CN206147305U

CN206147305U - Intelligence is car controlling means upright

Info

Publication number: CN206147305U
Application number: CN201621135835.9U
Authority: CN
Inventors: 刘萍; 胡莉莉; 陈金鹏; 陈言滨
Original assignee: Xiamen University Tan Kah Kee College
Current assignee: Xiamen University Tan Kah Kee College
Priority date: 2016-10-19
Filing date: 2016-10-19
Publication date: 2017-05-03
Anticipated expiration: 2026-10-19

Abstract

The utility model relates to an intelligence is car controlling means upright, its characterized in that: including an automobile body, be provided with a mainboard on the automobile body and rather than the electromagnetic wire detection device, drive plate, charactron module, encoder module, the battery module that link to each other, the mainboard include intelligent car switch circuit, keyboard input circuit, liquid crystal display circuit, be used for to set up the K60 singlechip K60 singlechip slot circuit, set up buffer circuit between K60 singlechip and drive circuit, be used for carrying on signal acquisition's detection circuit and power supply circuit to electromagnetic wire detection device, the drive plate includes boost circuit, drive circuit and H bridge circuit. The utility model discloses an optimize electromagnetic wire detection circuitry and detection circuit, reduce the probability that the erroneous judgement appears and lose the line, optimize drive circuit, avoid the full -bridge circuit through and through phenomenon from top to bottom to appear to avoid burning out the driven phenomenon, optimize power supply circuit, confirm that the power has the firm output, optimize holistic circuit layout, reduce the consumption.

Description

A kind of upright truck control device of intelligence

Technical field

This utility model is related to control and application of electronic technology field, the upright car control dress of more particularly to a kind of intelligence Put.

Background technology

Since holding from the 7th national college students' " Freescale " cup intelligent automobile contest, each competition colleges and universities all gradually slap The control program and Hardware Design of upright driving are held.The hardware control circuit of comparative maturity includes now：Single-chip microcomputer is most Mini system, electromagnetic wire detection, gyroscope and accelerometer, velocity measuring, Motor drive, power supply, setting and debugging.Car body it is whole The hardware of body performance and above-mentioned modules is realized, the putting position that the signal of intermodule connects, module is overall, controlling party Case, each control parameter have relation, therefore, handle above-mentioned relation well and be particularly important.The shortcoming of existing upright driving is as follows： 1st, when racing track leans on closer, electromagnetism line detection circuit easily occurs judging by accident, loses the error situations such as line；2nd, when intelligent vehicle is full When carrying row or startup, easily there is the phenomenon that motor-drive circuit burns；3rd, easily there is the phenomenon of spread of voltage in power supply； 4th, power consumption is larger.

The content of the invention

In view of this, the purpose of this utility model is to provide a kind of upright truck control device of intelligence, by optimizing electromagnetic wire Detection circuit and detecting circuit, reduce erroneous judgement occur and lose the probability of line；Optimized driving circuit, it is to avoid full-bridge circuit occurs upper and lower Straight-through phenomenon, so as to avoid burning the phenomenon of driving；Optimization power circuit, determines that power supply has stable output；Optimization entirety Circuit layout, reduces power consumption.

This utility model is realized using below scheme：A kind of upright truck control device of intelligence, including a car body, the car body On be provided with a mainboard and coupled electromagnetism line detector, driving plate, digital tube module, coder module, battery Module；The mainboard include intelligent vehicle on-off circuit, input through keyboard circuit, liquid crystal display circuit, to arrange K60 single-chip microcomputers K60 single-chip microcomputer slot circuits, the isolation circuit being arranged between K60 single-chip microcomputers and drive circuit, to electromagnetic wire detection fill Putting carries out the detecting circuit and power circuit of signals collecting；The driving plate includes booster circuit, drive circuit and H bridges electricity Road.

