CN201859352U - Obstacle avoiding control device of model car - Google Patents
Obstacle avoiding control device of model car Download PDFInfo
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- CN201859352U CN201859352U CN2010205865984U CN201020586598U CN201859352U CN 201859352 U CN201859352 U CN 201859352U CN 2010205865984 U CN2010205865984 U CN 2010205865984U CN 201020586598 U CN201020586598 U CN 201020586598U CN 201859352 U CN201859352 U CN 201859352U
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Abstract
The utility model discloses an obstacle avoiding control device of a model car, which comprises a model car, a front wheel steering engine and a rear wheel drive motor, wherein the model car is provided with a power supply manage unit, a sensor unit, an automatic control unit, a steering engine turning unit and a motor drive unit, the automatic control unit is connected with the sensor unit, the steering engine turning unit and the motor drive unit respectively, and the power supply manage unit is connected with the sensor unit, the automatic control unit, the steering engine turning unit and the motor drive unit respectively. According to the information of front obstacle acquired by the sensor unit, the device judges that the obstacles in which direction in front of the model car has the farthest distance from the model car, so as to control steering engine to led the model car to turn to the direction, the drive motor drives the model car to move forwards or backwards, and the control unit repeatedly executes the control operation. The control method has the characteristics of convenient manufacture, simple circuit design, fast responding speed, accurate control, low cost and the like.
Description
Technical field
The utility model belongs to the intelligent control of model car field, and particularly a kind of model car is kept away the barrier control device.
Background technology
Intelligent vehicle is the forward position of current Vehicle Engineering technical field, and it has embodied Vehicle Engineering, information engineering, electronic technology, the intersection of a plurality of fields such as computer technology theory and practice.The extensive application of intellectual technology aspect model car makes model car aspect the automatic control far-reaching progress arranged, and the technology that has further promoted model car is towards robotization, and intelligentized direction develops.The utilization and the development that keep away barrier technique will impel Based Intelligent Control to start a climax.
Summary of the invention
The purpose of this utility model is to provide a kind of model car to keep away the barrier control device.It can solve travel problem when running into barrier of model car, promptly handles the information that the ultrasonic sensor unit is gathered by single-chip microcomputer, and the steering controling signal after will handling then sends to and turns to the control steering wheel.Keep away barrier and travel thereby reach model car, with the distance of the place ahead obstacle distance model car, automatically the purpose that turns to of control realizes keeping away barrier.
To achieve these goals, the utility model adopts following technical scheme to be achieved:
A kind of model car is kept away the barrier control device, comprise model car and front-wheel steering wheel thereof and rear wheel drive motor, described model car is provided with Power Management Unit, sensor unit, automatic control unit, steering wheel steering unit and electric-motor drive unit, described automatic control unit links to each other with electric-motor drive unit with sensor unit, steering wheel steering unit respectively, and Power Management Unit links to each other with electric-motor drive unit with sensor unit, automatic control unit, steering wheel steering unit respectively.
Other technologies characteristics of the present utility model are:
Described Power Management Unit is made up of Voltage stabilizing module and boost module two parts, and wherein Voltage stabilizing module is made up of LT1084-5, and boost module is made of LT1070u89,100 microhenry inductance, diode in5819, voltage stabilizing chip 7815.
Described sensor unit is made up of ultrasonic emitting module and ultrasound wave receiver module, and wherein the ultrasonic emitting module is made up of a NPN triode and transmitting transducer, and the ultrasound wave receiver module is made up of 9013NPN type triode and LM358 operational amplifier.
Described automatic control unit adopts single-chip microcomputer MC9S12XDP512.
Described steering wheel steering unit adopts the S3010 steering wheel of FUTABA company.
Described electric-motor drive unit is two N types and two H bridge driving circuits that P type field effect transistor is formed.
The place ahead obstacle information that the utility model is gathered according to sensor unit, obstacle distance model car on that direction of judgment models car car body the place ahead farthest, thereby control steering engine, make model car turn to this direction, drive motor driving model car advances or retreats then, and control module repeats this control operation.That this control method has is easy to make, circuit design simple, response fast, characteristics such as precise control and cost be low.
Description of drawings
Fig. 1 is a structural representation of the present utility model.
Fig. 2 is the layout synoptic diagram of Power Management Unit.Wherein Fig. 2 a represents Voltage stabilizing module layout synoptic diagram, and Fig. 2 b is that boost module is arranged synoptic diagram.
Fig. 3 is the layout synoptic diagram of sensor unit.
Fig. 4 is sensor unit ultrasonic emitting, reception schematic diagram.Wherein Fig. 4 a is ultrasonic transmit circuit figure, and Fig. 4 b is ultrasound wave receiving circuit figure.
Fig. 5 is the electric-motor drive unit circuit theory diagrams.
