CN105865317A - Car model boundary-crossing detection system based on iron wire magnetization - Google Patents
Car model boundary-crossing detection system based on iron wire magnetization Download PDFInfo
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- CN105865317A CN105865317A CN201610210849.0A CN201610210849A CN105865317A CN 105865317 A CN105865317 A CN 105865317A CN 201610210849 A CN201610210849 A CN 201610210849A CN 105865317 A CN105865317 A CN 105865317A
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- iron wire
- border
- signal
- chip microcomputer
- car mould
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/003—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring position, not involving coordinate determination
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Abstract
The invention discloses a car model boundary-crossing detection system based on iron wire magnetization. The system comprises an iron wire 01 arranged on a racing track and a detection apparatus 02 installed on the racing track, wherein the iron wire 01 is used for marking a racing track boundary, and the detection apparatus 02 is used for detecting whether a car model crosses the boundary and emitting alarm information when the car model crosses the boundary. The system provided by the invention realizes accurate boundary-crossing detection of the card model, is small in volume and convenient to install, can completely replace manual judgment, greatly reduces the misjudgment probability and improves the objectivity and fairness of a match.
Description
Technical field
The present invention relates to scientific contest field, particularly relate in intelligent automobile contest based on
Iron wire magnetized car mould crosses the border detecting system.
Background technology
Annual university students's intelligent automobile contest is to be entrusted by higher education department of the Ministry of Education
What torr institution of higher education automation class teaching-guiding committee held be intended to strengthen student put into practice,
Innovation ability and the team-oriented intention scientific contest of cultivation.Contest is competing with it
The objectivity that the challenge of appearance inside competition and match are evaluated has attracted a lot of colleges and universities Engineering Students ginseng
Add, the most successfully held ten.
Since 10 years, the scale of match and the competitiveness of team participating in the contest have had the biggest
Improve.Along with the raising of the car mould speed of service, in-situ match relies on artificial judgment car mould
Whether cross the border and become more and more difficult, particularly get in moment during the games when car mould
Cross racing track border when returning on racing track again, rely on artificial judgment to easily cause
Erroneous judgement.Although live video can be relied on to carry out later stage arbitration, but captured in practice
Video recording be difficult to meet judge demand timely and effectively.It is additionally, since ground, arena
Long-pending bigger, racing track shape is irregular, so by traditional photographic head or photoelectricity
The methods such as sensor are gone to judge whether car mould crosses the border and be there be difficulties involved when.
In order to overcome the difficulty that in previous session match, artificial judgment car mould crosses the border, the 11st
Laws of the game add two kinds of methods with improve car mould cross the border judge accuracy and visitor
The property seen.A kind of method is curb method, is i.e. interrupted placing height 1 li in racing track edge
Rice, the soft foamed materials of wide 2 centimetres, form racing track curb, car mould once goes out match
Described soft foamed materials will be encountered in road.A kind of method is under the guide wire of racing track both sides
Lay the iron wire of diameter 1 millimeter, before automobile race, be unified in each car mold chassis both sides
Iron wire detection module, during car stamping goes out racing track, iron wire detection module meeting are installed
Sensing iron wire, will send alarm, display car stamping has gone out racing track.
Summary of the invention
In order to overcome the problems referred to above, present inventor has performed and study with keen determination, design one
Kind crossing the border detecting system based on iron wire magnetized car mould, this system achieves to car mould more
The accurate detection on boundary, improves objectivity and the fairness of match, it is possible to substitute completely
Artificial judge.
In particular it is object of the present invention to offer following aspect:
(1), a kind of crossing the border detecting system based on iron wire magnetized car mould, its feature exists
In, this system includes the iron wire 01 being arranged on racing track border and the inspection being arranged on car mould
Survey device 02,
Wherein, described detection device 02 is used for detecting whether car mould crosses the border, and works as car
When mould crosses the border, alert.
(2), according to the system described in (1), it is characterised in that described iron wire 01
It is layed in below racing track border,
Preferably, described iron wire 01 is elongated iron wire, its a diameter of 0.5～2 millimeter,
It is highly preferred that a diameter of 1 millimeter of described iron wire 01.
(3), according to the system described in (1), it is characterised in that described detection fills
Set to 02 and include Magnet, process circuit, single-chip microcomputer, alarm module,
Wherein, described Magnet is used for producing magnetic field, magnetizes iron wire,
Described process circuit is used for detecting changes of magnetic field, and the field signal that will detect
Transmit to single-chip microcomputer,
Described single-chip microcomputer, the field signal according to processing circuit transmission compares with preset value,
Whether detection car mould crosses the border,
Described alarm module is for the alert when car mould crosses the border.
