CN211044014U - Intelligent vehicle system circuit based on electromagnetic tracing - Google Patents
Intelligent vehicle system circuit based on electromagnetic tracing Download PDFInfo
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- CN211044014U CN211044014U CN202020144876.4U CN202020144876U CN211044014U CN 211044014 U CN211044014 U CN 211044014U CN 202020144876 U CN202020144876 U CN 202020144876U CN 211044014 U CN211044014 U CN 211044014U
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Abstract
The utility model discloses an intelligence car system circuit based on electromagnetism is sought mark, including controller module and the sensor module of being connected with controller module electricity, the module that tests the speed, tongue tube zebra stripes detection module, liquid crystal display module, button, dial switch and motor drive module, sensor module includes I-shaped inductance, ranging module, attitude sensor and voltage contrast module, and power module is the circuit power supply in addition. The utility model discloses a circuit makes the intelligent vehicle can travel with the fastest speed along electromagnetic signal on unknown racetrack under keeping upright state. The method comprises the steps of detecting a track by adopting a resonant circuit, extracting track information, and carrying out differential direction control on two wheels by adopting a PD mode. The current running speed of the intelligent vehicle is obtained through the encoder, and the speed closed-loop control is realized by adopting PID control.
Description
Technical Field
The utility model relates to a circuit design field, specific intelligent car system circuit based on electromagnetism is sought mark that says so relates to in this field.
Background
The intelligent vehicle usually has the functions of automatic driving, automatic speed changing and even automatic road identification, and different functions can be realized by designing different circuits.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that an intelligence car system circuit based on electromagnetism is sought mark is provided.
In order to solve the technical problem, the utility model discloses a following technical scheme:
the utility model provides an intelligence car system circuit based on electromagnetism is sought mark, its improvement lies in: the device comprises a controller module, a sensor module, a speed measuring module, a reed pipe zebra crossing detection module, a liquid crystal display module, a key, a dial switch and a motor driving module, wherein the sensor module, the speed measuring module, the reed pipe zebra crossing detection module, the liquid crystal display module, the key, the dial switch and the motor driving module are electrically connected with the controller module, the sensor module comprises an I-shaped inductor, a distance measuring module, an attitude sensor and a voltage comparison module, and a power supply module.
Further, the controller module is a K60DN512 chip with a built-in clock circuit and a reset circuit.
Further, the liquid crystal display module O L ED.
Further, the motor drive module employs an IR2104S half bridge drive.
Furthermore, the distance measurement module adopts a GP2Y0A21YK0F infrared distance measurement module.
Further, the attitude sensor employs an MPU6050 module.
Further, the infrared obstacle avoidance module adopts L M393 voltage contrast chips.
Further, the power module is a 7.2V, 2000mAh, Ni-cd storage battery.
Further, a gear transmission mechanism.
Further, the power module outputs 5V, 3.3V, 12V and 7.2V.
The utility model has the advantages that:
the utility model discloses a circuit makes the intelligent vehicle can travel with the fastest speed along electromagnetic signal on unknown racetrack under keeping upright state. The method comprises the steps of detecting a track by adopting a resonant circuit, extracting track information, and carrying out differential direction control on two wheels by adopting a PD mode. The current running speed of the intelligent vehicle is obtained through the encoder, and the speed closed-loop control is realized by adopting PID control.
Drawings
Fig. 1 is a block diagram of the circuit disclosed in embodiment 1 of the present invention;
fig. 2 is a schematic diagram of a K60DN512 controller module in the circuit disclosed in embodiment 1 of the present invention;
fig. 3 is a schematic diagram of an operational amplifier in the circuit disclosed in embodiment 1 of the present invention;
fig. 4 is a schematic diagram of an infrared contrast module in the circuit disclosed in embodiment 1 of the present invention;
fig. 5 is a schematic diagram of the IR2104S right motor drive in the circuit disclosed in embodiment 1 of the present invention;
fig. 6 is a schematic diagram of the IR2104S left motor drive in the circuit disclosed in embodiment 1 of the present invention;
fig. 7 is a schematic diagram of an isolation circuit formed by 74lvc245 chips in the circuit disclosed in embodiment 1 of the present invention;
fig. 8 is a schematic diagram of a 3.3V voltage stabilizing circuit formed by the AMS1117 chip in the circuit disclosed in embodiment 1 of the present invention;
fig. 9 is a schematic diagram of a 12V booster circuit composed of MC34063 chips in the circuit disclosed in embodiment 1 of the present invention;
fig. 10 is a schematic diagram of a 5V voltage regulator circuit including an AMS1086 chip in the circuit disclosed in embodiment 1 of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
The working principle of the invention is as follows: the controller module of the intelligent vehicle system circuit collects analog quantity of I-shaped inductive induction voltage, the analog quantity is amplified by the operational amplifier to combine with a two-wheel differential algorithm to control differential steering, the controller module integrates track information and combines with a speed feedback signal of a rotary photoelectric encoder, a motor control algorithm is used for controlling speed change, wireless Bluetooth and upper computer monitoring and debugging are combined, and finally control parameters are determined.
