CN206829066U - Intelligent unattended watering model car based on ARM - Google Patents

Abstract

It the utility model is related to a kind of Intelligent unattended watering model car based on ARM, including vehicle body, also include the water tank being arranged on vehicle body, watering pump, washing head, motor, battery, camera, encoder, gyroscope, accelerometer and the control cabinet with ARM microprocessor and driving chip, the battery is connected with control cabinet, control cabinet respectively with sprinkle water pump, motor, camera, encoder, gyroscope and accelerometer are connected, water tank, watering pump, washing head is sequentially connected, gyroscope, accelerometer is connected with encoder respectively, encoder is connected with motor, motor is connected with wheel.Battery powered of the present utility model, camera pass through the identification to section of sprinkling water, the Automatic Track Finding of realization watering model car, control cabinet is by controlling pump of sprinkling water, control the hydraulic pressure of watering, the inclination angle of gyroscope and accelerometer measures vehicle body, the speed of encoder measurement traveling.

Description

Intelligent unattended watering model car based on ARM

Technical field

Special vehicle modelling technique field is the utility model is related to, specifically, refers to a kind of Intelligent unattended based on ARM Watering model car.

Background technology

Sprinkling truck is mainly used in the units such as urban road, large-scale plant area, army, gardens, cleans road surface to reach beautification ring The effect in border, sprinkling truck not only have the functions such as watering, pressure dirt, high-low-position sprinkling, pesticide spraying, guardrail flushing, also have fortune The functions such as water, draining, emergent fire-fighting, therefore in social every profession and trade using quite varied, using extremely especially in highway construction Generally.

, it is necessary to which human pilot driving sprinkling truck is sprayed in real work, and clear to flower stand pouring and road Clean aspect is also required to rely on manual control, increases manpower use cost.Sprinkling truck of the prior art is in vehicle travel process In, the tail gas of discharge also pollutes environment, therefore unpiloted sprinkling truck arises at the historic moment, but existing special there is presently no one kind For the model of unpiloted sprinkling truck research, if do not studied first unpiloted watering vehicle model, throwing After entering production, it is impossible to power consumption, the performance on sprinkling truck etc. is well controlled, the manufacturing of blindness can only cause nobody The increase of the sprinkling truck use cost of driving.

Utility model content

Technical problem to be solved in the utility model is to provide a kind of Intelligent unattended watering model car based on ARM, with It is easy to carry out unpiloted sprinkling truck the research of power consumption, performance, while a kind of setting for unpiloted sprinkling truck is also provided Meter scheme.

The technical scheme that the utility model solves above-mentioned technical problem is as follows：

A kind of Intelligent unattended watering model car based on ARM, including vehicle body, the water tank for including being arranged on vehicle body, spills Water pump, washing head, motor, battery, camera, encoder, gyroscope, accelerometer and with ARM microprocessor and The control cabinet of driving chip, the battery are connected with control cabinet, control cabinet respectively with watering pump, motor, camera, volume Code device, gyroscope and accelerometer are connected, and water tank, watering pump, washing head are sequentially connected, gyroscope, accelerometer difference It is connected with encoder, encoder is connected with motor, and motor is connected with wheel.

The beneficial effects of the utility model are：Battery is watering pump, motor, control cabinet, camera, encoder, top Spiral shell instrument and accelerometer provide the power supply needed for operation, and control cabinet controls watering pump, motor, camera, coding respectively The work of device, gyroscope and accelerometer, camera by sprinkle water section identification, can realize watering model car from Dynamic to track, control cabinet can control the hydraulic pressure of watering, gyroscope can measure watering mould with accelerometer by controlling pump of sprinkling water The inclination angle of type car vehicle body, encoder can measure the speed of watering model car traveling.

On the basis of above-mentioned technical proposal, the utility model can also do following improvement.

Further, in addition to obstacle avoidance module and music player, the control cabinet respectively with obstacle avoidance module, music player It is connected.

It is using the above-mentioned further beneficial effect of scheme：When obstacle avoidance module detects in front of watering model car there is barrier When, control cabinet is transmitted signals to, control cabinet control watering model car stops traveling；Music player can make watering model car Music is played as common sprinkling truck.

Further, the ARM microprocessor uses the K60DN512 chips of Freescale company.

It is using the above-mentioned further beneficial effect of scheme：K60DN512 chips are the higher chips of integrated level, are had The interface of power circuit, crystal oscillating circuit, reset circuit, debugging interface circuit, expansion interface circuit etc. is connected, versatility is good, and And carry dma module function.

