CN103247216A - Teaching experiment device based on miniature intelligent vehicle - Google Patents
Teaching experiment device based on miniature intelligent vehicle Download PDFInfo
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Abstract
本发明公开一种缩微智能车教学实验装置，包括车模，所述车模上装有嵌入式主板、红外超精度摄像头、各种传感器以及编码器，其中：红外超精度摄像头采集路况信号，传感器采集车辆本身的状态信号，然后将信号传给嵌入式主板，此过程为图像识别过程；嵌入式主板将采集的数据进行分析，对车模现有的状态进行描述、分类、辨认和解释，此过程为模式识别过程；嵌入式主板将上述车模现有的状态数据进行处理，以得到控制指令，并发送至底层执行器，此过程为控制策略过程；以上过程不断循环，以达到车模实时控制的目的。本发明便于用户对智能车进行探索和实验，具有携带轻便、接口通用、使用安全、不受限于场地、易于开展实验的优点。
The invention discloses a miniature smart car teaching experiment device, comprising a car model, the car model is equipped with an embedded main board, an infrared super-precision camera, various sensors and an encoder, wherein: the infrared super-precision camera collects road condition signals, and the sensor collects the vehicle itself state signal, and then transmit the signal to the embedded motherboard, this process is the image recognition process; the embedded motherboard will analyze the collected data, describe, classify, identify and explain the existing state of the car model, this process is pattern recognition process; the embedded motherboard processes the existing state data of the above-mentioned car models to obtain control commands and send them to the underlying actuators. This process is a control strategy process; the above processes are continuously cycled to achieve the purpose of real-time control of the car models. The invention is convenient for users to explore and experiment on the smart car, and has the advantages of light portability, universal interface, safe use, not limited by the site, and easy experimentation.
Description
Technical field
The present invention relates to a kind of experiment device for teaching, specifically, what relate to is a kind of based on miniature intelligent vehicle experiment device for teaching.
Background technology
Intelligent vehicle still is that civil area has all obtained fast development in military affairs, and considerable research institution and manufacturer have put into this research field.For the intelligent vehicle application prospect under the urban environment, owing to be subjected to the restriction of each side factor, can be used as a kind of of urban public transport in a short time replenishes, be applied to the occasion of short distance low speed, for example large-scale activity place, park, campus, industry park, airport, harbour etc. are to solve the city area-traffic problem.
The intelligent vehicle technology also is subjected to increasing automobile vendor and research organizations pay much having great value under the traffic environment now.But the intelligent vehicle experiment is often wasted time and energy under the true environment, and particularly urban traffic flow experiment is if use a large amount of intelligent vehicles meetings costly.Use this moment miniature intelligent vehicle experiment to provide main theoretical basis of the reform of Chinese economic structure and technical support as intelligent vehicle.
So-called intelligent vehicle education experiment in the past all is directly to develop at the embedded main board of miniature car itself.Because the exploitation of the embedded main board of miniature car itself need possess certain hardware foundation and single-chip microcomputer professional knowledge, the difficulty of study is bigger for the student of contacted single-chip microcomputer never, and it is longer to develop debugging cycle, and conventional efficient is lower.Secondly, the function of embedded main board is more, and a lot of Premium Features are for the student, and especially beginner's indoctrination session brings bigger interference, and has been difficult to different levels, the distribution of the different aims of learning.Therefore the relevant teaching of miniature car often is subject to the study of embedded main board own, is unfavorable for that the student learns from the angle of miniature car integral body.Therefore need that design is a kind of can to improve efficiency of teaching, reduce the study threshold, left-hand seat easily causes the teaching experiment platform of learning interest.
For an experiment device for teaching, the characteristics that should have be similar.The first, the easy left-hand seat of student meets people's characteristics of cognition in the use, and the beginner can be had integral body, be familiar with completely this system very soon, to reach the requirement that this gate technique is crossed the threshold.The second, teacher's instruction should be very convenient, from the easier to the more advanced, to whole, can allow the student use and can innovate from meeting by part, finally reaches the purpose of applying in a flexible way, excite innovation ability.
If can be at a kind of secondary development teaching experiment platform that possesses These characteristics of so-called intelligent vehicle design, to allow the student grasp the function of miniature intelligent vehicle rapidly equally, from application and the exploitation purpose of understanding miniature intelligent vehicle, cause student's creativity and initiative, be convenient to allow student's quick start of contacted miniature intelligent vehicle never, reduce the student greatly in the ABC of stage waste of time phenomenon.