The intelligent vehicle uses the I-shaped inductor 21 arranged in front of the intelligent vehicle body as a tracking sensor, obtains a current signal through L C resonance of the I-shaped inductor 21, and amplifies and rectifies the current signal to obtain a final ideal signal, which is concretely as follows:
the intelligent car track has an electromagnetic signal (20 KZ) with a specific frequency. The electromagnetic signal is generated by an electromagnetic wire, which is a carrier of the electromagnetic signal and is generally an enameled wire in physics. The electromagnetic wire is embedded in the middle of the track, and the electromagnetic wire is used for guiding the moving direction of the intelligent vehicle.
The I-shaped inductor 21 realizes a primary frequency-selecting filtering function through first-stage L C resonance, the I-shaped inductor 21 selects current matched with the frequency of the electromagnetic signal with the specific frequency on the track to obtain an alternating current signal, an operational amplifier is used for amplifying the alternating current signal, the amplified alternating current signal is stabilized through a diode voltage-doubling detection circuit to obtain a final direct current output signal, the final direct current output signal is input to the controller module 1, and the final direct current output signal is used for the controller module 1 to perform feedback correction on the speed and the direction of the intelligent vehicle.
The operational amplifier includes an OPA2350 operational amplifier. The OPA2350 operational amplifier builds a proportional amplification circuit, and the amplification factor of the proportional amplification circuit is adjustable (0-100 times). The resistance value of the slide rheostat in the proportional amplifying circuit is the amplification factor compared with the constant value resistance in the proportional amplifying circuit. The OPA2350 operational amplifier performs one-stage amplification on the obtained alternating current signal. As shown in fig. 3, a diode voltage doubler detector circuit is connected to the output terminal ( output ports 1 and 7 in fig. 3) of the OPA2350 operational amplifier.
The circuit structure of the scheme is simple, and the output signal is more stable.
The intelligent vehicle further comprises wheels, gears arranged on the axles of the wheels of the intelligent vehicle, a gear transmission shaft and a motor gear.
The rotary photoelectric encoder is used for measuring the speed of the intelligent vehicle and can convert the speed into the number of pulses available for the controller. The rotary photoelectric encoder is arranged on the upper part of a gear on an axle of the intelligent vehicle wheel. The rotary photoelectric encoder is generally meshed with an axle gear of an intelligent vehicle wheel through a gear, the pulse quantity of the rotary photoelectric encoder is fixed, when the axle rotates, a transmitter of the rotary photoelectric encoder outputs pulses, and a counter of the rotary photoelectric encoder receives the pulses. The axles rotate at different speeds, and the pulse quantity received in unit time is different. And calculating the speed of the intelligent vehicle according to the pulse quantity and the diameter of the wheel.
For the intelligent vehicle, an encoder is adopted to sample the speed and perform closed-loop control. The intelligent vehicle has two drive wheels. The two rotary photoelectric encoders are used for respectively measuring the speeds of two driving wheels of the intelligent vehicle. The controller reads the speed of the two wheels measured by the rotary photoelectric encoder, and specifically controls the next moment of movement of the intelligent vehicle according to the actual situation and the track situation.
And a gear arranged on an axle of the intelligent vehicle wheel is meshed with a gear of the rotary photoelectric encoder and a motor gear. Whether the meshing is proper or not has great influence on the driving capacity of the intelligent vehicle. When the rotary photoelectric encoder is installed, special attention should be paid to adjusting the clearance between the gear of the rotary photoelectric encoder and the gear of the motor. The installation position of the rotary photoelectric encoder is not suitable, so that the load of the driving wheel of the intelligent vehicle is greatly increased. The gear transmission noise through accurate adjustment is little, and power transmission is smooth.
