CN206639078U - A kind of intelligent vehicle system for supervised learning - Google Patents
A kind of intelligent vehicle system for supervised learning Download PDFInfo
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- CN206639078U CN206639078U CN201720377558.0U CN201720377558U CN206639078U CN 206639078 U CN206639078 U CN 206639078U CN 201720377558 U CN201720377558 U CN 201720377558U CN 206639078 U CN206639078 U CN 206639078U
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Abstract
A kind of intelligent vehicle system for supervised learning, including：Car and racing track,What the car can move is arranged on the racing track,The car includes direction controlling module,Rate control module,First information acquisition module,Second information acquisition module,Rotary coding module,Power supply module and each module information can be gathered and the information and control module of each module can be controlled,The power supply module is other module for power supply,The racing track is made up of road surface and edge,Laying is connected with the electric wire of alternating current under the road surface,The first information acquisition module is the L C oscillating circuit collectors of electromagnetic signal on 28 collection racing tracks,The L C oscillating circuit collectors are connected to described information collection and control module and the front for being arranged on the car,Second information acquisition module is the CMOS camera of optical signalling on collection racing track,The CMOS camera is connected to described information collection and control module and is arranged on the car.
Description
Technical field
It the utility model is related to a kind of intelligent vehicle system for supervised learning.
Background technology
Machine learning is quickly grown in recent years, and the importance that machine learning is applied to field of industrial production is self-evident.
The teaching in the machine learning field of colleges and universities, it is difficult to allow student to be had a deep understanding in an experiment to machine learning；In research machine
Learning areas, it is also desirable to a kind of experimental facilities that can utilize machine learning, it is easy, directly perceived, economically theory is verified.
But the above-mentioned experimental facilities using machine learning is not common.
For example, the Chinese invention patent application of Application No. 201610450044.3 discloses a kind of three axle wind pendular motion controls
The experimental teaching unit of system, it is characterised in that including three axle wind pendulum and host computer, the three axles wind pendulum includes support, the branch
Frame includes column and cantilever, is provided with power supply, control device and drive device on the support, the free end of the cantilever passes through
Universal joint is connected with swing rod, and the swing rod is connected with bracket, and angular transducer and three spindle motors are provided with the bracket, described
Positive and negative oar is installed on three spindle motors；The control device includes data categorization module, data recordin module, the letter being sequentially connected
Cease processing module, analysis and instruction execution module, the angular transducer, control device, drive device by Transmission system according to
Secondary to be connected, the drive device is connected with three spindle motors, and the power supply is powered to control device and three spindle motors；The control dress
Put and host computer is connected by communication interface；The host computer includes processor and coupled display screen, loudspeaker, input dress
Put, both-way communication module, the host computer controls the motion of three axle wind pendulum by a variety of interactive modes or adjusts its state.This is flat
Platform relate to many training such as motion detection, control algolithm, machine learning, be adapted to automation, computer, electronic information skill
The multi-specialized student such as art carries out practical training.
Above-mentioned utility model uses the experimental teaching unit of three axle wind pendular motions control, has uncertainty.
Utility model content
The purpose of this utility model is to provide a kind of intelligent vehicle system for supervised learning, there is provided two kinds of different sensings
Device, the running situation for study control vehicle model of being supervised mutually by two kinds of different algorithms, is realized to there is the machine learning of supervision
Purpose that is easy, directly perceived, economically being verified and tested.
To reach above-mentioned purpose, the utility model uses following technical scheme：
A kind of intelligent vehicle system for supervised learning, including：Car and racing track, what the car can move is arranged on described
On racing track, the car include direction controlling module, rate control module, first information acquisition module, the second information acquisition module,
Rotary coding module, power supply module, voltage transformation module and information and control module, the power supply module pass through the electricity
Pressure modular converter is connected to the direction controlling module, rate control module, first information acquisition module, the second information gathering mould
Block and information and control module, the direction controlling module, rate control module, first information acquisition module, the second letter
Breath acquisition module and rotary coding module are connected to described information collection and control module, and the racing track is by road surface and edge
Composition, under the road surface laying be connected with the electric wire of alternating current, the rotary coding module is connected to the trailing wheel of car, described first
Information acquisition module is the L-C oscillating circuit collectors of electromagnetic signal on 2-8 collection racing track, and the L-C oscillating circuits gather
Device is connected to described information collection and control module and the front for being arranged on the car, and second information acquisition module is collection
The CMOS camera of optical signalling on racing track, the CMOS camera are connected to described information collection and control module and are arranged on
On the car.
