CN209946710U - Intelligent vehicle advancing system based on iodine clock reaction and STM32 - Google Patents
Intelligent vehicle advancing system based on iodine clock reaction and STM32 Download PDFInfo
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- CN209946710U CN209946710U CN201920321244.8U CN201920321244U CN209946710U CN 209946710 U CN209946710 U CN 209946710U CN 201920321244 U CN201920321244 U CN 201920321244U CN 209946710 U CN209946710 U CN 209946710U
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Abstract
The utility model discloses an intelligent vehicle system of marcing based on iodine clock reaction and STM32, this system include battery module, iodine clock reaction module, colour detection module, STM32 singlechip, motor drive module, motor 1, motor 2, motor 3, motor 4. The motor driving module of the trolley is controlled by the iodine clock reaction module and the color detection module together, and the iodine clock reaction module controls the color change occurrence time of the iodine clock reaction module by mixing sodium bisulfite-starch mixed liquor with different concentrations and potassium iodate solution, so as to control the starting and stopping of the trolley. The utility model discloses utilize the outside change of chemical reaction as the order that control dolly starts, stops, be expected to improve the adaptability and the guarantee nature of current autopilot technique, have wide application prospect.
Description
Technical Field
The utility model relates to a physics chemistry, intelligent control technical field especially relate to an intelligent vehicle system of marcing based on iodine clock reaction and STM 32.
Background
In recent years, along with continuous development and breakthrough of core technologies such as artificial intelligence and sensor detection, the automatic driving automobile gradually moves to the public, and the research on the automatic driving technology is more and more. At present, systems applied to automatic driving of large-scale motor vehicles have more or less defects, such as that an automatic starting/stopping system of a VOLVO engine requires that the vehicle speed after each automatic stopping of the vehicle must reach 5km/h firstly, a Bosch starting/stopping system is slow to start and stop, an asynchronous motor soft starting/soft stopping system is large in power consumption and complex in structure. When the existing automatic advancing system calculates the automobile driving distance by a sensor measuring method, measurement errors are accumulated, and the existing automatic advancing system cannot be well applied to an intelligent car.
Sometimes, the industry hopes that the trolley stops after traveling for a certain distance, and the trolley can be accurately controlled to stop in some places with weak GPS signals. For example, an autonomous vehicle may need to stop and rest when traveling a sufficient distance, even if it is safe to sit in a vehicle that is continuing to travel. In addition, in some places where the GPS signal is weak and the road characteristics are not obvious, such as a desert or underwater, it is necessary to accurately control the stop of the automobile. However, the intelligent vehicle in the current market still depends on the GPS system to achieve the purpose of positioning and navigation, and cannot well meet the requirement.
In order to control the driving of the trolley in the environments with single characteristics such as desert and grassland and improve the adaptability and the guarantee of the existing automatic driving system, a system constructed on the basis of iodine clock reaction and STM32 is urgently needed to be provided, the trolley is accurately and efficiently controlled to stop, and the development of the automatic driving technology is obviously facilitated.
SUMMERY OF THE UTILITY MODEL
The utility model aims at solving the above-mentioned defect among the prior art, provide an intelligent vehicle system of marcing based on iodine clock reaction and STM 32.
The purpose of the utility model is realized through the following technical scheme:
an intelligent trolley advancing system based on iodine clock reaction and STM32 comprises a light source array, a battery module, an iodine clock reaction module, a color detection module, an STM32 single chip microcomputer, a motor driving module, a motor 1, a motor 2, a motor 3 and a motor 4;
the battery module is respectively connected with the light source array, the color detection module, the STM32 single chip microcomputer and the motor driving module and provides working voltage; the color detection module, the STM32 single chip microcomputer, the motor driving module, the motor 1, the motor 2, the motor 3 and the motor 4 are sequentially connected;
light source array, iodine clock reaction module, colour detection module parallel arrangement in proper order, light source array transmission parallel light beam shines iodine clock reaction module, and colour detection module receives the light signal who sees through iodine clock reaction module, converts light signal to the signal of telecommunication and transmits for STM32 singlechip, STM32 singlechip exports four ways control signal to motor drive module according to the signal of telecommunication of receipt, motor drive module exports four ways PWM signal control motor 1, motor 2, motor 3, motor 4 and rotates.
