CN202342867U - Intelligent model car for match - Google Patents
Intelligent model car for match Download PDFInfo
- Publication number
- CN202342867U CN202342867U CN2011203847651U CN201120384765U CN202342867U CN 202342867 U CN202342867 U CN 202342867U CN 2011203847651 U CN2011203847651 U CN 2011203847651U CN 201120384765 U CN201120384765 U CN 201120384765U CN 202342867 U CN202342867 U CN 202342867U
- Authority
- CN
- China
- Prior art keywords
- match
- model
- car
- vehicle frame
- sensor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Toys (AREA)
Abstract
The utility model discloses an intelligent model car for a match, and the intelligent model car comprises a car frame, as well as a driven wheel and a drive wheel which are installed at the front and back of the car frame respectively, wherein a steering engine, a microcontroller, a battery, a drive circuit module, a drive motor, a differential mechanism and a speed-measuring encoder are further installed on the car frame. The intelligent model car for the match is characterized in that the steering engine is located on the driven wheel; a front row of sensors are arranged at the front end of the car frame, and a rear row of sensors are arranged at the rear end of the frame; the front row of sensors, the rear row of sensors, the speed-measuring encoder, the motor drive circuit module and the steering engine are connected with the microcontroller; the motor drive circuit module is connected with the drive motor; the differential mechanism is connected with the drive motor; and the output shaft of the differential mechanism is connected with the drive wheel. The intelligent model car for the match has the characteristics of being intelligent, simple, high in control accuracy, simple in control mode, and the like.
Description
Technical field
The utility model relates to a kind of model car, relates in particular to a kind of match and uses the model of mind car.
Background technology
The model of mind car is the forward position of current Vehicle Engineering area research, and it has embodied the intersection of a plurality of ambit theory and technology such as Vehicle Engineering, artificial intelligence, control automatically, computer and comprehensively, is the development trend of following model car.The intelligent vehicle of corporate sponsorship match now is more and more, and form of play is also varied, so the intelligent vehicle match has been not only rider tournament, and colourful intention property match is entered into rivalry between each colleges and universities.And the model of mind car of match usefulness, its structure is varied, and the model of mind car of the autonomous tracking of realization that is proposed according to the match of intention property, the library facility of coming in and going out has also proposed concrete requirement for this type match.
Summary of the invention
The purpose of the utility model is, provides a kind of match to use the model of mind car, this model of mind car can realize in the intention match autonomous tracking, go out function such as warehouse-in.
In order to realize above-mentioned task, the utility model adopts following technical scheme to be achieved.
The model of mind car is used in a kind of match, comprises vehicle frame, is installed on the driven pulley and the driving wheel of vehicle frame front and back respectively; It is characterized in that; Steering wheel, microcontroller, battery, drive circuit module, drive motors, differential mechanism and speed measuring coder also are installed on the vehicle frame, and wherein, steering wheel is positioned on the driven pulley; The vehicle frame front end is provided with front-seat sensor, and the vehicle frame rear end is provided with rear sensor;
Said speed measuring coder is positioned at the rear portion of vehicle frame, and on the support of rear sensor;
Said front-seat sensor, rear sensor, speed measuring coder, motor-drive circuit module and steering wheel all are connected with microcontroller; Said motor-drive circuit module is connected with drive motors; Said differential mechanism is connected with drive motors, and the output shaft of differential mechanism is connected with driving wheel.
Other characteristics of the utility model are:
Said front-seat sensor respectively comprises 7 identical TCRT5000 reflection infrared sensors of a cover with rear sensor, and each reflection infrared sensor is equidistantly installed side by side.
Said each infrared sensor unit equidistance is installed side by side, and the overall installation distance is a little less than the height of vehicle frame.
Said microcontroller adopts Freescale MC9S12DG128B single-chip microcomputer.
Said speed measuring coder is selected Omron E6A2-CWZ5C 100P/R type incremental rotary encoder for use.
Said steering wheel is selected a day hat board corona/DS-929MG steering wheel for use.
Said drive motors is selected RS380-ST type direct current generator for use.
The model of mind car is used in the match of the utility model; Be a kind ofly to compete, go out the model of mind car of warehouse-in with autonomous tracking; Utilize the information of sensor acquisition racing track; Microcontroller is accurately controlled drive motors rotating speed, direction of rotation and steering wheel corner according to racecourse information, thus independently the tracking and come in and go out library facility of implementation model car.Microcontroller comes current position of model of cognition car and transport condition according to the signal of the infrared photoelectric sensor collection that is installed in both sides, model car front and back, and makes corresponding control strategies.When the sensor in model car the place ahead detected into library information, the microprocessor controls model car slowed down, and calls simultaneously into library; When model car detects the bottom line in garage, start and library, microcontroller reads back row's infrared photoelectric sensor signal simultaneously.After the model car outbound finishes, read front-seat photo-sensor signal will again, thereby realize complete outbound.Have characteristics such as intelligent, simple and easy, that control accuracy is high, control mode is simple.
