CN215729432U - Automatic keep away barrier intelligent vehicle control circuit and intelligent vehicle - Google Patents
Automatic keep away barrier intelligent vehicle control circuit and intelligent vehicle Download PDFInfo
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- CN215729432U CN215729432U CN202120610454.6U CN202120610454U CN215729432U CN 215729432 U CN215729432 U CN 215729432U CN 202120610454 U CN202120610454 U CN 202120610454U CN 215729432 U CN215729432 U CN 215729432U
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Abstract
The utility model discloses an automatic obstacle avoidance intelligent trolley control circuit and an intelligent trolley, wherein the automatic obstacle avoidance intelligent trolley control circuit comprises: the tracking device comprises a control module, a power supply module, a motor driving module, a tracking module and an ultrasonic module; the power module, the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the control module, and the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the power module; the control module is used for controlling the enabling end of the motor driving module to realize the rotation speed control of the motor; the tracking module is used for detecting a tracking line to realize a tracking function; the ultrasonic module is used for detecting obstacles to realize an obstacle avoidance function. The intelligent vehicle obstacle avoidance system can realize an automatic obstacle avoidance function and a tracking function, and realizes reliable control on the driving route of the intelligent vehicle.
Description
Technical Field
The utility model relates to the technical field of intelligent trolley control, in particular to an intelligent trolley with an automatic obstacle avoidance intelligent trolley control circuit.
Background
With the rapid development of the automobile industry, research on automobiles is receiving more and more attention. The electronic tournament in China and the electronic tournament in province almost have the subject of the intelligent vehicle every time, and the research on the subject is also emphasized by colleges and universities in China. Therefore, the research significance is very large.
However, accurate control of the driving path of the intelligent vehicle has been a technical difficulty in research. In the prior art, an automatic obstacle avoidance intelligent vehicle control circuit capable of realizing reliable control of running of an intelligent vehicle is lacked. Therefore, the utility model provides an automatic obstacle avoidance intelligent vehicle control circuit, which is a problem to be solved urgently by technical personnel in the field.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem of providing an automatic obstacle avoidance intelligent vehicle control circuit and an intelligent vehicle aiming at the defects in the prior art.
The utility model discloses a control circuit of an automatic obstacle avoidance intelligent trolley, which comprises a control module, a power module, a motor driving module, a tracking module and an ultrasonic module, wherein the control module is used for controlling the motor driving module to drive the motor to drive the; the power module, the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the control module, and the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the power module; the control module is used for controlling the enabling end of the motor driving module to realize the rotation speed control of the motor; the tracking module is used for detecting a tracking line to realize a tracking function; the ultrasonic module is used for detecting obstacles to realize an obstacle avoidance function.
Preferably, the control module comprises a control unit, a reset unit, a clock unit, a USB-to-serial port communication unit, a power switch, an indication unit and an ultrasonic interface unit; the reset unit, the clock unit, the USB-to-serial port communication unit, the power switch, the indicating unit and the ultrasonic interface unit are respectively electrically connected with the control unit.
Preferably, the control module further comprises a liquid crystal display unit and an audible and visual alarm unit; the liquid crystal display unit and the sound and light alarm unit are respectively and electrically connected with the control unit.
Preferably, the tracking module comprises an eight-way tracking unit; the first path of tracking unit comprises an infrared sensor, a comparator and a first resistor; the first end of the infrared sensor is electrically connected with the first end of the first resistor, the second end of the first resistor is electrically connected with the power module, the second end of the infrared sensor, the in-phase input end of the comparator and the output end of the comparator respectively, the third end of the infrared sensor is grounded, and the fourth end of the infrared sensor and the inverting input end of the comparator are grounded.