Further, the iodine clock reaction module comprises: the color indicator comprises a sodium bisulfite-starch mixed solution and a potassium iodate solution, wherein the sodium bisulfite-starch mixed solution also comprises starch, sodium bisulfite and a stabilizer, the stabilizer is used for slowing down the oxidation of the sodium bisulfite, and the starch is used for reacting the color indicator.
Further, the light source array is an LED array, using white LEDs.
Further, the iodine clock reaction module uses a colorless and transparent reaction vessel.
Further, the color detection module is communicated with the STM32 single chip microcomputer through an I/O port; the STM32 singlechip communicates with the motor drive module through four I/O ports.
Further, the motor 1, the motor 2, the motor 3 and the motor 4 are connected in parallel with the motor driving module and are powered by the motor driving module.
Further, the motor 1, the motor 2, the motor 3 and the motor 4 are connected in parallel with the motor driving module and are powered by the motor driving module.
Further, the control method of the intelligent trolley traveling system based on the iodine clock reaction and the STM32 comprises the following steps of:
s1, the iodine clock reaction module controls the color change occurrence time of the iodine clock reaction module by mixing sodium bisulfite-starch mixed solution with different concentrations and potassium iodate solution;
s2, the light source array emits parallel light beams to penetrate through the iodine clock reaction module, the color detection module receives optical signals penetrating through the iodine clock reaction module, converts the optical signals into electric signals and transmits the electric signals to the STM32 single chip microcomputer;
s3, the STM32 single chip microcomputer receives the electric signals transmitted by the color detection module, and then four paths of control signals are output through an I/O port according to the electric signals;
and S4, inputting the four control signals into a motor driving module, and outputting four PWM signals by the motor driving module to control the motor to rotate.
Further, the step S1 includes the following steps:
s101, heating a starch solution to boil, cooling to normal temperature, preparing the starch solution and sodium bisulfite together to form sodium bisulfite-starch mixed solution, adding 0.5ml of stabilizer according to the proportion of 100ml of sodium bisulfite-starch mixed solution, and quickly adding the stabilizer before constant volume to form the sodium bisulfite-starch mixed solution;
s102, the iodine clock reaction module receives a sodium bisulfite-starch mixed solution and a potassium iodate solution, and the molar concentration ratio of the sodium bisulfite-starch mixed solution to the potassium iodate solution is greater than or equal to 3, so that a reaction system is formed.
Further, the step S2 includes the following steps:
s201, emitting white parallel light beams by a light source array, wherein the parallel light beams pass through an iodine clock reaction module to form color signals;
s202, the color detection module identifies the color signal through a color sensor;
s203, when the solution in the iodine clock reaction module is colorless and transparent, the color sensor identifies white light so as to output an electric signal of '0'; when the solution in the iodine clock reaction module is blue, the color sensor recognizes blue light, thereby outputting an electric signal '1'.
Further, the step S3 includes the following steps:
s301, the STM32 single chip microcomputer uninterruptedly detects the electric signals output by the color detection module through the I/O port;
s302, when the STM32 single chip microcomputer detects an electric signal '0', four control signals are output through an I/O port, so that the motor runs and rotates;
and S303, when the STM32 singlechip detects an electric signal '1', outputting four paths of control signals through the I/O port to stop the motor from rotating.
The utility model discloses for prior art have following advantage and effect:
1) the utility model discloses ensure that supplementary opening stops the system and can not receive camera, radar measuring influence, further perfect the autopilot technique, improve current autopilot system technical ground adaptability and guarantee, in the desert, the single regional effect of ground characteristics such as grassland is especially obvious.
2) The utility model discloses can make the dolly stop in the assigned distance to overcome when calculating the automobile distance of traveling through sensor measurement method, and the measuring error accumulation of production has improved the precision of control.
Drawings
Fig. 1 is a composition framework diagram of an intelligent cart traveling system based on iodine clock reaction and STM32 disclosed in the present invention;
fig. 2 is the pulse waveform schematic diagram of the utility model with different duty ratios sent by the middle motor driving module.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example one
The embodiment discloses an intelligent trolley advancing method based on iodine clock reaction and STM32, which comprises the following steps:
s1, the iodine clock reaction module controls the color change occurrence time of the iodine clock reaction module by mixing sodium bisulfite-starch mixed solution with different concentrations and potassium iodate solution;
wherein, the concentration of sodium bisulfite-starch mixed solution and the concentration of potassium iodate solution do not constitute the restriction to the utility model discloses technical scheme, other concentrations can also regard as the utility model discloses technical scheme's replacement technical means.
