CN205318228U - Stand alone type vehicle tracking control system - Google Patents

Abstract

The utility model relates to a vehicle tracking control field, concretely relates to stand alone type vehicle tracking control system, include: core control panel, camera, WIFI module, FPGA module, display module, motor control module, speed measuring module, steering wheel control module, acousto -optic warning module, laser ranging module and power module, core control panel connects WIFI module, FPGA module, display module, speed measuring module, steering engine control module, acousto -optic warning module and laser ranging module respectively, be connected through photoelectric isolation module between core control panel and the motor control module, the camera is connected with the FPGA module. Compared with the prior art, the utility model, do not need road equipment to provide service for the vehicle in traveling, the collection to the information needed can be accomplished to vehicle itself to through the processing that the treater of taking certainly can finish the paired data, the cost has been saved to realization automatic tracking's effect, has good popularization effect.

Description

A kind of free-standing vehicle tracking control system

Technical field

The utility model relates to vehicle tracking control field, is specifically related to a kind of free-standing vehicle tracking controlSystem processed.

Background technology

Intelligent transportation system ITS (IntelligentTransportationSystem) is by advanced information skillArt, data communication transmission, Electronic transducer technology, electron controls technology and computer treatment technologyDeng the integrated one that applies to whole traffic administration and set up effectively on a large scale, comprehensive performanceEffect, in real time, comprehensive traffic transportation management system [1] accurately and efficiently. Vehicle from motion tracking isAdvanced auxiliary of driving in intelligent transportation system ITS (IntelligentTransportationSystem)Important component part, refers to a car and independently follows vehicle movement above and keep rational carDistance, thus driving efficiency and road safety improved, in modern urbanization process, there is huge applicationProspect. The Control System Design of stand alone type vehicle tracking is that vehicle is carried out to tool elephant from motion tracking, makes itCan be used in real life.

External existing tracking technique, need to rely on external road equipment greatly. Domestic due toEconomic cause, external facility imperfection, the tracking of vehicle need to be installed positioning equipment onboard, logicalCross GPS and locate to search for, follow the tracks of but such method is not easy to real-time.

Utility model content

The utility model provides a kind of free-standing vehicle tracking control system, solves in existing design and follows the tracks ofNeed outside road facility, the problem that inconvenient real-time is followed the tracks of, concrete technical scheme is as follows:

A kind of free-standing vehicle tracking control system, comprising: core control panel, camera, WIFI mouldPiece, FPGA module, display module, motor control module, speed measuring module, steering wheel control module, soundLight alarm module, laser ranging module and power module, described power module has 12 volts of inputs of single channelWith 5 volts, 3.3 volts, 24Fu tri-tunnel outputs, described 5 volts are output as the power supply of steering wheel control module, instituteStating 3.3 volts is core control panel power supply, and described 24 volts are output as motor control module power supply, described coreHeart control panel connects respectively WIFI module, FPGA module, display module, speed measuring module, steering wheel controlMolding piece, sound and light alarm module and laser ranging module, described core control panel and motor control moduleBetween connect by photoelectric isolation module, described camera is connected with FPGA module, described speed measuring moduleConnect described motor control module.

Concrete, described free-standing vehicle tracking control system also comprises PC, described core control panelWith PC communication.

Concrete, described motor drive module comprises YK2404MA driver.

Concrete, described steering wheel control module comprises mu balanced circuit, described mu balanced circuit is defeated to steering wheelEnter voltage.

Concrete, described WIFI module comprises 150M Wireless USB network interface card.

Concrete, described display module comprises the true color screen of 3.0 cun of WQVGA (400x240) and drives coreSheet SPFD5420A.

Beneficial effect:

The utility model is with respect to prior art, do not need road equipment to provide clothes for the vehicle in travellingBusiness, vehicle itself can complete the collection to information needed, and can be complete by the processor carryingThe processing of paired data, realizes the effect from motion tracking, has saved the cost of whole control system, toolThere is good popularization effect.

Brief description of the drawings

In order to be illustrated more clearly in the utility model embodiment or technical scheme of the prior art, belowTo the accompanying drawing of required use in embodiment or description of the Prior Art be briefly described, apparentGround, the accompanying drawing in the following describes is only embodiment more of the present utility model, common for this areaTechnical staff, is not paying under the prerequisite of creative work, can also obtain according to these accompanying drawingsOther accompanying drawing.

Fig. 1 is the utility model module connection diagram;

Fig. 2 is Power supply schematic diagram;

Fig. 3 is circuit for controlling motor;

Fig. 4 is steering wheel mu balanced circuit;

Fig. 5 is steering wheel interface circuit;

Fig. 6 is camera and core control panel connecting circuit;

Fig. 7 is 3.0 cun of TFTLCD display connection diagrams.

