CN103646004B - Modularization miniature intelligent vehicle hardware system and the method for constructing miniature intelligent vehicle - Google Patents
Modularization miniature intelligent vehicle hardware system and the method for constructing miniature intelligent vehicle Download PDFInfo
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- 238000006243 chemical reaction Methods 0.000 description 16
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Abstract
A kind of method that miniature intelligent vehicle is constructed the invention discloses modularization miniature intelligent vehicle hardware system and using the system, the modularization miniature intelligent vehicle hardware system includes sensor, calculating control, communication, actuator module collection, apparatus mounting plate and the support member for possessing unified input/output interface.It the described method comprises the following steps：Module is selected to concentrate suitable module and be fixed on car body according to mission requirements；Each module is connected by connection cables；Functional development is carried out using module operation program library and algorithm is realized.The present invention makes the assembling of miniature intelligent vehicle become simple by module design；By making module possess uniform interface, the scalability of platform is realized；User can match module according to mission requirements, and platform configuration possesses flexibility；Hardware bottom layer details is shielded by providing module operation program library, platform is possessed ease for use.The present invention can realize the flexible configuration of miniature intelligent vehicle hardware platform, easily install, convenient use and individual character extend.
Description
Technical field
The present invention relates to technical field of photo-electro-mechanical integration, particularly a kind of modularization, configuration flexibly, be easy to function to open
The method sent out, be easy to the modularization miniature intelligent vehicle hardware system of extension and miniature intelligent vehicle is constructed using it.
Background technology
Pilotless automobile, also referred to as intelligent automobile, are the developing direction of future automobile, are also the important of intelligent transportation system
One of research contents.Pilotless automobile be substantially it is a kind of can realize the wheeled mobile robot of autonomous driving, be one
Integrate height intellectuality, the information system of the functions such as environment sensing, programmed decision-making, motion control.Pilotless automobile
Research purpose be computer generation is completed vehicle driving tasks for people, make up the deficiency of pilot steering, realize the peace of vehicle
Entirely, reliably, efficiently drive.Effective burden for mitigating driver is reduced showing for driver tired driving by pilotless automobile
As being conducive to improving traffic safety；Meanwhile, coordinate urban traffic control system, traffic system can be realized with reasonable distribution traffic flow
The smooth operation of system.At present, Europe and research (such as Google pilotless automobile) of the U.S. in terms of pilotless automobile take
Obtained incremental advances.Domestic many research institutions and colleges and universities have had begun to the correlative study of pilotless automobile, and have taken
Certain achievement was obtained, but still has certain gap with the unmanned technology in Europe and the U.S., and enters pilotless automobile
Entering industrialization, practical stage also has very long stretch to walk.Also, current automatic driving vehicle research lays particular emphasis on bicycle
Research, for situation also rare research of the traveling in same environment jointly of following many automatic driving vehicles.
Miniature intelligent vehicle is the down-scaled version of pilotless automobile, miniature only physical size and financial cost, but
Driving behavior and the traffic characteristics of vehicle can be kept, autonomous driving is realized, correlative study achievement can be intelligent driving technology
Research provides reference and used for reference.And it is possible to simulate local urban traffic flow situation by miniature intelligent vehicle, and then study many
Intelligent vehicle interbehavior cognitive model and regulate and control method accordingly, make it possible intelligent driving and Duo Che interactions, and to be large-scale
The many car interactions of automatic driving vehicle and municipal intelligent traffic provide main theoretical basis of the reform of Chinese economic structure or technical support.Miniature intelligent vehicle is due to collection
In used automatically control, the technology such as computer vision, artificial intelligence, sensor, electric circuit electronics technical, have become scientific research and religion
The carrier and experiment porch of interdisciplinary research in field.
Existing miniature intelligent vehicle platform mostly use independent development pattern, each research institution's stand-alone development oneself it is hard
Part platform, the interface of the functional module group used is different, ununified interface standard, causes the module of same type not
Can not be general on same miniature intelligent vehicle platform.The substantial amounts of repeated labor of hardware development aspect so can be not only produced, is made out
Hair personnel do not need singly to carry out algorithm Design and Features exploitation, to take into account hardware development yet.Due to ununified Development Framework,
The poor expandability of existing miniature intelligent vehicle hardware platform, and the mould according to specific tasks flexible configuration platform can not be accomplished
Group.This miniature intelligent vehicle development scheme is poorly efficient, and software and hardware system poor compatibility, poor expandability, configuration flexibility is poor, inconvenience
Personalized exploitation is carried out in third party, is unfavorable for popularizing for miniature intelligent vehicle, being an impediment to numerous fans (does not have particularly
The fan of hardware foundation) addition.
