a 10us to trigger startup at first needing.SRF05 will circulate and send a frequency for 8 times at the ultrasonic echo line of 40kHz.Meanwhile SRF05 begins to monitor echo, and improves detection speed, because the echo line that it detects can reduce.And will obtain the distance of the object that is directly proportional with its pulse width by echo line.By the time of pulsewidth, be can calculate degree of accuracy for centimetre scope and size.Wherein 5V and 0V provide respectively VDD-to-VSS, and short pulse triggers startup by PWM0, and echo signal is monitored by interrupting.
Motor drive module
The motor drive module of Environmental protection intelligent carriage is divided into two parts, and a part provides rear wheel drive, is that dolly advances or retreats; Another part provides the motor-driven of mechanical arm, makes mechanical arm can pick up smoothly object.
Rear wheel drive adopts two BTS7960 formation full-bridge circuits to come drive motor, makes it finish rotating.Its schematic diagram is shown in 9;
Because two motors are arranged above the mechanical arm, a control front end robot pawl, a control rear robot arm, and it has requirement to rotating, so select L298 as driving chip, can drive simultaneously two motors.
Referring to Fig. 2, it shows according to intelligent carriage of the present utility model in operation, the work view of its camera.
Although be recognized as a most practical and preferred embodiment and described the utility model in conjunction with current, but be to be understood that, the utility model is not limited to the disclosed embodiments, and is intended on the contrary contain multiple modification and equivalent arrangements included in the spirit and scope of the appended claims.
Claims (6)
1. environmental sanitation intelligent carriage, comprise car body, be equiped with automatically controlled part on the described car body, it is characterized in that: described electric control part is divided and is comprised core controller, image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module; Described car body also comprises rear wheel drive module and mechanical arm driver module, described core controller is electrically connected with rear wheel drive module and mechanical arm driver module respectively through motor drive module, and described image sampling module, ultrasonic range finder, motor drive module, steering wheel administration module, assistant adjustment module and power management module are electrically connected with core controller respectively.
2. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described image sampling module comprises the AD module, peripheral video separation chip circuit and camera.
3. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described core controller is the MC9S12XS128 single-chip microcomputer.
4. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described steering wheel administration module comprises steering wheel, train of reduction gears, position feedback pot, direct current generator and control circuit.
5. environmental sanitation intelligent carriage according to claim 1, it is characterized in that: described ultrasonic distance measuring module is the SRF05 ultrasonic sensor.
6. environmental sanitation intelligent carriage according to claim 1 is characterized in that: described rear wheel drive module adopts two BTS7960 to consist of full-bridge circuits to come drive motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220244552 CN202661877U (en) | 2012-05-29 | 2012-05-29 | Intelligent trolley for environment sanitation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220244552 CN202661877U (en) | 2012-05-29 | 2012-05-29 | Intelligent trolley for environment sanitation |
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| Publication Number | Publication Date |
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| CN202661877U true CN202661877U (en) | 2013-01-09 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220244552 Expired - Fee Related CN202661877U (en) | 2012-05-29 | 2012-05-29 | Intelligent trolley for environment sanitation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103194991A (en) * | 2013-04-03 | 2013-07-10 | 西安电子科技大学 | Road cleaning system and method through intelligent robot |
| CN104090574A (en) * | 2014-07-03 | 2014-10-08 | 邢淦琛 | Intelligent environment cleaning machine |
| CN104775377A (en) * | 2015-04-08 | 2015-07-15 | 郭淑华 | Intelligent road sweeping robot and using method |
| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| CN106245560A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | One picks up rubbish robotic vision identification device |
| CN111979960A (en) * | 2020-09-01 | 2020-11-24 | 上海电机学院 | Unmanned sweeping vehicle |
-
2012
- 2012-05-29 CN CN 201220244552 patent/CN202661877U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103194991A (en) * | 2013-04-03 | 2013-07-10 | 西安电子科技大学 | Road cleaning system and method through intelligent robot |
| CN103194991B (en) * | 2013-04-03 | 2016-01-13 | 西安电子科技大学 | Intelligent robot road cleaning system and method for cleaning |
| CN104090574A (en) * | 2014-07-03 | 2014-10-08 | 邢淦琛 | Intelligent environment cleaning machine |
| CN104775377A (en) * | 2015-04-08 | 2015-07-15 | 郭淑华 | Intelligent road sweeping robot and using method |
| CN104898671A (en) * | 2015-05-07 | 2015-09-09 | 北京工业大学 | Automatic polling trolley with obstacle clearing function for track mine conveyer |
| CN104898671B (en) * | 2015-05-07 | 2017-11-24 | 北京工业大学 | A kind of band is removed obstacles the rail mounted mine conveyer automatic detecting dolly of function |
| CN106245560A (en) * | 2016-08-24 | 2016-12-21 | 合肥凌翔信息科技有限公司 | One picks up rubbish robotic vision identification device |
| CN106245560B (en) * | 2016-08-24 | 2017-11-24 | 合肥凌翔信息科技有限公司 | One kind picks up rubbish robotic vision identification device |
| CN111979960A (en) * | 2020-09-01 | 2020-11-24 | 上海电机学院 | Unmanned sweeping vehicle |
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Legal Events
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130109 Termination date: 20130529 |