CN108459534A - A kind of unmanned vehicle controller and system - Google Patents
A kind of unmanned vehicle controller and system Download PDFInfo
- Publication number
- CN108459534A CN108459534A CN201810083036.9A CN201810083036A CN108459534A CN 108459534 A CN108459534 A CN 108459534A CN 201810083036 A CN201810083036 A CN 201810083036A CN 108459534 A CN108459534 A CN 108459534A
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- Prior art keywords
- clutch
- circuit
- control circuit
- unmanned vehicle
- control
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- 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
- G05B19/0423—Input/output
-
- 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
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The present invention provides a kind of unmanned vehicle controller and systems, are related to unmanned vehicle control technology field.The unmanned vehicle controller includes：Differential lock and accelerator drive circuit, main clutch and gear control circuit, tilling depth and operation clutch for clutch control circuit, commutation control circuit, motor position feedback circuit, left clutch for clutch control circuit, right clutch for clutch control circuit, emergency stop control circuit, close detection circuit of opening the light, battery voltage detection circuit, main control singlechip, global navigation satellite system GNSS circuit, inertial navigation driving circuit, ZigBee protocol ZIGBEE telecommunication circuits and tactful plate control single chip computer.The present invention controls the realization various actions of unmanned vehicle by unmanned vehicle controller, and understands the various states during unmanned vehicle is advanced, on the one hand, the use scope for extending unmanned vehicle fully achieves unmanned；On the other hand, unmanned vehicle control reduces human cost because not needing driver, also saves the driving time of people.
Description
Technical field
The invention belongs to unmanned vehicle control technology field more particularly to a kind of unmanned vehicle controller and systems.
Background technology
At present for environment, mini-tiller has that the validity such as climbing traveling difficulty are low in terraced fields environment；From
For user, current mini-tiller needs to use by Training and Learning, otherwise there are many danger.Validity, the efficiency of mini-tiller
And user's subjective satisfaction is both needed to improve, and a kind of unmanned vehicle controller exploitation use of special type based on mini-tiller not only reduces
Manpower demand reduces consumer's risk, can be further realized the precision of agricultural, big data processing, future will be agricultural machinery
A bright spot.The unmanned vehicle system of current micro- cultivated control realizes distant control function substantially, but control function is simple, it is difficult to expand
Function is opened up, unmanned and remote control is not fully achieved, lacks back-stage management.
The above problem is urgently to be resolved hurrily.
Invention content
Distant control function is realized substantially for the unmanned vehicle system of current micro- cultivated control, but control function is simple, it is difficult to
Expanded function does not fully achieve unmanned and remote control, lacks the defect of back-stage management, and the present invention provides a kind of unmanned vehicle control
Device processed and system.
The first aspect of the embodiment of the present invention provides a kind of unmanned vehicle controller, including：
Differential lock and accelerator drive circuit, main clutch and gear control circuit, tilling depth and operation clutch for clutch control circuit, commutation
Control circuit, left clutch for clutch control circuit, right clutch for clutch control circuit, emergency stop control circuit, is approached and is opened the light motor position feedback circuit
Detection circuit, battery voltage detection circuit, main control singlechip, global navigation satellite system GNSS circuit, inertial navigation driving circuit, purple
Bee agreement ZIGBEE telecommunication circuits and tactful plate control single chip computer, wherein
The differential lock and accelerator drive circuit, main clutch and gear control circuit, tilling depth and operation clutch for clutch control circuit,
Commutation control circuit, left clutch for clutch control circuit, right clutch for clutch control circuit, emergency stop control circuit, approaches motor position feedback circuit
Open the light detection circuit, battery voltage detection circuit respectively with main control singlechip be electrically connected；The GNSS circuits, inertial navigation driving electricity
Road, ZIGBEE telecommunication circuits are electrically connected with tactful plate control single chip computer respectively；Main control singlechip and tactful plate control single chip computer
It is electrically connected.
Further, the differential lock and accelerator drive circuit, tilling depth and operation clutch for clutch control circuit, main clutch and gear
Control circuit and commutation control circuit connect the master control monolithic by the input terminal of the motor driver respectively carried respectively
Machine, and several push-rod electric machines are connected by the output end of the motor driver.
Further, the left clutch for clutch control circuit, right clutch for clutch control circuit and emergency stop control circuit are respectively by respective
The relay control electromagnetic clutch circuit of carrying switches on and off, wherein the relay is by connecting the master control
The RC pin output ends of microcontroller, to receive the high level turn-on transistor of the RC pins output so that relay is attracted.