Further, the electromagnetism line detector is arranged at the front end of the car body, including the first carbon bar, the second carbon Plain bar, the 3rd carbon bar, the 4th carbon bar, the first inductance, the second inductance and the 3rd inductance；One end of the second carbon bar It is arranged in the middle part of car body and sets up along the axis of the car body, the angle with the car body is 45 °；The first carbon bar Middle part is vertically installed in the other end of the second carbon bar；The 3rd carbon bar is symmetrical with one end of the 4th carbon bar Be arranged at the other end of the both sides of the car body front end, the 3rd carbon bar and the 4th carbon bar respectively with first carbon The two ends of bar are connected；First inductance is arranged at the first carbon bar and the junction point of the 3rd carbon bar, described Second inductance is arranged at the first carbon bar and the junction point of the second carbon bar, and the 3rd inductance is arranged at described At first carbon bar and the junction point of the 4th carbon bar；The second carbon pole length be 67cm, first inductance with Spacing between second inductance and the spacing between the second inductance and the 3rd inductance are 7cm.

Further, first inductance, the second inductance and the 3rd inductance are 10mh I-shaped inductance.

Further, the car body is provided with two wheels, and the mainboard is arranged at the car body between described two wheels Top, the driving plate are arranged at the side of the mainboard, and the driving plate is connected with the motor of described two wheels；The master The size of plate is 10.0cm*6.3cm.

Further, the detection circuit includes an integrated transporting discharging tlc2272 chips, the second of the tlc2272 chips Pin is connected with three-prong with inductance output lead on carbon bar, detection output port and the K60 of the tlc2272 chips Single-chip microcomputer is connected, and the 8th pin of the tlc2272 chips is connected with the 5V output ports of the power circuit.

Further, in the mainboard, the isolation circuit being arranged between the K60 single-chip microcomputers and drive circuit includes one 74HC244 chips, four road PWM outfans C1, C2, C3, C4 of the K60 single-chip microcomputers are not connected to the 74HC244 chips Second pin, the 4th pin, the 6th pin, the 8th pin, the isolation and amplifier port PW0 of the 74HC244 chips, PW1, PW2, PW3 is connected with the input of drive circuit.

Further, the size of the driving plate is 9.1cm*4.3cm.

Further, the drive circuit includes IR2104 driving chips, and the H-bridge circuit includes metal-oxide-semiconductor LR7843；Institute The input for stating IR2104 driving chips is connected with the outfan of K60 single-chip microcomputers and isolation circuit in the mainboard, described The outfan of IR2104 driving chips is connected with metal-oxide-semiconductor LR7843 in the H-bridge circuit, to control its break-make.

Further, the booster circuit includes voltage stabilizing chip mc34063, to by the 7.2V being input in battery module DC voltage is changed to 16V DC voltages and is exported to drive circuit and powers into IR2104 driving chips therein.

Further, the bottom of the car body is also provided with an accelerometer module and a gyro module；It is described to add Velometer module is connected with the mainboard with gyro module.

Compared with prior art, this utility model has advantages below：1st, inductance distribution and carbon bar angle, length are improved Degree causes the electromagnetic information of collection more accurate.2nd, the good integrated transporting discharging design detecting circuit of performance so that single-chip microcomputer process Signal burr it is less.3rd, the size of mainboard reasonable in design and driving plate so that the frame for movement of car body is more reasonable.4th, it is excellent Change power circuit so that the load capacity of power supply is strengthened.5th, from the IR2104 chips with the dead time, keep away to greatest extent Exempt from H bridges and situation straight-through up and down occur.6th, isolation buffer circuit is designed, reduces and drive interfering and between single-chip microcomputer.

Description of the drawings

Fig. 1 is the structural representation of car body of the present utility model.

Fig. 2 is the bottom schematic view of car body of the present utility model.

Fig. 3 is mainboard module schematic diagram in this utility model embodiment.

Fig. 4 is the detecting circuit figure of mainboard in this utility model embodiment.

Fig. 5 is the power circuit diagram of mainboard in this utility model embodiment.

Fig. 6 is the isolates circuit diagram of mainboard in this utility model embodiment.

Fig. 7 is the circuit diagram of driving plate in this utility model embodiment.

In figure：1 is mainboard, and 2 is driving plate, and 3 are digital tube module, and 4 are coding tube module, and 5 is the 3rd carbon bar, and 6 are Second carbon bar, 7 is the first carbon bar, and 8 is the 4th carbon bar, and 9 is wheel, and 10 is the first inductance, and 11 is the second inductance, and 12 are 3rd inductance, 13 is motor, and 14 is accelerometer module, and 15 is gyro module.