Detailed description of the invention

For making object, technical scheme and the advantage of the utility model embodiment clearer, below to thisTechnical scheme in utility model embodiment is clearly and completely described, obviously, and described realityExecuting example is the utility model part embodiment, instead of whole embodiment. Based on the utility modelIn embodiment, those of ordinary skill in the art obtain under creative work prerequisite not makingEvery other embodiment, belongs to the scope that the utility model is protected.

Embodiment 1:

One as shown in Figure 1 stand alone type vehicle tracking control system, comprising: core control panel, take the photographLook like head, WIFI module, FPGA module, display module, stepper motor, motor control module, test the speedModule, steering wheel control module, steering wheel, sound and light alarm module, laser ranging module and power module,Described power module has 12 volts of inputs of single channel and 5 volts, 3.3 volts, 24Fu tri-tunnel outputs, described 5Volt is output as steering wheel control module power supply, and described 3.3 volts is core control panel power supply, described 24 volts defeatedGo out for motor control module power supply, described core control panel connect respectively WIFI module, FPGA module,Display module, speed measuring module, steering wheel control module, sound and light alarm module and laser ranging module, instituteState between core control panel and motor control module and be connected by photoelectric isolation module, described camera withFPGA module connects, and described speed measuring module connects described motor control module.

Core control panel adopts ARMCortex-M3STM32F103ZET6.

Core control panel, stepper motor, steering wheel will normally be worked, and specified voltage and electricity must be providedStream, therefore power module seems particularly important. Power module output is divided into: core control panel, steppingMotor, three parts of steering wheel, the voltage of the normal work of core control panel is 5V, stepper motor workRated voltage is 12V～40V, and the rated voltage of the normal work of steering wheel is 4.5V-5.5V. In system, makeWith battery size be DL-L12V40AH01, output voltage is 12V, output current is 40AH, electricityIn use, As time goes on the voltage that battery provides can slowly reduce in pond, and battery canThe voltage range providing is DC8.5V-12.6V, and operating current continuous discharge electric current can reach 80A,Peak point current 100A, short circuit current protection 150A, system power supply structure is as shown in Figure 2.

In native system design, stepper motor is chosen as 42HB48-174 two-phase hybrid stepping motor, electricityWhat machine driver module adopted is YK2404MA driver, and YK2404MA is that a equal angles constant moment of force is thinSomatotype driver, drives DC voltage 12V～40V, and in native system design, input voltage adopts 24V,Adaptive electric current below 4.5A, external diameter 42,57, the two phase mixing stepping of the various models of 85mmMotor. This internal drive adopts the circuit of similar SERVO CONTROL principle, and this circuit can make motor lowSpeed operates steadily, and does not almost shake and noise, and motor moment in the time of high speed is large, and positioning precision is the highest25600 steps/turn. A+, the A-of YK2404MA driver and B+, B-meet respectively the A of 42HB48-174Phase and B phase, concrete circuit for controlling motor as shown in Figure 3.

What native system steering wheel used is the digital steering wheel of S-D5, and the voltage while normally work is 4.5V-5.5V,Because voltage when battery charges electricity approaches 12.6V, and voltage after electric discharge is in about 8.5V, ifBe directly steering wheel power supply with battery, on the one hand due to overtension, in the steering wheel course of work, can generate heat,Even can burn out steering wheel; Because battery voltage in power supply process changes, provide on the other handSpread of voltage, steering wheel there will be large-scale shake, in debugging and the course of work, is unfavorable for controllingSystem. To accurately control steering wheel, need to process the output of battery by mu balanced circuit,To reach the input voltage range of steering wheel, then the Voltage-output that voltage stabilizing was processed is to steering wheel, Cai NengbaoCard steering wheel is operated in the range of nominal tension. Therefore the design of steering wheel part comprises two aspects, oneThat mu balanced circuit designs as shown in Figure 4, another be steering wheel circuit design as shown in Figure 5.

WIFI module in native system adopts the TP-LinkTL-WN722N high-gain of Ar9271 chip150M Wireless USB network interface card.

In control system, be to be mainly intended for embedded system, due to Embedded characteristics determinedIn system, need to use the imageing sensor of low-power consumption, but also need to support certain form, considerTo what time above, in this system, camera adopts the higher OV7670 camera of cost performance.

COMS utilizing camera interface comprises data wire, line synchro and control line, common OV7670 shootingHead module, generally adopts 16 pin outputs, single 2.8V power supply, and this camera module existsWiring diagram on STM32F103ZET6 plate as shown in Figure 6.

