CN202355839U - Automatic obstacle-avoidance toy car - Google Patents

Abstract

The utility model discloses an automatic obstacle avoidance toy car. Including a toy car, the toy car is equipped with an obstacle avoidance control device, and the obstacle avoidance control device includes a single-chip microcomputer, a motor drive circuit, a motor, a CCD camera installed on the front end of the toy car, an infrared sensor installed on the front end of the toy car, an infrared sensor installed on the toy The steering gear on the front wheel of the car and the Hall sensor installed on the rear wheel shaft; the CCD camera is connected with the single-chip microcomputer through the video synchronization separation chip, and the motor drive circuit, the infrared sensor and the steering gear are connected with the single-chip microcomputer respectively, and the The motor is connected with the motor drive circuit. The toy car is equipped with an obstacle avoidance control device. According to the information collected by the CCD camera, infrared sensor and speed sensor, the control device accurately calculates the rotation angle of the steering gear when encountering an obstacle by the single-chip microcomputer, and finally controls each actuator. Realize the automatic obstacle avoidance of the toy car. The toy car has a high degree of intelligence and enriches the types of existing toy cars.

Description

An automatic obstacle avoidance toy car

technical field

The utility model relates to a toy car, in particular to an automatic obstacle avoidance toy car.

technical background

Existing toy cars are mainly controlled by remote control. When an obstacle is encountered, the operator needs to perform obstacle avoidance control in time. This type of toy car has a low degree of intelligence and is not suitable for younger children to play. In addition, the existing automatic obstacle avoidance control device uses a ranging sensor to measure the distance between the vehicle and the obstacle, and the steering gear drives the rudder according to the preset program to continuously adjust the rudder angle to achieve obstacle avoidance. However, this method is passive, that is, it cannot accurately control the rudder angle. Only the distance signal cannot accurately calculate the rudder angle, and the obstacle avoidance speed is relatively slow.

Contents of the invention

Aiming at the defects or deficiencies of the prior art, the purpose of this utility model is to provide an automatic obstacle avoidance toy car with a high degree of intelligence and suitable for younger children.

For realizing above-mentioned technical task, the utility model takes following technical solution:

An automatic obstacle avoidance toy car, comprising a toy car, is characterized in that an obstacle avoidance control device is installed on the toy car, and the obstacle avoidance control device includes a single-chip microcomputer, a motor drive circuit, a motor, and a CCD camera installed on the front end of the toy car , the infrared sensor installed on the front end of the toy car, the steering gear installed on the front wheel of the toy car and the Hall sensor installed on the rear wheel shaft; the CCD camera is connected with the single chip microcomputer through the video synchronization separation chip, and the motor drive circuit , the infrared sensor and the steering gear are respectively connected with the single-chip microcomputer, and the motor is connected with the motor drive circuit.

Other technical characteristics of the utility model are:

The single-chip microcomputer adopts MC9S12DG128 single-chip microcomputer.

The motor driving circuit adopts an H bridge driving circuit.

The video synchronization separation chip adopts LM1881 chip.

The steering gear adopts Fraser MG995 metal copper gear steering gear.

The infrared sensor adopts Sharp GP2Y0A02YK0F infrared sensor.

The automatic obstacle avoidance toy car of the utility model is equipped with an obstacle avoidance control device, and the control device can accurately calculate the rotation angle of the steering gear when encountering a certain obstacle according to the information collected by the CCD camera, infrared sensor and speed sensor. , and finally control the actuators to realize the automatic obstacle avoidance of the toy car. The toy car has a high degree of intelligence and enriches the types of existing toy cars.

Description of drawings

Fig. 1 is the structure diagram of the obstacle avoidance control device on the toy car of the present utility model;

Fig. 2 is the connection structure schematic diagram between the CCD camera of the present utility model and the single-chip microcomputer;

Fig. 3 is a motor drive circuit diagram of the present utility model;

Fig. 4 is a schematic diagram of obstacle avoidance of the present invention.

Below in conjunction with accompanying drawing and embodiment the utility model is further described.

Detailed ways

Example:

Referring to Fig. 1, the automatic obstacle avoidance toy car of the present embodiment includes a toy car, and an obstacle avoidance control device is installed on the toy car. CCD camera, Sharp GP2Y0A02YK0F infrared sensor installed on the front end of the toy car, MG995 metal copper gear steering gear installed on the front wheel of the toy car and Hall sensor installed on the rear wheel shaft; the CCD camera separates the LM1881 chip through video synchronization It is connected with the single-chip microcomputer, the H-bridge driving circuit, the infrared sensor and the steering gear are respectively connected with the single-chip microcomputer, and the motor is connected with the H-bridge driving circuit. The obstacle avoidance control device installed on the toy car is powered by a 5V DC battery. Because the working voltage of the CCD camera is +12V, a voltage conversion circuit is needed. The voltage conversion circuit uses a MAX732DC-DC voltage conversion chip, and the specific circuit connection is a MAX732 chip typical connections.

The MC9S12DG128 single-chip microcomputer used is one of M68HC12 series 16 single-chip microcomputers. Its basic structure includes: central processing unit HCS12 (CPU), 2 asynchronous serial communication ports SCI, 2 synchronous serial communication ports SPI, 8 channels Input capture/output comparison timer, 1 8-channel pulse width modulation module and 49 independent digital I/O ports (20 of which have external interrupt and wake-up functions), also has 128KB Flash ROM and 8KB RAM in the chip And 2KB EEPROM, the single-chip microcomputer analyzes the received information, controls the work of the steering gear, motor and speed module, and realizes automatic obstacle avoidance.