Further, the first information acquisition module is 6 L-C oscillating circuit collectors, the first information collection
Module enters the symmetrical L-C oscillating circuits collector of center line, the setting of every group of L-C oscillating circuit collector including three groups along Chinese herbaceous peony
Height is different from setting direction.
Further, the car includes filtering, amplification and rectification module, the first information acquisition module and the second information
Acquisition module is connected to described information collection and control module by the filtering, amplification and rectification module.
Further, the direction controlling module is the servomechanism that 5vPWM ripples drive control turns to of being powered and used with 5v,
The steering wheel of the servomechanism control car.
Further, the rate control module is the direct current of 5vPWM ripple drive control rotating speeds of being powered and used with 9v
Machine.
Further, described information is collected and control module is single-chip microcomputer, and the single-chip microcomputer is serial for the K60 of Freescale
Single-chip microcomputer, the operating voltage of the single-chip microcomputer is 0-3.3v, and the single-chip microcomputer is connected to host computer.
Further, the power supply module is one piece of 9v lithium battery, and the lithium battery of the 9v is connected to the voltage and turned
Change the mold block.
Further, the scope that laying is connected with alternating current under the road surface is 19-21KHz, 80-120mA.
Further, the voltage transformation module turns 5v voltage transformation modules including 9v, 9v turns 3.3v voltage transformation modules,
9v turns -5v voltage transformation modules, the power supply module turns 5v voltage transformation modules by 9v, 9v turns 3.3v voltage transformation modules,
9v turn -5v voltage transformation modules be connected to direction controlling module, information and the control module and filtering, amplification and
Rectification module.
Further, the 9v turns 5v voltage transformation modules, 9v turns 3.3v voltage transformation modules, 9v turns -5v voltage conversions
Isolation processing is done by optocoupler or latch between module.
Compared with prior art, superior effect of the present utility model is：
1st, the intelligent vehicle system described in the utility model for supervised learning, mould is gathered by being equipped with the first information
Block and the second information acquisition module, realize that two kinds of different algorithms supervise mutually study to control the operation of vehicle model.
2nd, the intelligent vehicle system described in the utility model for supervised learning, by setting rotary coding module, makes list
Control of the piece machine to rate control module is more accurate.
3rd, the intelligent vehicle system described in the utility model for supervised learning, by setting optocoupler or latch, effectively
The phenomenon poured in down a chimney or damage hardware for avoiding electric current between different modules.
Brief description of the drawings
Fig. 1 is the schematic diagram of the intelligent vehicle system described in the utility model for supervised learning；
Fig. 2 is the circuit diagram of L-C oscillating circuits collector described in the utility model.
Reference is as follows：
1- direction controllings module, 2- rate control modules, 3- first information acquisition module, the collection of 31-L-C oscillating circuits
Device, the information acquisition modules of 4- second, 41-CMOS cameras, 5- rotary codings module, 6- power supply modules, 7- voltage transformation modules,
8- informations and control module, 9- road surfaces, 10- edges, 11- filtering, amplification and rectification module, 12- host computers.
Embodiment
As shown in Figure 1, a kind of intelligent vehicle system for supervised learning, including：Car and racing track, the car can move
Be arranged on the racing track, the car includes direction controlling module 1, rate control module 2, first information acquisition module 3, the
Two information acquisition modules 4, rotary coding module 5, power supply module 6, voltage transformation module 7 and information and control module 8, institute
State power supply module 6 and the direction controlling module 1, the letter of rate control module 2, first are connected to by the voltage transformation module 7
Cease acquisition module 3, the second information acquisition module 4 and information and control module 8, the direction controlling module 1, speed control
Module 2, first information acquisition module 3, the second information acquisition module 4 and rotary coding module 5 are connected to described information receipts
Collection and control module 8, the racing track are made up of road surface 9 and edge 10, and the 9 times layings in road surface are connected with the electric wire of alternating current,
The rotary coding module 5 is connected to the trailing wheel of the car, and the first information acquisition module 3 is electricity on 2-8 collection racing track
The L-C oscillating circuits collector 31 of magnetic signal, the L-C oscillating circuits collector 31 are connected to described information and collect and control mould
Block 8 and the front for being arranged on the car, second information acquisition module 4 are the CMOS camera of optical signalling on collection racing track