(4), according to the system described in (3), it is characterised in that described process electricity
Road includes hall signal amplifying circuit, for the magnetic field letter detected by sensing and amplification
Number, and will amplify after field signal be transferred to described single-chip microcomputer.
(5), according to the system described in (4), it is characterised in that described single-chip microcomputer
Field signal after described amplification is compared, when described signal with the threshold value preset
During more than the threshold value preset, start alarm module alert.
(6), according to the system described in (4), it is characterised in that described Magnet is
Permanent magnet,
Described alarm module includes LED, buzzer and button,
Wherein, LED is used for sending visible ray,
Described button is reported to the police for stop alarm module.
(7), according to the system that one of (1)-(4) are described, it is characterised in that institute
State detection device 02 and also include mu balanced circuit.
(8), according to the system that one of (1)-(7) are described, it is characterised in that institute
Automatically hall signal amplifying circuit zero point alignment is carried out after stating system electrification.
(9), according to the system that one of (1)-(8) are described, it is characterised in that should
System also includes power supply and except noise module,
Described power supply is used for powering,
Noise in the described field signal except noise module after filtering described amplification
Signal.
The present invention is had the advantage that to include:
(1) substitute artificial judge completely, greatly reduce probability of miscarriage of justice, improve
The objectivity of match and fairness；
(2) hall signal amplifying circuit zero point alignment is automatically carried out after this system electrification,
Can adapt to different playing conditions；
(3) this system bulk is little, and accuracy of detection is high, it is possible to meet the requirement of match；
(4) this system can be applicable to difformity size and different setting height(from bottom)s
Magnet, it is possible to be applicable to the car mould of the different speed of service, and when the car mould speed of service
The fastest, accuracy of detection is the highest.
Accompanying drawing explanation
Fig. 1 illustrates that the car mould according to a kind of preferred implementation of the present invention crosses the border and detects system
The structural representation of system.
Fig. 2 illustrates the distribution of permanent magnet surrounding magnetic field.
Fig. 3 illustrates the knot of the detection device 02 according to a kind of preferred implementation of the present invention
Structure schematic diagram.
Fig. 4 illustrates that the hall signal according to a kind of preferred implementation of the present invention amplifies electricity
Road.
Fig. 5 illustrates that the detection after the amplification according to a kind of preferred implementation of the present invention is believed
Number warp is except the oscillogram before and after noise resume module.
Fig. 6 illustrates the difformity size according to a kind of preferred implementation of the present invention
Permalloy permanent magnet.
Fig. 7 illustrates the permalloy permanent magnet according to a kind of preferred implementation of the present invention
Mounting means.
Fig. 8 illustrates the use four kinds not similar shape according to a kind of preferred implementation of the present invention
The detection signal of four kinds of varying strengths that the permalloy permanent magnet of shape size produces.
Fig. 9 illustrates according under the different detection height of a kind of preferred implementation of the present invention
Detection signal intensity.
Figure 10 illustrates the iron wire movement velocity according to a kind of preferred implementation of the present invention not
Detect the waveform of signal simultaneously.
Drawing reference numeral illustrates:
01-iron wire
02-detects device
Detailed description of the invention
Below by drawings and Examples, the present invention is described in more detail.By this
A little explanations, the features and advantages of the invention will become more apparent from clearly.
The most special word " exemplary " means " as example, embodiment or say
Bright property ".The here as any embodiment illustrated by " exemplary " should not necessarily be construed as excellent
In or be better than other embodiments.Although the various aspects of embodiment shown in the drawings,
But unless otherwise indicated, it is not necessary to accompanying drawing drawn to scale.
The setting height(from bottom) of heretofore described Magnet and detection are highly Magnet and ground
Distance between face.
Heretofore described detection signal and field signal are after iron wire is magnetized and cause
The magnetic fluctuation in original magnetic field, described original magnetic field is for being arranged on detection device 02
Magnet produce.
Cross the border detecting system based on iron wire magnetized car mould according to the one that the present invention provides,
As shown in fig. 1, this system includes the iron wire 01 being arranged on racing track border and is arranged on car
Detection device 02 on mould, wherein, described iron wire 01 has two, is layed in match respectively
Below border, road, the region between two iron wires 01 is racing track, crosses two iron wires
01 region limited i.e. has entered into outside racing track, is heretofore described getting over
Boundary；Described detection device 02 includes Magnet, processes circuit, single-chip microcomputer and alarm module,
Specifically, described Magnet is permanent magnet, and described process circuit is used for sensing and amplifying
Detected field signal, and the field signal after amplifying is transferred to single-chip microcomputer,
Field signal after the amplification of reception is compared by single-chip microcomputer with the threshold value preset, when
When this signal is more than the threshold value preset, start alarm module.
