CN212290093U - Intelligent vehicle based on metal induction technology - Google Patents
Intelligent vehicle based on metal induction technology Download PDFInfo
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- CN212290093U CN212290093U CN202021088890.3U CN202021088890U CN212290093U CN 212290093 U CN212290093 U CN 212290093U CN 202021088890 U CN202021088890 U CN 202021088890U CN 212290093 U CN212290093 U CN 212290093U
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- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
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Abstract
The utility model relates to an intelligence car based on metal induction technology, including automobile body, metal sensor module, microprocessor module, motor drive module, speed measuring module, human-computer interaction module, gyroscope module, power module. The utility model discloses a can detect multiple metal material, metal detection range is big, requires lowly to the environment, can independently discern the route according to the metal response, and reaction rate is sensitive to can go at the speed range safety continuous stability of 0-3 ms, have intelligent, automatic, high accuracy, low-power consumption, advantage with low costs.
Description
Technical Field
The utility model relates to an intelligent vehicle control system and control method thereof specifically are intelligent car based on metal induction technology.
Background
With the rapid development of sensor technology and electronic technology, various intelligent trolleys occupy most proportion of toy market, electronic products with high technology content gradually become mainstream for development, the intelligent vehicle technology has high practical significance in the aspects of military application, detection, scientific research, intelligent rescue and the like, and the fusion of computer control, electronic technology and sensor technology opens up wide prospects for high intelligent automation of intelligent vehicles.
At present, the number of coils adopted by the traditional metal detection intelligent vehicle device is mostly within 3, the linear metal can only be induced to track in a short distance, the detection range is small, the detection precision is low, and the misjudgment is easy to occur. In addition, tracking is performed by increasing a mode that a servo motor rotates a metal sensor to scan at a certain distance, but the mode makes the control mode more complicated, the detection cost is increased, and the simplicity and the flexibility are lacked.
Disclosure of Invention
To the technical problem, the utility model provides an intelligent and automatic intelligent car control system and control method.
The specific technical scheme is as follows:
an intelligent vehicle based on a metal induction technology comprises a vehicle body, a metal sensor module, a microprocessor module, a motor driving module, a motor module, a speed measuring module, a human-computer interaction module, a gyroscope module and a power supply module. The front end of the car body is connected with a carbon rod, and a metal sensor is placed at the other end of the carbon rod through super glue;
the metal sensor module comprises a PCB coil and an LDC1314 chip configuration circuit. One end of the LDC1314 chip configuration circuit is connected with the PCB coil, and the other end of the LDC1314 chip configuration circuit is connected with a sensing signal input interface of the microprocessor module.
The microprocessor module comprises an MK60FN1M0VLQ15 minimum system, a sensing signal input interface, a motor driving signal output interface, a servo motor signal output interface, a speed measuring module signal output interface and a man-machine interaction signal interface, wherein the sensing signal input interface is connected with an LDC1314 chip configuration circuit, the motor driving signal output interface is connected with a motor driving signal input interface of the motor driving module, the servo motor signal output interface is connected with a servo motor, the speed measuring module signal output interface is connected with a speed measuring module, and the man-machine interaction signal interface is connected with a man-machine interaction module;
the motor driving module comprises a motor driving input signal interface, a motor driving circuit and a motor driving voltage output interface, wherein one end of the motor driving circuit is connected with the motor driving input signal interface, the other end of the motor driving circuit is connected with the motor driving voltage output interface, and the other end of the motor driving voltage output interface is connected with the direct current motor;
the motor module comprises a servo motor and a direct current motor, the servo motor is connected with a servo motor signal output interface of the microprocessor, and the direct current motor is connected with one end of a motor driving voltage output interface of the motor driving module;
the speed measuring module is directly connected with a speed measuring module signal output interface of the microprocessor module;
the human-computer interaction module is directly connected with a human-computer interaction signal interface of the microprocessor module;
the gyroscope module is directly connected with a gyroscope number interface of the microprocessor module;
the power supply module comprises a 7.2V, 2000mAH nickel-cadmium battery and a voltage stabilizing circuit, one end of the voltage stabilizing circuit is connected with the 7.2V, 2000mAH nickel-cadmium battery, and the other end of the voltage stabilizing circuit is respectively connected with the metal sensor module, the microprocessor module, the motor driving module, the speed measuring module and the human-computer interaction module;
the coils adopted by the metal sensor are PCB coils, are circular and are totally 6, and the coils are sequentially arranged from left to right;
after a program is started, a microprocessor module and a metal sensor module are initialized, a clock, an I/O port, PWM, AD, RTI real-time interruption, pulse capture and the like of the microprocessor are configured respectively, and a liquid crystal display screen in a human-computer interaction module is initialized;
after initialization is finished, sampling and maximum value scanning are carried out on input signals of the metal sensor, and a detection threshold value of the metal sensor module is set;
and then, the whole cycle of a sports car program is started, a real-time interruption program is started in the cycle process, a metal sensor is used for detecting in real time in the interruption program, an actual value detected by the metal sensor is mapped to the position of the intelligent car relative to the runway, the rotation angle of a servo motor and the rotation speed of a direct current motor are determined according to the current position and the past position, square wave signals with different duty ratios are obtained by changing the numerical value of a register in a PWM module, the servo motor and the direct current motor are adjusted, and therefore the intelligent car can stably run at different speeds and automatically recognize paths.