The content of the invention
(1) technical problem to be solved
The present invention to be solved the software and hardware system poor compatibility that technical problem is current miniature intelligent vehicle, scalability
Difference, the problem of being unfavorable for developing.
(2) technical scheme
In order to solve the above technical problems, the present invention proposes a kind of modularization miniature intelligent vehicle hardware system, it is installed on miniature
The car body of intelligent vehicle, it is characterised in that including sensor module collection, calculate control module collection, communications module collection, actuator module
Collection, wherein：It is described to calculate the collection that control module collection is the calculating control module for completing data processing and performing control algolithm
Close；Each calculate in control module is integrated with bus control unit and bus hub, and by the bus control unit and bus hub
Expand multiple input/output interfaces；Except the module that the other modules calculated in addition to controlling module collection are concentrated may be connected to institute
State on input/output interface, so as to be communicated with the control module that calculates；The sensor module collection is to be used to perceive contracting
The set of the sensor module of micro- intelligent vehicle local environment information and vehicle body running status；The communications module collection is to be used to complete
The set of the communications module communicated between miniature intelligent vehicle and host computer or between different miniature intelligent vehicles；The actuator mould
Group collection is the set of actuator module in miniature intelligent vehicle；Wherein, each module that each module is concentrated is respectively provided with and can connected
To the input/output interface for calculating the calculating control module that control module is concentrated.
According to a kind of embodiment of the present invention, described sensor module collection, communications module collection and actuator mould
The module that group is concentrated includes function element, microcontroller and Bus Interface Chip, and the function element is used for the work(for performing module
Can, the microcontroller reads the order for calculating control module transmission by Bus Interface Chip from bus, according to this
Order is controlled to function element, and by Bus Interface Chip the data obtained from function element is sent into bus
On.
According to a kind of embodiment of the present invention, described sensor module collection, control module collection, communication mould are calculated
The module that group collection and actuator module are concentrated can arbitrarily arrange in pairs or groups to build miniature intelligent vehicle platform.
According to a kind of embodiment of the present invention, in addition to extension module collection, the extension module collection is miniature intelligence
The set of the functional module group of other in car, each of which functional module group, which also has, is connectable to the meter for calculating control module concentration
Calculate the input/output interface of control module.
According to a kind of embodiment of the present invention, in addition to apparatus mounting plate, the apparatus mounting plate has general
Mounting interface, any module that each module is concentrated can be installed by the mounting interface.
According to the present invention a kind of embodiment, described apparatus mounting plate have it is multiple, each apparatus mounting plate it
Between can pass through the general mounting interface and be connected with each other.
Connect according to a kind of embodiment of the present invention, in addition to the general mounting interface of the apparatus mounting plate
Connect, and be fixed on the support member of the car body of the miniature intelligent vehicle.
According to a kind of embodiment of the present invention, there is the screw of equidistantly distributed on the apparatus mounting plate；Institute
Stating each module of each module collection has shell, and outer casing bottom has aperture and spacing identical with the screw on the apparatus mounting plate
Screw, to be installed and fixed on the apparatus mounting plate.
The present invention also proposes a kind of side of the construction miniature intelligent vehicle of utilization aforementioned modules miniature intelligent vehicle hardware system
Method, the building method comprises the following steps：Step 1, according to mission requirements from the modularization miniature intelligent vehicle hardware system
Each module concentrate the suitable sensor module of selection, calculate control module, actuator module and communications module, and be fixed
On the car body of the miniature intelligent vehicle；Step 2, by the way that connection cables are by selected sensor module, communications module and hold
The input/output interface of row device module is connected to the corresponding input/output interface for calculating control module；Step 3, write-in operation
In the program calculated on control module.