Description of drawings
Fig. 1 is the structure and the scheme of installation of the utility model;
Fig. 2 is that the hardware circuit of the utility model connects sketch map;
Fig. 3 is the racing track sketch map;
Fig. 4 is TCRT5000 infrared reflection photoelectric sensor circuit figure;
Fig. 5 is motor drive module circuit figure;
Below in conjunction with accompanying drawing and embodiment the utility model is done further explain.
The specific embodiment
Referring to Fig. 1; Present embodiment provides a kind of match and uses the model of mind car, comprises vehicle frame 9, is installed on the driven pulley 11 and driving wheel 10 of vehicle frame 9 front and back respectively; Steering wheel 2, microcontroller 3, battery 4, drive circuit module 5, drive motors 6, differential mechanism 7 and speed measuring coder 8 also are installed on vehicle frame 9; Wherein, steering wheel 2 is positioned on the driven pulley 11, also is provided with front-seat sensor 1f and rear sensor 1r on the support of vehicle frame 9 front-end and back-end;
Said speed measuring coder 8 is positioned at the rear portion of vehicle frame 9, and on the support of rear sensor 1r;
Said front-seat sensor 1f, rear sensor 1r, speed measuring coder 8, steering wheel 2 and motor-drive circuit module 5 all are connected with microcontroller 3; Said motor-drive circuit module 5 is connected with drive motors 6; Said differential mechanism 7 is connected with drive motors 6, and the output shaft of differential mechanism 7 is connected with driving wheel 10.
The front-seat sensor 1f and the rear sensor 1r at forward and backward two ends respectively comprises identical TCRT5000 reflection infrared sensor unit a, b, c, d, e, f, the g of a cover; Two covers are totally 14 infrared sensor units; 7 in every cover; The output of these infrared sensor units is respectively J1f, J2f, J3f, J4f, J5f, J6f, J7f, J1r, J2r, J3r, J4r, J5r, J6r, J7r, and each sensor equidistantly is installed together side by side, is used for detecting racecourse information; Its overall installation distance guarantees in the collection distance of sensor a little less than the height of vehicle frame 9.Steering wheel 2, microcontroller 3, battery 4 also are installed, drive circuit module 5, drive motors 6, differential mechanism 7, encoder 8, driving wheel 10, driven pulley 11 on the vehicle frame 9.Steering wheel 2 is mainly used in turning to of control model car.Microcontroller 3 adopts Freescale MC9S12DG128B single-chip microcomputer, handles gathering signal, and makes corresponding control strategies.It is that the cell of 1.2V is in series that battery 4 is pressed by 6 economize on electricitys, and supply voltage is 7.5V.Drive circuit module 5 is used for that drive motors realizes that motor just changes, counter-rotating and parking function.Drive motors 6 is installed on the after-poppet of model car, is used for the operation of driving model car, is connected with differential mechanism 7 power shafts.Speed measuring coder 8 and differential gear match are used to detect the travel speed of vehicle.Driving wheel 10 is connected with the output shaft of differential mechanism 7, and is installed on the vehicle frame 9.Driven pulley 11 is connected with track rod, realizes Vehicular turn, and is installed on the vehicle frame 9.
With reference to Fig. 2, Fig. 2 is the hardware connection layout of match with the model of mind car.Front and back two row's sensors reach microcontroller with the information of road surface that collects, and the real-time speed of a motor vehicle that the while speed measuring device will collect is sent to microcontroller, and controller is formulated the control strategy of control motor speed and steering wheel angle according to information of road surface and GES.Owing to the wheel velocity in the outside in automobile is when turning is different, in order to prevent to break away, so trailing wheel has adopted the arrangement of differential mechanism.
Fig. 3 is the racing track sketch map.The racing track basic parameter is: the racing track surface is made up of black-and-white two color.Racing track is a white, and the racing track width is 500mm, and there is the black index wire of wide 50mm at the racing track center, the about 600mm of the garage degree of depth.
In the present embodiment, reflective infrared photoelectric sensor model is TCRT5000, and its circuit diagram is with reference to shown in Figure 4.During installation, luminous tube forwardly, receiving tube should guarantee luminous tube and receiving tube on same straight line at the rear portion, and guarantees that simultaneously adjacent two TCRT5000 transducer spacings are between 25.00mm-25.5mm.During vehicle operating, luminous tube sends infrared ray and since infrared radiation on the black index wire with white racing track on reflectivity different, the signal strength signal intensity that receiving tube receives is also different, so the difference of the signal strength signal intensity that receives of basis is judged black line.Because the difference of the reflected signal strength that receiving tube receives, therefore the magnitude of voltage of output is also variant, and output voltage values just can be judged racecourse information through behind the LM324 comparator.