Find that by prior art documents the patent No. is 201210200230.3, the patent of invention of " electrical equipment of the miniature car of car mould and mechanical integrated platform " by name also provides similar platform.But this patent not too is fit to carry out education experiment in the school environment.At first, it is more close to industrial use, and content is too complicated, and a lot of functions show slightly chicken ribs for student user, make student user, and especially the beginner is difficult the ABC of; Simultaneously, because volume is relatively large, does not have enough spaces to build sand table in the laboratory of school and test; At last, function patrix blocking is not obvious, also the difficulty that increases for professor's teaching process.So, in this invention use for school environment, bigger limitation is arranged.
Summary of the invention
The objective of the invention is to solve above-mentioned deficiency of the prior art, provide a kind of based on miniature intelligent vehicle experiment device for teaching, improve the human-computer interaction interface of miniature intelligent vehicle specialty embedded type mainboard, simplify user's performance history, be convenient to the user from the exploitation of the learning system on the whole of miniature intelligent vehicle, and have carry light, interface is general, use is safe, the advantage that is not subject to the place, is easy to carry out experiment.
For realizing above-mentioned purpose, the present invention adopts and has descended technical scheme:
Experiment device for teaching based on miniature intelligent vehicle of the present invention, comprise the car mould, embedded main board, infrared excess precision camera, various sensor and scrambler are housed on the described car mould, wherein, embedded main board is erected at the middle part of car mould and is connected with infrared excess precision camera, sensor and scrambler on the car mould; Infrared excess precision camera collection road conditions signal, the status signal of sensor collection vehicle itself, and process the image into the data that can handle at embedded main board, and pass to embedded main board then, this process is image recognition processes; Embedded main board is analyzed the data of above-mentioned collection, and the existing state of car mould is described, classifies, recognizes and explains, this process is mode identification procedure; Embedded main board is handled the existing status data of above-mentioned car mould simultaneously, with controlled instruction, and is sent to the bottom actuator, and this process is the control strategy process; Above process constantly circulates, to reach the car mould purpose of control in real time.
Preferably, described embedded main board adopts layer architecture, is divided into bottom and upper strata, and bottom is concrete execution command and feedback transducer state; The upper strata is according to sensor states, calls control algolithm, generates instruction, communicates by serial ports between two-layer, and the upper strata host computer sends earlier and reads bottom sensor status frames, bottom feedback transducer status frames; The control algolithm that the upper strata host computer calls the input of bottom state, controlled instruction; The upper strata host computer sends bottom actuator command frame, and bottom is carried out steering order, and said process constantly circulates.
Preferably, described bottom is made up of hardware and software two parts, and hardware components comprises multiple sensors Acquisition Circuit and multiple driving circuit; Software section is bottom control software, is made of interrupt service routine and master routine, and master routine is responsible for communicating by letter with host computer, receives steering order, the feedback system state; Interrupt service routine is responsible for driving output according to instruction, and timing acquiring bottom state.
Preferably, road conditions and the information of vehicles of described infrared excess precision camera collection sand table, and these information processings are become to be convenient to the process that the data transmission of computing is given embedded main board, this process can be the image recognition part, and image recognition can be divided into: basic Road Detection module, moving-target detection module and quiet module of target detection.Basis Road Detection module is to detect influencing the road essential elements that the vehicle hunting travels, and mainly contains route, stop line, zebra stripes, road surface Warning Mark etc.; Moving-target refers to that relative to road environment be the target that moves in the moving-target detection module, the vehicle that travels and pedestrian etc. are arranged, moving-target detects and causes emergency condition easily, thereby very high to the collision prevention control system requirement of miniature vehicle, and the accuracy of detection directly influences the security of vehicle autonomous driving; Quiet target refers to that relative road environment is static target except the essential elements that hunting is travelled in the quiet module of target detection, and direction board, fault vehicle, static pedestrian, greenbelt, taper mark and traffic lights etc. are arranged.
Preferably, described embedded main board carries out data fusion with the effective information that perception obtains, and obtains the driving model of vehicle, provides corresponding control information, and this process can be the pattern-recognition part.Described driving model has: the track keeps pattern, turning pattern and road pattern, crossing pattern, the pattern of overtaking other vehicles, loses seven classes such as pattern and brake hard pattern.
Preferably, the steering order of described embedded main board mainly is divided into Electric Machine Control and steering wheel control two parts.Electric Machine Control is namely controlled the speed of miniature intelligent vehicle, and control method has PID control, and the angle control of miniature intelligent vehicle turning or break-in is namely controlled in open loop control etc., steering wheel control, and control method also has PID control, fuzzy control etc.