According to a kind of embodiment of the present invention, the modularization miniature intelligent vehicle hardware system, which also includes equipment, pacifies
Plate and support member are filled, the apparatus mounting plate has general mounting interface, each mould can be installed by the mounting interface
Any module that group is concentrated, and connect the support member；In the step 1, by each sensor module, control mould is calculated
Group, actuator module and communications module are fixed on the apparatus mounting plate, and are fixed on the installing plate by support member
On the car body of the miniature intelligent vehicle.
According to a kind of embodiment of the present invention, write using a module operation program library and run on calculating control
Program on module, the module operation program library is the program that hardware bottom layer operation is carried out to the module that each module is concentrated
Module operation routine interface in interface, the module operation program library is defeated according to corresponding module operation method and unified input
Outgoing interface protocol development.
(3) beneficial effect
The present invention is by the modularized design of equipment, and making the assembling of miniature intelligent vehicle becomes simple；
The present invention, with accordant interface, allows users to basis by carrying out interface conversion to each functional module group
Interface standard makes the module of oneself, platform is possessed scalability and module versatility；
The present invention allows users to match mould according to mission requirements by building the functional module group collection with uniform interface
Group, makes platform configuration possess flexibility；
The present invention by the encapsulation to module and provide operation module program library, user is absorbed in functional development, nothing
Hardware details need to be concerned about, the difficulty of reduction miniature intelligent vehicle exploitation makes the personage without hardware foundation also to build miniature intelligence
Car, makes platform possess ease for use.
Brief description of the drawings
Fig. 1 is modularization miniature intelligent vehicle hardware system structure figure of the invention；
Fig. 2 is module interface conversion schematic diagram of the invention；
Fig. 3 is the connection diagram of the modularization miniature intelligent vehicle hardware system of the present invention；
Fig. 4 is the structure chart of the apparatus mounting plate of the present invention；
Fig. 5 is the modularization miniature intelligent vehicle top view of one embodiment of the invention；
Fig. 6 is the modularization miniature intelligent vehicle side view of one embodiment of the invention.
Embodiment
For the object, technical solutions and advantages of the present invention are more clearly understood, below in conjunction with specific embodiment, and reference
Accompanying drawing, the present invention is described in more detail.
According to an aspect of the invention, it is proposed that a kind of modularization miniature intelligent vehicle hardware system, hardware system structure such as Fig. 1
It is shown, it is characterised in that including possessing unified I/O interfaces, (input and output connect the modularization miniature intelligent vehicle hardware system main body
Mouthful) sensor module collection, calculate control module collection, communications module collection, actuator module collection, miniature intelligent vehicle is constituted certainly
When, also need to include connection cables, car body, apparatus mounting plate and support member etc..
Wherein, the sensor module collection is the collection for perceiving the sensor module of environmental information and vehicle body running status
Close, including camera, ultrasonic sensor, photoelectric sensor, encoder, acceleration after I/O interface conversions and encapsulation
The modules such as sensor, gyroscope., need to be different by I/O interfaces for the flexibility of the scalability and platform configuration of realizing platform
Raw sensor module carry out interface conversion and encapsulation, be allowed to possess consistent I/O interfaces, form packaged sensor die
Group, module interface conversion schematic diagram is as shown in Figure 2.Wherein, module interface conversion mainly passes through a microcontroller, such as singly
Piece machine, to operate original sensor module, microcontroller transceiving data from bus by Bus Interface Chip.So, it is micro-
Controller can be read from bus calculates the order that control module is sent, and raw sensor module is controlled, can also
The data obtained from raw sensor module are sent to calculating control module by bus.Following other modules, which are concentrated, to be needed
Module that will be Jing Guo interface conversion carries out interface conversion using this interface conversion mode.Module tool after interface conversion
Standby identical physical interface, can be connected by the cable with plug receptacle with other modules.User can select according to mission requirements
Select with sensors configured module, in general, in miniature intelligent vehicle need to be equipped with multiple sensor modules.
It is described to calculate the collection that control module collection is the calculating control module for completing data processing and performing control algolithm
Close.The module is concentrated comprising the calculating platform with different cores such as X86/X64, ARM, DSP, single-chip microcomputers, and computing capability differs.
