CN201302578Y - Motor velocity measuring device of intelligent model car - Google Patents

Abstract

The utility model relates to the intelligent model car monitoring field and discloses a motor velocity measuring device of intelligent model car. The motor velocity measuring device of intelligent model car comprises a signal collecting unit and a signal processing unit, the motor velocity measuring device of intelligent model car is characterized in that the signal processing unit comprises a circuit board which is arranged on the chassis of the intelligent model car, a single chip microcomputer and a Schmitt trigger which are arranged on the circuit board, the signal collecting unit comprises a toothed disc and a groove shaped photoelectric sensor which are installed on a motor output shaft of an intelligent model car, wherein the groove shaped photoelectric sensor is arranged on the circuit board, gear teeth of the toothed disc are inserted into a groove of the groove shaped photoelectric sensor in a contactless mode, an output signal of the groove shaped photoelectric sensor is shaped into a pulse signal through the Schmitt trigger and then is input into the single chip microcomputer for counting, and the vehicle speed of the intelligent model car can be calculated.

Description

A kind of motor speed measuring device of model of mind car

Technical field

The utility model relates to model of mind car monitoring field, particularly a kind of motor speed measuring device of model of mind car.

Technical background

National college students' intelligent automobile match is through the research of national higher education department, entrusts institution of higher education's robotization professional teaching to instruct subcommittee to sponsor, and is intended to cultivate initiative spirit, team spirit, the scientific and technological activities of raising ability of engineering practice.

Match request provide in organizing committee make on the basis of unified intelligent vehicle sports car mould, single-chip microcomputer HCS12 development board, develop software Code Warrior and on-line debugging instrument one can the autonomous classification route intelligent vehicle, it will discern road driving automatically on custom-designed runway.Focus target is not violate under the situation of big tournament rules to finish the individual pen racing track with the shortest time.

In order to obtain excellent achievement in play, the speed of intelligent vehicle detected and control just seem particularly important.It is the basis of speed control that speed detects, and therefore testing the speed not only requires accurately, and requires tachometer circuit simple, and employed components and parts are less, and cost is low.

Summary of the invention

The purpose of this utility model is to provide a kind of motor speed measuring device of model of mind car, and it tests the speed accurately, and circuit is simple, uses components and parts few, and cost is low.

In order to achieve the above object, the utility model is achieved by the following technical solutions: a kind of motor speed measuring device of model of mind car, comprise: signal gathering unit and signal processing unit, it is characterized in that, described signal processing unit comprises: be arranged on the circuit board on the model of mind chassis, be arranged on single-chip microcomputer and Schmidt trigger on the circuit board; Described signal gathering unit comprises: be installed in toothed disc and flute profile photoelectric sensor on the model of mind vehicle motor output shaft, described flute profile photoelectric sensor is arranged on the circuit board; The gear teeth noncontact of described toothed disc embeds in the groove of flute profile photoelectric sensor, and the output signal of described flute profile photoelectric sensor is imported the single-chip microcomputer counting after Schmidt trigger is shaped as pulse signal, and the computational intelligence model car speed of a motor vehicle.

The novel further characteristics of this use are:

Described flute profile photoelectric sensor is Omron photoelectric sensor EE-SX1101.

Described Schmidt trigger is made of 555 timers.

Described single-chip microcomputer is the HCS12 series monolithic.

The motor speed measuring device of the utility model model of mind car adopts grooved photoelectric sensor and toothed disc to gather speed information, and toothed disc is converted into approximate sine wave signal with the turn signal of motor, has and measures accurately advantage of high precision; Use Schmitt trigger circuit that sine wave signal is shaped as the input capture pin that pulse signal is supplied with single-chip microcomputer simultaneously, circuit is simple, the conversion efficiency height.Therefore, it tests the speed accurately, and circuit is simple, uses components and parts few, and cost is low.

Description of drawings

Fig. 1 is the synoptic diagram of flute profile photoelectric sensor;

Fig. 2 is the toothed disc synoptic diagram;

Fig. 3 is the speed measuring device scheme of installation;

Fig. 4 is the circuit theory diagrams of speed measuring device;

Fig. 5 is the wave test figure of speed measuring device.

Embodiment

With reference to Fig. 1, the grooved photoelectric sensor is the sensor that a kind of centre has groove, and the width of medial launder is 2mm, groove depth 3mm, and infrared light mails to receiving end by the transmitting terminal of sensor.Pin 1 is the power input of sensor emission end, and pin 2 is the earth signal end of transmitting terminal, and pin 3 is the power supply signal end of receiving end, and pin 4 is the output terminal OUT of receiving end.

With reference to Fig. 2, toothed disc is the disk with even distribution teeth groove, adopts PCB making sheet to make.According to the needs of rate accuracy, select suitable number of gears, draw with AutoCAD, the figure that will draw is converted into the form of .PCB in Protel then, and directly making sheet gets final product.When making sheet,, select thin material, and need not cover copper, so both can satisfy the needs of precision, can reduce cost again according to the width and the degree of depth of grooved photoelectric sensor medial launder.