Drawings
Fig. 1 is a schematic diagram of the system structure of the present invention;
FIG. 2 is an intelligent vehicle layout of an embodiment;
FIG. 3 is a diagram of a metal aluminum membrane runway of the intelligent vehicle of the embodiment;
fig. 4 is a control flow chart of the present invention.
Detailed Description
The embodiments of the present invention will be described with reference to the following examples.
The metal sensor that this embodiment adopted is LDC1314 and peripheral configuration circuit, mainly surveys to the metal, can realize that the coefficient of sensing is adjustable, self-defined conductor sensing scope, can also closely sense specific metal conductor, adopts SPI interface programming, and it is few to occupy the hardware resource, only needs external inductance coils just can realize non-contact inductance and detects, compares in LDC1000 chip, LDC1314 has the multicoil passageway, reduction chip cost that can be very big.
The utility model discloses a when LDC1314 detects the metal, adopt 6 PCB circular coil, add an alternating current on the PCB coil, will produce alternating electromagnetic field around the coil, at this moment if there is the metal object to get into this electromagnetic field and will produce the vortex on the metal object surface, vortex and coil current opposite direction, the reverse magnetic field that the vortex produced forms a transformer with the coil coupling, because the mutual inductance effect of transformer, detectable secondary coil's parameter on primary coil, thereby make the numerical value of sensor change.
Intelligent car system based on metal induction technique, including automobile body, metal sensor module, microprocessor module, motor drive module, motor module, man-machine interaction module, gyroscope module, power module, its characterized in that:
the front end of the car body is connected with a carbon rod, and a metal sensor is placed at the other end of the carbon rod through super glue;
the metal sensor module comprises a PCB coil and an LDC1314 chip configuration circuit. One end of the LDC1314 chip configuration circuit is connected with the PCB coil, and the other end of the LDC1314 chip configuration circuit is connected with a sensing signal input interface of the microprocessor module;
the microprocessor module comprises an MK60FN1M0VLQ15 minimum system, a sensing signal input interface, a motor driving signal output interface, a servo motor signal output interface, a speed measuring module signal output interface and a man-machine interaction signal interface, wherein the sensing signal input interface is connected with an LDC1000 chip configuration circuit, the motor driving signal output interface is connected with a motor driving signal input interface of the motor driving module, the servo motor signal output interface is connected with a servo motor, the speed measuring module signal output interface is connected with the speed measuring module, and the man-machine interaction signal interface is connected with the man-machine interaction module;
the motor driving module comprises a motor driving input signal interface, a motor driving circuit and a motor driving voltage output interface, wherein one end of the motor driving circuit is connected with the motor driving input signal interface, the other end of the motor driving circuit is connected with the motor driving voltage output interface, and the other end of the motor driving voltage output interface is connected with the direct current motor;
the motor module comprises a servo motor and a direct current motor, the servo motor is connected with a servo motor signal output interface of the microprocessor, and the direct current motor is connected with one end of a motor driving voltage output interface of the motor driving module;
the speed measuring module is directly connected with a speed measuring module signal output interface of the microprocessor module;
the human-computer interaction module is directly connected with a human-computer interaction signal interface of the microprocessor module;
the gyroscope module is directly connected with a gyroscope number interface of the microprocessor module;
the power supply module comprises a 7.2V, 2000mAH nickel-cadmium battery and a voltage stabilizing circuit, one end of the voltage stabilizing circuit is connected with the 7.2V, 2000mAH nickel-cadmium battery, and the other end of the voltage stabilizing circuit is respectively connected with the metal sensor module, the microprocessor module, the motor driving module, the speed measuring module and the human-computer interaction module;
the intelligent vehicle is arranged as shown in fig. 2, and 6 circular coils of the PCB are arranged at the front end of the intelligent vehicle and are sequentially arranged from left to right;
as shown in figure 3, the starting line of the metal track of the intelligent vehicle is positioned on a straight road, the right side of the metal track is connected with one end of a right-angled bend, the other end of the right-angled bend is connected with a short straight road, the other end of the short straight road is connected with a right-angled bend, then the metal track is sequentially connected with a cross road section, a 180-degree large curve and a right-angled bend, then the metal track is connected with a 180-degree large curve and a continuous S curve after the cross road section passes through a section of straight road, and after the intelligent vehicle drives out of the S curve, the metal track sequentially passes through the long straight road and the right-angled bend.