In one preferred embodiment, described iron wire 01 is magnetic material, its
The action of a magnetic field issues magnetisation, produces magnetizing field；Described magnetizing field is superimposed upon former
Magnetic field can change size and the distribution in described original magnetic field, as shown in Figure 2；
Preferably, described iron wire 01 is elongated iron wire, its a diameter of 0.5～2mm, further
Preferably, a diameter of 1mm of described iron wire 01.
In one preferred embodiment, as it is shown on figure 3, described detection device 02
Including Magnet, process circuit, single-chip microcomputer and alarm module,
Wherein, described Magnet is used for producing magnetic field, magnetizes iron wire, it is preferable that described
Magnet is permanent magnet, is preferably permalloy permanent magnet in the present invention.
Described process circuit includes hall signal amplifying circuit, is used for sensing and amplify institute
The field signal detected, and will amplify after field signal be transferred to described monolithic
Machine, the field signal after described amplification is compared by described single-chip microcomputer with default threshold value
Relatively, when described signal is more than the threshold value preset, starts alarm module and send alarm signal
Breath.
Described alarm module is used for the alert when car mould crosses the border,
In one preferred embodiment, this system includes two kinds of duties: inspection
Survey state and alarm condition.
After car mould enters match, this system would operate in detection state until car mould quilt
Detecting and cross the border, once car mould is detected and crosses the border, then this system is operated in warning shape
State is until alarm condition is eliminated.
In one preferred embodiment, alarm condition can pass through described single-chip microcomputer
The time of fire alarming length arranging alarm module is cancelled, and such as, arranges the report of alarm module
Alert time span is 10 seconds, and the timing when alarm module starts to report to the police, in 10 seconds, this is
System be operated in alarm condition, after 10 seconds this system be operated in detection state until car mould again
Secondary be detected cross the border till；Alarm condition can also be cancelled by manual operation, example
As cancelled alarm condition by the button in alarm module.
In one preferred embodiment, the model of described single-chip microcomputer is
STM32F030F4。
In one preferred embodiment, described process circuit includes that hall signal is put
Big circuit,
Wherein, hall signal amplifying circuit for sensing and amplifies the magnetic field letter detected
Number, and will amplify after field signal be transferred to described single-chip microcomputer, described single-chip microcomputer
Detection signal after described amplification is compared, when described signal with the threshold value preset
During more than the threshold value preset, start alarm module alert.
In one preferred embodiment, described hall signal amplifying circuit such as Fig. 4
Shown in, wherein, H1For indium antimonide Hall unit, U1-1 and U1-2 are integrated computation
Amplifier LMV358, D1For controllable accurate source of stable pressure TL431.
Owing to iron wire 01 is relatively fine, its magnetizing field produced after being magnetized was to originally
The change in magnetic field is the least, i.e. detection signal is the least, it is impossible to be directly used in judgement car
Whether mould crosses the border.The most in the present invention, by hall signal amplifying circuit, it is entered
Row two-stage processing and amplifying, and filtered the high-frequency interferencing signal being mixed in detection signal.
In one preferred embodiment, in Fig. 4, the parameter of electronic devices and components is respectively as follows:
R1=220 Ω, R2=5.1k Ω, R3=10k Ω, R7=1M Ω, R8=100k Ω,
C5=C7=1000pF,
Wherein, R1And D1Common effect, for indium antimonide Hall unit H1There is provided stable
The running voltage of 2.5V；R simultaneously2And R3Constitute bleeder circuit, amplify for integrated computation
Device U1-1 and U1-2 operating reference voltages that stable 1.6V is provided；R in parallel7Two ends
C5Be connected in parallel on R8The C at two ends7Constitute low-pass filter circuit, filtered in detection signal
High-frequency interferencing signal.
In one preferred embodiment, Hall letter is automatically carried out after this system energization
Number amplifying circuit zero point alignment.Therefore, this system can adapt to different playing conditions,
The precision of testing result and testing result will not be affected because changing competition area.
In one preferred embodiment, described hall signal amplifying circuit and described
Single-chip microcomputer is integrated on same circuit board, the most referred to as circuit substrate.
In one preferred embodiment, this system also includes except noise module, its
The noise signal contained in field signal after filtering the amplification that single-chip microcomputer receives,
Reduce the noise amplitude of the detection signal after described amplification further, and then improve system
Sensitivity.