With reference to Fig. 3, be provided with on 1. on the chassis of model car driving with motor 5. be connected two trailing wheels rear axle 4. 3., the gear wheel that rear axle right side 3. is fixed with differential mechanism is 2.; The pinion wheel that motor output shaft 5. is fixed with motor on 7. 6., large and small gear 2., 6. be meshing with each other drives wheel when 5. motor rotates.8. toothed disc is installed in motor output shaft 5. and 7. goes up, it can follow motor 5. rotation and rotate.10. the circuit board of speed measuring device also is fixed on the chassis of model car and 1. goes up, the flute profile photoelectric sensor 9. be installed in position that 10. circuit board go up make its be in just toothed disc 8. directly over, the toothed disc gear teeth are not 8. contacted embed in the photoelectric sensor groove 9..The infrared light of flute profile photoelectric sensor transmitting terminal emission 9. arrives receiving end by toothed disc wheel backlash 8..When motor rotated, receiving end was just to receive Infrared at interval.

With reference to Fig. 4, employed flute profile photoelectric sensor is EE-SX1101 in the speed measuring device signal gathering unit, and its structure and pin are with reference to Fig. 1.Flute profile photoelectric sensor pin 1 is the power input of sensor emission end, and it connects+the 5V power supply by first resistance R 1; Pin 2 is the earth signal of transmitting terminal, directly meets GND; Pin 3 is the power supply signal of receiving end, directly connects+the 5V power supply, and pin 4 is the output OUT of receiving end, and by second resistance R, 2 ground connection, the output OUT of sensor just is reflected on the voltage at second resistance R, 2 two ends like this.Signal processing unit is made of the Schmidt trigger that the NE555 timer constitutes.The output OUT of sensor connects the 2nd port of 555 timers.The threshold voltage of Schmidt trigger is VCC/3 and VCC*2/3, getting first resistance R 1 is transferred to below the VCC/3 for 10K Ω can make the low level voltage of the output OUT of grooved photoelectric sensor receiving end for the 1K Ω and second resistance R 2, high level voltage is transferred to more than the VCC*2/3, can satisfy the job requirement of Schmidt trigger.

With reference to Fig. 5, when 5. motor rotated, what can produce certain frequency at the 2nd port of 555 timers was roughly sine wave signal (V _OUT), the frequency of this sine wave signal is relevant with motor rotating speed 5..Through the shaping of Schmidt trigger, the 3rd port OUT1 end of 555 timers can produce the square-wave signal (V of same frequency _OUT1), OUT1 is directly connect the input capture pin of single-chip microcomputer, the pulse of single-chip microcomputer count pick up can calculate model car speed.

Suppose that the time that the input capture function by single-chip microcomputer measures between square-wave signal rising edge and the next rising edge is T (turning over the time that a gap needs corresponding to code-disc).Known motor 5. ratio of gear is 18: 76 (number of teeth of pinion wheel is that 18, the number of teeth of gear wheel are 76), and recording trailing wheel, to rotate a week corresponding operating range be 0.17m, and the hole count of establishing code-disc is N, and then speed can be tried to achieve by following formula:

$\mathrm{speed}=\frac{0.17\×18}{76\×N\×T}=\frac{153}{3800\×N\×T}$

The utility model is with low cost, and used components and parts all are the versatility devices, and circuit is simple, and it is accurate to detect data, good reliability, and on model car, install very conveniently, and control program is simple, the requirement of accuracy of detection in the time of satisfying model racing car and test the speed.

Claims (4)

1, a kind of motor speed measuring device of model of mind car, comprise: signal gathering unit and signal processing unit, it is characterized in that described signal processing unit comprises: be arranged on the circuit board on the model of mind chassis, be arranged on single-chip microcomputer and Schmidt trigger on the circuit board; Described signal gathering unit comprises: be installed in toothed disc and flute profile photoelectric sensor on the model of mind vehicle motor output shaft, described flute profile photoelectric sensor is arranged on the circuit board; The gear teeth noncontact of described toothed disc embeds in the groove of flute profile photoelectric sensor, and the output signal of described flute profile photoelectric sensor is imported the single-chip microcomputer counting after Schmidt trigger is shaped as pulse signal, and the computational intelligence model car speed of a motor vehicle.

2, the motor speed measuring device of a kind of model of mind car according to claim 1 is characterized in that, described flute profile photoelectric sensor is Omron photoelectric sensor EE-SX1101.

3, the motor speed measuring device of a kind of model of mind car according to claim 1 is characterized in that, described Schmidt trigger is made of 555 timers.

4, the motor speed measuring device of a kind of model of mind car according to claim 1 is characterized in that, described single-chip microcomputer is the HCS12 series monolithic.

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