After a program is started, a microprocessor module and a metal sensor module are initialized, a clock, an I/O port, PWM, AD, RTI real-time interruption, pulse capture and the like of the microprocessor are configured respectively, and a liquid crystal display screen in a human-computer interaction module is initialized;
after initialization is finished, sampling input signals of the metal sensor, and setting a detection threshold value of the metal sensor module;
and then, the whole circulation of the program is started, a real-time interruption program is started in the circulation process, the metal sensor is used for detecting in real time in the interruption program, an actual value detected by the metal sensor is mapped to the position of the intelligent vehicle relative to the runway, the rotation angle of the servo motor and the rotating speed of the direct current motor are determined according to the current position and the past position, square wave signals with different duty ratios are obtained by changing the register value in the PWM module, the servo motor and the direct current motor are adjusted, and therefore the intelligent vehicle can stably run at different speeds and automatically recognize paths.
Claims (1)
1. The utility model provides an intelligence car based on metal induction technique, includes automobile body, metal sensor module, microprocessor module, motor drive module, motor module, speed measuring module, human-computer interaction module, gyroscope module, power module, its characterized in that:
the front end of the car body is connected with a carbon rod, and a metal sensor is placed at the other end of the carbon rod through super glue;
the metal sensor module comprises 6 PCB circular coils and an LDC1314 chip configuration circuit; one end of the LDC1314 chip configuration circuit is connected with the PCB coil, and the other end of the LDC1314 chip configuration circuit is connected with a sensing signal input interface of the microprocessor module;
the microprocessor module comprises an MK60FN1M0VLQ15 minimum system, a sensing signal input interface, a motor driving signal output interface, a servo motor signal output interface, a speed measuring module signal output interface, a man-machine interaction signal interface and a gyroscope signal interface, wherein the sensing signal input interface is connected with an LDC1314 chip configuration circuit;
the motor driving module comprises a motor driving input signal interface, a motor driving circuit and a motor driving voltage output interface, wherein one end of the motor driving circuit is connected with the motor driving input signal interface, the other end of the motor driving circuit is connected with the motor driving voltage output interface, and the other end of the motor driving voltage output interface is connected with the direct current motor;
the motor module comprises a servo motor and a direct current motor, the servo motor is connected with a servo motor signal output interface of the microprocessor, and the direct current motor is connected with one end of a motor driving voltage output interface of the motor driving module;
the speed measuring module is directly connected with a speed measuring module signal output interface of the microprocessor module;
the human-computer interaction module is directly connected with a human-computer interaction signal interface of the microprocessor module;
the gyroscope module is directly connected with a gyroscope number interface of the microprocessor module;
the power supply module comprises a 7.2V, 2000mAH nickel-cadmium battery and a voltage stabilizing circuit, the voltage stabilizing circuit comprises a TPS76850 chip, an LM1117-3.3 chip and an LT1764 chip, one end of the voltage stabilizing circuit is connected with the 7.2V, 2000mAH nickel-cadmium battery, and the other end of the voltage stabilizing circuit is respectively connected with the metal sensor module, the microprocessor module, the motor driving module, the speed measuring module, the human-computer interaction module and the gyroscope module;
the coils adopted by the metal sensor are PCB coils, are circular in shape, and are totally 6, and the coils are sequentially arranged from left to right.
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| CN202021088890.3U CN212290093U (en) | 2020-06-15 | 2020-06-15 | Intelligent vehicle based on metal induction technology |
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| CN202021088890.3U CN212290093U (en) | 2020-06-15 | 2020-06-15 | Intelligent vehicle based on metal induction technology |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498519A (en) * | 2020-06-15 | 2021-03-16 | 国网湖北省电力有限公司黄冈供电公司 | Intelligent vehicle system based on metal induction technology and control method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112498519A (en) * | 2020-06-15 | 2021-03-16 | 国网湖北省电力有限公司黄冈供电公司 | Intelligent vehicle system based on metal induction technology and control method thereof |
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