Compared with prior art, the present invention has following beneficial effect: will install whole several main control sections that are divided into, when having guaranteed whole structure, help the user to understand and learn the main image recognition of miniature intelligent vehicle, pattern-recognition and control method three parts, reduced the difficulty of user in study and programming process greatly, make learning process more interesting, easier, also reduced the complicacy of miniature intelligent vehicle professor and experimentation greatly, and the experimental provision design is based on miniature intelligent vehicle, only carried out partly revising, made things convenient for the user to carry, be easy to experiment.
Description of drawings
By reading the detailed description of non-limiting example being done with reference to the following drawings, it is more obvious that other features, objects and advantages of the present invention will become:
Fig. 1 is bottom process flow diagram of the present invention;
Fig. 2 is system flowchart of the present invention;
Fig. 3 is the system chart of picture recognition module of the present invention;
Fig. 4 is the system chart of pattern recognition module of the present invention;
Fig. 5 is the system chart of control strategy module of the present invention.
Embodiment
The present invention is described in detail below in conjunction with specific embodiment.Following examples will help those skilled in the art further to understand the present invention, but not limit the present invention in any form.Should be pointed out that to those skilled in the art, without departing from the inventive concept of the premise, can also make some distortion and improvement.These all belong to protection scope of the present invention.
Present embodiment provides a kind of experiment device for teaching based on miniature intelligent vehicle, this experimental provision can be used for the teaching of miniature intelligent vehicle, the student can easily learn to use this experimental provision to understand the principle of work of miniature intelligent vehicle, grasp image recognition in the miniature intelligent vehicle work, the specific requirement of pattern-recognition and control method three aspects is with the purpose of the miniature intelligent vehicle that is able to apply in a flexible way.
Present embodiment comprises the car mould, embedded main board, infrared excess precision camera, various sensor and scrambler are housed on the car mould, wherein, infrared excess precision camera is contained in the middle leading portion of car mould, near the position of driver at general car, embedded main board is located at the middle part of car mould with the copper pylon, is connected with infrared excess precision camera, sensor and the scrambler of car mould by Du Pont's line, and scrambler is installed in the position of off hind wheel; Wherein, infrared excess precision camera collection road conditions signal, the status signal of sensor collection vehicle itself, and process the image into the data that can handle at embedded main board, pass to embedded main board then; Embedded main board is analyzed the data of above-mentioned collection, and the existing state of car mould is described, classifies, recognizes and explains; Simultaneously embedded main board is handled the existing status data of above-mentioned car mould, with controlled instruction, and is sent to the bottom actuator; Above process constantly circulates, to reach the car mould purpose of control in real time.
Wherein the software section of bottom is bottom control software, is made of interrupt service routine and master routine.Master routine is responsible for communicating by letter with host computer, receives steering order, the feedback system state.Interrupt service routine is responsible for driving output according to instruction, and timing acquiring bottom state, and its flow process as shown in Figure 1.
Comprise picture recognition module based on miniature intelligent vehicle experiment device for teaching, pattern recognition module and control strategy module.The main effect of each module is the ability of showing and cultivating the miniature intelligent vehicle various piece of student respectively, can allow teaching more targeted with study, improves learning efficiency greatly.
As shown in Figure 2, the workflow of present embodiment system: after system starts, deliver to embedded main board behind the infrared excess precision camera identification traffic information; Embedded main board is handled laggard row mode identification with traffic information, judges the residing pattern of miniature intelligent vehicle; According to the controlled instruction of setting of control method, be transferred to control assemblies such as motor, steering wheel again.Constantly circulation afterwards is to realize the real-time control of miniature intelligent vehicle.And concrete workflow will not be subjected to too big restriction, and the space that can innovate optimization is provided for the user.
As shown in Figure 3, picture recognition module is mainly detected by infrared excess precision camera, and the signal of detection mainly is divided into three parts, and Road Detection, quiet target detection and moving-target detect.Experimental provision will experimentize from this three aspects guiding student, cultivate the ability of student's modularization, systematization experiment, because the detection method of this part and other miniature cars is similar, and not be innovative point of the present invention, not state so do not tire out.
Image recognition can analogize to the driver and see road conditions and other information of vehicles, and information is passed to the process of brain.And in the present embodiment, the task of picture recognition module is road conditions and the information of vehicles by infrared excess precision camera collection sand table, and these information processings are become to be convenient to the data transmission of computing to the process of embedded main board.Wherein image recognition can be divided into: basic Road Detection module, moving-target detection module and quiet module of target detection.The task of basis Road Detection is to detect influencing the road essential elements that the vehicle hunting travels, and mainly contains route, stop line, zebra stripes, road surface Warning Mark etc.Moving-target referred to that relative to road environment be the target that moves during moving-target detected, the vehicle that travels and pedestrian etc. are arranged, moving-target detects and causes emergency condition easily, thereby very high to the collision prevention control system requirement of miniature vehicle, and the accuracy of detection directly influences the security of vehicle autonomous driving.Quiet target refers to that relative road environment is static target except the essential elements that hunting is travelled in the quiet target detection, and direction board, fault vehicle, static pedestrian, greenbelt, taper mark and traffic lights etc. are arranged.