The Sharp GP2Y0A02YK0F infrared sensor used is composed of three parts: PSD, IRED and signal processing circuit; triangulation measurement is adopted, the environmental interference is small, the distance measurement range is 20-150cm, the size is 29.5×13×21.6mm, and the power supply voltage: 4.5 to 5.5 V, the signal output is a voltage analog signal, and the analog signal is sent to the single-chip microcomputer through ATD00~ATD07 of the MC9S12DG128 single-chip microcomputer, and the analog-to-digital conversion is converted into a digital quantity for further processing.

As shown in Figure 2, there are ground wires, power wires, and signal wires on the CCD camera. The signal wires are connected to the 2 pins of the video synchronization separation chip LM1881 through a 0.1uf capacitor. The video synchronization separation completes the row and column separation of the video image. Its pins 1 and 7 are respectively connected to PT3 and PT2 of the MC9S12DG128 single-chip microcomputer to extract the row and column information of the video image respectively. At the same time, the chip LM1881 extracts the outer envelope of the obstacle and calculates the width of the obstacle envelope and inputs it. For MC9S12DG128 microcontroller.

The Hall sensor fixed near the rear axle gear of the toy car can generate a corresponding pulse when each small steel magnet passes through, detect the number of pulses per unit time, and then calculate the speed of the vehicle at this time, as a single-chip computer to calculate a new Reference for obstacle avoidance speed.

Referring to Figure 3, the driving circuit adopts a typical H-bridge circuit, which consists of two PNP transistors 8550: Q1, Q2, two NPN transistors 9013: Q3, Q4, two NPN transistors 8050: Q5, Q6, resistors Composed of R11, resistor R12, resistor R13, resistor R14, resistor R15 and resistor R16, the resistance values of resistor R11 and resistor R12 are both 100Ω, the resistance values of resistor R13 and resistor R14 are both 1kΩ, and the resistance values of resistor R15 and resistor R16 The value is 500Ω. The H-bridge drive circuit includes a forward input terminal J11 and a backward input terminal J12. When the motor forward input terminal J11 is a high-level signal, the transistors Q3, Q2, and Q5 are turned on, and the current direction in the driving motor is from right to left. The motor rotates forward, and the toy car moves forward; on the contrary, when the drive motor retreats and the input terminal J12 is a high-level signal, the transistors Q4, Q1, and Q6 are turned on, and the current direction in the drive motor is from left to right, and the drive motor reverses, and the toy The car backs up.

To sum up, when the toy car of the present utility model encounters an obstacle, the CCD camera continuously collects road condition information and transmits the collected information to the LM1881 chip, and the LM1881 chip completes the row and column separation of the video image and the outer envelope of the obstacle Lines and lane sidelines are extracted, and the separated and extracted information is transmitted to the MC9S12DG128 single-chip microcomputer. The single-chip microcomputer obtains the width of the obstacle as (a+b), and the infrared sensor inputs the collected distance signal h between the car and the obstacle to the MC9S12DG12 Single-chip computer, and then the single-chip computer calculates the steering angle of the car according to the input information. As shown in Figure 4, the MC9S12DG128 MCU calculates the rudder angle of the toy car based on the above information. The formula for calculating the rudder angle θ is as follows:

$\mathrm{<span\; class="notranslate">\; \&theta;</span>}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; arctan</span>}\frac{\mathrm{<span\; class="notranslate">\; a</span>}}{\mathrm{<span\; class="notranslate">\; h</span>}}$

The single-chip computer calculates a reasonable vehicle speed v and compares the vehicle speed with the actual vehicle speed measured by the Hall sensor, and then regulates the motor through the motor drive circuit according to the comparison result, thereby realizing the adjustment of the vehicle speed; at the same time, the single-chip computer passes through The steering gear controls the steering angle of the car;

By repeating the above process continuously, the two parameters needed for driving the toy car can be adjusted in real time: the rudder angle θ and the vehicle speed v, so as to accurately realize the automatic obstacle avoidance of the toy car.

Various electronic components installed on the toy car of the utility model are all commercially available known products, and those skilled in the art can realize the connection of each electronic component according to the technical effect of the application.

Claims (6)

1. automatic obstacle-avoiding toy car; Comprise toy car; It is characterized in that; Be equipped with on the said toy car and keep away the barrier control device, this keep away the barrier control device comprise single-chip microcomputer, motor-drive circuit, motor, be installed on the toy car front end the CCD camera, be installed on the toy car front end infrared sensor, be installed on the steering wheel on the toy car front-wheel and be installed on the Hall element in the trailing wheel rotating shaft; Said CCD camera is connected with single-chip microcomputer through Video Sync Separator Chip, and said motor-drive circuit, infrared sensor and steering wheel are connected with single-chip microcomputer respectively, and said motor is connected with motor-drive circuit.

2. automatic obstacle-avoiding toy car as claimed in claim 1 is characterized in that, said single-chip microcomputer adopts the MC9S12DG128 single-chip microcomputer.

3. automatic obstacle-avoiding toy car as claimed in claim 1 is characterized in that, said motor-drive circuit adopts H bridge drive circuit.

4. automatic obstacle-avoiding toy car as claimed in claim 1 is characterized in that, said Video Sync Separator Chip adopts the LM1881 chip.

5. automatic obstacle-avoiding toy car as claimed in claim 1 is characterized in that, said steering wheel adopts brightness to contain MG995 metallic copper gear steering wheel.

6. automatic obstacle-avoiding toy car as claimed in claim 1 is characterized in that, said infrared sensor adopts the GP2Y0A02YK0F of Sharp infrared sensor.

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