It is described to have calculated built in each module that control module is concentrated bus hub, enough I/O interfaces can be expanded, with
It is attached and communicates with other module of apolegamy.Control module bus such as by CAN, RS485 is calculated, is assisted using interface
View is communicated with other modules in miniature intelligent vehicle hardware system.User can select meter according to the calculating demand of task
Calculate control module.Generally, for data volume than larger calculating task, than if desired for times for carrying out frequently image procossing
Business calculates that demand is slightly a little less can to use ARM platforms or DSP platform, it is necessary to using X86/X64 platforms, more simply
Task can use monolithic machine platform.Used it is of course also possible to select different calculating platforms to arrange in pairs or groups, such as it is, flat from X86
Platform completes the calculating task of big data quantity as host computer, and monolithic machine platform completes the control of direction and speed as slave computer
System.
The communications module collection is the set of the module for completing to communicate between vehicle and host computer or vehicle, the mould
Group is concentrated comprising communications modules such as WiFi, Zigbee and bluetooth after encapsulation and interface conversion.Wherein each module possesses one
The I/O interfaces of cause, for being attached with calculating control module module.Different communications modules has different characteristics, Yong Huke
To be matched according to mission requirements.In general, a communications module is only needed in a miniature intelligent vehicle.
The actuator module collection is the set of actuator module on vehicle, main to include after encapsulation and interface conversion
The actuator module such as car light, steering wheel and motor.Actuator module also possesses consistent I/O interfaces to be articulated in bus.Its
In, steering wheel and motor are that miniature intelligent vehicle traveling is necessary, need not typically be changed, so directly will by fastener
It is fixed on car body.
If the module is concentrated without required module, user can be according to interface conversion mode, interface protocol and envelope
The module needed for Informal development is filled, extension module collection is formed.That is, the system of the present invention can also include extension module
Collection, extension module collection is the set of other functional module groups expanded in miniature intelligent vehicle, and each of which functional module group also has can
It is connected to the input/output interface for calculating the calculating control module that control module is concentrated.
The connection cables are used to connect the module for needing to be attached, and its two ends carries plug receptacle.
The car body is the vehicle body of miniature car, and the screw for installing support member is drilled with thereon.
The apparatus mounting plate is used for fixed module, and its structure as shown in figure 4, be covered with the screw of proper alignment, spiral shell thereon
The aperture in hole and spacing are normalization, module can be freely installed on a mounting board, apparatus mounting plate is fixed by support member
On car body.If selected module is more, monolayer device installing plate insufficient space can set up one layer of equipment peace again above
Plate is filled, enough installing spaces are produced by the way of multi-layer device installing plate.
The support member is used for the fixed and support equipment installing plate on car body.
The sensor module collection, calculating control module collection, communications module collection and actuator module collection constitute miniature intelligence
Energy car hardware system main body, a modularization miniature intelligent vehicle hardware system connection signal matched is as shown in Figure 3.Sensor
Module, communications module and actuator module are communicated by bus with calculating control module.Modularization miniature intelligent vehicle hardware system
The running of system is：When electricity on hardware, calculate which control module has with enumerating by hardware detection in judgement system
Module, and obtain the physical address of each module；When system enters running status, control module is calculated by bus to sensing
Device module sends acquisition data command respectively, receives after order, and corresponding sensor module obtains data by measuring and will
Data issue calculating control module by bus, calculate control module and are analyzed by the calculating to perception data come to transport condition
Make decisions, control command is then issued into corresponding actuator module by bus, actuator module produces phase according to order
The action answered；During system operation, the mould that communicates can be passed through by the service data of miniature intelligent vehicle by calculating control module
Group sends exploitation main frame to or is transmitted to the vehicle of other synchronous operations.
According to another aspect of the invention, it is proposed that a kind of constructive method of modularization miniature intelligent vehicle hardware system, described
Miniature intelligent vehicle hardware system main body includes sensor module collection, calculates control module collection, communications module collection, actuator module
Collection, when constituting miniature intelligent vehicle certainly, also needs to include connection cables, car body, apparatus mounting plate and support member etc., its feature exists
In the constructive method comprises the following steps：
Step 1, concentrated according to mission requirements from module and select suitable sensor module, calculate control module and communication mould
Group, and be fixed on car body；Module can be for example fixed on apparatus mounting plate by the step by screw, and pass through support
Apparatus mounting plate is fixed on car body by part.
Step 2, by connection cables, by sensor module, the I/O interfaces of communications module and actuator module are controlled with calculating
The corresponding I/O interfaces of molding group are connected.
