CN202887591U - Intelligent vehicle teaching experimental facility based on laser double-edge tracking - Google Patents
Intelligent vehicle teaching experimental facility based on laser double-edge tracking Download PDFInfo
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- CN202887591U CN202887591U CN 201220655507 CN201220655507U CN202887591U CN 202887591 U CN202887591 U CN 202887591U CN 201220655507 CN201220655507 CN 201220655507 CN 201220655507 U CN201220655507 U CN 201220655507U CN 202887591 U CN202887591 U CN 202887591U
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- 238000004891 communication Methods 0.000 claims abstract description 12
- 230000002146 bilateral effect Effects 0.000 claims abstract description 9
- 238000002474 experimental method Methods 0.000 claims abstract description 9
- 230000004888 barrier function Effects 0.000 claims description 14
- 239000002390 adhesive tape Substances 0.000 claims description 3
- 239000004973 liquid crystal related substance Substances 0.000 claims description 2
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- 238000005259 measurement Methods 0.000 abstract 2
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Abstract
一种基于激光双边循迹智能车教学实验装置，包括MCU主控电路、激光传感器模块、电机驱动模块、舵机驱动模块、测速模块、ZigBee通信模块、键盘输入模块、显示模块、电源模块、ISP串口模块、避障模块、道路模型和上位机，电源模块与MCU主控电路、激光传感器模块、电机驱动模块、舵机驱动模块、测速模块、ZigBee通信模块、键盘输入模块、显示模块、ISP串口模块和避障模块以电路连接，用于给各个模块供电，该实验装置操作简单灵活，学生可根据自己的想法在该实验装置上验证，提高创新能力和动手能力。
A teaching experiment device for smart cars based on laser bilateral tracking, including MCU main control circuit, laser sensor module, motor drive module, steering gear drive module, speed measurement module, ZigBee communication module, keyboard input module, display module, power supply module, ISP Serial port module, obstacle avoidance module, road model and host computer, power module and MCU main control circuit, laser sensor module, motor driver module, steering gear driver module, speed measurement module, ZigBee communication module, keyboard input module, display module, ISP serial port The module and the obstacle avoidance module are connected by a circuit to supply power to each module. The experimental device is simple and flexible to operate. Students can verify their own ideas on the experimental device to improve their innovative ability and hands-on ability.
Description
Technical field
The utility model relates to and a kind ofly can be used for university's Experimental Teaching Tache based on the bilateral tracking intelligent vehicle of laser experiment device for teaching, also can include in the SCM Experimentation Teaching course and graduation project in.
Background technology
The exploitation of intelligent vehicle and design relate to a plurality of fields, relate to a plurality of subjects such as control theory, pattern-recognition, sensing technology, automotive electronics, electric, computing machine, machinery.Cultivation to college-student complex, the raising of the expansion of the scope of one's knowledge and problem analysis problem-solving ability highly significant and be conducive to improve undergraduate manipulative ability, excite innovation ability, but present intelligent vehicle experiment device for teaching complicated operation and loaded down with trivial details, the student verifies that in experimental provision the idea difficulty of oneself is large, has hindered student's innovation ability and manipulative ability.
The utility model content
What the utility model provided is a kind of based on the bilateral tracking intelligent vehicle of laser experiment device for teaching, by MCU governor circuit, laser sensor module, motor drive module, servo driving module, speed measuring module, ZigBee communication module, keyboard load module, display module, power module, ISP serial port module, keep away barrier module, road model and host computer forms.Described laser sensor module is connected with MCU governor circuit circuit, and it is STC12C5A40S2 that described MCU governor circuit adopts control chip, and described laser sensor module has adopted Laser Modulation pipe and receiving tube, is used for the road information collection; Described motor drive module is connected with MCU governor circuit circuit, and described motor drive module comprises direct current generator and motor-drive circuit, and described motor-drive circuit has adopted driving chip BTS7970, is used for driving direct current generator; Described servo driving module is connected with MCU governor circuit circuit, and described servo driving module comprises steering wheel and servo driving circuit, and described steering wheel has adopted S-D5, and described servo driving circuit is used for driving steering wheel; Described speed measuring module is connected with MCU governor circuit circuit, and speed measuring module has adopted 200 linear light photoelectric coders, is used for recording the intelligent vehicle actual speed; Described ZigBee communication module is connected with MCU governor circuit circuit, and the ZigBee communication module has adopted the SZ05-STD wireless module, is used for communicating by letter with host computer; Described keyboard load module is connected with MCU governor circuit circuit, and the keyboard load module has adopted free-standing button and dial-up button, is used for man-machine exchange; Described display module is connected with MCU governor circuit circuit, and described display module has adopted NOKIA 5110 liquid crystal, is used for showing image data; Described power module has adopted voltage stabilizing chip LM2904; Described ISP serial port module is connected with MCU governor circuit circuit, and the ISP serial port module has adopted level transferring chip MAX232, is used for downloading and debugged program; The described barrier module of keeping away is connected with MCU governor circuit circuit, keeps away the barrier module and has adopted the HC-SR04 ultrasonic distance measuring module, is used for avoiding obstacles; Described host computer is used for communicating with intelligent vehicle; Described road model has adopted white KT plate and black electrical adhesive tape, and being used for provides racing track to intelligent vehicle; Described power module and MCU governor circuit, laser sensor module, motor drive module, servo driving module, speed measuring module, ZigBee communication module, keyboard load module, display module, ISP serial port module and be connected the barrier module and be connected with circuit are used for powering to modules.