Preferably, the first tracking unit includes: a slide rheostat, a second resistor and a third resistor; the first end of the second resistor is electrically connected with the second end of the infrared sensor, the second end of the second resistor is electrically connected with the second end of the first resistor, the power supply module and the first end of the slide rheostat, the second end of the slide rheostat is electrically connected with the inverting input end of the comparator, the third end of the slide rheostat is grounded, the first end of the third resistor is electrically connected with the first end of the slide rheostat, and the second end of the third resistor is electrically connected with the output end of the comparator.
Preferably, the motor driving module comprises a stepping motor driver, a first path of motor output unit and a second path of motor output unit; the stepping motor driver is electrically connected with the control module, and the first path of motor output unit and the second path of motor output unit are respectively electrically connected with the stepping motor driver.
Preferably, the ultrasonic module comprises an ultrasonic ranging sensor; the model of the ultrasonic ranging sensor is HC-SR 04.
Preferably, the liquid crystal display unit is of the type LCD 1602.
In a second aspect, the utility model also discloses an intelligent trolley, which comprises the control circuit of the intelligent trolley capable of automatically avoiding the obstacle.
The control circuit of the automatic obstacle avoidance intelligent trolley has the following beneficial effects that: the tracking device comprises a control module, a power supply module, a motor driving module, a tracking module and an ultrasonic module; the power module, the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the control module, and the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the power module; the control module is used for controlling the enabling end of the motor driving module to realize the rotation speed control of the motor; the tracking module is used for detecting a tracking line to realize a tracking function; the ultrasonic module is used for detecting obstacles to realize an obstacle avoidance function. The intelligent vehicle obstacle avoidance system can realize an automatic obstacle avoidance function and a tracking function, and realizes reliable control on the driving route of the intelligent vehicle.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the present invention will be further described with reference to the accompanying drawings and embodiments, wherein the drawings in the following description are only part of the embodiments of the present invention, and for those skilled in the art, other drawings can be obtained without inventive efforts according to the accompanying drawings:
fig. 1 is a schematic block diagram of a control circuit of an automatic obstacle avoidance intelligent vehicle according to a preferred embodiment of the present invention;
fig. 2 is a circuit diagram of a control module of a control circuit of an automatic obstacle avoidance intelligent vehicle according to a preferred embodiment of the utility model;
fig. 3 is a circuit diagram of a USB to serial communication unit of an automatic obstacle avoidance intelligent vehicle control circuit according to a preferred embodiment of the present invention;
fig. 4 is a circuit diagram of a liquid crystal display unit of a control circuit of an automatic obstacle avoidance intelligent vehicle according to a preferred embodiment of the utility model;
FIG. 5 is a circuit diagram of an audible and visual alarm unit of a control circuit of an intelligent automatic obstacle avoidance vehicle according to a preferred embodiment of the present invention;
FIG. 6 is a circuit diagram of a first tracking unit of a control circuit of an automatic obstacle avoidance intelligent vehicle according to a preferred embodiment of the present invention;
fig. 7 is a circuit diagram of a motor driving module of a control circuit of an automatic obstacle avoidance intelligent vehicle according to a preferred embodiment of the utility model;
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments of the present invention without inventive step, are within the scope of the present invention.
Example one
FIG. 1 shows a control module 1, a power module 2, a motor driving module 3, a tracking module 4, and an ultrasonic module 5; the power module 2, the motor driving module 3, the tracking module 4 and the ultrasonic module 5 are respectively electrically connected with the control module 1, and the motor driving module 3, the tracking module 4 and the ultrasonic module 5 are respectively electrically connected with the power module 2; the control module 1 is used for controlling an enabling end of the motor driving module 3 to realize the rotation speed control of the motor; the tracking module 4 is used for detecting a tracking line to realize a tracking function; the ultrasonic module 5 is used for detecting obstacles to realize an obstacle avoidance function. The control module 1 is used for controlling an enabling end of the motor driving module 3 to realize the rotation speed control of the motor; the tracking module 4 is used for detecting a tracking line to realize a tracking function; the ultrasonic module 5 is used for detecting obstacles to realize an obstacle avoidance function. The intelligent vehicle obstacle avoidance system can realize an automatic obstacle avoidance function and a tracking function, and realizes reliable control on the driving route of the intelligent vehicle.
