CN211044014U - An Intelligent Vehicle System Circuit Based on Electromagnetic Tracing - Google Patents

Abstract

The utility model discloses an intelligent vehicle system circuit based on electromagnetic tracing, comprising a controller module, a sensor module electrically connected with the controller module, a speed measurement module, a reed switch zebra crossing detection module, a liquid crystal display module, a key, a dial code Switch and motor drive module, sensor module includes I-shaped inductor, ranging module, attitude sensor and voltage comparison module, in addition to power supply module to supply power to the circuit. The circuit disclosed by the utility model enables the smart car to run at the fastest speed along the electromagnetic signal on the unknown track while maintaining the upright state. The resonant circuit is used to detect the track, extract the track information, and use the PD method to control the differential direction of the two wheels. The current running speed of the smart car is obtained through the encoder, and the PID control is used to realize the speed closed-loop control.

Description

An Intelligent Vehicle System Circuit Based on Electromagnetic Tracing

technical field

The utility model relates to the field of circuit design, in particular to an intelligent vehicle system circuit based on electromagnetic tracing in the field.

Background technique

Smart cars usually have automatic driving, automatic shifting, and even the function of automatically recognizing the road. By designing different circuits, smart cars can achieve different functions.

Utility model content

The technical problem to be solved by the utility model is to provide an intelligent vehicle system circuit based on electromagnetic tracing.

In order to solve the above-mentioned technical problems, the utility model adopts the following technical solutions:

An intelligent vehicle system circuit based on electromagnetic tracing, the improvement is that it includes a controller module and a sensor module electrically connected to the controller module, a speed measurement module, a reed switch zebra crossing detection module, a liquid crystal display module, buttons, dials Code switch and motor drive module, the sensor module includes an I-shaped inductor, a ranging module, an attitude sensor and a voltage comparison module, in addition to a power module to supply power to the circuit.

Further, the controller module is a K60DN512 chip with built-in clock circuit and reset circuit.

Further, the liquid crystal display module OLED.

Further, the motor drive module adopts IR2104S half-bridge driver.

Further, the ranging module adopts GP2Y0A21YK0F infrared ranging module.

Further, the attitude sensor adopts the MPU6050 module.

Further, the infrared obstacle avoidance module adopts the LM393 voltage comparison chip.

Further, the power module is a 7.2V, 2000mAh, Ni-cd battery.

Further, gear transmission mechanism.

Further, the power module outputs 5V, 3.3V, 12V and 7.2V.

The beneficial effects of the present utility model are:

The circuit disclosed by the utility model enables the smart car to run at the fastest speed along the electromagnetic signal on the unknown track while maintaining the upright state. The resonant circuit is used to detect the track, extract the track information, and use the PD method to control the differential direction of the two wheels. The current running speed of the smart car is obtained through the encoder, and the PID control is used to realize the speed closed-loop control.

Description of drawings

Fig. 1 is the composition block diagram of the circuit disclosed in Embodiment 1 of the present utility model;

2 is a schematic diagram of a K60DN512 controller module in the circuit disclosed in Embodiment 1 of the present utility model;

3 is a schematic diagram of an operational amplifier in the circuit disclosed in Embodiment 1 of the present invention;

4 is a schematic diagram of an infrared contrast module in the circuit disclosed in Embodiment 1 of the present invention;

5 is a schematic diagram of the IR2104S right motor drive in the circuit disclosed in Embodiment 1 of the present invention;

6 is a schematic diagram of the left motor drive of IR2104S in the circuit disclosed in Embodiment 1 of the present invention;

7 is a schematic diagram of an isolation circuit composed of a 74lvc245 chip in the circuit disclosed in Embodiment 1 of the present invention;

8 is a schematic diagram of a 3.3V voltage regulator circuit composed of an AMS1117 chip in the circuit disclosed in Embodiment 1 of the present utility model;

9 is a schematic diagram of a 12V booster circuit composed of an MC34063 chip in the circuit disclosed in Embodiment 1 of the present utility model;

10 is a schematic diagram of a 5V voltage regulator circuit composed of an AMS1086 chip in the circuit disclosed in Embodiment 1 of the present invention.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present utility model more clearly understood, the present utility model will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not intended to limit the present invention.