Further, the driving chip uses the BTS7960 chips of company of Infineon.

It is using the above-mentioned further beneficial effect of scheme：The operating voltage of BTS7960 chips is 5-36V, driving current Maximum up to 41A, conducting resistance representative value is 16m Ω, input signal TTL/CMOS, and PWM frequency is up to 25KHz.

Further, the camera uses OV7620 digital cameras.

It is using the above-mentioned further beneficial effect of scheme：OV7620 digital cameras gathered data is convenient, with reference to The dma module function of K60DN512 chips, DMA hardware response is opened according to sequential, can be in the case where being not take up the CPU time Data acquisition is returned.

Further, the encoder uses 512 line coding devices.

It is using the above-mentioned further beneficial effect of scheme：512 line coding device combination K60DN512 chip quadrature decoders Function, it can realize and watering model car travel speed is accurately measured.

Further, the gyroscope uses the ENC-03 gyroscopes of Murata.

It is using the above-mentioned further beneficial effect of scheme：ENC-03 gyroscopes make use of the object meeting in rotating coordinate system Vibration unit is made by the principle of Coriolis force, and using piezoelectric ceramics, can be changed when rotating ENC-03 gyroscopes Vibration frequency, so as to reflect the angular speed of object rotation.

Further, the obstacle avoidance module uses infrared reflection type sensor.

It is using the above-mentioned further beneficial effect of scheme：Infrared reflection type sensor is emitted using sensor spoke Modulation infrared beam be reflected by the object the principle returned to detect barrier, this sensor bulk is small, easy to install, and defeated Go out signal to be easy to gather and handle.

Brief description of the drawings

Fig. 1 is structural representation of the present utility model；

Fig. 2 is fundamental diagram of the present utility model.

In accompanying drawing, the part representated by each label is as follows：

1st, vehicle body, 2, water tank, 3, watering pump, 4, washing head, 5, motor, 6, control cabinet, 7, battery, 8, camera.

Embodiment

Principle of the present utility model and feature are described below in conjunction with accompanying drawing, example is served only for explaining this practicality It is new, it is not intended to limit the scope of the utility model.

A kind of Intelligent unattended watering model car based on ARM, as shown in figure 1, including vehicle body 1, the water on vehicle body 1 Case 2, watering pump 3, washing head 4, motor 5, battery 7, camera 8, encoder, gyroscope, accelerometer and with ARM The control cabinet 6 of microprocessor and driving chip, water tank 2 are arranged on the middle part of vehicle body 1, install driving electricity respectively at the both ends of water tank 2 Machine 5, on vehicle body 1, installs control cabinet 6 with battery 7 on motor 5, the installation watering pump 3 on battery 7, connects on pump 3 of sprinkling water Washing head 4 is connect, camera 8 is directly installed in the side wall of water tank 2, or is arranged on by carbon pipe in the side wall of water tank 2, carbon Element pipe is arranged on vehicle body 1.

As shown in Fig. 2 battery 7 by control cabinet 6 respectively to watering pump 3, motor 5, control cabinet 6, camera 8, compile Code device, gyroscope and accelerometer provide power supply, because the operating voltage required for different components in circuit and electric current are big It is small different, therefore cell voltage is converted into each member by the utility model in control cabinet 6 using LM2940 voltage stabilizing chips Voltage required for device, the main 5V voltages for including providing for ARM microprocessor, camera, encoder；For accelerometer, The 3.3V voltages that gyroscope provides.Control cabinet 6 respectively with watering pump 3, motor 5, camera 8, encoder, gyroscope and Accelerometer is connected, and water tank 2, watering pump 3, washing head 4 are sequentially connected, and control cabinet 6 is spilt by controlling watering pump 3 to control Watering section is identified by the image processing module of A/D converter for the hydraulic pressure of water, camera 8, can realize watering mould The Automatic Track Finding of type car, gyroscope, accelerometer are connected with encoder respectively, and encoder is connected with motor 5, driving Motor 5 is connected with wheel, and gyroscope can measure the inclination angle of watering model car vehicle body 1 with accelerometer, and encoder can be surveyed The speed of amount watering model car traveling.