In a specific embodiment, the step S1 includes the following steps:
s101, heating a starch solution to boil, cooling to normal temperature, preparing the starch solution and sodium bisulfite together to form sodium bisulfite-starch mixed solution, adding 0.5ml of stabilizer according to the proportion of 100ml of sodium bisulfite-starch mixed solution, and quickly adding the stabilizer before constant volume to form the sodium bisulfite-starch mixed solution;
s102, the iodine clock reaction module receives a sodium bisulfite-starch mixed solution and a potassium iodate solution, and the molar concentration ratio of the sodium bisulfite-starch mixed solution to the potassium iodate solution is more than or equal to 3, so that a reaction system is formed.
S2, the light source array emits parallel light beams to penetrate through the iodine clock reaction module, the color detection module receives optical signals penetrating through the iodine clock reaction module, converts the optical signals into electric signals and transmits the electric signals to the STM32 single chip microcomputer;
wherein, the light source array adopts the LED array, and this LED array does not constitute right the utility model discloses technical scheme's restriction, other illuminating tool that can send white light can also regard as the utility model discloses technical scheme's replacement technical means.
In a specific embodiment, the step S2 includes the following steps:
s201, emitting white parallel light beams by an LED array, wherein the parallel light beams pass through an iodine clock reaction module to form color signals;
s202, enabling the color signal to reach a color detection module, and enabling the color detection module to identify the color signal through a color sensor;
s203, when the solution in the iodine clock reaction module is colorless and transparent, the color sensor identifies white light so as to output an electric signal of '0'; when the solution in the iodine clock reaction module is blue, the color sensor recognizes blue light, thereby outputting an electric signal '1'.
S3, the STM32 singlechip receives the electric signals transmitted by the color detection module, and then outputs four paths of control signals through the I/O port according to the electric signals;
in a specific embodiment, the step S3 includes the following steps:
s301, the STM32 single chip microcomputer uninterruptedly detects the electric signals output by the color detection module through the I/O port;
s302, when the STM32 single chip microcomputer detects an electric signal '0', four control signals are output through an I/O port, so that the motor runs and rotates;
and S303, when the STM32 singlechip detects an electric signal '1', outputting four paths of control signals through the I/O port to stop the motor from rotating.
And S4, inputting the four control signals into a motor driving module, and outputting four PWM signals by the motor driving module to control the motor to rotate.
As shown in fig. 2, in this embodiment, the four paths of PWM signals output by the motor driving module independently control the motor 1, the motor 2, the motor 3, and the motor 4.
Example two
As shown in fig. 1, the present embodiment discloses an intelligent trolley traveling system based on iodine clock reaction and STM32, which relates to the motor control of the trolley. The intelligent trolley advancing system comprises a light source array, a battery module, an iodine clock reaction module, a color detection module, an STM32 single chip microcomputer, a motor driving module, a motor 1, a motor 2, a motor 3 and a motor 4.
The battery module is respectively connected with the light source array, the color detection module, the STM32 single chip microcomputer and the motor driving module and provides working voltage; the color detection module, the STM32 single chip microcomputer, the motor driving module, the motor 1, the motor 2, the motor 3 and the motor 4 are sequentially connected.
The light source array, iodine clock reaction module, the colour detection module is parallel arrangement in proper order, light source array transmission parallel light beam shines iodine clock reaction module, the colour detection module is received the light signal who sees through iodine clock reaction module, convert light signal to the signal of telecommunication and transmit for the STM32 singlechip, STM32 singlechip is according to the signal of telecommunication output four ways control signal of receipt to motor drive module, motor drive module output four ways PWM signal control motor 1, motor 2, motor 3, motor 4 rotates.
Wherein, the light source array adopts the LED array, and this LED array does not constitute right the utility model discloses technical scheme's restriction, other illuminating tool that can send white light can also regard as the utility model discloses technical scheme's replacement technical means.