Step 3, the functional development and algorithm for carrying out miniature intelligent vehicle are realized, are write using the module operation program library of offer
Run on the program calculated on control module and write in calculating control module.
Described sensor module collection is included by encapsulating and the camera after interface conversion, ultrasonic sensor, photoelectricity
The sensor modules such as sensor, encoder, acceleration transducer, gyroscope；Described calculating control module collection includes including tool
There are in the calculating platform of the different cores such as X86/X64, ARM, DSP, single-chip microcomputer, module bus control unit and bus line concentration built-in
Device, can expand enough I/O interfaces；Described communications module collection include through encapsulation and interface conversion after WiFi,
The communications module such as Zigbee and bluetooth；The actuator module collection include through encapsulation and interface conversion after car light, steering wheel and
Motor module, wherein, steering wheel and motor are that miniature intelligent vehicle traveling is necessary, need not typically be changed, can directly led to
Fastener is crossed to be fixed on car body.
Each module that the sensor module collection, calculating control module collection and communications module are concentrated utilizes suitable shell
Encapsulation, outer casing bottom is drilled with the screw of normalization aperture and spacing, convenient to be installed on apparatus mounting plate and fixed.
The module operation program library is that, to sensor module, communications module and actuator module carry out hardware bottom layer operation
Routine interface, mainly include module initialization program, run control program, data exchange program, module fault diagnostic program.
Module operation routine interface in module operation program library is by the developer of the module according to corresponding module operation method and system
The user that one I/O interface protocols are developed, test and be distributed to module.User operation sensor module, communications module and
When actuator module, corresponding routine interface in module operation program library can be directly invoked, without being concerned about bottom hardware
Details.
The assembling effect of one embodiment of modularization miniature intelligent vehicle is as shown in Figure 5, Figure 6.Fig. 5 is the miniature intelligence of modularization
The side view of energy car, Fig. 6 is the side top view of modularization miniature intelligent vehicle, wherein, 1 is car body, and 2 be apparatus mounting plate, and 3 be biography
Sensor module, 4 is calculate control module, and 5 be connection cables, and 6 be communications module, and 7,8 be actuator module, respectively motor
And steering wheel, 9 be power supply, and 10 be support member.Wherein, sensor module 3, calculate control module 4 and communications module 6 passes through
Screw is fixed on apparatus mounting plate 2, and is connected by connection cables 5；Apparatus mounting plate 2 is fixed on car by support member 10
On body 1；Motor 7 and steering wheel 8 are connected by connection cables 5 with calculating control module；Motor 7, steering wheel 8, power supply 9 pass through
Fastener is fixed on car body 1.
Complete that after above-mentioned module apolegamy and miniature intelligent vehicle hardware composing the functional development of miniature intelligent vehicle can be carried out
Realized with algorithm.
Particular embodiments described above, has been carried out further in detail to the purpose of the present invention, technical scheme and beneficial effect
Describe in detail it is bright, should be understood that the foregoing is only the present invention specific embodiment, be not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent substitution and improvements done etc., should be included in the guarantor of the present invention
Within the scope of shield.
Claims (10)
1. a kind of modularization miniature intelligent vehicle hardware system, is installed on the car body of miniature intelligent vehicle, it is characterised in that including sensing
Device module collection, calculating control module collection, communications module collection, actuator module collection, wherein：
It is described to calculate the set that control module collection is the calculating control module for completing data processing and performing control algolithm；Respectively
Calculate in control module and be integrated with bus control unit and bus hub, and expanded by the bus control unit and bus hub
Multiple input/output interfaces；Except the module that the other modules calculated in addition to controlling module collection are concentrated may be connected to the input
On output interface, so as to be communicated with the control module that calculates；
The sensor module collection is the sensor die for perceiving miniature intelligent vehicle local environment information and vehicle body running status
The set of group；
The communications module collection is to be used to complete to communicate between miniature intelligent vehicle and host computer or between different miniature intelligent vehicles
Communications module set；
The actuator module collection is the set of actuator module in miniature intelligent vehicle；
Wherein, each module that each module is concentrated, which is respectively provided with, is connectable to the calculating control for calculating control module concentration
The input/output interface of module；
Also include extension module collection, the extension module collection is the set of other functional module groups expanded in miniature intelligent vehicle, and its is every
Individual functional module group, which also has, is connectable to the input/output interface for calculating the calculating control module that control module is concentrated.