Embodiment 1, as shown in FIG. 1 , this embodiment discloses an intelligent vehicle system circuit based on electromagnetic tracing, including a controller module 1 , a sensor module 2 electrically connected to the controller module 1 , a speed measurement module 3 , and a sensor module 3 . Reed pipe zebra crossing detection module 4, liquid crystal display module 5, button 6, DIP switch 7 and motor drive module 8, the sensor module includes I-shaped inductor 21, ranging module 22, attitude sensor 23 and voltage comparison module 24, in addition to The power module 9 supplies power to the circuit system.

The working principle of the invention: the controller module of the smart car system circuit collects the analog quantity of the induced voltage of the I-shaped inductance, amplifies the voltage signal through the operational amplifier, and controls the differential steering by combining with the two-wheel differential algorithm. The controller module then integrates the track information and combines Rotating the speed feedback signal of the photoelectric encoder, using the motor control algorithm to control the speed change, combined with wireless Bluetooth and the host computer monitoring and debugging, and finally determine the control parameters.

The smart car uses the I-shaped inductor 21 installed in front of the smart car body as a tracking sensor, obtains the current signal through the LC resonance of the I-shaped inductor 21, and amplifies and rectifies the current signal to obtain the final ideal signal. details as follows:

There are electromagnetic signals of a specific frequency (20KZ) on the smart car track. Electromagnetic signals are generated by electromagnetic wires, which are carriers of electromagnetic signals and are generally enameled wires in physics. The magnet wire is embedded in the middle of the track, and the function of the magnet wire is to guide the movement direction of the smart car.

The I-shaped inductor 21 realizes the preliminary frequency selection filtering function through the LC resonance of the first stage. The I-shaped inductor 21 selects the current that matches the frequency of the electromagnetic signal of the specific frequency on the track to obtain the alternating current signal. Use an operational amplifier to amplify the AC current signal. After the amplified AC current signal passes through the diode voltage multiplier detection circuit to stabilize the ripple, a final DC output signal is obtained, and the final DC output signal is input to the controller module 1 . The final DC output signal is used by the controller module 1 to feedback and correct the speed and direction of the smart car.

Operational amplifiers include the OPA2350 operational amplifier. The OPA2350 operational amplifier builds a proportional amplifier circuit, and the magnification of the proportional amplifier circuit is adjustable (0-100 times). The resistance value of the sliding rheostat in the proportional amplifier circuit is compared with the fixed value resistor in the proportional amplifier circuit, which is the amplification factor. The OPA2350 operational amplifier performs first-level amplification on the obtained AC current signal. As shown in Figure 3, the output terminal of the OPA2350 operational amplifier (output ports 1 and 7 in Figure 3) is connected to a diode voltage doubler detection circuit.

The circuit structure of this scheme is simple, and the output signal is more stable.

The smart car also includes a wheel, a gear mounted on the axle of the smart car wheel, a gear drive shaft and a motor gear.

A rotary photoelectric encoder is used to measure the speed of the smart car, which translates the speed into the number of pulses available to the controller. The rotary photoelectric encoder is installed on the upper part of the gear on the axle of the smart car wheel. The rotary photoelectric encoder generally meshes with the axle gear of the smart car wheel through gears. The pulse amount of the rotary photoelectric encoder is fixed. When the axle rotates, the transmitter of the rotary photoelectric encoder will output pulses. The counter receives pulses. The speed of the axle rotation is different, and the amount of pulses received per unit time is different. The speed of the smart car can be calculated according to the pulse amount and the diameter of the wheel.