Further, described close to opening the light detection circuit, pass through the defeated of differential lock push-rod electric machine and the main control singlechip
Outlet connects, will be close to switch contact to metal object when the differential lock push-rod electric machine goes to range or minimum stroke
Body connects circuit.
Further, the battery voltage detection circuit passes through the current limliting electricity being connect with the main control singlechip output end
Two divider resistances of connecting respectively are hindered, to detect and acquire the voltage of battery.
Further, the GNSS circuits, inertial navigation driving circuit, ZIGBEE telecommunication circuits are separately connected the tactful plate control
Several pairs of transmission data pin TXD and reception data pin RXD of microcontroller processed, to control monolithic to the tactful plate
Machine sends the position where current unmanned plane, course and angle and wireless communication data.
Further, the model STM32F429 of the main control singlechip.
Further, the model ARM4378BZD of the tactful plate control single chip computer.
Existing advantageous effect is the embodiment of the present invention compared with prior art：The present invention is controlled by unmanned vehicle controller
The realization various actions of unmanned vehicle, and understand the various states during unmanned vehicle is advanced, on the one hand, so that unmanned become more to pacify
Complete and intelligence, extends the use scope of unmanned vehicle, fully achieves unmanned；On the other hand, unmanned vehicle control because
Driver is not needed to reduce human cost, also saves the driving time of people.
Description of the drawings
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description be only the present invention some
Embodiment for those of ordinary skill in the art without having to pay creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the main body circuit connection diagram of unmanned vehicle controller provided in an embodiment of the present invention.
Specific implementation mode
In being described below, for illustration and not for limitation, it is proposed that such as tool of particular system structure, technology etc
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention can also be realized in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
In order to illustrate technical scheme of the present invention, illustrated below by specific embodiment.
Fig. 1 is the main body circuit connection diagram of unmanned vehicle controller provided in an embodiment of the present invention, for convenience of description,
It illustrates only and the relevant part of the embodiment of the present invention.As shown in Figure 1, unmanned vehicle controller provided in this embodiment, can wrap
It includes：
Differential lock and accelerator drive circuit, main clutch and gear control circuit, tilling depth and operation clutch for clutch control circuit, commutation
Control circuit, left clutch for clutch control circuit, right clutch for clutch control circuit, emergency stop control circuit, is approached and is opened the light motor position feedback circuit
Detection circuit, battery voltage detection circuit, main control singlechip, global navigation satellite system GNSS circuit, inertial navigation driving circuit, purple
Bee agreement ZIGBEE telecommunication circuits and tactful plate control single chip computer, wherein
The differential lock and accelerator drive circuit, main clutch and gear control circuit, tilling depth and operation clutch for clutch control circuit,
Commutation control circuit, left clutch for clutch control circuit, right clutch for clutch control circuit, emergency stop control circuit, approaches motor position feedback circuit
Open the light detection circuit, battery voltage detection circuit respectively with main control singlechip be electrically connected；The GNSS circuits, inertial navigation driving electricity
Road, ZIGBEE telecommunication circuits are electrically connected with tactful plate control single chip computer respectively；Main control singlechip and tactful plate control single chip computer
It is electrically connected.Further, the model STM32F429 of the main control singlechip, the model of the strategy plate control single chip computer
For ARM4378BZD.
Further, the differential lock and accelerator drive circuit, tilling depth and operation clutch for clutch control circuit, main clutch and gear
Control circuit and commutation control circuit connect the master control monolithic by the input terminal of the motor driver respectively carried respectively
Machine, and several push-rod electric machines are connected by the output end of the motor driver.
Specifically, differential lock and accelerator drive circuit, the operating control of direct current push rod motor is realized using STM32F429
System.When the pin of STM32F429 exports high level, push-rod electric machine operating.Tilling depth and operation clutch for clutch control circuit, utilize
STM32F429 realizes the operating control of direct current push rod motor.When the pin of STM32F429 exports high level, push-rod electric machine
Operating.Main clutch and gear control circuit realize that the operating of direct current push rod motor controls using STM32F429.When
When the pin output high level of STM32F429, push-rod electric machine operating.Commutation control circuit realizes that direct current pushes away using STM32F429
The operating of bar motor controls.When the pin of STM32F429 exports high level, push-rod electric machine operating.
