CN201331829Y - Wireless monitoring device for model racing car motion state - Google Patents
Wireless monitoring device for model racing car motion state Download PDFInfo
- Publication number
- CN201331829Y CN201331829Y CNU200820222476XU CN200820222476U CN201331829Y CN 201331829 Y CN201331829 Y CN 201331829Y CN U200820222476X U CNU200820222476X U CN U200820222476XU CN 200820222476 U CN200820222476 U CN 200820222476U CN 201331829 Y CN201331829 Y CN 201331829Y
- Authority
- CN
- China
- Prior art keywords
- racing car
- wireless
- model
- model racing
- receiving module
- 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.)
- Expired - Fee Related
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model relates to the field of the model racing car motion real-time monitoring, in particular to a wireless monitoring device for a model racing car motion state, which comprises a control unit of a model racing car which collects and stores the motion status parameters of the model racing car, and is characterized in that the wireless monitoring device also comprises a wireless transmitting module, a wireless receiving module and a computer, wherein, the wireless transmitting module comprises an nRF24L01 chip, is arranged on the model racing car and connected with the control unit and is used for extracting and transmitting the real-time motion status parameters of the model racing car in turn; the wireless receiving module which comprises an nRF24L01 module receives the real-time motion status parameters of the model racing car and outputs the real-time motion status parameters through a cabled data communication interface; the computer is connected with the cabled data communication interface of the wireless receiving module and is used for receiving and storing the real-time motion status parameters of the model racing car so as to perform the data processing.
Description
Technical field
The utility model relates to model car and moves real-time monitoring field, particularly a kind of wireless type supervising device of model motor sport state.
Background technology
The racing car of Automatic Track Finding model of mind is the object of robot field's broad research, and the lot of domestic and international match is a content with the racing car of Automatic Track Finding model of mind all, as Freescale cup university student intelligent vehicle contest and Rui Sa cup MCU model racing car contest.After model racing car designs, need carry out a large amount of actual debugging, therefore obtain each correlation parameter of racing car, the racing car operation conditions further be optimized to reach faster, more steady contest requirement according to these parameters.In the debug process of racing car, in order to know the operation conditions of racing car accurately, need know some operational factors of racing car, as speed, direction, position, steering wheel corner, image acquisition data, motor speed, parameters such as movement locus.
At present the method to the real-time monitoring of Automatic Track Finding model motor sport state and performance parameter mainly contains two kinds.A kind of is wired serial mode, and this method utilizes wired serial ports that the running status and the performance parameter of racing car are carried out timing monitoring.Want the motion state and the performance parameter of real-time monitoring model racing car, when being run at high speed on racing track, it could realize, and long transmission line brings very big interference and trouble for the operation and the detection of model racing car, poor reliability, and the transmission data are subjected to external interference bigger, losing or distortion of transmission data often occur.The 2nd, the wireless serial mode promptly utilizes wireless serial that the motion state and the performance parameter of model racing car are monitored in real time.Wireless serial on the present stage market all is not suitable for installing and using on intelligent vehicle, and this is because general wireless serial volume and weight is all bigger, is not suitable for installing and using in the model racing car that weight and volume is had strict demand.The transfer rate of wireless serial does not reach the requirement of real-time monitoring in addition, in general, the transfer rate of wireless serial is 19200Byte/s to the maximum, occur sending sluggish and system in case of system halt phenomenon when adopting the wireless serial mode to carry out data transmission in the experiment, this is because the transfer rate of wireless serial does not reach the requirement of system high-speed operation.
Summary of the invention
The purpose of this utility model is to provide a kind of wireless type supervising device of model motor sport state simple in structure, easy to connect, and the corresponding wireless type sending module that is installed in the model racing car is in light weight, the transfer rate height.