Specific embodiment

Below in conjunction with the accompanying drawings and embodiment is described further to this utility model.

The present embodiment provides a kind of intelligence upright truck control device, as shown in figure 1, including a car body, setting on the car body It is equipped with a mainboard and coupled electromagnetism line detector, driving plate, digital tube module, coder module, battery module； As shown in figure 3, the mainboard includes intelligent vehicle on-off circuit, input through keyboard circuit, liquid crystal display circuit, mono- to arrange K60 The K60 single-chip microcomputer slot circuits of piece machine, the isolation circuit being arranged between K60 single-chip microcomputers and drive circuit, to electromagnetic wire Detection means carries out the detecting circuit and power circuit of signals collecting；As shown in fig. 7, the driving plate include booster circuit, Drive circuit and H-bridge circuit.

In the present embodiment, as shown in figure 1, the electromagnetism line detector is arranged at the front end of the car body, including One carbon bar, the second carbon bar, the 3rd carbon bar, the 4th carbon bar, the first inductance, the second inductance and the 3rd inductance；It is described One end of second carbon bar is arranged in the middle part of car body and sets up along the axis of the car body, and the angle with the car body is 45 °； The other end of the second carbon bar is vertically installed in the middle part of the first carbon bar；The 3rd carbon bar and the described 4th One end of carbon bar is symmetricly set in the other end point of the both sides of the car body front end, the 3rd carbon bar and the 4th carbon bar It is not connected with the two ends of the first carbon bar；First inductance is arranged at the first carbon bar with the 3rd carbon bar Junction point at, second inductance is arranged at the first carbon bar and the junction point of the second carbon bar, described Three inductance are arranged at the first carbon bar and the junction point of the 4th carbon bar；The second carbon pole length is 67cm, the spacing and the spacing between the second inductance and the 3rd inductance between first inductance and the second inductance are 7cm.

In the present embodiment, first inductance, the second inductance and the 3rd inductance are 10mh I-shaped inductance.

In the present embodiment, the car body is provided with two wheels, and the mainboard is arranged between described two wheels Vehicle body upper portion, the driving plate are arranged at the side of the mainboard, and the driving plate is connected with the motor of described two wheels；Institute The size for stating mainboard is 10.0cm*6.3cm.

In the present embodiment, it is as shown in figure 4, the detection circuit includes an integrated transporting discharging tlc2272 chips, described Second pin of tlc2272 chips is connected with three-prong with inductance output lead on carbon bar, the detection of the tlc2272 chips Output port is connected with the K60 single-chip microcomputers, the 8th pin of the tlc2272 chips and the 5V outfans of the power circuit Mouth is connected, and the power circuit of mainboard is as shown in Figure 5.

In the present embodiment, as shown in fig. 6, in the mainboard, being arranged between the K60 single-chip microcomputers and drive circuit Isolation circuit includes a 74HC244 chips, and four road PWM outfans C1, C2, C3, C4 of the K60 single-chip microcomputers are not connected to described Second pin of 74HC244 chips, the 4th pin, the 6th pin, the 8th pin, the isolation and amplifier end of the 74HC244 chips Mouth PW0, PW1, PW2, PW3 are connected with the input of drive circuit.

In the present embodiment, the size of the driving plate is 9.1cm*4.3cm.

In the present embodiment, the drive circuit includes IR2104 driving chips, and the H-bridge circuit includes metal-oxide-semiconductor LR7843；The outfan phase of the input of the IR2104 driving chips and K60 single-chip microcomputers and isolation circuit in the mainboard Even, the outfan of the IR2104 driving chips is connected with metal-oxide-semiconductor LR7843 in the H-bridge circuit, to control its break-make.Its In, the input signal of IR2104 driving chips from K60 single-chip microcomputers in mainboard and output signal PWM for driving isolation circuit, The output of IR2104 driving chips goes the break-make for controlling LR7843 in H bridges, the output of H bridges to remove the operation shape for controlling motor in Fig. 1 State.

In the present embodiment, the booster circuit includes voltage stabilizing chip mc34063, will be input in battery module 7.2V DC voltages are changed to 16V DC voltages and are exported to drive circuit and power into IR2104 driving chips therein.

