CN105467902A - Multiple intelligent small car cooperation controlling device based on ZigBee - Google Patents
Multiple intelligent small car cooperation controlling device based on ZigBee Download PDFInfo
- Publication number
- CN105467902A CN105467902A CN201610023058.7A CN201610023058A CN105467902A CN 105467902 A CN105467902 A CN 105467902A CN 201610023058 A CN201610023058 A CN 201610023058A CN 105467902 A CN105467902 A CN 105467902A
- Authority
- CN
- China
- Prior art keywords
- intelligent
- core controller
- intelligent carriage
- small car
- cooperation controlling
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
Abstract
The invention discloses a multiple intelligent small car cooperation controlling device based on ZigBee, comprising a front intelligent small car and a rear intelligent small car which are both provided with a core controller; the two controllers are communicated through communication modules arranged on the core controllers to realize operation motion consistency of the front intelligent small car and the rear intelligent small car. The invention provides a new idea and a feasible intelligent device for realizing multiple intelligent small car cooperation, achieves the purposes of energy saving, emission reduction and environment improvement through the technologies such as intelligent engine treatment and intelligent real-time traffic management, and meanwhile provides a new solution scheme for the safety and efficiency of an intelligent traffic transportation system; multiple intelligent car cooperation is a key problem for solving in the intelligent traffic field, and has practical meaning and research value. The multiple intelligent small car cooperation controlling device has the characteristics of simple structure, convenient manufacture and great practicality.
Description
Technical field
The present invention relates to Vehicular intelligent technology, the especially a kind of Cooperation controlling of many intelligent carriages based on ZigBee device.
Background technology
Along with the continuous expansion of size of urban population, the continuous increase of automobile pollution, Urban Traffic Jam Based is day by day serious, causes huge economic loss and energy dissipation, and bridging of repairing the roads can only bring temporary transient expansion for urban traffic capacity.For transport solution congestion problems, Chinese scholars proposes the concept such as intelligent vehicle, intelligent transportation system, has done scientific research widely, and has achieved important breakthrough.But only can not meet the growth requirement in current intelligent field already to the research of bicycle, under the multiple pressure of nowadays traffic congestion, traffic safety, environmental protection and energy-saving and emission-reduction, the development of many intelligent vehicles cooperative system receives the attention of various countries.
Again along with the develop rapidly of infotech, Electronic transducer technology, control technology, infotech, computer technology, data communication technology etc., intelligent transportation system combining the technology effective of these advanced persons and being applied to whole traffic system, can set up one large-scale, comprehensive that play a role, in real time, intelligent transportation system accurately and efficiently, it also avoid simultaneously use traditional sensors be easily subject to the impact of environment and lost efficacy or responded the shortcomings such as slow.
Summary of the invention
Technical matters to be solved by this invention is: provide a kind of many intelligent carriages based on ZigBee Cooperation controlling device, for the Cooperation controlling between present many intelligent carriages, rear car can communicate with front truck in real time, obtain the running data of front truck and make corresponding actions problem, a kind of efficient many cars Cooperation controlling device is proposed, build the intelligent carriage platform of needs, set up wireless communication system, realize the Cooperation controlling between many intelligent carriages, to overcome the deficiencies in the prior art.
The present invention is achieved in that
A kind of Cooperation controlling of many intelligent carriages based on ZigBee device, comprise front intelligent carriage and rear intelligent carriage, front intelligent carriage and rear intelligent carriage arrange core controller respectively, and each other core controller by the communication module be arranged on core controller communicate with each other realize after after the run action of intelligent carriage consistent with the run action of front intelligent carriage.
In the aforesaid a kind of Cooperation controlling of many intelligent carriages based on ZigBee device, described front intelligent carriage comprises chassis, front two-wheeled and rear two-wheeled are successively set on front and back end, chassis, at two front-wheel ends, front-wheel steering wheel is set, at two trailing wheel ends, dual H-bridge drive plate is set, the forward or reverse of two-wheeled after the motor be arranged on chassis is realized by dual H-bridge drive plate, the battery being arranged on motor side is communicated with motor and is feeding electric motors, at the front end face of front intelligent carriage, ultrasonic sensor is set, the signal input part and the ultrasonic sensor that are arranged on the core controller on chassis pass through wireless connections, and the control output end of this core controller is connected with wheel steering wheel and motor respectively, core controller arranges communication module, the signal output part of this core controller is communicated with communication module.
In the aforesaid a kind of Cooperation controlling of many intelligent carriages based on ZigBee device, described core controller adopts the single-chip microcomputer based on Arduino language.