The distance measuring module 22 emits infrared rays using an IRED (infrared light emitting diode) of the distance measuring module 22, and a photosensitive receiving tube of the distance measuring module 22 receives the reflected infrared rays. The signal processing circuit of the ranging module 22 detects the distance between the smart car and the special element by triangulation based on the reflectivity of various objects. The method can realize the detection of special elements within the measuring distance of 10 CM to 80CM, and is not easily influenced by the environmental temperature and the working time. The ranging module 22 output is a measured value of voltage. The voltage value returned by the distance measuring module is collected and tested for multiple times, data are uploaded through the Bluetooth to a computer to record and analyze data, the voltage value and the distance between the corresponding intelligent vehicle and the obstacle are fitted, and the distance between the intelligent vehicle and the obstacle and special elements such as roadblocks are approximately judged. The distance measurement module 22 may adopt a GP2Y0a21YK0F infrared distance measurement module.
The detection approach value of the roadblock becomes larger as the distance between the intelligent vehicle and the roadblock becomes shorter. The proximity value is the amount of voltage that the distance detected by the sensor is converted into by the ranging module 22. When the roadblock is detected, the roadblock can be avoided according to a pre-designed path, and the path planning for avoiding the roadblock can be realized by adopting an open loop.
The attitude sensor is used for maintaining the attitude of the vehicle and controlling balance. And shifting the advancing angle of the intelligent vehicle by 45-60 degrees on the basis of the traveling angle measured by the attitude sensor. Pulse counting is performed simultaneously. And after counting to a certain threshold value, reversely angling to move to the track and then continuing to move. The specific threshold setting needs to be obtained according to the shape and size of the roadblock and the open-loop path test of the setting plan. The angular velocity is measured using a gyroscope of the attitude sensor. The gyroscope has high dynamic characteristics, and is a device for indirectly measuring angles. It measures the derivative of the angle, i.e. the angular velocity, which is integrated over time to obtain the angle. The gyroscope has a gyroscope inside, and its axis is always parallel to the initial direction due to the gyroscopic effect, so that the rotation direction and angle can be calculated by the deviation from the initial direction.
The attitude sensor may employ a23 MPU6050 module. The sensor MPU6050 is a chip with a very precise structure, and an ultra-small gyroscope is contained inside the sensor MPU 6050. The MPU6050 is an integrated 6-axis motion processing component, which eliminates the problem of the time axis difference between the combined gyroscope and the accelerator and reduces a large amount of packaging space compared to a multi-component scheme.
As shown in figure 4, the voltage comparison module is used for detecting elements such as broken circuits, zebra stripes and the like, black markers are attached to the broken circuits and the zebra stripes, the infrared sensor is composed of L M393 double-voltage comparators, an infrared transmitting tube and a photosensitive receiving tube, the infrared sensor is arranged at the front end of the intelligent vehicle system, the working principle is that the infrared transmitting tube transmits infrared rays, infrared rays can be absorbed by using black colors, when the intelligent vehicle system moves to the black mark along a set route, the infrared rays transmitted by the infrared transmitting tube are absorbed by the black mark, the infrared rays received by the photosensitive receiving tube are reduced, the resistance value of a photosensitive resistor in the photosensitive receiving tube is increased, the voltage of the photosensitive receiving tube at the moment is compared with the set standard voltage which is connected into the L M double-voltage comparators, corresponding levels are output, and the controller module 1 is used for AD acquisition and reading the corresponding levels, so that a parking.
And a small magnet is attached under the zebra crossing black marker. The reed switch sensor is a basic proximity switch circuit formed by a simple reed switch. And two reed pipes are connected in parallel, one end of each reed pipe is connected with a power ground end, and the other end of each reed pipe is connected with an AD acquisition pin of the controller module 1. And installing the reed switch sensor at the front end of the intelligent vehicle system. The operating principle is that the reed switch is made of two soft magnetic materials, and the metal reed contact is disconnected when no magnetism exists and is closed when magnetism exists. When the intelligent vehicle system moves to the magnetic sheet identification position (the small magnet position attached under the zebra crossing black marker) along the set route, the metal reed contact is closed. The controller module 1 performs AD acquisition to read corresponding levels, and then the parking instruction can be completed.