In order to achieve the above object, the utility model is achieved by the following technical solutions: a kind of wireless type supervising device of model motor sport state, comprise the control module of model racing car, and gather the motion state parameters that stores model racing car, it is characterized in that, also comprise:
A wireless sending module that comprises the nRF24L01 chip is arranged in the model racing car, is connected the real time kinematics state parameter and the sequential firing of extraction model racing car with control module;
A wireless receiving module that comprises the nRF24L01 chip, order receives the real time kinematics state parameter of model racing car, and by its wired data communication interface output;
A computing machine is connected with the wired data communication interface of wireless receiving module, receives the also real time kinematics state parameter of memory model racing car, and the line data of going forward side by side is handled.
Further improvement of the utility model is:
Described control module is the HCS12 series monolithic;
Described wireless receiving module is the USB24L01 wireless receiving module;
Described wireless sending module and wireless receiving module adopt the 2.4G wireless protocols;
Described wired data communication interface adopts USB interface.
The utility model wireless sending module adopts the nRF24L01 chip, and this chip directly is connected with the HCS12DG128 single-chip microcomputer can realize data transmission, and the wireless sending module that is carried in the model racing car is in light weight; Wireless sending module is connected with computing machine by USB interface, and is simple in structure, and it is convenient to realize; Wireless sending module and wireless receiving module adopt the 2.4G wireless protocols, and transfer rate can reach 2M/s, and long transmission distance is adapted at installing and using on the intelligent vehicle simultaneously.
Description of drawings
Fig. 1 is a structure principle chart of the present utility model; Fig. 2 is a kind of wireless sending module and control module connection layout that is applicable to model racing car; Fig. 3 is the workflow diagram of wireless sending module; Fig. 4 is the workflow diagram of wireless receiving module.
Embodiment
With reference to Fig. 1, the wireless type supervising device of model motor sport state comprises: the control module of model racing car, gather the motion state parameters that stores model racing car; The wireless sending module that comprises the nRF24L01 chip is connected with control module, the real time kinematics state parameter and the sequential firing of extraction model racing car; The wireless receiving module that comprises the nRF24L01 chip, order receives the real time kinematics state parameter of model racing car, and by its wired data communication interface output; Computing machine is connected with the wired data communication interface of wireless receiving module, receives the also real time kinematics state parameter of memory model racing car, and the line data of going forward side by side is handled.
In the specific embodiment of the utility model, control module adopts the HCS12DG128 single-chip microcomputer; Wireless sending module adopts the nRF24L01 chip; Wireless receiving module is the USB24L01 wireless receiving module of Hangzhou prestige step Science and Technology Ltd.'s production, this module is to carry the peripheral circuit that control receives on the basis of nRF24L01, its wired data communication interface adopts USB interface, can directly insert USB interface of computer; And wireless sending module and wireless receiving module adopt the 2.4G wireless protocols, and transfer rate can reach 2M/s.
With reference to Fig. 2, control module adopts the HCS12DG128 single-chip microcomputer, and wireless sending module adopts the nRF24L01 chip.This nRF24L01 chip adopts the SPI serial communication interface, only needs six roots of sensation line when adopting simulation SPI to carry out data transmission and between the HCS12DG128 single-chip microcomputer, conveniently is carried in the model racing car.PORTB0～the PORTB5 of HCS12DG128 single-chip microcomputer is configured to general purpose I/O pin, and the resistance by 2.2K ohm is connected with IRQ, CES, CSN, SCKNOSI, the NISO pin of nRF24L01 chip respectively.The nRF24L01 chip adopts the ShockBurstTM emission mode, and operating rate can reach 2Mbps
Describe the concrete data transmission procedure of present embodiment below in detail.
(1) the HCS12DG128 single-chip microcomputer sends to the nRF24L01 chip with the required motion state parameters that carries out wireless transmission.Before the prison runin beginning, need to determine which parameter of transmission pattern motor sport state earlier, provide the order between the parameter, adopt comma or set form that these parameters are separated usually, as: velocity amplitude, the orientation angle value, steering wheel rotational angle value ... etc.After determining to send parameter, in the control program of HCS12DG128 single-chip microcomputer, add corresponding data router.
Model racing car is when motion, the HCS12DG128 single-chip microcomputer is gathered the path signal from sensor, after the signal AD conversion with sensor, black racing track line in the single-chip microcomputer identification white background, according to the racing track line position travelling speed and the traffic direction of intelligent vehicle are made control, to configure the real time data that needs to send simultaneously in advance and send to the nRF24L01 chip, and after packing is handled to real time data, start launching procedure and send data.
