CN103197319A - Large-scale mobile platform distance monitoring device - Google Patents

Abstract

The invention discloses a large-scale mobile platform distance monitoring device, which comprises a base, a first stepping motor, a second stepping motor, a horizontal rotating frame, a vertical rotating frame, an ultrasonic detector, a single-chip microcomputer, and a first stepping motor driver , The second stepping motor driver; the base includes a platform and a right-angled pole, the right-angled pole is fixed on one side of the platform, the first stepping motor is fixed on the center of the base platform, and one end of the horizontal rotating frame is fixed on the top of the right-angled pole , the other end is connected to the first stepping motor; the second stepping motor is fixed in the vertical rotating frame, and the vertical rotating frame is fixed in the center of the horizontal rotating frame; the ultrasonic detector is fixed at a right angle away from the base of the vertical rotating frame One side of the pole; the microcontroller is connected to the first stepper motor driver and the second stepper motor driver through the I/O interface, and the first stepper motor driver and the second stepper motor driver are connected to the first stepper motor driver through wires respectively. The motor and the second stepper motor are connected. The present invention is not limited by the intensity of light and the angle at which the object is detected.

Description

Large mobile platform distance monitoring device

technical field

The invention belongs to the field of distance control measurement, and in particular relates to a distance monitoring device for a large mobile platform, which uses a scanning ultrasonic detection device to realize distance monitoring for a large mobile platform.

Background technique

At present, ultrasonic positioning and ultrasonic radar are widely used in industrial production, distance measurement, car reversing radar and other industrial environments, but ultrasonic is a kind of sound wave whose directional propagation obeys the law of reflection of light. The detectable plane is about 0.5 square meters, that is, accurate detection cannot be achieved if it is less than 0.5 square meters, and the surface of the detection object is required to be as smooth as possible for easy detection. Ultrasonic waves are widely used because they are not affected by light intensity, cheap, and have a wide range of applications. Because it cannot accurately detect space objects, its further application is limited.

Contents of the invention

The object of the present invention is to provide a distance monitoring device for a large mobile platform, which is mainly used for realizing the distance monitoring of a large mobile platform by using a scanning ultrasonic detection device on the large mobile platform.

The technical solution to realize the object of the present invention is: a large-scale mobile platform distance monitoring device, including a base, a first stepping motor, a second stepping motor, a horizontal rotating frame, a vertical rotating frame, an ultrasonic detector, a single-chip microcomputer, The first stepping motor driver, the second stepping motor driver; the base is composed of a platform and a right-angled pole, the right-angled pole is fixed on either side of the platform, the first stepping motor is fixed at the center of the base platform, and rotates horizontally One end of the frame is fixed on the top of the right-angled pole of the base, and the other end is connected to the first stepping motor; the second stepping motor is fixed in the vertical rotating frame, and the vertical rotating frame passes through the flattening shaft of the second stepping motor It is fixed in the center of the horizontal rotating frame, parallel to the base platform; the ultrasonic detector is fixed on the side of the right-angled pole of the vertical rotating frame away from the base; the single-chip microcomputer is fixed on the base, and the single-chip microcomputer communicates with the first The stepping motor driver is connected with the second stepping motor driver, the first stepping motor driver is connected with the first stepping motor through wires, and the second stepping motor driver is connected with the second stepping motor through wires.

There is a first stepping motor installation hole in the middle of the base platform, and the first stepping motor is fixed in the first stepping motor installation hole. In the hole at the top of the right-angle vertical rod, the other end is connected on the flattened shaft of the first stepper motor, so that the horizontal rotating frame can rotate around the vertical shaft.

Horizontal rotating frame, the horizontal rotating frame is a frame structure, there is a symmetrical second stepper motor flattening shaft matching hole on the left and right sides of the horizontal rotating frame, the vertical rotating frame is connected with the second stepping motor through the second stepping motor flattening shaft The flattening shaft of the motor is fixed on the horizontal rotating frame through the matching hole.

The vertical rotating frame has the second stepping motor flattening shaft matching hole on the two shafts that are respectively provided with the second stepping motor mounting hole, and the second stepping motor is fixed in the vertical rotation through the second stepping motor mounting hole. On the frame, the rotation of the second stepping motor drives the vertical rotating frame to rotate, and the front end of the vertical rotating frame is fixed with an ultrasonic detector.

