CN210864419U

CN210864419U - Intelligent vehicle for exploration and touring competition

Info

Publication number: CN210864419U
Application number: CN201921390803.7U
Authority: CN
Inventors: 孙智超; 王啸峰; 柏纪伸
Original assignee: Nanjing University of Science and Technology
Current assignee: Nanjing University of Science and Technology
Priority date: 2019-08-24
Filing date: 2019-08-24
Publication date: 2020-06-26
Anticipated expiration: 2029-08-24

Abstract

The utility model discloses an intelligent vehicle for expedition and competition.A four-wheel differential structure is adopted by four motors of a vehicle body chassis; the tracking module adopts a gray sensor and is used for collecting color information of the track and transmitting the color information to the control module for tracking identification; the obstacle recognition module comprises a collision sensor and an infrared sensor, and is used for respectively acquiring collision information and distance information and transmitting the collision information and the distance information to the control module to recognize the position of an obstacle; the direction positioning module adopts a digital compass sensor and is used for acquiring the direction information of the vehicle body; the two-dimension code identification module comprises a single chip microcomputer and a camera, and is used for acquiring a two-dimension code image, decoding the two-dimension code image to obtain current station information and next station information, and transmitting the current station information and the next station information to the control module for path planning; the control module generates a motor driving signal according to the tracking line, the position of the obstacle, the direction information of the vehicle body and the path planning information, and drives the motor to operate. The utility model discloses convenient operation, stability is high, excellent performance.

Description

Intelligent vehicle for exploration and touring competition

Technical Field

The invention relates to intelligent transportation, in particular to an intelligent vehicle for expedition and competition.

Background

The intelligent vehicle can automatically operate in a specific environment according to a preset mode, and can be applied to scientific exploration, dangerous work and the like, so that the research and development of the intelligent vehicle have very important significance, and the heat tide of robot competition is raised in many countries in the world. The following problems mainly exist in the design of the traditional intelligent vehicle: (1) in the hardware design process, the intelligent vehicle is designed into a structure that the front wheel steering engine controls turning and the rear wheel motor drives the front wheel, and the structure has good applicability when the track is simple and the curvature of the curve is small. However, for complex scenes, the structure can limit the motion planning of the intelligent vehicle, so that the position of the vehicle deviates or overshoots. (2) In the aspect of tracking sensor selection, because the infrared sensor is simple to control, the infrared sensor is mostly used for identifying the track and further carrying out track tracking, however, when the digital sensor is processed, because the threshold value is fixed, the jump of sensor data caused by static electricity, electromagnetism and other interferences is difficult to avoid. (3) In the aspect of obstacle avoidance measure design, a touch switch is mostly used for judging whether the vehicle touches an obstacle and then a corresponding control strategy is carried out, although the method can effectively judge the obstacle, the scheme of making a decision after the vehicle touches the obstacle has certain hysteresis. (4) In the aspect of judgment of the direction of the trolley, the integral of the angular velocity is calculated by utilizing a gyroscope sensor, so that the current azimuth angle is obtained, however, the identification of the angular velocity by the gyroscope generates temperature drift along with the change of the environmental temperature, so that errors are generated in the direction positioning of the intelligent trolley.

Disclosure of Invention

The invention aims to provide an intelligent vehicle for an expedition tour, which can perform stable track tracking and real-time obstacle avoidance processing in a complex field.

The technical solution for realizing the purpose of the invention is as follows: an expedition tour intelligent vehicle comprises a vehicle body chassis, and a display module, a power supply driving module, a control module, a tracking module, an obstacle identification module, a direction positioning module and a two-dimensional code identification module which are arranged on the vehicle body chassis, wherein four motors of the vehicle body chassis adopt a four-wheel differential structure; the display module is used for receiving and displaying the intelligent vehicle parameter signals of the control module and selecting a control scheme; the power supply driving module is used for supplying power to the control module and the motor and controlling the rotating speed and the rotating direction of the motor according to the control signal of the control module; the tracking module adopts a gray sensor and is used for collecting color information of the track and transmitting the color information to the control module for tracking identification; the obstacle recognition module comprises a collision sensor and an infrared sensor, and is used for respectively acquiring collision information and distance information and transmitting the collision information and the distance information to the control module to recognize the position of an obstacle; the direction positioning module adopts a digital compass sensor and is used for acquiring the direction information of the vehicle body; the two-dimension code identification module comprises a single chip microcomputer and a camera, and is used for acquiring a two-dimension code image, decoding the two-dimension code image to obtain current station information and next station information, and transmitting the current station information and the next station information to the control module for path planning; the control module generates a motor driving signal according to the tracking line, the position of the obstacle, the direction information of the vehicle body and the path planning information, and drives the motor to operate.