Further, the left clutch for clutch control circuit, right clutch for clutch control circuit and emergency stop control circuit are respectively by respective
The relay control electromagnetic clutch circuit of carrying switches on and off, wherein the relay is by connecting the master control
The RC pin output ends of microcontroller, to receive the high level turn-on transistor of the RC pins output so that relay is attracted.
Specifically, left clutch for clutch control circuit realizes the on and off of electromagnetic clutch using relay.When the RC of STM32F429 draws
When foot exports high level, triode ON, the collector of triode, which is turned into low spot, puts down, and relay is made to be attracted.Work light
Bright, left clutch has acted work.Right clutch for clutch control circuit realizes the on and off of electromagnetic clutch using relay.When
When the RC pins output high level of STM32F429, triode ON, the collector of triode, which is turned into low spot, puts down, and makes relay
It is attracted.Work light is bright, and right clutch has acted work.Emergency stop control circuit realizes opening for electromagnetic clutch using relay
The pass and.When the RC pins of STM32F429 export high level, triode ON, the collector of triode, which is turned into low spot, puts down, and makes
Relay is attracted.Work light is bright, the complete work of emergency stop switch.
Further, described close to opening the light detection circuit, pass through the defeated of differential lock push-rod electric machine and the main control singlechip
Outlet connects, will be close to switch contact to metal object when the differential lock push-rod electric machine goes to range or minimum stroke
Body connects circuit.
Specifically, the first situation close to detection circuit of opening the light connects when differential lock push-rod electric machine goes to range
Nearly switch contact is to metal object, close to switch output low level.So that relay is attracted, low level is changed to monolithic by high level
The pin of machine STM32F429ZGT6 is judged, it is bright to work at the same time indicator light.The second situation of close detection circuit of opening the light,
When differential lock push-rod electric machine goes to minimum stroke, close to switch contact to metal object, close to switch output low level.Make after
Electric appliance is attracted, and is at this moment changed to low level by high level and is judged to the pin of microcontroller STM32F429ZGT6, works at the same time finger
Show that lamp is bright.
Further, the battery voltage detection circuit passes through the current limliting electricity being connect with the main control singlechip output end
Two divider resistances of connecting respectively are hindered, to detect and acquire the voltage of battery.
Further, the GNSS circuits, inertial navigation driving circuit, ZIGBEE telecommunication circuits are separately connected the tactful plate control
Several pairs of transmission data pin TXD and reception data pin RXD of microcontroller processed, to control monolithic to the tactful plate
Machine sends the position where current unmanned plane, course and angle and wireless communication data.
Embodiment provided by the invention can be seen that the realization that the present invention controls unmanned vehicle by unmanned vehicle controller completely
Various actions, and understand the various states during unmanned vehicle is advanced, on the one hand, so that unmanned become safer and intelligent, subtract
The loss of the injures and deaths and property of few personnel；On the other hand, road traffic problem can be alleviated, optimal route is selected to effectively prevent
Traffic congestion；The third aspect, unmanned vehicle control reduce human cost because not needing driver, also save the driving of people
Time.
The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although with reference to the foregoing embodiments
Invention is explained in detail, it will be understood by those of ordinary skill in the art that：It still can be to aforementioned each implementation
Technical solution recorded in example is modified or equivalent replacement of some of the technical features；And these modification or
It replaces, the spirit and scope for various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution should all include
Within protection scope of the present invention.
Claims (8)
1. a kind of unmanned vehicle controller, which is characterized in that including：
Differential lock and accelerator drive circuit, main clutch and gear control circuit, tilling depth and operation clutch for clutch control circuit, commutation control
Circuit, motor position feedback circuit, left clutch for clutch control circuit, right clutch for clutch control circuit, emergency stop control circuit, close detection of opening the light
Circuit, battery voltage detection circuit, main control singlechip, global navigation satellite system GNSS circuit, inertial navigation driving circuit, purple honeybee association
Discuss ZIGBEE telecommunication circuits and tactful plate control single chip computer, wherein
The differential lock and accelerator drive circuit, main clutch and gear control circuit, tilling depth and operation clutch for clutch control circuit, commutation
Control circuit, left clutch for clutch control circuit, right clutch for clutch control circuit, emergency stop control circuit, is approached and is opened the light motor position feedback circuit
Detection circuit, battery voltage detection circuit are electrically connected with main control singlechip respectively；The GNSS circuits, inertial navigation driving circuit,
ZIGBEE telecommunication circuits are electrically connected with tactful plate control single chip computer respectively；Main control singlechip and tactful plate control single chip computer are electrical
Connection.