In the present embodiment, as shown in Fig. 2 the bottom of the car body is additionally provided with an accelerometer module and a gyroscope Module；The accelerometer module is connected with the mainboard with gyro module.

The foregoing is only preferred embodiment of the present utility model, it is all according to this utility model claim done it is equal Deng change and modification, should all belong to covering scope of the present utility model.

Claims

1. the upright truck control device of a kind of intelligence, it is characterised in that：Including a car body, be provided with the car body mainboard and Coupled electromagnetism line detector, driving plate, digital tube module, coder module, battery module；The mainboard includes intelligence Can stopping switch circuit, input through keyboard circuit, liquid crystal display circuit, the K60 single-chip microcomputer slot circuits to arrange K60 single-chip microcomputers, It is arranged at the isolation circuit between K60 single-chip microcomputers and drive circuit, the inspection signals collecting is carried out to electromagnetism line detector Wave circuit and power circuit；The driving plate includes booster circuit, drive circuit and H-bridge circuit.

2. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：The electromagnetism line detector It is arranged at the front end of the car body, including it is the first carbon bar, the second carbon bar, the 3rd carbon bar, the 4th carbon bar, first electric Sense, the second inductance and the 3rd inductance；One end of the second carbon bar is arranged in the middle part of car body and along the axis of the car body Coil holder sets, and the angle with the car body is 45 °；The another of the second carbon bar is vertically installed in the middle part of the first carbon bar One end；One end of the 3rd carbon bar and the 4th carbon bar is symmetricly set in the both sides of the car body front end, and described Three carbon bars are connected with the two ends of the first carbon bar respectively with the other end of the 4th carbon bar；First inductance is arranged at At the first carbon bar and the junction point of the 3rd carbon bar, second inductance is arranged at the first carbon bar and institute State at the junction point of the second carbon bar, the 3rd inductance is arranged at the connection of the first carbon bar and the 4th carbon bar At point；The second carbon pole length be 67cm, the spacing and the second inductance between first inductance and the second inductance with Spacing between 3rd inductance is 7cm.

3. the upright truck control device of a kind of intelligence according to claim 2, it is characterised in that：First inductance, second Inductance and the 3rd inductance are 10mh I-shaped inductance.

4. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：The car body is provided with two Wheel, the mainboard are arranged at the vehicle body upper portion between described two wheels, and the driving plate is arranged at the side of the mainboard, The driving plate is connected with the motor of described two wheels；The size of the mainboard is 10.0cm*6.3cm.

5. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：The detection circuit includes one Integrated transporting discharging tlc2272 chips, the second pin and three-prong and the inductance output lead phase on carbon bar of the tlc2272 chips Even, the detection output port of the tlc2272 chips is connected with the K60 single-chip microcomputers, the 8th pin of the tlc2272 chips It is connected with the 5V output ports of the power circuit.

6. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：In the mainboard, it is arranged at Isolation circuit between the K60 single-chip microcomputers and drive circuit includes a 74HC244 chips, four road PWM of the K60 single-chip microcomputers Outfan C1, C2, C3, C4 are not connected to the second pin of the 74HC244 chips, the 4th pin, the 6th pin, the 8th pipe Foot, isolation and amplifier port PW0, PW1, PW2, PW3 of the 74HC244 chips are connected with the input of drive circuit.

7. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：The size of the driving plate is 9.1cm*4.3cm。

8. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：The drive circuit includes IR2104 driving chips, the H-bridge circuit include metal-oxide-semiconductor LR7843；The input of the IR2104 driving chips and the master In plate, the outfan of K60 single-chip microcomputers and isolation circuit is connected, outfan and the H-bridge circuit of the IR2104 driving chips Middle metal-oxide-semiconductor LR7843 is connected, to control its break-make.

9. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：The booster circuit includes one Voltage stabilizing chip mc34063, to change to 16V DC voltages and export to drive the 7.2V being input in battery module DC voltages Galvanic electricity road powers for IR2104 driving chips therein.

10. the upright truck control device of a kind of intelligence according to claim 1, it is characterised in that：The bottom of the car body is also It is provided with an accelerometer module and a gyro module；The accelerometer module and gyro module with the mainboard phase Even.