In the aforesaid a kind of Cooperation controlling of many intelligent carriages based on ZigBee device, described ultrasonic sensor is fixed on the front end face of front intelligent carriage by sensor stand.
In the aforesaid a kind of Cooperation controlling of many intelligent carriages based on ZigBee device, battery arranges lowering and stabilizing blood pressure module.
Owing to have employed technique scheme, compared with prior art, the present invention provides a kind of new thinking and feasible hardware device for realizing the cooperation of many intelligent vehicles, energy-saving and emission-reduction are reached by technology such as intelligentized engine process, intelligentized real-time traffic management, the object of environmental protect, simultaneously also for the safety and efficiently of intelligent transport system provides new solution, many intelligent vehicles cooperate the key issue that intelligent transportation field especially need solve, also there is practical significance and researching value, structure of the present invention is simple, easy to make, practical.
Beneficial effect of the present invention is mainly reflected in:
1, in conjunction with the structure of real intelligence car, function and feature, design can imitate the intelligent carriage of real vehicles.
2, both reduced experimental cost and danger, and under more satisfactory environment, actual experiment can have been carried out to the communication protocol algorithm that to cooperate with many cars again.
3, can many cars collaboration communication agreement, cooperation architecture be transplanted in actual intelligent carriage with the software systems such as algorithm that cooperate, the speed of many intelligent vehicles cooperating research can be accelerated.
4, avoid because sensor is easily subject to the impact of complex environment factor, and reach fast by cordless communication network, information transmission accurately.
5, the present invention adopts the ZigBee technology of ISM band, proposes the truck traffic scheme based on Novel Communication technology, with low cost, easily dispose, and network expansion is easy.
Accompanying drawing explanation
Accompanying drawing 1 is the structural representation of front intelligent carriage in the present invention;
Accompanying drawing 2 is structural representations of rear intelligent carriage in the present invention;
Accompanying drawing 3 is system flowcharts in the present invention.
Embodiment
Embodiments of the invention: a kind of Cooperation controlling of many intelligent carriages based on ZigBee device, as shown in drawings, comprise front intelligent carriage 13 and rear intelligent carriage 14, front intelligent carriage 13 and rear intelligent carriage 14 arrange core controller 11 respectively, and each other core controller 11 by the communication module 12 be arranged on core controller 11 communicate with each other realize after after the run action of intelligent carriage 14 consistent with the run action of front intelligent carriage 13.
Wherein this front intelligent carriage 13 comprises chassis 1, front two-wheeled 2 and rear two-wheeled 3 are successively set on front and back end, chassis 1, at two front-wheel 2 ends, front-wheel steering wheel 4 is set, at two trailing wheel 3 ends, dual H-bridge drive plate 10 is set, be arranged on the One On The Chassis motor 5 realizes rear two-wheeled 3 forward or reverse by dual H-bridge drive plate 10, the battery 6 being arranged on motor 5 side is communicated with motor 5 and powers for motor 5, at the front end face of front intelligent carriage 13, ultrasonic sensor 9 is set, the signal input part and the ultrasonic sensor 9 that are arranged on the One On The Chassis core controller 11 pass through wireless connections, and the control output end of this core controller 11 is connected with wheel steering wheel 4 and motor 5 respectively, core controller 11 arranges communication module 12, the signal output part of this core controller 11 is communicated with communication module 12, this core controller 11 adopts the single-chip microcomputer based on Arduino language, this ultrasonic sensor 9 is fixed on the front end face of front intelligent carriage 13 by sensor stand 8, and the design of rear intelligent carriage 14 is consistent with front intelligent carriage 13, only, intelligent carriage 14 does not arrange ultrasonic sensor 9 and sensor stand 8, battery 6 arranges lowering and stabilizing blood pressure module 7.