Compared with the prior art, the present invention has significant advantages: the present invention realizes three-dimensional detection with cheap detectors such as ultrasonic waves, reduces the area of detectable objects, and achieves the purpose of monitoring the distance around the mobile platform without being affected by light. Intensity, the limit of the angle at which objects are detected.

Description of drawings

Fig. 1 is a three-dimensional schematic view of the base of the large-scale mobile platform distance monitoring device of the present invention.

Fig. 2 is a three-dimensional schematic view of the first stepping motor of the large-scale mobile platform distance monitoring device of the present invention.

Fig. 3 is the horizontal rotating frame schematic diagram of large mobile platform distance monitoring device of the present invention, wherein Fig. 3-a is the horizontal rotating frame front view of this large mobile platform distance monitoring device; Fig. 3-b is the level of this large mobile platform distance monitoring device The A-A sectional view of the rotating frame; Figure 3-c is the B-B sectional view of the horizontal rotating frame of the large mobile platform distance monitoring device.

Fig. 4 is a perspective view of the horizontal rotating frame of the large-scale mobile platform distance monitoring device of the present invention.

Fig. 5 is a schematic view of the vertical rotating frame of the large-scale mobile platform distance monitoring device of the present invention, and Fig. 5-a is a front view of the vertical rotating frame of the large-scale mobile platform distance monitoring device of the present invention; Fig. 5-b is a large-scale mobile platform distance monitoring device of the present invention. Left view of the vertical rotating frame of the distance monitoring device for the mobile platform; Figure 5-c is a top view of the vertical rotating frame of the distance monitoring device for the large mobile platform of the present invention.

Fig. 6 is a perspective view of the vertical rotating frame of the large-scale mobile platform distance monitoring device of the present invention.

Fig. 7 is a perspective view of the second stepping motor of the large mobile platform distance monitoring device of the present invention.

Fig. 8 is a perspective view of the ultrasonic detection equipment of the large-scale mobile platform distance monitoring device of the present invention.

Fig. 9 is a schematic diagram of the assembly of the large-scale mobile platform distance monitoring device of the present invention.

Detailed ways

The present invention will be described in further detail below in conjunction with the accompanying drawings.

1-9, the large-scale mobile platform distance monitoring device includes a base 1, a first stepping motor 5, a second stepping motor 14, a horizontal rotating frame 6, a vertical rotating frame 10, an ultrasonic detector 15, a single chip microcomputer , The first stepping motor driver, the second stepping motor driver. The base 1 is composed of a platform and a right-angled pole, the right-angled pole is fixed on any side of the platform, the first stepping motor 5 is fixed on the center of the platform of the base 1, and one end of the horizontal rotating frame 6 is fixed on the right-angled Rod top, the other end is connected on the first stepping motor 5; The second stepping motor 14 is fixed in the vertical rotating frame 10, and the vertical rotating frame 10 is fixed on the horizontal rotation by the flattening shaft of the second stepping motor 14. The center of the frame 6 is parallel to the platform of the base 1; The single-chip microcomputer is fixed on the base 1, and the single-chip microcomputer is connected with the first stepping motor driver and the second stepping motor driver through the I/O interface respectively, and the first stepping motor driver is connected with the first stepping motor 5 by wires, and the second The stepping motor driver is connected with the second stepping motor 14 through wires.

The middle of the base 1 platform is provided with a stepping motor mounting hole 3, the first stepping motor 5 is fixed in the first stepping motor mounting hole 3, the top of the base 1 right-angled pole has a hole, and one end of the horizontal rotating frame 6 passes through the The bearing is fixed in the hole at the top of the right-angled pole of the base 1, and the other end is connected on the flattened shaft of the first stepping motor 5, so that the horizontal rotating frame 6 can rotate around the vertical axis.

Combining Figure 3 and Figure 4, the horizontal rotating frame 6 of the large-scale mobile platform distance monitoring device, the horizontal rotating frame 6 is a rectangular frame structure, and the left and right sides of the horizontal rotating frame 6 have a symmetrical second stepping motor 14 for flattening the axis. Hole 8, the vertical rotating frame 10 is fixed on the horizontal rotating frame 6 by the second stepper motor 14 flattening shaft and the second stepping motor 14 flattening shaft matching hole 8.