Fig. 6 is the pin elementary diagram of automatic control unit.
Below in conjunction with accompanying drawing particular content of the present utility model is further elaborated.
Embodiment
Referring to Fig. 1, model car of the present utility model is kept away the barrier control device, comprise model car and front-wheel steering wheel thereof and rear wheel drive motor, described model car is provided with Power Management Unit, sensor unit, automatic control unit, steering wheel steering unit and electric-motor drive unit, described automatic control unit links to each other with electric-motor drive unit with sensor unit, steering wheel steering unit respectively, Power Management Unit links to each other with electric-motor drive unit with sensor unit, automatic control unit, steering wheel steering unit respectively, and battery uses 7.2 volts of nickel-cadmium chargeable batteries.
The utility model car mould adopts " Freescale " cup intelligent automobile contest car mould, and this car mould the place ahead is installed steering engine and realized turning to function, and rear vehicle carries direct current generator, by control module control, makes the model car forward-reverse, functions such as acceleration and deceleration.This car mould stable mechanical performance is reliable, and the control of front-wheel direction is laborsaving flexibly, accurately provides the car line to sail direction; Rear wheel drive carries the differential governor motion, and it is smooth that the car mould is turned.The employing of car mould makes that system's control is more accurate, and the control better effects if is practical.
The single-chip microcomputer MC9S12XDP512 that automatic control unit of the present utility model adopts Freescale company to produce, it comprises the microprocessor of 16 bit of high-performance, low-power consumption, inner integrated a plurality of universal I interfaces, 8 channel pulse width modulated (PWM) independently, enhancement mode is caught timer module.It can be real-time the road ahead that sent of receiving sensor unit on the information of barrier, and these information are handled fast and accurately, judge which direction of the place ahead farthest apart from barrier, then to turning to the control signal that drives after steering wheel output is handled, make the car mould to this direction running, if the distance in dead ahead less than a threshold value then stop, realizes keeping away forever barrier.
Referring to Fig. 2, Power Management Unit is made up of Voltage stabilizing module and boost module two parts, in the Voltage stabilizing module, pin ground connection in the middle of the LT1084-5,7.2 volts of positive sources of input termination, input end is through 104 microfarad capacity earths, output terminal is through 104 microfarad capacity earths, output terminal is 5 volts, give control module, steering engine, ultrasound wave is accepted module for power supply, in boost module, 1 pin of LT1070u89 connects 1 microfarad capacity earth through 1K resistance, 2 pin of LT1070 are through the 1.24K resistance eutral grounding, 2 pin are through 18.7K resistance, the positive pole that connects 330 microfarad electric capacity, the C6(330 microfarad) electric capacity minus earth, 3 pin of LT1070 are unsettled, and 5 pin of LT1070 connect 4 pin of LT1070 through 100 microhenry inductance, 4 pin process diode in5819 connection C6(330 microfarad) positive pole of electric capacity, the C6(330 microfarad) positive pole of electric capacity connects the input end of voltage stabilizing chip 7815, and 7815 output terminal connects the C7(330 microfarad) positive pole of electric capacity, the C7(330 microfarad) minus earth, 7815 output terminal is output as+and 15 volts, be the ultrasonic emitting module for power supply.The electric-motor drive unit 7.2 the volt power supply is directly powered.
With reference to Fig. 3, sensor unit is made up of 5 ultrasonic emitting receiving sensors, and they are not equidistant is mounted to sector structure, and wherein the angle between the sensor 3 and 4 and 3 and 2 is 30 degree, and the angle between the sensor 1 and 2 and 4 and 5 is 40 degree.In the actual design, in car mould the place ahead 5 sensors are installed and are used to survey each direction obstacle distance car mould distance, because the setting angle science of sensor design, thereby realized that information acquisition zone is wide, multi-angle, multi-faceted, car mould blind area is smaller, can accurately measure car mould the place ahead all directions barrier situation, accurately control car line is sailed direction, realizes keeping away barrier.(PORTA0-PORTA4) connect five ultrasonic transmission devices respectively drives the emission ultrasound wave to five IO mouths of control module.After ultrasound wave receives, after amplifying, comparing, five interrupt sources of difference Input Control Element (T0-T4).