Preferably, the control module 1 includes a control unit 11, a reset unit 12, a clock unit 13, a USB to serial port communication unit 14, a power switch 15, an indication unit 16 and an ultrasonic interface unit 17; the reset unit 12, the clock unit 13, the USB to serial port communication unit 14, the power switch 15, the indication unit 16, and the ultrasonic interface unit 17 are electrically connected to the control unit 11, respectively. It can be understood that, in this embodiment, the USB to serial port communication unit 14 is configured to implement communication between the control unit 11 and an upper computer, and implement program downloading and debugging functions; the power switch is used for realizing the on-off control of the control module 1; the indicating unit is used for indicating the working state of the control module; the ultrasonic interface unit 17 is used for realizing data transmission between the control module and the ultrasonic module 5.
Preferably, in this embodiment, the control Unit 11 is an MCU (Micro control Unit, chinese is a Micro control Unit, which is also called a single Chip Microcomputer (Si ng l e Chip Microcomputer)) or a single Chip Microcomputer, and means that a CPU, a RAM, a ROM, a timing counter and various I/O interfaces of a computer are integrated on one Chip to form a Chip-level computer.
Preferably, the control module 1 further comprises a liquid crystal display unit 18 and an audible and visual alarm unit 19; the liquid crystal display unit 18 and the sound and light alarm unit 19 are respectively electrically connected with the control unit 11.
Preferably, referring to fig. 4, the liquid crystal display unit 18 is an LCD1602 liquid crystal, and is configured to display working states of the smart car, including a running speed, a running state, an obstacle avoidance state, and the like.
Preferably, referring to fig. 5, in the sound and light alarm unit 19, various operating states of the smart car, such as forward and backward, are displayed through the light emitting diodes D3 and D4, and the state indication can be set automatically as required; the buzzer LS1 sounds, and the warning device can be used for starting, stopping or warning.
Preferably, the tracking module 4 comprises an eight-way tracking unit; the first tracking unit comprises an infrared sensor U1, a comparator U3A and a first resistor R3; the first end of infrared sensor U1 with the first end electricity of first resistance R3 is connected, the second end of first resistance R3 respectively with power module 2, the second end of infrared sensor U1, the noninverting input of comparator U3A and the output electricity of comparator U3A is connected, the third terminal ground of infrared sensor U1, the fourth end of infrared sensor U1 and the inverting input of comparator U3A ground. It is understood that, in the present embodiment, the tracking module includes eight tracking units with the same structure; the infrared sensor U1 is a TCRT5000 infrared photoelectric sensor; this embodiment detects tracking line (black line) through 8 infrared geminate transistors of reflection-type, and 8 IO mouths that singlechip P0 mouth were received to 8 way detected signal, and the singlechip is received and is handled eight way infrared sensor's output signal, judges whether intelligent vehicle traveles along black tracking line to the direction of travel of real-time adjustment intelligent vehicle realizes four-wheel drive intelligent vehicle tracking function.