Compared with the prior art, the invention has the remarkable advantages that: 1) based on the gray level sensors for measuring the front, the back and the waist of the intelligent vehicle body, the intelligent vehicle can monitor the relative position deviation of the vehicle body and the tracking line in real time in the motion process, so that the deviation is eliminated and the tracking stability is improved by changing the rotating speed of the motor through a PID algorithm by utilizing errors. 2) The intelligent vehicle obstacle detection module comprises an infrared sensor and a collision sensor, the purposes of detecting scenic spots at a long distance and colliding at a zero distance are achieved, and the stability of the collision process is improved. 3) Based on the gray sensor and the digital compass sensor of the vehicle body layout, the intelligent vehicle can realize the purpose of accurate and stable rotation at any angle under double detection.

Drawings

Fig. 1 is a schematic structural diagram of the intelligent vehicle of the invention.

Fig. 2 is a schematic diagram of a four-wheel differential structure.

Detailed Description

The invention is further illustrated by the following examples in conjunction with the accompanying drawings.

As shown in fig. 1, an intelligent vehicle for expedition tour comprises a vehicle body chassis, and a display module, a power driving module, a control module, a tracking module, an obstacle identification module, a direction positioning module and a two-dimensional code identification module which are arranged on the vehicle body chassis, wherein four motors of the vehicle body chassis adopt a four-wheel differential structure; the display module is used for receiving and displaying the intelligent vehicle parameter signals of the control module and selecting a control scheme; the power supply driving module is used for supplying power to the control module and the motor and controlling the rotating speed and the rotating direction of the motor according to the control signal of the control module; the tracking module adopts a gray sensor and is used for collecting color information of the track and transmitting the color information to the control module for tracking identification; the obstacle recognition module comprises a collision sensor and an infrared sensor, and is used for respectively acquiring collision information and distance information and transmitting the collision information and the distance information to the control module to recognize the position of an obstacle; the direction positioning module adopts a digital compass sensor and is used for acquiring the direction information of the vehicle body; the two-dimension code identification module comprises a single chip microcomputer and a camera, and is used for acquiring a two-dimension code image, decoding the two-dimension code image to obtain current station information and next station information, and transmitting the current station information and the next station information to the control module for path planning; the control module generates a motor driving signal according to the tracking line, the position of the obstacle, the direction information of the vehicle body and the path planning information, and drives the motor to operate.

The four-wheel differential structure is composed of a left differential unit and a right differential unit, two motors (an A wheel motor and a B wheel motor which are positioned on the same side, or a C wheel motor and a D wheel motor) of each differential unit are connected in parallel and controlled by the same H-bridge circuit, as shown in fig. 2. The steering rotating speeds of the motors on the same side are completely consistent under the circuit structure, so that the vehicle body can be controlled more accurately. Meanwhile, compared with the traditional structure that the steering engine controls the front wheels to steer and the motor controls the rear wheels to linearly move, the structure is more flexible in forward motion, reverse motion and curve path tracking, can change the direction of the car body in the opposite direction by controlling the same steering speed of the motor without generating displacement, and has higher competitiveness on a complex track.

Preferably, the power driving module adopts a motor driving card MOS2 to control the 2-way motor to change speed and direction.

The control module adopts an STM32F103 chip of Cortex M3 series. The single chip microcomputer based on the STM32F103 chip has the advantages of being strong in anti-interference capacity, high in execution speed, strong in arithmetic operation function and the like, and pins are few, so that the realization of hardware is simple.

The gray level sensor of the tracking module is an analog signal sensor consisting of a photoresistor and an LED lamp, and is easily interfered by electromagnetic signals compared with a traditional infrared digital sensor, but the judgment condition of tracking identification through the gray level value in the later period is a range, so that the infrared sensor has better flexibility compared with an infrared sensor with a fixed threshold value, and the anti-noise performance of the infrared sensor is enhanced. In order to ensure the accuracy and efficiency of tracking line identification, seven paths of gray sensors are respectively arranged at the front and the back of the vehicle body, and one path of gray sensor is respectively arranged at the two sides of the vehicle body.