For smart cars, the encoder is used to sample the speed and perform closed-loop control. Smart cars have two drive wheels. Two rotary photoelectric encoders measure the speed of the two driving wheels of the smart car respectively. The controller reads the speed of the two wheels measured by the rotary photoelectric encoder, and makes specific control of the next moment's movement of the smart car according to the actual situation and track conditions.

The gears mounted on the axles of the wheels of the smart car and the gears of the rotary photoelectric encoder and the motor gears mesh with each other. Whether the meshing is suitable or not has a great influence on the driving ability of the smart car. When installing the rotary photoelectric encoder, special attention should be paid to adjusting the gap between the gear of the rotary photoelectric encoder and the motor gear. The installation position of the rotary photoelectric encoder is not suitable, which will greatly increase the load of the driving wheel of the smart car. The precisely adjusted gear drive has low noise and smooth power transmission.

The ranging module 22 uses the IRED (Infrared Light Emitting Diode) of the ranging module 22 to emit infrared rays, and the photosensitive receiving tube of the ranging module 22 receives the reflected infrared rays. The signal processing circuit of the ranging module 22 uses the triangulation method to detect the distance between the smart car and the special element based on the reflectivity of various objects. This method can realize the detection of special elements within the measurement distance of 10--80CM, and is not easily affected by the ambient temperature and working time. The output of the ranging module 22 is a voltage measurement. By collecting the voltage value returned by the ranging module, performing multiple tests, uploading the data to the computer through Bluetooth to record the analysis data, and fitting the voltage value and the corresponding distance between the smart car and the obstacle, to approximate the judgment of the smart car and the obstacle. Distances between obstacles and special elements such as detection of roadblocks. The ranging module 22 can use a GP2Y0A21YK0F infrared ranging module.

The detected proximity value of the roadblock will increase as the distance between the smart car and the roadblock gets closer. The proximity value is the voltage that the distance detected by the sensor is converted into by the distance measuring module 22 . When a roadblock is detected, the roadblock can be avoided according to a pre-designed path, and an open-loop path planning can be used to avoid the roadblock.

The attitude sensor is used to maintain the attitude of the car and control the balance. On the basis of the heading angle measured by the attitude sensor, the forward angle of the smart car is further offset by 45 to 60 degrees. Pulse counting is performed simultaneously. After counting to a certain threshold, reverse the cornering movement to the track and continue 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 set and planned. The angular velocity is measured using the gyroscope of the attitude sensor. The gyroscope is highly dynamic, it is a device that measures angle indirectly. It measures the derivative of the angle, the angular velocity, which is obtained by integrating the angular velocity over time. There is a gyroscope inside the gyroscope, 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 can use the 23MPU6050 module. The sensor MPU6050 is a very sophisticated chip that contains an ultra-tiny gyroscope inside. MPU6050 is an integrated 6-axis motion processing component. Compared with the multi-component solution, it eliminates the problem of the difference between the time axis of the combined gyroscope and the accelerator, and reduces a lot of packaging space.

As shown in Figure 4, elements such as open circuit and zebra crossing are detected through the voltage comparison module. Circuit breakers and zebra crossings are marked with black markers. The infrared sensor is composed of LM393 dual voltage comparator, infrared transmitting tube and photosensitive receiving tube. Install the infrared sensor on the front end of the smart car system. Its working principle is that the infrared emitting tube emits infrared light, and the black can absorb infrared light. When the smart car system moves along the predetermined route to the black mark, the infrared light emitted by the infrared emission tube is absorbed by the black mark, the infrared light received by the photosensitive receiver tube decreases, and the resistance value of the photoresistor in the photosensitive receiver tube increases. Compare the terminal voltage of the photosensitive receiving tube with the set standard voltage and connect it to the LM393 dual-voltage comparator, and the output is the corresponding level. The controller module 1 performs AD acquisition and reads the corresponding level, and the parking instruction can be completed.