The beneficial effects of the utility model are: this experimental provision is simple to operate flexibly, and the student can verify at this experimental provision according to the idea of oneself, improves innovation ability and manipulative ability.
Description of drawings
Fig. 1 is experiment device for teaching scantling plan of the present utility model.
Fig. 2 is intelligent vehicle control system structural drawing of the present utility model.
Fig. 3 is the utility model laser sensor road information acquisition principle synoptic diagram.
Embodiment
Below in conjunction with accompanying drawing and enforcement the technical solution of the utility model is further explained.
Embodiment
As shown in Figure 1, intelligent vehicle travels at described road model, and intelligent vehicle and described host computer communicate in the driving process, and real-time sends to host computer with data.Described road model is made by white KT plate and black electrical adhesive tape, and black belt sticks on described road model both sides.Intelligent vehicle adopts the scheme of bilateral tracking to travel at described road model.
Described bilateral tracking is as shown in Figure 3: both sides adopt 5 laser tubes to be radiated on the described road model, A position description intelligent vehicle departs from described road model to the right among Fig. 3 when laser spots is in, be in the middle of the described road model when laser spots is among Fig. 3 B position description intelligent vehicle, C position description intelligent vehicle departs from described road model left among Fig. 3 when laser spots is in.The information that intelligent vehicle collects according to described laser sensor module is just judged the position of intelligent vehicle, thereby turns to by controlling intelligent vehicle for the different PWM value of steering wheel.
As shown in Figure 2, comprise MCU governor circuit 1, laser sensor module 2, motor drive module 6, servo driving module 5, speed measuring module 3, ZigBee communication module 7, keyboard load module 8, display module 9, power module 10, ISP serial port module 11 and keep away the barrier module 4.
Described intelligent vehicle adopts toy intelligent vehicle car mould, and classmates can assemble the car mould according to car mould drawing, and classmates independently finish, and steering wheel is installed, scrambler is installed, the laser sensor module is installed and governor circuit is installed.
The described barrier module of keeping away has adopted the HC-SR04 ultrasonic distance measuring module.When described intelligent vehicle when the place ahead runs into barrier on described road model, the ripple of described ultrasonic wave module emission certain frequency is reflected by barrier, by calculating the distance of described Intelligent vehicle distance barrier, thus control intelligent vehicle haul off barrier.
Described laser sensor module adopts 10 road laser to gather road information, to each laser 1～10 numbering, laser energy is received by the receiving tube in the described laser sensor module by diffuse reflection when Ear Mucosa Treated by He Ne Laser Irradiation is on white road, laser then can not be received when Ear Mucosa Treated by He Ne Laser Irradiation is on black belt, therefore we can not be received the state of just having known intelligent vehicle by which laser that collects, thereby turn to for the different PWM value control intelligent vehicle of steering wheel.
Described speed measuring module has adopted optical-electricity encoder, and described photoelectric encoder couples together by gear and intelligent vehicle rear wheel drive gear, and the rotation of the transmission gear of trailing wheel drives described optical-electricity encoder gear and rotates.By recording the optical-electricity encoder gear turns in the certain hour the number of turns again by calculating the speed of intelligent vehicle.
Described keyboard load module and described display module are used and consist of man-machine exchange.By described keyboard load module the parameter of intelligent vehicle can be set, for example set the travel speed of intelligent vehicle, these parameters can show on the described display module again, just with debugging.
Described ZigBee communication module and computing machine communicate, and send the information of intelligent vehicle to host computer.So just can be by the state of host computer Real-Time Monitoring intelligent vehicle.Classmates also can send instruction to intelligent vehicle by host computer, control the intelligent vehicle acceleration-deceleration and turn to.
Described ISP serial port module is connected with the MCU control circuit, realizes download and the debugging of program.
Described motor drive module has adopted BTS7970 to drive chip for driving direct current generator.
Described servo driving module is used for driving steering wheel, and the control intelligent vehicle turns to.
More than shown ultimate principle of the present utility model and principal character with; although the utility model discloses as above with preferred embodiment; so it is not to limit the utility model; any those skilled in the art; within not breaking away from spirit and scope of the present utility model; when doing a little modification and perfect, these variations and perfect all falling in the claim protection domain of the present utility model.