During specific design
This Cooperation controlling of many intelligent carriages based on ZigBee device mainly comprises the design of three parts: front intelligent carriage 13 designs, rear intelligent carriage 14 designs, Communication System Design, as Fig. 1 Fig. 2, intelligent carriage (comprising front intelligent carriage 13 and rear intelligent carriage 14) car body comprises chassis 1, two front-wheel 2, two trailing wheel 3, front-wheel steering wheel 4, motor 5, dolly two trailing wheel 3 is driving wheel, is controlled by motor 5.Dolly power management module is installed in dolly domain 1, and wherein power management module comprises battery 6 and lowering and stabilizing blood pressure module 7, and lowering and stabilizing blood pressure module 7 is that power devices all on car body is powered.Also be provided with sensor stand 8 on front side of chassis, sensor stand 8 supports the ultrasonic sensor 9 for playing navigation function for rear car.Be designed with dual H-bridge drive plate 10 on rear side of chassis, centre position, chassis is core controller 11, and this core controller 11 adopts the single-chip microcomputer based on Arduino language.What be connected with core controller 11 is front truck ZigBee communication module 12, and rear car ZigBee communication module 12 is connected with rear car core controller, and through corresponding configuration and design, itself and front truck ZigBee communication module 12 set up communication system.In addition at front truck body structure mounting ultrasonic sensor 9, be used for gathering dolly ambient condition information, after core controller calculating, process, braking information can be issued corresponding motor 5 to control front truck corresponding actions, by mounting ultrasonic sensor 9, front truck is just for rear car plays navigation function, by front truck ZigBee communication module 12, running signal is passed to rear car ZigBee communication module 12 simultaneously, rear car can immediately pass to rear car core controller, rear car makes the action corresponding to front truck after treatment, thus realizes car car Cooperation controlling.
Control information transitive relation between two dollies is as Fig. 3, on the wireless communication system basis of the intelligent carriage platform built and foundation, front intelligent carriage can move ahead after starting, simultaneously by ultrasonic acquisition peripheral information, if clear, front truck can move ahead always, progress signal is sent with time image rear car, rear car can be followed front truck and be advanced, if front truck runs into barrier, front truck is by making corresponding actions according to actual road conditions after information acquisition and process, as left/right rotation, acceleration and deceleration, forward-reverse etc., send corresponding signal by communication system as rear car simultaneously, just corresponding actions is made through process after rear car receives signal, be consistent with front truck.
Above-described embodiment is only for illustrating technical conceive of the present invention and feature; its object is to person skilled in the art can be understood content of the present invention and be implemented; can not as limiting the scope of the invention; all equivalent variations of doing according to Spirit Essence of the present invention or modification, all should be encompassed in protection scope of the present invention.
Claims (5)
1. the many intelligent carriages Cooperation controlling device based on ZigBee, comprise front intelligent carriage (13) and rear intelligent carriage (14), it is characterized in that: on front intelligent carriage (13) and rear intelligent carriage (14), core controller (11) is set respectively, and each other core controller (11) by the communication module (12) be arranged on core controller (11) communicate with each other realize after after the run action of intelligent carriage (14) consistent with the run action of front intelligent carriage (13).
2. a kind of Cooperation controlling of many intelligent carriages based on ZigBee device according to claim 1, it is characterized in that: described front intelligent carriage (13) comprises chassis (1), front two-wheeled (2) and rear two-wheeled (3) are successively set on chassis (1) front and back end, at two front-wheels (2) end, front-wheel steering wheel (4) is set, at two trailing wheels (3) end, dual H-bridge drive plate (10) is set, the forward or reverse of two-wheeled (3) after the motor (5) be arranged on chassis (1) is realized by dual H-bridge drive plate (10), the battery (6) being arranged on motor (5) side is communicated with motor (5) and powers for motor (5), at the front end face of front intelligent carriage (13), ultrasonic sensor (9) is set, the signal input part and the ultrasonic sensor (9) that are arranged on the core controller (11) on chassis (1) pass through wireless connections, and the control output end of this core controller (11) is connected with wheel steering wheel (4) and motor (5) respectively, core controller (11) arranges communication module (12), the signal output part of this core controller (11) is communicated with communication module (12).
3. a kind of Cooperation controlling of many intelligent carriages based on ZigBee device according to claim 2, is characterized in that: described core controller (11) adopts the single-chip microcomputer based on Arduino language.
4. a kind of Cooperation controlling of many intelligent carriages based on ZigBee device according to claim 2, is characterized in that: described ultrasonic sensor (9) is fixed on the front end face of front intelligent carriage (13) by sensor stand (8).