As shown in figure 2, the controller module 1 is responsible for collecting track information, encoder information and the like for unified processing, so that the balance posture and the steering speed of the intelligent vehicle are controlled, the power supply module provides proper stable direct current voltage for the circuit, the normal work of the circuit is guaranteed, the speed measuring module adopts a 512-line encoder for control, the zebra crossing detection module adopts a reed switch sensor and an infrared sensor for triggering detection, the keys and the dial switch are used for facilitating debugging, information acquisition and parameter modification can be rapidly carried out through the display of the liquid crystal display module O L ED, the keys modify parameter variables, and the debugging time is saved, and the controller module is a K60DN512 chip with a built-in clock circuit and a reset circuit.
As shown in fig. 5 and 6, the motor drive module 8 employs an IR2104S half bridge driver. The two half-bridge drivers IR2104S control one motor, four pieces of IR2104S control two motors, and the PWM signal output by the single chip microcomputer controls the motor speed through the logic chip 74lvc245 embedded in the motor driving module. The current for controlling the motor is converted into voltage which is easy to control through an MOS tube by the basic principle of MOS. The circuit has the advantages of low power consumption and difficulty in generating problems.
Fig. 7 is a schematic diagram of an isolation circuit constructed from 74lvc245 chips.
As shown in fig. 8, 9 and 10. The power module is a 7.2V, 2000mAh, Ni-cd storage battery. The power module outputs 7.2V, 5V power supply formed by stabilizing the voltage of an AMS1086 chip, 3.3V power supply formed by stabilizing the voltage of an AMS1117 chip and 12V power supply formed by boosting the voltage of an MC34063 chip.
Claims (9)
1. The utility model provides an intelligence car system circuit based on electromagnetism is sought mark which characterized in that: the device comprises a controller module, a sensor module, a speed measuring module, a reed pipe zebra crossing detection module, a liquid crystal display module, a key, a dial switch and a motor driving module, wherein the sensor module, the speed measuring module, the reed pipe zebra crossing detection module, the liquid crystal display module, the key, the dial switch and the motor driving module are electrically connected with the controller module, the sensor module comprises an I-shaped inductor, a distance measuring module, an attitude sensor and a voltage comparison module, and a power supply module.
2. The electromagnetic tracking based intelligent vehicle system circuit of claim 1, wherein: the controller module is a K60DN512 chip with a built-in clock circuit and a reset circuit.
3. The intelligent vehicle system circuit based on electromagnetic tracking according to claim 1, wherein the liquid crystal display module O L ED.
4. The electromagnetic tracking based intelligent vehicle system circuit of claim 1, wherein: the motor drive module employs an IR2104S half bridge driver.
5. The electromagnetic tracking based intelligent vehicle system circuit of claim 1, wherein: the distance measurement module adopts a GP2Y0A21YK0F infrared distance measurement module.
6. The electromagnetic tracking based intelligent vehicle system circuit of claim 1, wherein: the attitude sensor employs an MPU6050 module.
7. The electromagnetic tracking based intelligent vehicle system circuit as claimed in claim 1, wherein the infrared obstacle avoidance module adopts L M393 voltage comparison chip.
8. The electromagnetic tracking based intelligent vehicle system circuit of claim 1, wherein: the power module is a 7.2V, 2000mAh, Ni-cd storage battery.
9. The electromagnetic tracking based intelligent vehicle system circuit of claim 1, wherein: the power module outputs 5V, 3.3V, 12V and 7.2V voltages.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144876.4U CN211044014U (en) | 2020-01-22 | 2020-01-22 | Intelligent vehicle system circuit based on electromagnetic tracing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020144876.4U CN211044014U (en) | 2020-01-22 | 2020-01-22 | Intelligent vehicle system circuit based on electromagnetic tracing |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211044014U true CN211044014U (en) | 2020-07-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020144876.4U Expired - Fee Related CN211044014U (en) | 2020-01-22 | 2020-01-22 | Intelligent vehicle system circuit based on electromagnetic tracing |
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| Country | Link |
|---|---|
| CN (1) | CN211044014U (en) |
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2020
- 2020-01-22 CN CN202020144876.4U patent/CN211044014U/en not_active Expired - Fee Related
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