Preferably, referring to fig. 6, the first tracking unit includes: the sliding rheostat Rp1, the second resistor R4 and the third resistor R5; a first end of the second resistor R4 is electrically connected to a second end of the infrared sensor U1, a second end of the second resistor R4 is electrically connected to a second end of the first resistor R3, the power module 2 and a first end of the sliding resistor Rp1, a second end of the sliding resistor Rp1 is electrically connected to an inverting input terminal of the comparator U3A, a third end of the sliding resistor Rp1 is grounded, a first end of the third resistor R5 is electrically connected to a first end of the sliding resistor Rp1, and a second end of the third resistor R5 is electrically connected to an output terminal of the comparator U3A. It can be understood that, in this embodiment, after the power is applied, the infrared sensor U1 is turned on after being current-limited by the first resistor R3, and continuously emits infrared light. When the tracking sensor detects a black line, the phototransistor inside the infrared sensor U1 is turned off because it cannot receive light due to black absorption, and the infrared sensor U1 outputs a high level; at this time, the voltage at the "+" terminal of the comparator U3A is greater than the voltage at the "one" terminal, and the comparator U3A outputs a high level. When infrared light is irradiated to a non-black line, the phototransistor is turned on by receiving the reflected light, and the infrared sensor U1 outputs a low level. At this time, the voltage at the "+" terminal of the comparator LM339 is smaller than the voltage at the "one" terminal, and the infrared sensor U1 outputs a low level. In the present embodiment, the comparator U3A has a model LM 339; the sensitivity of the infrared sensor U1 can be adjusted by the sliding rheostat Rp 1.
Preferably, referring to fig. 7, the motor driving module 3 includes a stepping motor driver 31, a first motor output unit 32, and a second motor output unit 33; the stepping motor driver 31 is electrically connected with the control module 1, and the first path of motor output unit 32 and the second path of motor output unit 33 are respectively electrically connected with the stepping motor driver 31. In this embodiment, the control module outputs two paths of PWM signals, controls the enable end of the motor driver 31, and implements the rotation speed control of two paths of stepping motors connected to the first path of motor output unit 32 and the second path of motor output unit 33; the control module 1 outputs four switching signals through pins I N1, I N2, I N3 and I N4 of the stepping motor driver 31, so that forward and reverse rotation control of two stepping motors is realized.
Preferably, the ultrasonic module 5 comprises an ultrasonic ranging sensor; the model of the ultrasonic ranging sensor is HC-SR 04. It can be understood that, in this embodiment, the ultrasonic module 5 measures distance through the ultrasonic ranging sensor, detects whether there is an obstacle in front of the intelligent vehicle and calculates the obstacle distance through the control module 1, and the control module 1 controls the rotation speed and the steering direction of the motor to realize the obstacle avoidance function.
Preferably, the liquid crystal display unit 18 is of the type LCD 1602. In another preferred embodiment, the type of the liquid crystal display unit 18 is not particularly limited.
Example two
The utility model also discloses an intelligent trolley which comprises the control circuit of the automatic obstacle avoidance intelligent trolley.
In summary, the control circuit of the automatic obstacle avoidance intelligent vehicle provided by the utility model comprises a control module 1, a power module 2, a motor driving module 3, a tracking module 4 and an ultrasonic module 5; the power module 2, the motor driving module 3, the tracking module 4 and the ultrasonic module 5 are respectively electrically connected with the control module 1, and the motor driving module 3, the tracking module 4 and the ultrasonic module 5 are respectively electrically connected with the power module 2; the control module 1 is used for controlling an enabling end of the motor driving module 3 to realize the rotation speed control of the motor; the tracking module 4 is used for detecting a tracking line to realize a tracking function; the ultrasonic module 5 is used for detecting obstacles to realize an obstacle avoidance function. The intelligent vehicle obstacle avoidance system can realize an automatic obstacle avoidance function and a tracking function, and realizes reliable control on the driving route of the intelligent vehicle.
The control circuit of the automatic obstacle avoidance intelligent vehicle and the intelligent vehicle are introduced in detail, specific examples are applied in the description to explain the principle and the implementation mode of the automatic obstacle avoidance intelligent vehicle, and the description of the embodiments is only used for helping to understand the method and the core idea of the automatic obstacle avoidance intelligent vehicle; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be a change in the specific implementation and application scope, and in summary, the content of the present specification is only an implementation of the present invention, and not a limitation to the scope of the present invention, and all equivalent structures or equivalent flow transformations made by the content of the present specification and the attached drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention. And should not be construed as limiting the utility model.