Be also equipped with obstacle avoidance module and music player on vehicle body 1 of the present utility model, control cabinet 6 respectively with avoidance mould Block, music player are connected, and when obstacle avoidance module detects that there is barrier in watering model car front, transmit signals to control Case, control cabinet control watering model car stop traveling；Music player can be such that watering model car is broadcast as common sprinkling truck Put the music on.

ARM microprocessor of the present utility model uses the K60DN512 chips of Freescale company, and camera uses OV7620 digital cameras.K60DN512 chips have DMA functions, are easy to connect OV7620 digital cameras, can adopt at a high speed Collect data, the sequential of OV7620 digital cameras is field interrupt signal VSYN, row interrupt signal HREF, pixel interrupt signal PCLK Waveform, hardware trigger interface is set according to sequential and waveform, each interrupt signal is opened successively and opens DMA hardware and receive and ring Should.

Driving chip of the present utility model use company of Infineon BTS7960 chips, the drive circuit for model car of sprinkling water, Each 2 BTS7960 of route form H bridges, realize rotating by controlling the turn-on and turn-off of 4 metal-oxide-semiconductors, and then realize and spill The advance and retroversion of water model car.The dutycycle for the PWM ripples that the drive circuit of watering model car passes through control input is driven to adjust The average voltage at the dynamic both ends of motor 5, reach the purpose of the rotating speed of control motor 5.

Encoder of the present utility model uses 512 line coding devices, and gyroscope uses the ENC-03 gyroscopes of Murata. Gyroscope is installed on vehicle body 1,1 inclined angular speed of vehicle body can be measured, angular velocity signal is carried out into integration can be to obtain car The inclination angle of body 1.Due to gyroscope output be vehicle body 1 angular speed, will not by watering model car motion be influenceed, therefore should Noise very little in signal, the angle of vehicle body 1 are integrated by angular velocity to obtain again, and this can further smooth signal, so that It is more stable to obtain angle signal.In order to obtain more accurate angle value, and remove the overshoot and temperature drift problem of gyroscope, will Gyroscope and the signal of accelerometer collection carry out complementary filter by single-chip microcomputer.

Obstacle avoidance module of the present utility model uses infrared reflection type sensor, and infrared reflection type sensor utilizes sensing The modulation infrared beam that device spoke emits is reflected by the object the principle returned to detect barrier, and this sensor bulk is small, It is easy to install, and output signal is easy to gather and handled.

The utility model can also be communicated by wireless blue tooth with a host computer, in order to be grasped to watering model car input Instruct.

Preferred embodiment of the present utility model is the foregoing is only, it is all in this practicality not to limit the utility model Within new spirit and principle, any modification, equivalent substitution and improvements made etc., guarantor of the present utility model should be included in Within the scope of shield.

Claims (8)

1. the Intelligent unattended watering model car based on ARM, including vehicle body (1), it is characterised in that：Also include being arranged on vehicle body (1) On water tank (2), watering pump (3), washing head (4), motor (5), battery (7), camera (8), encoder, gyroscope, Accelerometer and the control cabinet (6) with ARM microprocessor and driving chip, the battery (7) are connected with control cabinet (6) Connect, control cabinet (6) respectively with watering pump (3), motor (5), camera (8), encoder, gyroscope and accelerometer phase Connection, water tank (2), watering pump (3), washing head (4) are sequentially connected, and gyroscope, accelerometer are connected with encoder respectively, compile Code device is connected with motor (5), and motor (5) is connected with wheel.

2. the Intelligent unattended watering model car according to claim 1 based on ARM, it is characterised in that：Also include avoidance mould Block and music player, the control cabinet (6) are connected with obstacle avoidance module, music player respectively.

3. the Intelligent unattended watering model car according to claim 2 based on ARM, it is characterised in that：The ARM microprocessors Device uses the K60DN512 chips of Freescale company.

4. the Intelligent unattended watering model car according to claim 2 based on ARM, it is characterised in that：The driving chip Using the BTS7960 chips of company of Infineon.

5. the Intelligent unattended watering model car according to claim 2 based on ARM, it is characterised in that：The camera is adopted With OV7620 digital cameras.

6. the Intelligent unattended watering model car according to claim 2 based on ARM, it is characterised in that：The encoder is adopted With 512 line coding devices.

7. the Intelligent unattended watering model car according to claim 2 based on ARM, it is characterised in that：The gyroscope is adopted With the ENC-03 gyroscopes of Murata.

8. the Intelligent unattended watering model car according to claim 2 based on ARM, it is characterised in that：The obstacle avoidance module Using infrared reflection type sensor.