41, the CMOS camera 41 is connected to described information collection and control module 8 and is arranged on the car；The first information
Acquisition module 3 is 6 L-C oscillating circuits collectors 31, and the first information acquisition module 3 enters center line including three groups along Chinese herbaceous peony
Symmetrical L-C oscillating circuits collector 31, the setting height of every group of L-C oscillating circuits collector 31 are different from setting direction；
The car includes filtering, amplification and rectification module 11, the information acquisition module 4 of first information acquisition module 3 and second and passed through
The filtering, amplification and rectification module 11 are connected to described information collection and control module 8；The direction controlling module 1 be with
The servomechanism that 5v powers and uses 5vPWM ripples drive control to turn to, the steering wheel of the servomechanism control car；The speed control mould
Block 2 is the direct current generator of 5vPWM ripple drive control rotating speeds of being powered and used with 9v；Described information is collected and control module 8 is single
Piece machine, the single-chip microcomputer are the K60 series monolithics of Freescale, and the operating voltage of the single-chip microcomputer is 0-3.3v, the list
Piece machine is connected to host computer 12；The power supply module 6 is one piece of 9v lithium battery, and the lithium battery of the 9v is connected to the voltage
Modular converter 7；The scope that the 9 times layings in road surface are connected with alternating current is 19-21KHz, 80-120mA；The voltage conversion mould
Block 7 turns 5v voltage transformation modules including 9v, 9v turns 3.3v voltage transformation modules, 9v turns -5v voltage transformation modules, the power supply mould
Block 6 turns 5v voltage transformation modules by 9v, 9v turns 3.3v voltage transformation modules, 9v turns -5v voltage transformation modules and is connected to
The direction controlling module 1, information and control module 8 and filtering, amplification and rectification module 11；The 9v turns 5v voltages and turned
Mold changing block, 9v turn 3.3v voltage transformation modules, 9v turns to do at isolation by optocoupler or latch between -5v voltage transformation modules
Reason.
As shown in Figure 2, accompanying drawing 2 is the circuit diagram of L-C oscillating circuits collector 31, and in figure, C is electric capacity, and size is
6.8nF；L is inductance, size 10mH；GND is earthed circuit, is connected at 0V voltages；Signal is the defeated of the signal picker
Go out.
Wherein, the width of racing track is 450mm, and the width at edge 10 is 20-30mm；The width of car is 100-250mm；By road
Face 9 and edge 10 are arranged to collection of the different colors in order to CMOS camera 41, as a preferred embodiment, road surface 9 is set
For white, its material is kt plates, and edge 10 is arranged into black；6 L-C oscillating circuits collectors 31 are arranged on front side
300-500mm position；The single-chip microcomputer is 32 single-chip microcomputers；The host computer 12 is computer, and single-chip microcomputer is changed by computer
Control strategy.
Wherein, racing track also includes racing track power supply module, and the racing track power supply module is capable of supply that 19-21KHz, 80-120mA
Alternating current, as a preferred embodiment, the racing track power supply module is capable of supply that 20KHz, 100mA alternating current.
Single-chip microcomputer is entered by the data for filtering, amplifying and rectification module 11 collects to 6 L-C oscillating circuits collectors 31
Row filtering, can be taken by 10 groups of data to passing back and take doing for average after removing two greatest measures and two minimum values
Method is filtered, and the height of the data being collected into single-chip microcomputer and L-C oscillating circuits collector 31, the mapping table of angle are defeated
Enter into single-chip microcomputer, further according to 6 L-C oscillating circuits collectors 31 and the geometry site of electromagnetic signal source, calculate electricity
The position in magnetic signal source and angle, while can also learn position and the angle of car.
The image that single-chip microcomputer collects to CMOS camera 41 does binary conversion treatment, and the road surface that cmos camera 41 is shot is
0, the edge of shooting is 1, with this to self-position, front is run-track shaped judges, single-chip microcomputer passes through two kinds of different sensors
After judging self-position, by controlling steering wheel to carry out course changing control, carrying out speed control by controlled motor, with rotary coding
Module 5 carries out the accurate control of speed as the feedback control of speed.
Single-chip microcomputer mutually learns according to different algorithms to the control based on two kinds of different sensors, reaches mutual supervision
The effect of study.
The utility model is not limited to above-mentioned embodiment, in the case of without departing substantially from substantive content of the present utility model,
It may occur to persons skilled in the art that any deformation, improvement, replacement each fall within the scope of protection of the utility model.
