CN107656528A - A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 - Google Patents
A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 Download PDFInfo
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- CN107656528A CN107656528A CN201710999939.7A CN201710999939A CN107656528A CN 107656528 A CN107656528 A CN 107656528A CN 201710999939 A CN201710999939 A CN 201710999939A CN 107656528 A CN107656528 A CN 107656528A
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- master controller
- dolly
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- wireless remote
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- 239000000523 sample Substances 0.000 claims description 3
- 230000001133 acceleration Effects 0.000 claims description 2
- 230000005611 electricity Effects 0.000 claims description 2
- 230000000087 stabilizing effect Effects 0.000 claims description 2
- 238000010276 construction Methods 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 7
- 238000012913 prioritisation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- -1 AIN2 Proteins 0.000 description 1
- 101100156949 Arabidopsis thaliana XRN4 gene Proteins 0.000 description 1
- 101000970561 Homo sapiens Myc box-dependent-interacting protein 1 Proteins 0.000 description 1
- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 description 1
- 102100021970 Myc box-dependent-interacting protein 1 Human genes 0.000 description 1
- 101100215777 Schizosaccharomyces pombe (strain 972 / ATCC 24843) ain1 gene Proteins 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000002045 lasting effect Effects 0.000 description 1
- 229910052744 lithium Inorganic materials 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000002310 reflectometry Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0221—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving a learning process
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0255—Control of position or course in two dimensions specially adapted to land vehicles using acoustic signals, e.g. ultra-sonic singals
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Aviation & Aerospace Engineering (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Electromagnetism (AREA)
- Acoustics & Sound (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of two-wheeled wireless remote controlled intelligent dolly based on STM32, including trolley body, master controller, power module, range finder module, bluetooth module, road mark identification module, posture read module, DC motor Driver module, two from direct current generator with encoder；Two two wheels for being respectively used to drive trolley body from direct current generator with encoder, its encoder carried are respectively used to measure the rotating speed of two wheels of trolley body；Bluetooth module is used to receive extraneous control command and passes it to master controller；Master controller is connected with power module, range finder module, bluetooth module, road mark identification module, posture read module, DC motor Driver module respectively, for controlling the work of DC motor Driver module according to the sensed data of range finder module, road mark identification module, posture read module.The present invention is simple in construction, easy to use, can realize automatic obstacle avoiding, black line tracking.
Description
Technical field
The present invention relates to two-wheeled dolly balance control field, more particularly to it is a kind of with avoidance and tracking based on STM32's
Two-wheeled wireless remote controlled intelligent dolly.
Background technology
There is miscellaneous remote operated vehicle on the market at this stage, the control of dolly is realized by a special remote-control handle
System.But existing dolly is present the problem of remote-control handle is fragile, volume is very much not portable and trolley function pattern is single.
The content of the invention
The technical problems to be solved by the invention are to be directed to the defects of involved in background technology, there is provided one kind is based on
STM32 two-wheeled wireless remote controlled intelligent dolly.
The present invention uses following technical scheme to solve above-mentioned technical problem：
A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32, it is characterised in that including trolley body, master controller, power supply
Module, range finder module, bluetooth module, road mark identification module, posture read module, DC motor Driver module, two carry volume
The direct current generator of code device；
The trolley body is the upright dolly of two-wheeled, includes left wheel and right wheel；
The range finder module is used for the distance for sensing dolly and front obstacle, and passes it to the master controller；
The road mark identification module is used to identify black road set in advance mark on ground, and passes it to the main control
Device；
The posture read module is used for the attitude data for measuring dolly in real time, and passes it to the master controller；
It is described two to be respectively used to drive the left wheel of trolley body and right wheel from direct current generator with encoder, what it was carried
Encoder is respectively used to measure the left wheel of trolley body and the rotating speed of right wheel and passes it to the master controller；
The DC motor Driver module is used for described two from direct current with encoder according to the order of master controller driving
Machine works；
The power module is used to power；
The bluetooth module is used for and extraneous wireless connection, receives extraneous control command and passes it to the master controller；
The master controller respectively with power module, range finder module, bluetooth module, road mark identification module, posture read module, straight
Stream motor drive module is connected, straight for being controlled according to the sensed data of range finder module, road mark identification module, posture read module
Motor drive module work is flowed, realizes balance and the motion of dolly.
As a kind of further prioritization scheme of two-wheeled wireless remote controlled intelligent dolly based on STM32 of the present invention, the master
Controller uses the STM32F103C8T6 chips of 32.