5 and 6, the vertical rotating frame 10 of the large-scale mobile platform distance monitoring device has a second stepper motor 14 on the vertical rotating frame 10, and the two shafts of the flattened shaft matching hole 8 are respectively provided with second Stepping motor mounting hole 12, the second stepping motor 14 is fixed on the vertical rotating frame 10 by the second stepping motor mounting hole 12, drives the vertical rotating frame 10 to rotate by the rotation of the second stepping motor 14, vertically The front end of the straight rotating frame 10 is fixed with an ultrasonic probe 15 .

The single-chip microcomputer adopts AT89C52, the first stepper motor driver and the second stepper motor driver both adopt ULN2003A, the first stepper motor 5 and the second stepper motor 14 both adopt 28BYJ-48, 12V DC.

When monitoring is needed, the single-chip microcomputer starts the first stepping motor 5 through the first stepping motor driver, makes it rotate counterclockwise to one side, and coincides with the right-angle vertical pole, and makes the second stepping motor 14 run to the maximum at the same time. The position of the elevation angle, at first, the second stepping motor 14 drives vertically rotating 10 frames to complete the scanning in the vertical direction, then the first stepping motor 5 rotates an angle, and the second stepping motor 14 carries out the scanning in the vertical direction again, Repeat this process until all locations have been scanned. Every time the stepper motor moves, it returns a data obtained by ultrasonic monitoring. Of course, scanning in only one direction or one position may also be performed. the

The invention realizes the reduction of the reflection area of the object detectable by ultrasonic wave, and is not affected by the light intensity.

The above is only one embodiment of the present invention, and it should be pointed out that those skilled in the art of the present invention can also make many modifications without departing from the principles of the present invention, such as changing the installation of the base The way, the shape of the horizontal rotating frame, the shape of the vertical rotating frame, the appearance of the ultrasonic detector, etc., should also belong to the protection scope of the present invention.

Claims (4)

1. a large-scale mobile platform is characterized in that apart from monitoring device: comprise pedestal (1), first stepper motor (5), second stepper motor (14), horizontally rotate frame (6), vertically swivel mount (10), ultrasonic detector (15), single-chip microcomputer, first stepper motor driver, second stepper motor driver; Pedestal (1) is made up of platform and right angle vertical rod, the right angle vertical rod is fixed on any side of platform, first stepper motor (5) is fixed on the center of pedestal (1) platform, horizontally rotate frame (6) one ends and be fixed on the right angle rod end of pedestal (1), the other end is connected on first stepper motor (5); Second stepper motor (14) is fixed in the vertical swivel mount (10), and vertically the flattening axle of swivel mount (10) by second stepper motor (14) is fixed on and horizontally rotates frame (6) central authorities, and be parallel with pedestal (1) platform; Ultrasonic detector (15) is fixed on vertical swivel mount (10) away from a side of pedestal (1) right angle vertical rod; Single-chip microcomputer is fixed on the pedestal (1), single-chip microcomputer links to each other with second stepper motor driver with first stepper motor driver by the I/O interface respectively, first stepper motor driver is connected with first stepper motor (5) by lead, and second stepper motor driver is connected with second stepper motor (14) by lead.

2. large-scale mobile platform according to claim 1 is apart from monitoring device, it is characterized in that: the centre of pedestal (1) platform is provided with the first stepper motor mounting hole (3), first stepper motor (5) is fixed in the first stepper motor mounting hole (3), there is a hole on the top of pedestal (1) right angle vertical rod, horizontally rotating frame (6) one ends is fixed in the hole of right angle rod end of pedestal (1), the other end is connected on the flattening axle of first stepper motor (5), makes to horizontally rotate frame (6) and can be rotated around vertical shaft.

3. large-scale mobile platform according to claim 1 is apart from monitoring device, it is characterized in that: horizontally rotate frame (6), horizontally rotating frame (6) is a framed structure, horizontally rotating frame (6) left and right sides has second stepper motor (14) of a symmetry to flatten a mating holes (8), and vertically swivel mount (10) is fixed on second stepper motor (a 14) flattening axle mating holes (8) by second stepper motor (14) flattening axle and horizontally rotates on the frame (6).

4. large-scale mobile platform according to claim 1 is apart from monitoring device, it is characterized in that: vertically have second stepper motor (14) to flatten on two axles of mating holes (8) on the swivel mount (10) and be respectively equipped with the second stepper motor mounting hole (12), second stepper motor (14) is fixed on the vertical swivel mount (10) by the second stepper motor mounting hole (12), rotation by second stepper motor (14) drives vertical swivel mount (10) and is rotated, and vertically the front end of swivel mount (10) fixedly has ultrasonic detector (15).

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