The nRF24L01 chip receives the real time data from the HCS12DG128 single-chip microcomputer, and data are carried out pre-service and packing processing.At first real time data is judged that data that only receive and the form that configures in advance just receive these data when mating fully, otherwise will be abandoned next group data of this Data Receiving.Receiving needs after the correct data the data processing of packing.One group of data that the HCS12DG128 single-chip microcomputer sends over have comprised a plurality of data; in order to protect the independence of respectively organizing data; prevent from respectively to organize phase mutual interference between the data; need be to the processing of packing of every group of data; promptly every group of data are set up a packet; the beginning of packet is the numbering of packet, is corresponding one group of data then, is the packet receiving flag at last ' n '.NRF24L01 sent packing to S12 and finishes signal after packing was finished.
With reference to Fig. 3, the nRF24L01 chip starts router under the control of HCS12DG128 single-chip microcomputer, and packet is sent in the space towards periphery.The HCS12DG128 single-chip microcomputer receives from the packing of nRF24L01 and finishes after the signal, starts launching procedure, and nRF24L01 the space launches packet towards periphery.During data transmission, the HCS12DG128 single-chip microcomputer is at first with TX_DS mark position height, suspend other work then, the nRF24L01 chip reads packet from the S12 single-chip microcomputer with 0,1 binary form, and reading order is package number, data, the packet end mark whenever receives one digit number and carries out wireless transmit according to afterwards these data being sent to antenna port, reads next bit then.This process that reads and send is very fast, can reach 433MHz, so shared single-chip microcomputer time of this emission process is very short, generally less than 1ms, can not have influence on the normal operation of model racing car.
(2) wireless receiving module USB24L01 receiving radio data bag, USB24L01 be and the matching used wireless receiving device of nRF24L01, and its interface is simple, only needs it is connected with USB interface of computer to get final product.
With reference to Fig. 4, after USB24L01 inserted computing machine, USB24L01 at first carries out power-up initializing, if initialization failure, then can send an initialization failure information bag to the USB port of computing machine, control program can receive this packet for operating personnel's reference, so that USB24L01 is checked queueing problem.After 30ms is finished in the USB24L01 initialization, enter into the data monitoring state surrounding space is monitored, in case monitor packet then this packet is received.The order that order that receives and nRF2401 chip send is just the same, at first receives package number, receives data value then, is end-of-data mark at last.During reception, every reception one digit number obtains a complete packet according to earlier data being preserved after the Data Receiving of all is finished.After packet finishes receiving packet is sent to the USB mouth of computing machine, enters into next receiving course then.
Be mounted with data processor in the computing machine, handle data from USB port.Handling procedure at first needs packet is tested, and then this packet is not given up if packet meets the order of " package number, data value, packet receiving flag ", receives next packet then.If the packet that is received meets form, then package number and receiving flag are removed, obtained the real time kinematics status data of model racing car, then these data in real time are shown on computer screen, simultaneously these data values are saved in the hard disc of computer, convenient later analysis is used.
The utility model volume is little, good reliability, hardware circuit and control program are simple, Monitoring Data is reliable, and be directly perceived, be a kind of can the very simple radio transmitting device that is applied in the model racing car.
Claims (5)
1, a kind of wireless type supervising device of model motor sport state comprises the control module of model racing car, gathers the motion state parameters that stores model racing car, it is characterized in that, also comprises:
A wireless sending module that comprises the nRF24L01 chip is arranged in the model racing car, is connected the real time kinematics state parameter and the sequential firing of extraction model racing car with control module;
A wireless receiving module that comprises the nRF24L01 chip, order receives the real time kinematics state parameter of model racing car, and by its wired data communication interface output;
A computing machine is connected with the wired data communication interface of wireless receiving module, receives the also real time kinematics state parameter of memory model racing car, and the line data of going forward side by side is handled.
2, the wireless type supervising device of a kind of model motor sport state according to claim 1 is characterized in that, described control module is the HCS12 series monolithic.