In one preferred embodiment, described noise signal includes the magnetic in environment
Field noise, board power noise and the thermal noise of electronic devices and components.
In one preferred embodiment, described except noise module will amplify after magnetic
Field signal is divided into some groups, and often group includes N number of data, then to described N number of data
Average, and then filtered the noise letter contained in the field signal after described amplification
Number, it is achieved that smothing filtering.It is except noise effects as shown in Figure 5.
In one preferred embodiment, described alarm module includes LED, buzzing
Device and button,
Wherein, when car mould crosses the border, described alarm module is started by single-chip microcomputer, sends
Warning message.
Being preferably carried out in mode at one, described warning message includes that LED sends can
See that light and buzzer send sound.
In one preferred embodiment, this system also includes power supply, described power supply
Preferably rechargeable battery, it is further preferred that described battery is chargeable lithium
Battery.Described chargeable lithium cell volume is little, lightweight, and capacity is big, memoryless effect
Should, can fast charging and discharging and environmental protection.Described chargeable lithium cell can be supported
This system is charged by external charger, and once after charging, this battery can be supported
This system works eight hours continuously, enough meets the requirement of match in a day.
In one preferred embodiment, this system also includes mu balanced circuit, described
Mu balanced circuit is used for connecting described chargeable lithium cell and detection device 02, for detection dress
The 2 high-precision stable voltages of offer are provided.
In one preferred embodiment, described mu balanced circuit includes that positive voltage adjusts
Device chip XC6206, described positive voltage adjustor chip XC6206 be a high accuracy,
Low-power consumption, high-tension positive voltage adjustor chip.
Described detection device the most also includes shell, and is provided with just on shell
In the fixing hole that described detection device is removably mounted in racing car.
Embodiment 1
Need to be fixed on car mold chassis owing to real racetrack detecting device 02, so
Require that permanent magnet size is little, and in flat.In order to verify that this system can be applicable to
The permanent magnet of difformity size, the present embodiment have selected four kinds of difformity sizes
Permalloy permanent magnet is tested.The permalloy of described four kinds of difformity sizes
The geomery of permanent magnet as shown in Figure 6, by described four kinds of difformity sizes
Permalloy permanent magnet is installed the most as shown in Figure 7, i.e. places it in suddenly
Below your signal amplification circuit, its center and indium antimonide Hall unit center alignment.
By the iron wire of a diameter of 1mm below hall signal amplifying circuit with 1 meter per second
Speed swept away detection device 02, and described iron wire and hall signal amplifying circuit
Distance be 15mm, after testing device 02 process after detection signal as shown in Figure 8.
In Fig. 8, No. 1 wavy curve represents rectangle permalloy permanent magnet, No. 2 waveform songs
Line represents the circular permalloy permanent magnet of a diameter of 10mm, and No. 3 wavy curves represent
The circular permalloy permanent magnet of a diameter of 8mm, No. 4 wavy curves represent a diameter of
The circular permalloy permanent magnet of 5mm.As shown in Figure 8, rectangle permalloy is forever
Magnet produced detection signal intensity is significantly larger than other three kinds of circular permalloys forever
Magnet.
Embodiment 2
In order to verify that this system can be applicable to the permanent magnet of different detection height, this reality
Execute the rectangle permalloy permanent magnet that example have selected in embodiment 1 to test.Long
The mounting means of square permalloy permanent magnet is identical with embodiment 1.
By the iron wire of a diameter of 1mm below hall signal amplifying circuit with 1 meter per second
Speed swept away detection device 02, and detect height and be changed to 25 from 10 millimeters
Millimeter, the peak value of the detection signal after device 02 processes after testing is as shown in Figure 9.
When beacon module is static, the background noise variance of detection signal is about 28,
Described background noise is background noise, refers to that car mould crosses the border in detecting system except detection signal
The most all of noise.Described background noise variance directly utilizes the variance statistic of classics
Formula is calculated.As shown in Figure 9, when detection height is 10 millimeters, Hall
Signal amplification circuit is substantially saturated；When detection height is 25 millimeters, described detection is believed
Number peak value be 88, close to 3 times of described background noise variance, therefore when detection height
When degree is more than 25 millimeters, testing result becomes unreliable.And real racetrack requires car
The distance on mold chassis distance ground is less than 20 millimeters, so being fixed on car mold chassis
Detection device 02 ensure that and detects highly in the range of suitably, and then testing result
Accurately and reliably.