With reference to Fig. 4, sensor unit is made up of ultrasonic emitting and receiving circuit.In ultrasonic transmit circuit, the IO mouth of control module is connected with 10K Europe resistance, the base stage of 9013NPN type triode is connected with 10K resistance, + 15 volts of voltages are connected with transistor collector through 470 Europe resistance, transistor collector is connected for 1 jiao through 100 microfarad electric capacity and transmitting transducer, 2 jiaos of same ground connection of the emitting stage with triode of transmitting transducer.After the IO mouth output earth signal process triode amplification by control module, the driving transmitting transducer sends the ultrasound wave with control module output signal same frequency.In the ultrasound wave receiving circuit, the receiver signal end is connected with transistor base through 104 microfarad electric capacity, be connected 100K Europe resistance between transistor base and the collector, transistor base is through 10K Europe rheochord ground connection, transistor emitter ground connection, VCC (+5 volts) connects transistor collector through 2K Europe current-limiting resistance, transistor collector is connected with the normal phase input end of LM393 through 104 microfarad electric capacity, the inverting input of LM393 connects the middle pin of 100K Europe rheochord, two other pin of line rheostat connects VCC and ground respectively, VCC is through the output terminal of 470K Europe resistance connection LM393, and output terminal is connected with control module interrupt source T mouth.Ultrasound wave has decay in transmittance process, the signal that receives is for the millivolt level, and is fainter, and in order effectively to utilize echoed signal, so with 9013NPN type triode it is amplified, the bias voltage of regulating triode by 100K Europe line rheostat makes it conducting.Be about 3 volts through the signal after amplifying, LM393 comparator reference voltage is selected 2 volts, and comparing signal afterwards is 5 volts square-wave signal for peak-to-peak value voltage, in order to the external interrupt of control module.
In addition, the steering wheel that the utility model adopts is a position follower device, by steering wheel, and train of reduction gears, position feedback, pot, direct current generator and control circuit are formed.By the position feedback of inside, steering engine makes its rudder steering wheel output be proportional to the angle of given pulse width.The pwm signal that control module sends different duty according to the different directions different distance is given steering wheel, and steering wheel turns an angle under signal controlling.The steering wheel pwm control signal is to be the pulse of 20ms in the cycle, pulse width range 1---2ms, the pulse width (high level lasting time) that changes pwm control signal just can change the steering wheel output corner, changes the steering wheel direction, thereby control front-wheel direction realizes turning to.Pulse width and steering wheel corner are linear, and its computing formula is:
α=0 (L-1.5) * 90, wherein α is the steering wheel corner, unit degree of being (°); L is a pulse width, and unit is ms.
Fig. 5 is electric-motor drive unit circuit theory diagrams of the present utility model.This figure is a motor-driven H bridge circuit, by two P type field effect transistor Q1, and Q2 and two N type field effect transistor Q3, Q4 forms.The control signal output ends P5 of control module connects 1 of CD4001B, 2 pins, 3 pins of CD4001B connect 12 of CD4001B, 13 pins, 11 pins of CD4001B connect the grid of IRF4905 and IRF3205, and the drain electrode of IRF4905 connects the source electrode of IRF3205, and the drain electrode of two IRF4905 connects back and VCC(+5 volt) be connected, even connect motor, one 104 microfarad electric capacity of two wiring terminations of motor between the source electrode of an IRF.The P7 of control module connects CD4001B5,6 pins, and 4 pins of CD4001B connect 8,9 pins of CD4001B, and 10 pins of CD4001B connect the grid of IRF4905 and IRF3205, and the source electrode of two IRF3205 is ground connection altogether.Four field effect transistor on the brachium pontis are equivalent to four switches, and the conducting when grid is low level of P type pipe is closed during high level, and the conducting when grid is high level of N type field effect transistor is closed during low level.Field effect transistor is a voltage controlled element, and grid is almost nil by electric current, its voltage amplification effect of CD4001B.When left side control arm is a high level, when the right control arm is low level, Q1, Q4 closes, Q2, the Q3 conducting, motor left end low level, the right-hand member high level, motor rotates, and being made as motor just changes.When left side control arm is a low level, when the right control arm is high level, Q1, the Q4 conducting, Q2, Q3 closes, motor left end high level, the right-hand member low level, motor rotates, and is made as the motor counter-rotating.The high-low level of left and right sides control arm is by the P7 and the decision of P5 mouth output pulsating wave of control module.This motor-drive circuit has self-protection function, and when being all high level about control arm, Q1 and Q2 close, Q3 and Q4 conducting, and the motor two ends are all low level, and motor does not change.When being all low level about control arm, Q1 and Q2 conducting, Q3 and Q4 close, and the motor two ends are all high level, and motor does not change.The control arm state how so the advantage of this circuit is, " common-mode conducting " phenomenon (short circuit) can not appear in the H bridge, has the function of protection motor.
Referring to Fig. 6 is the pin elementary diagram of automatic control unit of the present utility model.Wherein 5 ultrasonic transmission devices with control module IO mouth (A0-A4) be connected.5 ultrasonic probe, ultrasonic receivers and control corresponding unit interrupt source (T0-T4) be connected.P1 connects the steering wheel signal input part, and P5 is connected the CD4001B of electric-motor drive unit with P7.A mouth by control module drives ultrasonic emitting, receive behind the ultrasound wave through amplifying, relatively the interrupt source T mouth trigger control unit of Input Control Element is interrupted, the mistiming t that has no progeny and calculate emission and accept in the process, calculate this direction car mould apart from obstacle distance by Got_s=t*speed/2, wherein Got_s is the distance that obtains, and speed is aerial velocity of propagation 340 m/s of ultrasound wave.