Pattern recognition module is module most crucial in this experimental provision, and pattern-recognition can analogize to the driver and traffic information is reacted to the process that obtains next step decision-making behind the brain.In the present invention, the task of pattern-recognition is that the effective information that perception obtains is carried out data fusion, obtains the driving model of vehicle, provides corresponding control information.The different autonomous travelling characteristic of miniature intelligent vehicle is corresponding to different vehicle control behaviors.System defines several driving models thus.Driving model under the miniature urban road environment has: the track keeps pattern, turning pattern and road pattern, crossing pattern, the pattern of overtaking other vehicles, loses seven classes such as pattern and brake hard pattern.The track keep pattern mainly refer to vehicle in same track along the walking of road route, run into vehicle deceleration and go slowly, this is most basic pattern in the vehicle autonomous driving.After the turning pattern shows the way and mouthful detects the road surface arrow, and the turning road can pass through, and then enters the turning pattern, in the turning pattern, can not trigger the pattern of overtaking other vehicles.And the road pattern situation that refers to exist in the visual field track to reduce, with vehicle control in the track maintenance pattern very big difference is arranged.The crossing pattern refers to that vehicle detection comes the crossing pattern to stop line or zebra stripes are laggard, and there are traffic lights and wireless zone etc. in the crossing, and corresponding vehicle autonomous driving control is very complicated.The pattern of overtaking other vehicles is the mutual pith of vehicle, and for guaranteeing vehicle in the safety of this pattern, the condition that triggers this pattern is higher, and the condition that needs to satisfy simultaneously has: front vehicles meets passing distance; About the track that can overtake other vehicles is arranged; The direction of overtaking other vehicles does not have driving vehicle; At straight way dotted line place.Lose pattern and mainly refer to not have the valid trace route that can be used for controlling in the visual field, this pattern is lost for a long time and will be changed into the brake hard pattern for the interference that has of vehicle control.The brake hard pattern is to take place and need carry out brake hard to vehicle in emergency case, forces as vehicle and hits emergency stop control.
In this seven quasi-mode, lose pattern and be the situation about occurring as far as possible to avoid, and other six kinds of patterns all will be the situations that miniature intelligent vehicle normally travels and can run into, and should change mutually in these situations of some situation, as shown in Figure 4.And in the algorithm control of pattern-recognition, the present invention only provides most basic algorithm, and senior algorithm will be by the own exploration discovery of students, so also be not described in detail on the algorithm.
The control strategy module is the output module in this experimental provision, and in this module, embedded main board changes each mode signal of miniature intelligent vehicle into for each topworks control signal, mainly is the state of control motor and steering wheel.In this process, also need sensor that the standing state of motor and steering wheel is detected, form feedback signal, to realize closed-loop control as shown in Figure 5.In concrete control strategy, can select for use PID control or open loop control to wait the control scheme of other maturations, this experiment device for teaching will can not retrain the control scheme, make the user to explore and to innovate.
Present embodiment improves miniature intelligent vehicle human-computer interaction interface, avoid the user direct contact hardware programming, simplify user's performance history, be convenient to the user and learn miniature intelligent vehicle embedded system development from system perspective, in this cover experimental provision, the user can handle and the pattern-recognition aspect be explored and test the control method of so-called intelligent vehicle, image, this experimental provision have carry light, interface is general, use is safe, the advantage that is not subject to the place, is easy to carry out experiment.
As fully visible, the present invention does not carry out a large amount of optimization in the algorithm of intelligent vehicle operation, and only is to be the user, and especially the beginner provides a platform that can experimentize, for user's experiment and innovation facilitates.
More than specific embodiments of the invention are described.It will be appreciated that the present invention is not limited to above-mentioned specific implementations, those skilled in the art can make various distortion or modification within the scope of the claims, and this does not influence flesh and blood of the present invention.