Claims (3)
1. one kind based on the bilateral tracking intelligent vehicle of laser experiment device for teaching, comprise the MCU governor circuit, the laser sensor module, motor drive module, the servo driving module, speed measuring module, the ZigBee communication module, the keyboard load module, display module, power module, the ISP serial port module, keep away the barrier module, road model and host computer, power module and MCU governor circuit, the laser sensor module, motor drive module, the servo driving module, speed measuring module, the ZigBee communication module, the keyboard load module, display module, the ISP serial port module be connected the barrier module connect with circuit, be used for powering to modules, it is characterized in that: described laser sensor module is connected with MCU governor circuit circuit, it is STC12C5A40S2 that described MCU governor circuit adopts control chip, and described laser sensor module has adopted Laser Modulation pipe and receiving tube; Described motor drive module is connected with MCU governor circuit circuit, and described motor drive module comprises direct current generator and motor-drive circuit; Described servo driving module is connected with MCU governor circuit circuit, and described servo driving module comprises steering wheel and servo driving circuit; Described speed measuring module is connected with MCU governor circuit circuit, and speed measuring module has adopted 200 linear light photoelectric coders; Described ZigBee communication module is connected with MCU governor circuit circuit, and the ZigBee communication module has adopted the SZ05-STD wireless module; Described keyboard load module is connected with MCU governor circuit circuit, and the keyboard load module has adopted free-standing button and dial-up button; Described display module is connected with MCU governor circuit circuit, and described display module has adopted NOKIA 5110 liquid crystal; Described power module has adopted voltage stabilizing chip LM2904; Described ISP serial port module is connected with MCU governor circuit circuit, and the ISP serial port module has adopted level transferring chip MAX232; The described barrier module of keeping away is connected with MCU governor circuit circuit, keeps away the barrier module and has adopted the HC-SR04 ultrasonic distance measuring module; Described road model has adopted white KT plate and black electrical adhesive tape.
2. as claimed in claim 1 based on the bilateral tracking intelligent vehicle of laser experiment device for teaching, it is characterized in that: described motor-drive circuit has adopted driving chip BTS7970.
3. as claimed in claim 1 based on the bilateral tracking intelligent vehicle of laser experiment device for teaching, it is characterized in that: described steering wheel has adopted S-D5.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220655507 CN202887591U (en) | 2012-11-19 | 2012-11-19 | Intelligent vehicle teaching experimental facility based on laser double-edge tracking |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201220655507 CN202887591U (en) | 2012-11-19 | 2012-11-19 | Intelligent vehicle teaching experimental facility based on laser double-edge tracking |
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| CN202887591U true CN202887591U (en) | 2013-04-17 |
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| CN 201220655507 Expired - Fee Related CN202887591U (en) | 2012-11-19 | 2012-11-19 | Intelligent vehicle teaching experimental facility based on laser double-edge tracking |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103309360A (en) * | 2013-05-17 | 2013-09-18 | 河南科技大学 | Racing car model steering regulating method |
| CN103425129A (en) * | 2013-08-02 | 2013-12-04 | 南京信息工程大学 | Storage conveyer car with automatic tracking and obstacle avoiding functions |
| CN103558855A (en) * | 2013-11-10 | 2014-02-05 | 广西柳工路创制造科技有限公司 | Intelligent logistics tracking trolley and control system thereof |
| CN104714548A (en) * | 2015-03-09 | 2015-06-17 | 北京大基康明医疗设备有限公司 | Laser line patrol system of medical sickbed transport cart and laser line patrol method thereof |
| CN106354143A (en) * | 2016-11-28 | 2017-01-25 | 东莞职业技术学院 | Intelligent vehicle based on ZigBee communication and system thereof |
-
2012
- 2012-11-19 CN CN 201220655507 patent/CN202887591U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103309360A (en) * | 2013-05-17 | 2013-09-18 | 河南科技大学 | Racing car model steering regulating method |
| CN103425129A (en) * | 2013-08-02 | 2013-12-04 | 南京信息工程大学 | Storage conveyer car with automatic tracking and obstacle avoiding functions |
| CN103558855A (en) * | 2013-11-10 | 2014-02-05 | 广西柳工路创制造科技有限公司 | Intelligent logistics tracking trolley and control system thereof |
| CN104714548A (en) * | 2015-03-09 | 2015-06-17 | 北京大基康明医疗设备有限公司 | Laser line patrol system of medical sickbed transport cart and laser line patrol method thereof |
| CN106354143A (en) * | 2016-11-28 | 2017-01-25 | 东莞职业技术学院 | Intelligent vehicle based on ZigBee communication and system thereof |
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| C17 | Cessation of patent right | ||
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Granted publication date: 20130417 Termination date: 20131119 |