The obstacle identification modules are two groups and are respectively arranged on the front side and the rear side of the vehicle body. The conventional obstacle recognition module uses only a touch switch sensor. The sensor is small in size and sensitive to touch, but is easily influenced by external force and is deformed and invalid. The corresponding control strategy can be generated only after the obstacle is contacted, and the control strategy has certain hysteresis. The effective judgment distance range of the infrared sensor is 1 meter, the vehicle speed can be reduced by making a prejudgment in advance, and the pressure deformation of the touch switch caused by external force is reduced.

The digital compass sensor model of the direction location module is HMC 5883L. The sensor has stable performance, is not easily influenced by temperature and humidity, is low in price, and has measurement precision meeting the requirement (within 5 degrees) of the intelligent vehicle.

In order to facilitate the display of the real-time running state of the intelligent vehicle and the adjustment of the control parameters, the display module selects the TFT-LCD touch screen. The advantage is that a thin film transistor is arranged on each pixel, and the definition of the image is improved.

STM32F1 series 32 bit microchips ZET6 are selected to the singlechip in the two-dimensional code identification module, OV7670 is selected to the camera, and control module control two-dimensional code identification module singlechip reads and discerns the two-dimensional code, extracts information, uploads to control module.

Claims

1. An intelligent vehicle for expedition competition is characterized by comprising a vehicle body chassis, a display module, a power supply driving module, a control module, a tracking module, an obstacle identification module, a direction positioning module and a two-dimensional code identification module, wherein the display module, the power supply driving module, the control module, the tracking module, the obstacle identification module, the direction positioning module and the two-dimensional code identification module are arranged on the vehicle body chassis; the display module is used for receiving and displaying the intelligent vehicle parameter signals of the control module and selecting a control scheme; the power supply driving module is used for supplying power to the control module and the motor and controlling the rotating speed and the rotating direction of the motor according to the control signal of the control module; the tracking module adopts a gray sensor and is used for collecting color information of the track and transmitting the color information to the control module for tracking identification; the obstacle recognition module comprises a collision sensor and an infrared sensor, and is used for respectively acquiring collision information and distance information and transmitting the collision information and the distance information to the control module to recognize the position of an obstacle; the direction positioning module adopts a digital compass sensor and is used for acquiring the direction information of the vehicle body; the two-dimension code identification module comprises a single chip microcomputer and a camera, and is used for acquiring a two-dimension code image, decoding the two-dimension code image to obtain current station information and next station information, and transmitting the current station information and the next station information to the control module for path planning; the control module generates a motor driving signal according to the tracking line, the position of the obstacle, the direction information of the vehicle body and the path planning information, and drives the motor to operate.

2. The smart car for adventure-visit competition of claim 1, wherein the four-wheel differential structure is composed of a left differential unit and a right differential unit, and two motors of each differential unit are connected in parallel and controlled by the same H-bridge circuit.

3. The intelligent vehicle for the expedition tour competition of claim 2, wherein the power driving module adopts a motor driving card MOS2 to control the speed change and direction change operation of the 2-way motor.

4. The intelligent vehicle for adventure swimming competition of claim 1, wherein the control module is an STM32F103 chip of Cortex M3 series.

5. The intelligent vehicle for expedition tour competition of claim 1, wherein the gray scale sensor of the tracking module is an analog signal sensor consisting of a photoresistor and an LED lamp.

6. The intelligent vehicle for expedition game competition of claim 5, wherein seven paths of gray sensors are respectively arranged at the front and the rear of the vehicle body, and one path of gray sensor is respectively arranged at both sides of the vehicle body.

7. The smart car for expedition game competition of claim 1, wherein the obstacle recognition modules are two groups, respectively disposed at front and rear sides of the car body.

8. The smart car for expedition tour competition of claim 1, wherein the digital compass sensor model of the direction location module is HMC 5883L.

9. The smart car for expedition tour competition of claim 1, wherein the display module selects a TFT-LCD touch screen.

10. The intelligent vehicle for expedition tour competition of claim 1, wherein the singlechip in the two-dimensional code identification module selects STM32F1 series 32 bit microchip ZET6, and the camera selects OV 7670.