Control module compares according to the distance that five directions obtain, and the control steering wheel is to the maximum directional steering of distance.Turn to control to adopt PD control, P is a proportional, and D is a differential term, formula S ervo=P*Got_s*Got_angle+D* (Got_agle-Got_sangle_last), wherein, Got_angle is the angle between sensor unit and the car mould center line, and Got_angle_last is the sensor unit of last time and the angle between the car mould center line, obtains distance, Servo is the steering wheel control variable, Servo control steering wheel dutycycle, the corner of control steering wheel, thereby control car mould direction.When distance was identical on different directions, then the distance that is recorded by the sensor according to the direction left and right sides determined steering direction.After determining steering direction, obtain distance by detection and determine the dutycycle size, control motor positive and inverse, stall.
Claims (6)
1. a model car is kept away the barrier control device, comprise model car and front-wheel steering wheel thereof and rear wheel drive motor, it is characterized in that: described model car is provided with Power Management Unit, sensor unit, automatic control unit, steering wheel steering unit and electric-motor drive unit, described automatic control unit links to each other with electric-motor drive unit with sensor unit, steering wheel steering unit respectively, and Power Management Unit links to each other with electric-motor drive unit with sensor unit, automatic control unit, steering wheel steering unit respectively.
2. model car as claimed in claim 1 is kept away the barrier control device, it is characterized in that: described Power Management Unit is made up of Voltage stabilizing module and boost module two parts, wherein Voltage stabilizing module is made up of LT1084-5, and boost module is made of LT1070u89,100 microhenry inductance, diode in5819, voltage stabilizing chip 7815.
3. model car as claimed in claim 1 is kept away the barrier control device, it is characterized in that: described sensor unit is made up of ultrasonic transmit circuit and ultrasound wave receiving circuit, wherein ultrasonic transmit circuit is made up of a NPN triode and transmitting transducer, and the ultrasound wave receiving circuit is made up of 9013NPN type triode and LM358 operational amplifier.
4. model car as claimed in claim 1 is kept away the barrier control device, it is characterized in that: described automatic control unit adopts single-chip microcomputer MC9S12XDP512.
5. model car as claimed in claim 1 is kept away the barrier control device, it is characterized in that: described steering wheel steering unit adopts the S3010 steering wheel of FUTABA company.
6. model car as claimed in claim 1 is kept away the barrier control device, it is characterized in that: described electric-motor drive unit is two N types and two H bridge driving circuits that P type field effect transistor is formed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205865984U CN201859352U (en) | 2010-11-02 | 2010-11-02 | Obstacle avoiding control device of model car |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010205865984U CN201859352U (en) | 2010-11-02 | 2010-11-02 | Obstacle avoiding control device of model car |
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| CN201859352U true CN201859352U (en) | 2011-06-08 |
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| CN2010205865984U Expired - Fee Related CN201859352U (en) | 2010-11-02 | 2010-11-02 | Obstacle avoiding control device of model car |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707734A (en) * | 2012-06-19 | 2012-10-03 | 上海大学 | Self-stabilizing cloud deck based on inertia attitude sensor |
| CN103116353A (en) * | 2013-01-28 | 2013-05-22 | 贵州大学 | Intelligent vehicle collaborative traveling control device |
| CN103399327A (en) * | 2013-07-23 | 2013-11-20 | 东北大学 | Beidou system-based satellite signal optimizing system and method |
| CN106020209A (en) * | 2016-07-28 | 2016-10-12 | 河南城建学院 | AGV trolley for recycling wave soldering fixture |
-
2010
- 2010-11-02 CN CN2010205865984U patent/CN201859352U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102707734A (en) * | 2012-06-19 | 2012-10-03 | 上海大学 | Self-stabilizing cloud deck based on inertia attitude sensor |
| CN103116353A (en) * | 2013-01-28 | 2013-05-22 | 贵州大学 | Intelligent vehicle collaborative traveling control device |
| CN103399327A (en) * | 2013-07-23 | 2013-11-20 | 东北大学 | Beidou system-based satellite signal optimizing system and method |
| CN103399327B (en) * | 2013-07-23 | 2015-04-15 | 东北大学 | Beidou system-based satellite signal optimizing system and method |
| CN106020209A (en) * | 2016-07-28 | 2016-10-12 | 河南城建学院 | AGV trolley for recycling wave soldering fixture |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110608 Termination date: 20111102 |