As a kind of further prioritization scheme of two-wheeled wireless remote controlled intelligent dolly based on STM32 of the present invention, the electricity
The voltage stabilizing chip that source module uses is LM2940 and ASM1117.
As a kind of further prioritization scheme of two-wheeled wireless remote controlled intelligent dolly based on STM32 of the present invention, the survey
HC-SR04 type ultrasonic ranging electronic modules are used away from module, include ultrasonic transmitter, receiver and control circuit.
As a kind of further prioritization scheme of two-wheeled wireless remote controlled intelligent dolly based on STM32 of the present invention, the road
Mark identification module uses the tunnel hunting electronic modules of Miao Wu six, is used for comprising the integral infrared tube probe of 6 transmitting receptions, 2
The adjustable potentiometer and LM339 comparators of detecting distance are set.
As a kind of further prioritization scheme of two-wheeled wireless remote controlled intelligent dolly based on STM32 of the present invention, the appearance
State read module uses MPU6050 chips, includes 3 axle gyroscopes and 3 axle acceleration sensors.
It is described straight as a kind of further prioritization scheme of two-wheeled wireless remote controlled intelligent dolly based on STM32 of the present invention
Stream motor drive module uses TB6612FNG motor drive ics.
The present invention compared with prior art, has following technique effect using above technical scheme：
1. it is simple in construction, it is easy to use；
2. abandoning remote control, data transfer is carried out so as to manipulate with the bluetooth module in trolley control system by mobile phone app
Dolly；
3. using MPU6050 posture balancing modules, the self-balancing of two-wheeled dolly is easily realized；
4. automatic obstacle avoiding and black line tracking can be realized.
Brief description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the overall system structure schematic diagram of the present invention；
Fig. 3 is the schematic diagram of system power supply in the present invention；
Fig. 4 is the circuit theory diagrams of MPU6050 in the present invention；
Fig. 5 is the circuit theory diagrams of DC motor Driver module in the present invention；
Fig. 6 is the circuit theory diagrams of bluetooth module in the present invention；
Fig. 7 is the circuit theory diagrams of range finder module in the present invention；
Fig. 8 is the circuit theory diagrams of mark identification module in Road of the present invention.
Embodiment
Technical scheme is described in further detail below in conjunction with the accompanying drawings：
The present invention can be embodied in many different forms, and should not be assumed that to be limited to embodiment described here.Conversely, there is provided
These embodiments will give full expression to the scope of the present invention to make the disclosure thoroughly and complete to those skilled in the art.
In the accompanying drawings, for the sake of clarity it is exaggerated component.
As shown in figure 1, the invention discloses a kind of two-wheeled wireless remote controlled intelligent dolly based on STM32, including dolly sheet
Body, master controller, power module, range finder module, bluetooth module, road mark identification module, posture read module, DC motor Driver
Module, two from direct current generator with encoder；
The trolley body is the upright dolly of two-wheeled, includes left wheel and right wheel；
The range finder module is used for the distance for sensing dolly and front obstacle, and passes it to the master controller；
The road mark identification module is used to identify black road set in advance mark on ground, and passes it to the main control
Device；
The posture read module is used for the attitude data for measuring dolly in real time, and passes it to the master controller；
It is described two to be respectively used to drive the left wheel of trolley body and right wheel from direct current generator with encoder, what it was carried
Encoder is respectively used to measure the left wheel of trolley body and the rotating speed of right wheel and passes it to the master controller；
The DC motor Driver module is used for described two from direct current with encoder according to the order of master controller driving
Machine works；
The power module is used to power；
The bluetooth module is used for and extraneous wireless connection, receives extraneous control command and passes it to the master controller；
The master controller respectively with power module, range finder module, bluetooth module, road mark identification module, posture read module, straight
Stream motor drive module is connected, straight for being controlled according to the sensed data of range finder module, road mark identification module, posture read module
Motor drive module work is flowed, realizes balance and the motion of dolly.
It is connected using bluetooth module with Android mobile phone, thus line number can be entered by the controller of Android mobile phone and dolly
According to transmitting.Master controller respectively with power module, range finder module, bluetooth module, road mark identification module, posture read module,
DC motor Driver module connects.Power module is powered for each electric component.
The master controller uses the STM32F103C8T6 chips of 32.
The range finder module uses HC-SR04 type ultrasonic ranging electronic modules, comprising ultrasonic transmitter, receiver with
Control circuit.