Wherein, iodine clock reaction module includes: sodium bisulfite-starch mixed solution and potassium iodate solution. The sodium bisulfite-starch mixed solution also comprises starch, sodium bisulfite and a stabilizer, wherein the stabilizer is used for slowing down the oxidation of the sodium bisulfite, and the starch is used for reacting a color indicator.
Wherein, the LED array uses white LED, and the iodine clock reaction module uses colorless transparent reaction vessel.
In the embodiment, the color detection module is communicated with the STM32 single chip microcomputer through an I/O port; the STM32 singlechip communicates with the motor driving module through four I/O ports; the motor 1, the motor 2, the motor 3 and the motor 4 are connected in parallel with the motor driving module and are powered by the motor driving module.
As shown in fig. 2, the motor driving module outputs four different pulse waveforms to control the operation speeds of the motor 1, the motor 2, the motor 3, and the motor 4.
To sum up, the motor driving module in the intelligent trolley advancing system is jointly controlled by the iodine clock reaction module and the color detection module, and the iodine clock reaction module controls the color change occurrence time of the iodine clock reaction module by mixing sodium bisulfite-starch mixed liquid with different concentrations and potassium iodate solution, so as to control the starting and stopping of the intelligent trolley. The utility model discloses utilize the outside change of chemical reaction as the order that control dolly starts, stops, be expected to improve the adaptability and the guarantee nature of current autopilot technique, have wide application prospect.
The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.
Claims (5)
1. An intelligent trolley advancing system based on iodine clock reaction and STM32 is characterized by comprising a light source array, a battery module, an iodine clock reaction module, a color detection module, an STM32 single chip microcomputer, a motor driving module, a motor 1, a motor 2, a motor 3 and a motor 4;
the battery module is respectively connected with the light source array, the color detection module, the STM32 single chip microcomputer and the motor driving module and provides working voltage; the color detection module, the STM32 single chip microcomputer, the motor driving module, the motor 1, the motor 2, the motor 3 and the motor 4 are sequentially connected;
light source array, iodine clock reaction module, colour detection module parallel arrangement in proper order, light source array transmission parallel light beam shines iodine clock reaction module, and colour detection module receives the light signal who sees through iodine clock reaction module, converts light signal to the signal of telecommunication and transmits for STM32 singlechip, STM32 singlechip exports four ways control signal to motor drive module according to the signal of telecommunication of receipt, motor drive module exports four ways PWM signal control motor 1, motor 2, motor 3, motor 4 and rotates.
2. The intelligent trolley traveling system based on the iodine clock reaction and STM32 is characterized in that the light source array is an LED array, and white LEDs are used.
3. The intelligent trolley traveling system based on iodine clock reaction and STM32 is characterized in that the iodine clock reaction module uses a colorless and transparent reaction container.
4. The intelligent trolley advancing system based on iodine clock reaction and STM32 as claimed in claim 1, wherein the color detection module communicates with the STM32 single chip microcomputer through an I/O port; the STM32 singlechip communicates with the motor drive module through four I/O ports.
5. The intelligent trolley advancing system based on iodine clock reaction and STM32 is characterized in that the motor 1, the motor 2, the motor 3 and the motor 4 are connected in parallel with the motor driving module and are powered by the motor driving module.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109857120A (en) * | 2019-03-14 | 2019-06-07 | 华南理工大学 | A kind of intelligent carriage mode of progression and its system based on Iodine Clock Reaction and STM32 |
| CN112327705A (en) * | 2020-11-12 | 2021-02-05 | 浙江工业大学 | Intelligent trolley parking control system and method based on copper wire dissolution |
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2019
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109857120A (en) * | 2019-03-14 | 2019-06-07 | 华南理工大学 | A kind of intelligent carriage mode of progression and its system based on Iodine Clock Reaction and STM32 |
| CN109857120B (en) * | 2019-03-14 | 2023-10-24 | 华南理工大学 | Intelligent trolley travelling method and system based on iodine clock reaction and STM32 |
| CN112327705A (en) * | 2020-11-12 | 2021-02-05 | 浙江工业大学 | Intelligent trolley parking control system and method based on copper wire dissolution |
| CN112327705B (en) * | 2020-11-12 | 2021-12-31 | 浙江工业大学 | Intelligent trolley parking control system and method based on copper wire dissolution |
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