3, the wireless type supervising device of a kind of model motor sport state according to claim 1 is characterized in that, described wireless receiving module is the USB24L01 wireless receiving module.
4, the wireless type supervising device of a kind of model motor sport state according to claim 1 is characterized in that, described wireless sending module and wireless receiving module adopt the 2.4G wireless protocols.
5, the wireless type supervising device of a kind of model motor sport state according to claim 1 is characterized in that, described wired data communication interface adopts USB interface.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820222476XU CN201331829Y (en) | 2008-11-17 | 2008-11-17 | Wireless monitoring device for model racing car motion state |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU200820222476XU CN201331829Y (en) | 2008-11-17 | 2008-11-17 | Wireless monitoring device for model racing car motion state |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201331829Y true CN201331829Y (en) | 2009-10-21 |
Family
ID=41225212
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU200820222476XU Expired - Fee Related CN201331829Y (en) | 2008-11-17 | 2008-11-17 | Wireless monitoring device for model racing car motion state |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201331829Y (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102590546A (en) * | 2012-02-21 | 2012-07-18 | 山重建机有限公司 | Tool for testing rotating and travelling speed and acceleration of hydraulic excavator |
| CN106292554A (en) * | 2015-05-19 | 2017-01-04 | 华南理工大学 | A kind of FSAE racing car operating mode wireless supervisory control system |
-
2008
- 2008-11-17 CN CNU200820222476XU patent/CN201331829Y/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102590546A (en) * | 2012-02-21 | 2012-07-18 | 山重建机有限公司 | Tool for testing rotating and travelling speed and acceleration of hydraulic excavator |
| CN106292554A (en) * | 2015-05-19 | 2017-01-04 | 华南理工大学 | A kind of FSAE racing car operating mode wireless supervisory control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108549280A (en) | A kind of digital rudder controller control method for supporting multi signal to input | |
| CN201331829Y (en) | Wireless monitoring device for model racing car motion state | |
| CN104971502A (en) | Multi-driving autonomous networked boxing model robot system and control method thereof | |
| CN108414245A (en) | A kind of automobile-used failure diagnostic apparatus system of motor | |
| CN104427232A (en) | Method, device and system for realizing image acquisition | |
| CN101699356A (en) | Embedded intelligent monitoring and maintenance module of hydraulic machine | |
| CN103317513B (en) | A kind of Networked Robot control system based on multi-CPU | |
| CN114228638A (en) | System and method for transmitting super data of vehicle end of L4-grade automatic driving vehicle | |
| CN106533621A (en) | Communication method for monitoring permanent magnet synchronous motor in real time based on simplified MODBUS protocol | |
| CN102323856A (en) | Data glove based on acceleration sensors and ZigBee | |
| CN201608779U (en) | Portable visible light CCD imaging system | |
| CN202257468U (en) | Data gloves based on acceleration sensors and ZigBee | |
| CN202870525U (en) | Networked data acquisition apparatus applied to changing environment | |
| CN202632094U (en) | Information acquisition device and remote vehicle diagnosis system | |
| CN112925242B (en) | Unmanned operation agricultural machinery intelligence networking terminal system | |
| CN202424723U (en) | Multifunctional data converter | |
| CN204856469U (en) | General signal acquisition driver | |
| CN2884364Y (en) | Multiple-mode, radio deta acquisition system | |
| CN208000474U (en) | A kind of bottom control device of omni-directional mobile robots | |
| CN203950037U (en) | The echo signal treating apparatus of unmanned plane obstacle avoidance system, unmanned plane obstacle avoidance system | |
| CN207817957U (en) | The idler wheel remote controller of dual chip kernel | |
| CN202067212U (en) | Three-dimensional motion vector detection device | |
| CN206095312U (en) | Farm tractor transport condition information acquisition device | |
| CN110673517A (en) | FPGA and ARM-based high-speed blade tip clearance signal acquisition and processing device and method | |
| CN110865639A (en) | Remote monitoring management system and method for intelligent operation of unmanned rolling machine cluster |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091021 Termination date: 20101117 |