The road mark identification module uses the tunnel hunting electronic modules of Miao Wu six, and the infrared right of one is received comprising 6 transmittings
Pipe probe, 2 adjustable potentiometers and LM339 comparators for being used to set detecting distance.
The posture read module uses the MPU6050 chips of InvenSense companies, adds comprising 3 axle gyroscopes with 3 axles
Velocity sensor, DMP is carried, the motion process data bank provided with reference to InvenSense companies, can very easily obtained
The real-time attitude data of dolly.
The DC motor Driver module uses TB6612FNG motor drive ics.
As shown in Fig. 2 power module is to range finder module, bluetooth module, road mark identification module, posture read module, direct current
Motor drive module, two left motor, the right motors from direct current generator with encoder power supply, figure are two and carry encoder
Direct current generator.Master controller is handled so as to realize self-balancing, avoidance and follow the data of each sensor from outside
Mark.Mobile phone can set dolly to be in remote control mode, keep away as remote terminal by the bluetooth module of trolley control system simultaneously
Barrier pattern and tracking pattern.When dolly is under remote control mode, by mobile phone app dolly can be controlled all around to move.
When dolly is under avoidance pattern, dolly independently advances, and independently changes the direction of motion when front runs into barrier.Work as dolly
When under tracking pattern, dolly advances according to the black trace line planned in advance.
As shown in figure 3, the power source that balancing trolley uses is 2S high current model plane lithium batteries, battery pack reaches full of voltage
8.4V.And the segment chip of system needs 5V to power, segment chip needs 3.3V to power, so needing power-switching circuit, adopts
It is chip LM2940-5.0 and ASM1117-3.3, stablizes clean power supply to individually be provided to sensor MPU-6050,
XC6206 is specially used alone to power to MPU-6050.
As shown in figure 4, three wheeler of the two-wheeled dolly from the lorry of routine or with universal wheel is different, primary solution
Certainly the problem of is equilibrium problem.It is more smart in order to obtain using the MPU6050 chips for integrating gyroscope and accelerometer
True dolly inclination angle needs to carry out Kalman filtering processing to the data read from gyroscope and accelerometer, then passes through PID
The forward-reverse of control algolithm control dolly is so as to realizing the balance of dolly.
As shown in figure 5, two direct current generators have selected the TB6612FNG driving chips of built-in two groups of H-bridge circuits.Wherein
PWMA, PWMB connect STM32F10C8T6 PWM output pins, and general 10KHZ PWM is real by the dutycycle for adjusting PWM
The speed governing of existing motor.AO1, AO2, BO1, BO2 connect the both positive and negative polarity of two direct current generators.AIN1, AIN2, BIN1, BIN2 pin control
Make the rotating of two direct current generators.
As shown in fig. 6, bluetooth module is principal and subordinate's integrated module, the module supporting interface enriches, and supports SPP bluetooth serial ports association
View, have cost low, small volume, transmitting-receiving sensitivity is high, using it is simple the advantages that.
As shown in fig. 7, HC-SR04 ultrasonic distance measuring modules can provide 2cm-400cm contactless distance sensing function,
Range accuracy arrives 3mm up to high；Module includes ultrasonic transmitter, receiver and control circuit.Module has four pin difference
For VCC, Trig, Echo, GND.Its circuit is connected as VCC and supplies 5V power supplys, and GND is ground wire, and TRIG Trig control signals input,
ECHO response signals export.The general principle of ranging is：To one lasting more than 10us of Trig pins high level, ultrasonic wave mould
Block sends 8 40khz square wave automatically, and whether automatic detection has signal return, there is signal return, and a height is exported by ECHO
Level, high level duration are exactly ultrasonic wave from the time for being transmitted into return.ECHO is obtained by STM32 input capture
The duration of pin high level, then obtain distance=(the high level time * velocities of sound (340M/S))/2.
As shown in figure 8, the road mark identification module comprising LM339 and infrared tube.Using infrared ray different colours thing
Body surface face has the characteristics of different reflectivity properties, constantly earthward launches infrared light during dolly traveling, when infrared
Diffusing reflection occurs when running into white floor for light, and the reception pipe that reflected light is loaded on dolly is just received；It is infrared if black line is run into
Light is absorbed, and the reception pipe of dolly does not receive infrared light.Occur if both above phenomenon is described with the height of level
Point of low and high level, that is, so-called 0 and 1 two states occur, this is now sent to the I/O mouths of main control chip again, it is single
Piece machine is it may determine that be black and white road surface, and then complete corresponding tracking function.