Speed measuring coder 8 is installed on the vehicle frame 9, realizes testing the speed with differential mechanism 7 gear matches.Speed measuring coder 8 models are Omron E6A2-CWZ5C 100P/R type incremental rotary encoder.During vehicle operating, the rotation of speed measuring coder 8 output A, two square-wave signals of B, and 90 ° of phase phasic differences between two.When model car moves ahead, leading 90 ° of A phase place, when model car falls back, leading 90 ° of B phase place.According to two square-wave signals of A, B that microcontroller collects, the speed of a motor vehicle is accurately controlled.
Fig. 5 is a H bridge power drive schematic diagram, and FET (S1, S2, S3, S4, model is the IRF3703Mosfet pipe) is formed H type double pole mode change-over circuit by 4 TO-220 encapsulation and carried out pressure regulation, control direction of motor rotation and rotating speed.This drive circuit is realized the four quadrant running of direct current generator easily, and correspondence is just changeed respectively, the positive transformation of ownership is moving, the braking of reversing, reverse.4 FETs (IRF3703Mosfe) of H type full-bridge type drive circuit all are operated in the copped wave state.S1, S4 are one group, and S2, S3 are one group, and these two groups of states are complementary, and when one group of conducting, another group must be turn-offed.When S1, S4 conducting, S2, S3 turn-off, and the motor two ends add the forward or reverse braking that forward voltage is realized motor; When S2, S3 conducting, S1, S4 turn-off, and the motor two ends are that backward voltage is realized the counter-rotating of motor or just the transformation of ownership is moving.In the working control, motor is switched between four quadrants, promptly between rotating and reverse, switch, just turn-off S1, S4 shutoff and S2, S3 conducting, change between this two states at S1, S4 conducting and S2, S3.Realize the adjusting control of dc motor speed and direction.
Freescale MC9S12DG128B single-chip microcomputer is a kind of in 16 single-chip microcomputers of the M68HC12 of motorola inc series.Its internal structure mainly contains the single-chip microcomputer essential part and the CAN functional block is partly formed, and basic structure comprises: a central processor unit HCS12 (CPU), 2 asynchronous serial communication mouth SCI; 2 synchronous serial communication mouth SPI; 8 passages input capture/output is timer relatively, and 18 passage pulse width modulation module and 49 independent digit I/O mouths (wherein 20 have external interrupt and arousal function) also have the Flash ROM of 128KB in sheet; The RAM of 8KB, the EEPROM of 2KB.
14 output signals of the reflective infrared photoelectric sensor of TCRT5000 are connected respectively to the port of MC9S12DG128B single-chip microcomputer.Two phase signals of speed measuring coder 8 are connected with the MC9S12DG128B interface microcontroller respectively.The control signal of steering wheel 2 and motor-drive circuit module 5 is connected with the MC9S12DG128B interface microcontroller respectively.4 MOSFET pipes of motor-drive circuit module 5 are connected with the MC9S12DG128B interface microcontroller respectively.
When model of mind car to overtake the time; Microcontroller 3 reads front-seat sensor 1f signal and combines speed measuring coder 8 measured GESs to control the rotating speed of drive motors 6 and the corner of steering wheel 2; And then the steering angle of the travel speed of precise control model car and steering wheel 2, until getting into the garage; When rear sensor 1r detected the garage bottom line, drive motors 6 realized that plugging makes the model of mind car stop rapidly; When the outbound of model of mind car; Microcontroller 3 reads the racing track signal that rear sensor 1r is gathered; And drive motors 6 speed and steering wheel 2 angles are accurately controlled, thereby realize the model of mind car go out library facility accurately and fast, after outbound finishes; Microcontroller 3 reads front-seat sensor 1f signal, continues to realize to overtake.
Claims (7)
1. the model of mind car is used in a match; Comprise vehicle frame (9), be installed on the driven pulley (11) and the driving wheel (10) of vehicle frame (9) front and back respectively, it is characterized in that; Steering wheel (2), microcontroller (3), battery (4), drive circuit module (5), drive motors (6), differential mechanism (7) and speed measuring coder (8) also are installed on vehicle frame (9); Wherein, steering wheel (2) is positioned on the driven pulley (11), also is provided with front-seat sensor (1f) and rear sensor (1r) on the support of vehicle frame (9) front-end and back-end;
Said speed measuring coder (8) is positioned at the rear portion of vehicle frame (9), and on the support of rear sensor (1r);
Said front-seat sensor (1f), rear sensor (1r), speed measuring coder (8), steering wheel (2) and motor-drive circuit module (5) all are connected with microcontroller (3); Said motor-drive circuit module (5) is connected with drive motors (6); Said differential mechanism (7) is connected with drive motors (6), and the output shaft of differential mechanism (7) is connected with driving wheel (10).