5. a kind of Cooperation controlling of many intelligent carriages based on ZigBee device according to claim 2, is characterized in that: on battery (6), arrange lowering and stabilizing blood pressure module (7).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023058.7A CN105467902A (en) | 2016-01-14 | 2016-01-14 | Multiple intelligent small car cooperation controlling device based on ZigBee |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610023058.7A CN105467902A (en) | 2016-01-14 | 2016-01-14 | Multiple intelligent small car cooperation controlling device based on ZigBee |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105467902A true CN105467902A (en) | 2016-04-06 |
Family
ID=55605713
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610023058.7A Pending CN105467902A (en) | 2016-01-14 | 2016-01-14 | Multiple intelligent small car cooperation controlling device based on ZigBee |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105467902A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107264304A (en) * | 2017-05-11 | 2017-10-20 | 合肥工业大学 | One kind can collaborative floor truck |
| CN107958612A (en) * | 2016-10-17 | 2018-04-24 | 福特全球技术公司 | Intersection Navigation Control of the vehicle to vehicle |
| 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 |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103345250A (en) * | 2013-07-10 | 2013-10-09 | 贵州大学 | Intelligent obstacle-avoiding trolley |
| US20140055253A1 (en) * | 2012-08-24 | 2014-02-27 | GM Global Technology Operations LLC | Method for operating a motor vehicle and motor vehicle |
| CN104503265A (en) * | 2014-10-31 | 2015-04-08 | 奇瑞汽车股份有限公司 | Synchronous driving system based on vehicle internet and control method thereof |
| CN205301923U (en) * | 2016-01-14 | 2016-06-08 | 贵州大学 | Many intelligent vehicle controlling means that cooperates based on zigBee |
-
2016
- 2016-01-14 CN CN201610023058.7A patent/CN105467902A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20140055253A1 (en) * | 2012-08-24 | 2014-02-27 | GM Global Technology Operations LLC | Method for operating a motor vehicle and motor vehicle |
| CN103345250A (en) * | 2013-07-10 | 2013-10-09 | 贵州大学 | Intelligent obstacle-avoiding trolley |
| CN104503265A (en) * | 2014-10-31 | 2015-04-08 | 奇瑞汽车股份有限公司 | Synchronous driving system based on vehicle internet and control method thereof |
| CN205301923U (en) * | 2016-01-14 | 2016-06-08 | 贵州大学 | Many intelligent vehicle controlling means that cooperates based on zigBee |
Non-Patent Citations (1)
| Title |
|---|
| 申忠宇等: "无线通信网络的多智能小车编队控制系统", 《东南大学学报》 * |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107958612A (en) * | 2016-10-17 | 2018-04-24 | 福特全球技术公司 | Intersection Navigation Control of the vehicle to vehicle |
| CN107264304A (en) * | 2017-05-11 | 2017-10-20 | 合肥工业大学 | One kind can collaborative floor truck |
| CN107264304B (en) * | 2017-05-11 | 2019-12-10 | 合肥工业大学 | Can collaborative formula floor truck |
| 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 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103481766B (en) | A kind of drive system of electronlmobil and method | |
| CN101519034A (en) | Power system of mixed power automobile and control method thereof | |
| CN107310372A (en) | A kind of plug-in electric-electric hybrid fuel cell extended-range four-driving-force system | |
| CN202838021U (en) | Intelligent tracking remote-control trolley | |
| CN201721312U (en) | Automotive hybrid drive system | |
| CN203543617U (en) | Dual-motor driving system for electric automobile | |
| CN105467902A (en) | Multiple intelligent small car cooperation controlling device based on ZigBee | |
| CN103660971B (en) | A kind of mining dump truck with electric wheels four-wheel drive system | |
| CN201120855Y (en) | Control device for four-wheel drive of electric automobile | |
| CN205301923U (en) | Many intelligent vehicle controlling means that cooperates based on zigBee | |
| CN204936787U (en) | A kind of rear-guard electro-tricycle | |
| CN103552480A (en) | Completely power-driven dedicated school bus adopting dual charging modes | |
| CN203728427U (en) | Mining explosion-proof monorail hoist adopting permanent magnetic direct-drive transmission | |
| CN203496658U (en) | Driving system of electric automobile | |
| CN201841969U (en) | Solar electric car | |
| CN202357797U (en) | Electric vehicle with variable wheel base | |
| CN204956142U (en) | Electronic sight -seeing car of rearmounted rear -guard four -wheel | |
| CN204547776U (en) | The electronlmobil of rotation traveling is driven without the need to change speed gear box 4 wheel driven or two | |
| CN203511258U (en) | Pure electric instructional car for reverse parking and garage shifting in driving school | |
| CN202226306U (en) | Pure-electric compression-type refuse collection vehicle | |
| CN202728499U (en) | Double-drive dinuclear electro-tricycle | |
| CN202624426U (en) | Sightseeing vehicle | |
| CN201056168Y (en) | Alternating current electric vehicle | |
| CN203449962U (en) | Electric carrying cart | |
| CN202716983U (en) | Reverse three-wheeled electric car with independent control drives |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160406 |