2. modularization miniature intelligent vehicle hardware system according to claim 1, it is characterised in that described sensor module
The module that collection, communications module collection and actuator module are concentrated includes function element, microcontroller and Bus Interface Chip, the work(
Energy element is used for the function of performing module, and the microcontroller reads described calculate from bus by Bus Interface Chip and controlled
The order that module is sent, is controlled according to the order to function element, and the data obtained from function element is passed through total
Line interface chip is sent in bus.
3. modularization miniature intelligent vehicle hardware system according to claim 1, it is characterised in that described sensor module
The module that collection, calculating control module collection, communications module collection and actuator module are concentrated can arbitrarily arrange in pairs or groups to build miniature intelligence
Car platform.
4. modularization miniature intelligent vehicle hardware system according to claim 1, it is characterised in that also installed including equipment
Plate, the apparatus mounting plate has general mounting interface, and any of each module concentration can be installed by the mounting interface
Module.
5. modularization miniature intelligent vehicle hardware system according to claim 4, it is characterised in that described apparatus mounting plate
With multiple, it can be connected with each other between each apparatus mounting plate by the general mounting interface.
6. modularization miniature intelligent vehicle hardware system according to claim 4, it is characterised in that also including with the equipment
The general mounting interface connection of installing plate, and it is fixed on the support member of the car body of the miniature intelligent vehicle.
7. modularization miniature intelligent vehicle hardware system according to claim 4, it is characterised in that
There is the screw of equidistantly distributed on the apparatus mounting plate；
Each module of each module collection has shell, and outer casing bottom has aperture and spacing and the spiral shell on the apparatus mounting plate
Hole identical screw, to install and to fix on the apparatus mounting plate.
8. a kind of method of the construction miniature intelligent vehicle of utilization modularization miniature intelligent vehicle hardware system, the miniature intelligence of modularization
Energy car hardware system is miniature intelligent vehicle hardware system as claimed in claim 1, it is characterised in that the building method includes
Following steps：
Step 1, concentrate selection is suitable to pass from each module of the modularization miniature intelligent vehicle hardware system according to mission requirements
Sensor module, calculating control module, actuator module and communications module, and it is fixed in the car body of the miniature intelligent vehicle
On；
Step 2, by connection cables by the input/output interface of selected sensor module, communications module and actuator module
It is connected to the corresponding input/output interface for calculating control module；
Step 3, write-in runs on the program calculated on control module.
9. method according to claim 8, it is characterised in that the modularization miniature intelligent vehicle hardware system also includes setting
Standby installing plate and support member,
The apparatus mounting plate has general mounting interface, and times that each module is concentrated can be installed by the mounting interface
What module, and connect the support member；
In the step 1, each sensor module, calculating control module, actuator module and communications module are fixed on
On the apparatus mounting plate, and the installing plate is fixed on the car body of the miniature intelligent vehicle by support member.
10. method according to claim 8, it is characterised in that in the step 3, utilizes a module operation program
The program for running on and calculating on control module is write in storehouse, and the module operation program library is that the module that each module is concentrated is entered
Module operation routine interface in the routine interface of row hardware bottom layer operation, the module operation program library is grasped according to corresponding module
Make method and unified input/output interface protocol development.
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| CN105109550A (en) * | 2015-08-21 | 2015-12-02 | 苏州斯卡柏通讯技术有限公司 | Control device for miniature intelligent automobile |
| CN107291074A (en) * | 2016-09-29 | 2017-10-24 | 中国科学院自动化研究所 | A kind of miniature intelligent vehicle system |
| CN106652518A (en) * | 2016-12-01 | 2017-05-10 | 大连海事大学 | Vehicle coordination control system based on vehicle networking |
| CN108197043B (en) * | 2018-01-08 | 2022-03-29 | 深圳市智行畅联科技有限公司 | Control system and method for peripheral hardware of intelligent vehicle machine |
| CN110120251A (en) * | 2018-02-07 | 2019-08-13 | 北京第一视角科技有限公司 | The statistical analysis technique and system of multidimensional health data based on Spark |
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| CN109994014A (en) * | 2019-03-22 | 2019-07-09 | 多伦科技股份有限公司 | A kind of driving simulator |
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