2. unmanned vehicle controller as described in claim 1, which is characterized in that the differential lock and accelerator drive circuit, tilling depth
With operation clutch for clutch control circuit, main clutch and gear control circuit and commutation control circuit, the respectively motor by respectively carrying
The input terminal of driver connects the main control singlechip, and connects several push rod electricity by the output end of the motor driver
Machine.
3. unmanned vehicle controller as described in claim 1, which is characterized in that the left clutch for clutch control circuit, right clutch for clutch control
Circuit and emergency stop control circuit control switching on and off for electromagnetic clutch circuit by the relay respectively carried respectively, wherein
The relay is by connecting the RC pin output ends of the main control singlechip, to receive the height of the RC pins output
Level turn-on transistor so that relay is attracted.
4. unmanned vehicle controller as described in claim 1, which is characterized in that it is described close to detection circuit of opening the light, pass through differential
Lock push-rod electric machine is connect with the output end of the main control singlechip, when the differential lock push-rod electric machine goes to range or most
Circuit will be connected when small stroke close to switch contact to metal object.
5. unmanned vehicle controller as described in claim 1, which is characterized in that the battery voltage detection circuit, by with institute
The current-limiting resistance for stating the connection of main control singlechip output end is connected two divider resistances respectively, to detect and acquire the electricity of battery
Pressure.
6. unmanned vehicle controller as described in claim 1, which is characterized in that the GNSS circuits, inertial navigation driving circuit,
ZIGBEE telecommunication circuits are separately connected several pairs of transmission data pin TXD of the tactful plate control single chip computer and receive number
According to pin RXD, to the position where sending current unmanned plane to the tactful plate control single chip computer, course and angle and nothing
Line communication data.
7. unmanned vehicle controller as described in claim 1, which is characterized in that the model of the main control singlechip
STM32F429。
8. unmanned vehicle controller as described in claim 1, which is characterized in that the model of the strategy plate control single chip computer
ARM4378BZD。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810083036.9A CN108459534A (en) | 2018-01-29 | 2018-01-29 | A kind of unmanned vehicle controller and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810083036.9A CN108459534A (en) | 2018-01-29 | 2018-01-29 | A kind of unmanned vehicle controller and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108459534A true CN108459534A (en) | 2018-08-28 |
Family
ID=63239274
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810083036.9A Pending CN108459534A (en) | 2018-01-29 | 2018-01-29 | A kind of unmanned vehicle controller and system |
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| CN (1) | CN108459534A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114312696A (en) * | 2022-01-21 | 2022-04-12 | 同济大学 | Emergency braking and auxiliary gear shifting device and method for unmanned automobile |
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| CN102087507A (en) * | 2010-12-31 | 2011-06-08 | 北京宣爱智能模拟技术有限公司 | Electronic control system and method of interactive vehicle driving simulator |
| CN102129797A (en) * | 2010-12-31 | 2011-07-20 | 北京宣爱智能模拟技术有限公司 | Electronic control system and method for online interactive automobile driving simulator |
| KR101418204B1 (en) * | 2013-01-18 | 2014-08-06 | 교통안전공단 | Driving Apparatus of Driverless Vehicle for Test of Roadside Barriers |
| CN205239481U (en) * | 2015-11-28 | 2016-05-18 | 山西大同大学 | Unmanned ground vehicle autopilot system based on imitative people intelligent control |
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2018
- 2018-01-29 CN CN201810083036.9A patent/CN108459534A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101738320A (en) * | 2008-11-06 | 2010-06-16 | 东风电动车辆股份有限公司 | Hybrid vehicle powertrain test system capable of simulating working condition and inertia |
| CN102087507A (en) * | 2010-12-31 | 2011-06-08 | 北京宣爱智能模拟技术有限公司 | Electronic control system and method of interactive vehicle driving simulator |
| CN102129797A (en) * | 2010-12-31 | 2011-07-20 | 北京宣爱智能模拟技术有限公司 | Electronic control system and method for online interactive automobile driving simulator |
| KR101418204B1 (en) * | 2013-01-18 | 2014-08-06 | 교통안전공단 | Driving Apparatus of Driverless Vehicle for Test of Roadside Barriers |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114312696A (en) * | 2022-01-21 | 2022-04-12 | 同济大学 | Emergency braking and auxiliary gear shifting device and method for unmanned automobile |
| CN114312696B (en) * | 2022-01-21 | 2022-12-16 | 同济大学 | Emergency braking and auxiliary gear shifting device and method for unmanned automobile |
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Application publication date: 20180828 |