Claims (6)
1. experiment device for teaching based on miniature intelligent vehicle, comprise the car mould, it is characterized in that, embedded main board, infrared excess precision camera, various sensor and scrambler are housed on the described car mould, and wherein: embedded main board is erected at the middle part of car mould and is connected with infrared excess precision camera, sensor and scrambler on the car mould; Infrared excess precision camera collection road conditions signal, the status signal of sensor collection vehicle itself, and process the image into the data that can handle at embedded main board, and pass to embedded main board then, this process is image recognition processes; Embedded main board is analyzed the data of above-mentioned collection, and the existing state of car mould is described, classifies, recognizes and explains, this process is mode identification procedure; Embedded main board is handled the existing status data of above-mentioned car mould simultaneously, with controlled instruction, and is sent to the bottom actuator, and this process is the control strategy process; Above process constantly circulates, to reach the car mould purpose of control in real time.
2. the experiment device for teaching based on miniature intelligent vehicle according to claim 1 is characterized in that, described embedded main board adopts layer architecture, is divided into bottom and upper strata, and bottom is concrete execution command and feedback transducer state; The upper strata is according to sensor states, calls control algolithm, generates instruction, communicates by serial ports between two-layer, and the upper strata host computer sends earlier and reads bottom sensor status frames, bottom feedback transducer status frames; The control algolithm that the upper strata host computer calls the input of bottom state, controlled instruction; The upper strata host computer sends bottom actuator command frame, and bottom is carried out steering order, and said process constantly circulates.
3. the experiment device for teaching based on miniature intelligent vehicle according to claim 2 is characterized in that, described bottom is made up of hardware and software two parts, and hardware components comprises multiple sensors Acquisition Circuit and multiple driving circuit; Software section is bottom control software, is made of interrupt service routine and master routine, and master routine is responsible for communicating by letter with host computer, receives steering order, the feedback system state; Interrupt service routine is responsible for driving output according to instruction, and timing acquiring bottom state.
4. according to each described experiment device for teaching based on miniature intelligent vehicle of claim 1-3, it is characterized in that, road conditions and the information of vehicles of described infrared excess precision camera collection sand table, and these information processings are become to be convenient to the process that the data transmission of computing is given embedded main board, this process is image recognition, image recognition is divided into: basic Road Detection module, moving-target detection module and quiet module of target detection, basic Road Detection module are to detect influencing the road element that the vehicle hunting travels; Moving-target refers to that relative to road environment be the target detection that moves in the moving-target detection module; Quiet target refers to that relative road environment is static target except the essential elements that hunting is travelled in the quiet module of target detection.
5. according to each described experiment device for teaching based on miniature intelligent vehicle of claim 1-3, it is characterized in that, described embedded main board carries out data fusion with the effective information that perception obtains, obtain the driving model of vehicle, provide corresponding control information, described driving model has seven classes: the track keeps pattern, turning pattern and road pattern, crossing pattern, the pattern of overtaking other vehicles, loses pattern and brake hard pattern.
6. the experiment device for teaching based on miniature intelligent vehicle according to claim 5 is characterized in that, described track maintenance pattern refer to vehicle in same track along road route walking, run into vehicle deceleration and go slowly, this is most basic pattern in the vehicle autonomous driving;
After described turning pattern shows the way and mouthful detects the road surface arrow, and the turning road can pass through, and then enters the turning pattern, in the turning pattern, can not trigger the pattern of overtaking other vehicles;
Described and road pattern refers to exist in the visual field situation of track minimizing, and controlling with the vehicle in the track maintenance pattern has very big difference;
Described crossing pattern refers to that vehicle detection comes the crossing pattern to stop line or zebra stripes are laggard, and there are traffic lights and wireless zone in the crossing, and corresponding vehicle autonomous driving control is very complicated;
The described pattern of overtaking other vehicles is the mutual pith of vehicle, and for guaranteeing vehicle in the safety of this pattern, the condition that triggers this pattern needs satisfied simultaneously condition to have: front vehicles meets passing distance; About the track that can overtake other vehicles is arranged; The direction of overtaking other vehicles does not have driving vehicle; At straight way dotted line place;
The described pattern of losing refers to not have the valid trace route that can be used for controlling in the visual field, and this pattern is lost for a long time and will be changed into the brake hard pattern for the interference that has of vehicle control;
Described brake hard pattern is to take place and need carry out brake hard to vehicle in emergency case.
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| CN104407612A (en) * | 2014-10-16 | 2015-03-11 | 重庆市合川区何茗机械加工厂 | Miniature intelligent vehicle and test method applying miniature intelligent vehicle |
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| CN110867125A (en) * | 2019-12-13 | 2020-03-06 | 清华大学 | Intelligent train traffic system sand table demonstration device and control method thereof |
| CN111524405A (en) * | 2020-04-08 | 2020-08-11 | 广州运星科技有限公司 | Electronic police monitoring method and system for simulation sand table |
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