Claims (9)
1. The utility model provides an automatic keep away barrier intelligent vehicle control circuit which characterized in that includes: the tracking device comprises a control module, a power supply module, a motor driving module, a tracking module and an ultrasonic module; the power module, the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the control module, and the motor driving module, the tracking module and the ultrasonic module are respectively electrically connected with the power module; the control module is used for controlling the enabling end of the motor driving module to realize the rotation speed control of the motor; the tracking module is used for detecting a tracking line to realize a tracking function; the ultrasonic module is used for detecting obstacles to realize an obstacle avoidance function.
2. The automatic obstacle avoidance intelligent trolley control circuit according to claim 1, wherein the control module comprises a control unit, a reset unit, a clock unit, a USB-to-serial communication unit, a power switch, an indication unit and an ultrasonic interface unit; the reset unit, the clock unit, the USB-to-serial port communication unit, the power switch, the indicating unit and the ultrasonic interface unit are respectively electrically connected with the control unit.
3. The automatic obstacle avoidance intelligent trolley control circuit according to claim 2, wherein the control module further comprises a liquid crystal display unit and an audible and visual alarm unit; the liquid crystal display unit and the sound and light alarm unit are respectively and electrically connected with the control unit.
4. The automatic obstacle avoidance intelligent vehicle control circuit of claim 1, wherein the tracking module comprises an eight-way tracking unit; the first path of tracking unit comprises an infrared sensor, a comparator and a first resistor; the first end of the infrared sensor is electrically connected with the first end of the first resistor, the second end of the first resistor is electrically connected with the power module, the second end of the infrared sensor, the in-phase input end of the comparator and the output end of the comparator respectively, the third end of the infrared sensor is grounded, and the fourth end of the infrared sensor and the inverting input end of the comparator are grounded.
5. The automatic obstacle avoidance intelligent vehicle control circuit of claim 4, wherein the first tracking unit comprises: a slide rheostat, a second resistor and a third resistor; the first end of the second resistor is electrically connected with the second end of the infrared sensor, the second end of the second resistor is electrically connected with the second end of the first resistor, the power supply module and the first end of the slide rheostat, the second end of the slide rheostat is electrically connected with the inverting input end of the comparator, the third end of the slide rheostat is grounded, the first end of the third resistor is electrically connected with the first end of the slide rheostat, and the second end of the third resistor is electrically connected with the output end of the comparator.
6. The automatic obstacle avoidance intelligent vehicle control circuit according to claim 1, wherein the motor driving module comprises a stepping motor driver, a first motor output unit and a second motor output unit; the stepping motor driver is electrically connected with the control module, and the first path of motor output unit and the second path of motor output unit are respectively electrically connected with the stepping motor driver.
7. The automatic obstacle avoidance intelligent vehicle control circuit according to claim 1, wherein the ultrasonic module comprises an ultrasonic ranging sensor; the model of the ultrasonic ranging sensor is HC-SR 04.
8. The automatic obstacle avoidance intelligent vehicle control circuit according to claim 3, wherein the type of the liquid crystal display unit is LCD 1602.
9. An intelligent vehicle, characterized by comprising the automatic obstacle avoidance intelligent vehicle as claimed in any one of claims 1 to 8.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120610454.6U CN215729432U (en) | 2021-03-25 | 2021-03-25 | Automatic keep away barrier intelligent vehicle control circuit and intelligent vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120610454.6U CN215729432U (en) | 2021-03-25 | 2021-03-25 | Automatic keep away barrier intelligent vehicle control circuit and intelligent vehicle |
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| Publication Number | Publication Date |
|---|---|
| CN215729432U true CN215729432U (en) | 2022-02-01 |
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| CN202120610454.6U Active CN215729432U (en) | 2021-03-25 | 2021-03-25 | Automatic keep away barrier intelligent vehicle control circuit and intelligent vehicle |
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- 2021-03-25 CN CN202120610454.6U patent/CN215729432U/en active Active
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