Claims (10)
1. a kind of intelligent vehicle system for supervised learning, including：Car and racing track, what the car can move is arranged on the match
On road, the car includes direction controlling module, rate control module, first information acquisition module, the second information acquisition module, rotation
Turn coding module, power supply module, voltage transformation module and information and control module, the power supply module passes through the voltage
Modular converter is connected to the direction controlling module, rate control module, first information acquisition module, the second information acquisition module
With information and control module, the direction controlling module, rate control module, first information acquisition module, the second information
Acquisition module and rotary coding module are connected to described information collection and control module, and the racing track is by road surface and edge group
Into, under the road surface laying be connected with the electric wire of alternating current, the rotary coding module is connected to the trailing wheel of car, and its feature exists
In the first information acquisition module is the L-C oscillating circuit collectors of electromagnetic signal on 2-8 collection racing track, and the L-C shakes
Swing circuit collector and be connected to described information collection and control module and the front for being arranged on the car, second information gathering
To gather the CMOS camera of optical signalling on racing track, the CMOS camera is connected to described information and collects and control mould module
Block is simultaneously arranged on the car.
2. the intelligent vehicle system according to claim 1 for supervised learning, it is characterised in that the first information collection
Module is 6 L-C oscillating circuit collectors, and the first information acquisition module enters the symmetrical L- of center line including three groups along Chinese herbaceous peony
C oscillating circuit collectors, the setting height of every group of L-C oscillating circuit collector are different from setting direction.
3. the intelligent vehicle system according to claim 1 for supervised learning, it is characterised in that the car include filtering,
Amplification and rectification module, the first information acquisition module and the second information acquisition module pass through the filtering, amplification and rectification
Module is connected to described information collection and control module.
4. the intelligent vehicle system according to claim 1 for supervised learning, it is characterised in that the direction controlling module
It is the servomechanism that 5vPWM ripples drive control turns to of powering and use with 5v, the steering wheel of the servomechanism control car.
5. the intelligent vehicle system according to claim 1 for supervised learning, it is characterised in that the rate control module
It is the direct current generator of 5vPWM ripple drive control rotating speeds of powering and use with 9v.
6. the intelligent vehicle system according to claim 1 for supervised learning, it is characterised in that described information is collected and control
Molding block is single-chip microcomputer, and the single-chip microcomputer is the K60 series monolithics of Freescale, and the operating voltage of the single-chip microcomputer is 0-
3.3v, the single-chip microcomputer are connected to host computer.
7. the intelligent vehicle system according to claim 1 for supervised learning, it is characterised in that the power supply module is one
Block 9v lithium battery, the lithium battery of the 9v are connected to the voltage transformation module.
8. the intelligent vehicle system according to claim 1 for supervised learning, it is characterised in that laid under the road surface logical
The scope for having alternating current is 19-21KHz, 80-120mA.
9. the intelligent vehicle system according to claim 7 for supervised learning, it is characterised in that the voltage transformation module
Turn 5v voltage transformation modules including 9v, 9v turns 3.3v voltage transformation modules, 9v turns -5v voltage transformation modules, the power supply module
5v voltage transformation modules are turned by 9v, 9v turns 3.3v voltage transformation modules, 9v turn -5v voltage transformation modules be connected to it is described
Direction controlling module, information and control module and filtering, amplification and rectification module.
10. the intelligent vehicle system according to claim 9 for supervised learning, it is characterised in that the 9v turns 5v voltages
Modular converter, 9v turn 3.3v voltage transformation modules, 9v turns to do at isolation by optocoupler or latch between -5v voltage transformation modules
Reason.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720377558.0U CN206639078U (en) | 2017-04-12 | 2017-04-12 | A kind of intelligent vehicle system for supervised learning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720377558.0U CN206639078U (en) | 2017-04-12 | 2017-04-12 | A kind of intelligent vehicle system for supervised learning |
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| Publication Number | Publication Date |
|---|---|
| CN206639078U true CN206639078U (en) | 2017-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201720377558.0U Withdrawn - After Issue CN206639078U (en) | 2017-04-12 | 2017-04-12 | A kind of intelligent vehicle system for supervised learning |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873683A (en) * | 2017-04-12 | 2017-06-20 | 华北电力大学（保定） | A kind of intelligent vehicle system for supervised learning |
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2017
- 2017-04-12 CN CN201720377558.0U patent/CN206639078U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106873683A (en) * | 2017-04-12 | 2017-06-20 | 华北电力大学（保定） | A kind of intelligent vehicle system for supervised learning |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20171114 Effective date of abandoning: 20180821 |