Those skilled in the art of the present technique are it is understood that unless otherwise defined, all terms used herein（Including skill
Art term and scientific terminology）With the general understanding identical meaning with the those of ordinary skill in art of the present invention.Also
It should be understood that those terms defined in such as general dictionary should be understood that with the context of prior art
The consistent meaning of meaning, and unless defined as here, will not be explained with the implication of idealization or overly formal.
Above-described embodiment, the purpose of the present invention, technical scheme and beneficial effect are carried out further
Describe in detail, should be understood that the embodiment that the foregoing is only the present invention, be not limited to this hair
It is bright, within the spirit and principles of the invention, any modification, equivalent substitution and improvements done etc., it should be included in the present invention
Protection domain within.
Claims (7)
1. a kind of two-wheeled wireless remote controlled intelligent dolly based on STM32, it is characterised in that including trolley body, master controller, electricity
Source module, range finder module, bluetooth module, road mark identification module, posture read module, DC motor Driver module, two carry
The direct current generator of encoder；
The trolley body is the upright dolly of two-wheeled, includes left wheel and right wheel；
The range finder module is used for the distance for sensing dolly and front obstacle, and passes it to the master controller；
The road mark identification module is used to identify black road set in advance mark on ground, and passes it to the main control
Device；
The posture read module is used for the attitude data for measuring dolly in real time, and passes it to the master controller；
It is described two to be respectively used to drive the left wheel of trolley body and right wheel from direct current generator with encoder, what it was carried
Encoder is respectively used to measure the left wheel of trolley body and the rotating speed of right wheel and passes it to the master controller；
The DC motor Driver module is used for described two from direct current with encoder according to the order of master controller driving
Machine works；
The power module is used to power；
The bluetooth module is used for and extraneous wireless connection, receives extraneous control command and passes it to the master controller；
The master controller respectively with power module, range finder module, bluetooth module, road mark identification module, posture read module, straight
Stream motor drive module is connected, straight for being controlled according to the sensed data of range finder module, road mark identification module, posture read module
Motor drive module work is flowed, realizes balance and the motion of dolly.
2. the two-wheeled wireless remote controlled intelligent dolly according to claim 1 based on STM32, it is characterised in that the master control
Device processed uses the STM32F103C8T6 chips of 32.
3. the two-wheeled wireless remote controlled intelligent dolly according to claim 1 based on STM32, it is characterised in that the power supply
The voltage stabilizing chip that module uses is LM2940 and ASM1117.
4. the two-wheeled wireless remote controlled intelligent dolly according to claim 1 based on STM32, it is characterised in that the ranging
Module uses HC-SR04 type ultrasonic ranging electronic modules, includes ultrasonic transmitter, receiver and control circuit.
5. the two-wheeled wireless remote controlled intelligent dolly according to claim 1 based on STM32, it is characterised in that the road mark
Identification module uses the tunnel hunting electronic modules of Miao Wu six, is used to set comprising the integral infrared tube probe of 6 transmitting receptions, 2
Put the adjustable potentiometer and LM339 comparators of detecting distance.
6. the two-wheeled wireless remote controlled intelligent dolly according to claim 1 based on STM32, it is characterised in that the posture
Read module uses MPU6050 chips, includes 3 axle gyroscopes and 3 axle acceleration sensors.
7. the two-wheeled wireless remote controlled intelligent dolly according to claim 1 based on STM32, it is characterised in that the direct current
Motor drive module uses TB6612FNG motor drive ics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710999939.7A CN107656528A (en) | 2017-10-24 | 2017-10-24 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710999939.7A CN107656528A (en) | 2017-10-24 | 2017-10-24 | A kind of two-wheeled wireless remote controlled intelligent dolly based on STM32 |
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Cited By (4)
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| CN107885215A (en) * | 2017-11-22 | 2018-04-06 | 南京航空航天大学 | A kind of two-wheeled wireless remote controlled intelligent dolly |
| CN109460017A (en) * | 2018-09-14 | 2019-03-12 | 杭州朗迅科技有限公司 | Automatic Track Finding car controller and GaN base switch power module test macro |
| CN109498297A (en) * | 2018-12-30 | 2019-03-22 | 天津传世科技有限公司 | Balancing seat controller |
| CN111857209A (en) * | 2020-07-08 | 2020-10-30 | 温州大学 | Wireless remote control intelligent vehicle |
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