Small magnets are affixed under the black marker of the zebra crossing. The reed switch sensor consists of a simple reed switch to form a basic proximity switch circuit. Connect two reed switches in parallel, one end is connected to the ground of the power supply, and the other end is connected to the AD acquisition pin of the controller module 1. Install the reed sensor on the front end of the smart car system. Its working principle is that the reed switch is composed of two soft magnetic materials. The metal reed contacts are disconnected when there is no magnetism, and closed when there is magnetism. When the smart car system moves along the predetermined route to the magnetic plate mark (the small magnet attached to the black mark on the zebra crossing), the metal reed contact is closed. The controller module 1 performs AD acquisition and reads the corresponding level, and the parking instruction can be completed.

As shown in Figure 2, the controller module 1 is responsible for collecting track information, encoder information, etc. for unified processing, so as to control the balance posture and steering speed of the smart car. The power supply module provides a suitable stable DC voltage for the circuit to ensure the normal operation of the circuit. The speed measuring module is controlled by a 512-line encoder. The zebra crossing detection module adopts reed switch sensor and infrared sensor for trigger detection. Buttons and DIP switches are used to facilitate debugging. Through the OLED display of the liquid crystal display module, information acquisition and parameter modification can be carried out quickly, and parameter variables can be modified by pressing keys, saving debugging time. The controller module is K60DN512 chip with built-in clock circuit and reset circuit.

As shown in Figure 5 and Figure 6, the motor drive module 8 uses an IR2104S half-bridge driver. Two half-bridge drivers IR2104S control one motor, a total of four IR2104S control two motors, the PWM signal output by the single-chip microcomputer controls the motor speed through the logic chip 74lvc245 embedded in the motor drive module. Through the basic principle of MOS, the current used to control the motor is converted into a voltage that is easy to control through the MOS tube. The advantage of this circuit is that it consumes less power and is less prone to problems.

Figure 7 is a schematic diagram of an isolation circuit composed of a 74lvc245 chip.

As shown in Figure 8, Figure 9, and Figure 10. The power module is 7.2V, 2000mAh, Ni-cd battery. The power module outputs 7.2V, 5V power supply composed of AMS1086 chip voltage regulator, 3.3V power supply composed of AMS1117 chip voltage regulator, and 12V power supply composed of MC34063 chip booster.

Claims (9)

1. an intelligent vehicle system circuit based on electromagnetic tracing, is characterized in that: comprising a controller module and a sensor module electrically connected with the controller module, a speed measurement module, a reed switch zebra crossing detection module, a liquid crystal display module, a key, a dial Code switch and motor drive module, the sensor module includes an I-shaped inductor, a ranging module, an attitude sensor and a voltage comparison module, in addition to a power module to supply power to the circuit. 2 . The intelligent vehicle system circuit based on electromagnetic tracing according to claim 1 , wherein the controller module is a K60DN512 chip with a built-in clock circuit and a reset circuit. 3 . 3 . The intelligent vehicle system circuit based on electromagnetic tracing according to claim 1 , wherein: a liquid crystal display module OLED. 4 . 4 . The intelligent vehicle system circuit based on electromagnetic tracing according to claim 1 , wherein the motor drive module adopts an IR2104S half-bridge driver. 5 . 5 . The intelligent vehicle system circuit based on electromagnetic tracing according to claim 1 , wherein the ranging module adopts GP2Y0A21YK0F infrared ranging module. 6 . 6 . The intelligent vehicle system circuit based on electromagnetic tracing according to claim 1 , wherein the attitude sensor adopts an MPU6050 module. 7 . 7 . The intelligent vehicle system circuit based on electromagnetic tracing according to claim 1 , wherein the infrared obstacle avoidance module adopts LM393 voltage contrast chip. 8 . 8 . The smart vehicle system circuit based on electromagnetic tracing according to claim 1 , wherein the power module is a 7.2V, 2000mAh, Ni-cd battery. 9 . 9 . The smart car system circuit based on electromagnetic tracing according to claim 1 , wherein the power module outputs 5V, 3.3V, 12V and 7.2V voltage. 10 .

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