Core control panel does not have built-in lcd controller, therefore needs to select the LCD screen of tape controller.The display module of native system is that TFTLCD shows, adopts LCD screen in MP4, MP5 popular 3.0The true color screen of very little WQVGA (400x240), driving chip is SPFD5420A. This display screen has 8bitWith two kinds of mode bus of 16bit, adopt 4 White LEDs as backlight, can be easilyWith STM32F103ZET6 interface, circuit connection diagram as shown in Figure 7.

Laser ranging module adopts GLS-C62D laser scanning and ranging sensor, UART/SPI high accuracyHigh-frequency laser ranging is applicable to the navigation of family expenses nurse/clean robot and location, general robotThe location of navigation and location, intelligent toy and detection of obstacles, environmental scanning and 3D rebuild and are generalSynchronously locate and build figure (SLAM).

In the design's system, the interface of GLS-C62D laser scanning and ranging sensor and core control panelSelect UART level shifter interface, the object of selecting laser range finder is to guarantee in tracing process, frontSpacing between rear car is safe, needs again to guarantee target not to be followed and lost, in this control system simultaneouslyIn be indispensable.

It should be noted that, in native system, camera detects information for intelligent vehicle provides front, is trackTracking provides visual basis; WIFI module is the startup of intelligent vehicle and stops providing convenience, in targetWith in the situation of losing, can allow timely intelligent vehicle halt; FPGA module provides for intelligent vehicleTracking data parameter reliably, so that the next control to motor and steering wheel; Display module is intelligenceThe ruuning situation of program when car provides realtime graphic information and system works; Motor control module is intelligenceCar provides sufficient power, for track following provides dynamic foundation; Steering wheel control module can be controlledThe steering angle of intelligent vehicle, turns to basis for track following provides; Sound and light alarm module is to follow the tracks ofVehicle sends alarm signal during by track rejection; Laser ranging module is the survey of rear car to leading vehicle distanceFixed, while determining tracking with this, whether to add/slow down; Due to the voltage process motor of core control panel outputControl module arrives motor again, therefore has loss, by speed measuring module to motor control module to motorThe voltage of output is measured, and feeds back to core control panel, forms closed-loop control, increases and controls systemThe elasticity of system, power module is to whole hardware system power supply, ensures the normal operation of intelligent vehicle.

The utility model is with respect to prior art, do not need road equipment to provide clothes for the vehicle in travellingBusiness, vehicle itself can complete the collection to information needed, and can be complete by the processor carryingThe processing of paired data, realizes the effect from motion tracking, has saved the cost of whole control system, toolThere is good popularization effect.

This above embodiment, only in order to the technical solution of the utility model to be described, is not intended to limit; To the greatest extentPipe has been described in detail the utility model with reference to previous embodiment, the ordinary skill people of this areaMember is to be understood that: its technical scheme that still can record aforementioned each embodiment is modified, orPerson is equal to replacement to part technical characterictic wherein; And these amendments or replacement do not make correspondingThe essence of technical scheme departs from the spirit and scope of the each embodiment technical scheme of the utility model.

Claims (6)

1. a free-standing vehicle tracking control system, is characterized in that, comprising: core control panel,Camera, WIFI module, FPGA module, display module, motor control module, speed measuring module, rudderMachine control module, sound and light alarm module, laser ranging module and power module, described power module toolHave 12 volts of inputs of single channel and 5 volts, 3.3 volts, 24Fu tri-tunnel outputs, described 5 volts are output as steering wheel controlModule for power supply processed, described 3.3 volts is core control panel power supply, described 24 volts are output as Electric Machine Control mouldPiece power supply, described core control panel connects respectively WIFI module, FPGA module, display module, surveySpeed module, steering wheel control module, sound and light alarm module and laser ranging module, described core control panelAnd between motor control module, be connected by photoelectric isolation module, described camera and FPGA module connectConnect, described speed measuring module connects described motor control module.

2. free-standing vehicle tracking control system as claimed in claim 1, is characterized in that, described inStand alone type vehicle tracking control system also comprises PC, described core control panel and PC communication.

3. free-standing vehicle tracking control system as claimed in claim 1, is characterized in that, described inMotor drive module comprises YK2404MA driver.

4. free-standing vehicle tracking control system as claimed in claim 2, is characterized in that, described inSteering wheel control module comprises mu balanced circuit, the input voltage of described mu balanced circuit to steering wheel.

5. free-standing vehicle tracking control system as claimed in claim 1, is characterized in that, described inWIFI module comprises 150M Wireless USB network interface card.

6. free-standing vehicle tracking control system as claimed in claim 1, is characterized in that, described inDisplay module comprises the true color screen of 3.0 cun of WQVGA (400x240) and drives chip SPFD5420A.