Embodiment 3
In order to verify that this system can be applicable to the permanent magnet of different motion speed, this reality
Execute the rectangle permalloy permanent magnet that example have selected in embodiment 1 to test.Long
The mounting means of square permalloy permanent magnet is identical with embodiment 1.
By the iron wire of a diameter of 1mm below hall signal amplifying circuit with different
Speed swept away detection device 02, the peak of the detection signal after device 02 processes after testing
Value is as shown in Figure 10.
As shown in Figure 10, described iron wire movement velocity is the highest, and the peak value of detection signal is more
Greatly, accuracy in detection is the highest.
Above in association with preferred embodiment describing the present invention, but this
A little embodiments are only exemplary, only play illustrative effect.On this basis,
The present invention can be carried out multiple replacement and improvement, these each fall within the protection of the present invention
In the range of.
Claims (9)
1. one kind is crossed the border detecting system based on iron wire magnetized car mould, it is characterised in that
This system includes the iron wire (01) being arranged on racing track border and the inspection being arranged on car mould
Survey device (02),
Described detection device (02) is used for detecting whether car mould crosses the border, and when car mould
When crossing the border, alert.
System the most according to claim 1, it is characterised in that described iron wire (01)
It is layed in below racing track border.
System the most according to claim 1, it is characterised in that described detection fills
Put (02) to include Magnet, process circuit, single-chip microcomputer, alarm module,
Wherein, described Magnet is used for producing magnetic field, magnetizes iron wire (01),
Described process circuit is used for detecting changes of magnetic field, and the field signal that will detect
Transmit to single-chip microcomputer,
Described single-chip microcomputer, the field signal according to processing circuit transmission compares with preset value,
Whether detection car mould crosses the border,
Described alarm module is for the alert when car mould crosses the border.
System the most according to claim 3, it is characterised in that described process electricity
Road includes hall signal amplifying circuit, for the magnetic field letter detected by sensing and amplification
Number, and will amplify after field signal be transferred to described single-chip microcomputer.
System the most according to claim 3, it is characterised in that described single-chip microcomputer
Field signal after described amplification is compared, when described signal with the threshold value preset
During more than the threshold value preset, start alarm module alert.
System the most according to claim 4, it is characterised in that described Magnet is
Permanent magnet,
Described alarm module includes LED, buzzer and button,
Wherein, described LED is used for sending visible ray,
Described button is reported to the police for stop alarm module.
7. according to the system one of claim 1-4 Suo Shu, it is characterised in that described
Detection device (02) also includes mu balanced circuit.
8. according to the system one of claim 1-7 Suo Shu, it is characterised in that described
Automatically hall signal amplifying circuit zero point alignment is carried out after system electrification.
9. according to the system one of claim 1-8 Suo Shu, it is characterised in that this is
System also includes power supply and except noise module,
Described power supply is used for powering,
Noise in the described field signal except noise module after filtering described amplification
Signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210849.0A CN105865317A (en) | 2016-04-06 | 2016-04-06 | Car model boundary-crossing detection system based on iron wire magnetization |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610210849.0A CN105865317A (en) | 2016-04-06 | 2016-04-06 | Car model boundary-crossing detection system based on iron wire magnetization |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105865317A true CN105865317A (en) | 2016-08-17 |
Family
ID=56636163
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610210849.0A Pending CN105865317A (en) | 2016-04-06 | 2016-04-06 | Car model boundary-crossing detection system based on iron wire magnetization |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2017212232A1 (en) * | 2016-06-06 | 2017-12-14 | Christopher Taylor | Track monitoring apparatus and system |
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| CN101306246A (en) * | 2008-07-10 | 2008-11-19 | 广州壹鹏电器科技有限公司 | Device for judging whether the badminton is outside or not in a badminton game |
| CN203454964U (en) * | 2013-07-17 | 2014-02-26 | 广州智如登电子科技有限公司 | Detection device and monitoring system |
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| US4004805A (en) * | 1974-08-30 | 1977-01-25 | Chen Kun Mu | Electronic line monitoring system for a tennis court |
| WO1999017079A1 (en) * | 1997-09-29 | 1999-04-08 | Aichi Steel Works, Ltd. | Magnetic apparatus for detecting position of vehicle |
| CN101306246A (en) * | 2008-07-10 | 2008-11-19 | 广州壹鹏电器科技有限公司 | Device for judging whether the badminton is outside or not in a badminton game |
| CN203454964U (en) * | 2013-07-17 | 2014-02-26 | 广州智如登电子科技有限公司 | Detection device and monitoring system |
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