2. the model of mind car is used in match as claimed in claim 1; It is characterized in that; Said front-seat sensor (1f) respectively comprises 7 identical TCRT5000 reflection infrared sensors of a cover with rear sensor (1r), and each reflection infrared sensor is equidistantly installed side by side.
3. the model of mind car is used in match as claimed in claim 2, it is characterized in that: said each infrared sensor unit equidistance is installed side by side, and the overall installation distance is a little less than the height of vehicle frame (9).
4. the model of mind car is used in match as claimed in claim 1, it is characterized in that, said microcontroller (3) adopts Freescale MC9S12DG128B single-chip microcomputer.
5. the model of mind car is used in match as claimed in claim 1, it is characterized in that: said speed measuring coder (8) is selected Omron E6A2-CWZ5C 100P/R type incremental rotary encoder for use.
6. the model of mind car is used in match as claimed in claim 1, it is characterized in that: said steering wheel (2) is selected a day hat board corona/DS-929MG steering wheel for use.
7. the model of mind car is used in match as claimed in claim 1, it is characterized in that: said drive motors (6) is selected RS380-ST type direct current generator for use.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203847651U CN202342867U (en) | 2011-10-12 | 2011-10-12 | Intelligent model car for match |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011203847651U CN202342867U (en) | 2011-10-12 | 2011-10-12 | Intelligent model car for match |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202342867U true CN202342867U (en) | 2012-07-25 |
Family
ID=46531894
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011203847651U Expired - Fee Related CN202342867U (en) | 2011-10-12 | 2011-10-12 | Intelligent model car for match |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202342867U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252090A (en) * | 2013-05-17 | 2013-08-21 | 河南科技大学 | Speed adjusting method for racing car model |
| CN103713638A (en) * | 2013-12-20 | 2014-04-09 | 江苏清弘物联网股份有限公司 | Miniature car model navigation system |
| CN103816666A (en) * | 2014-03-12 | 2014-05-28 | 河南科技大学 | Intelligent trolley control system |
-
2011
- 2011-10-12 CN CN2011203847651U patent/CN202342867U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103252090A (en) * | 2013-05-17 | 2013-08-21 | 河南科技大学 | Speed adjusting method for racing car model |
| CN103252090B (en) * | 2013-05-17 | 2015-07-01 | 河南科技大学 | Speed adjusting method for racing car model |
| CN103713638A (en) * | 2013-12-20 | 2014-04-09 | 江苏清弘物联网股份有限公司 | Miniature car model navigation system |
| CN103816666A (en) * | 2014-03-12 | 2014-05-28 | 河南科技大学 | Intelligent trolley control system |
| CN103816666B (en) * | 2014-03-12 | 2016-08-31 | 河南科技大学 | A kind of intelligent carriage control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN2803861Y (en) | Electric boosting steering system | |
| CN203063940U (en) | Pilotless automobile device | |
| CN201799111U (en) | Autonomous tracking model car based on single chip microcomputer (SCM) | |
| CN202342867U (en) | Intelligent model car for match | |
| CN104724233A (en) | Directly-driven two-wheeled self-balancing electric vehicle | |
| CN103345250A (en) | Intelligent obstacle-avoiding trolley | |
| CN201965486U (en) | Intelligent tracking trolley | |
| CN105946970A (en) | Intelligent steering angle driving unit of electric car | |
| CN101318518A (en) | Steering system of instruction car | |
| CN202337258U (en) | Intelligent automobile obstacle avoidance control device | |
| CN201572526U (en) | Intelligent tracking model car for a match | |
| CN203832483U (en) | Hub motor driving type electric automobile backing and turning assisting system | |
| CN109278679A (en) | A kind of laboratory vehicle based on bi-motor independent control | |
| CN201220608Y (en) | Electric tricycle and electric differential control device of electric automobile | |
| CN100497025C (en) | Mechanism for driving vehicles | |
| CN209327874U (en) | The control system of electromagnetic tracking Image Acquisition trolley | |
| CN205649470U (en) | A wheel -slip detects and repaiies positive system for intelligence machine of sweeping floor | |
| CN204452578U (en) | A kind of pure electric automobile servo steering system | |
| CN201842018U (en) | Intelligent rotation device of a vehicle rearview mirror | |
| CN204229228U (en) | A kind of complete unattended control device of intelligent solar automobile | |
| CN208376917U (en) | A kind of single driving steering wheel type omnidirectional AGV vehicle | |
| CN101893898A (en) | Gravity inductive control device for intelligent trolley | |
| CN202345539U (en) | Intelligent rearview mirror control device | |
| CN202359939U (en) | Intelligentized safety device of door for bus | |
| CN2659725Y (en) | Auto steering differential gear of electric vehicle |
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: 20120725 Termination date: 20121012 |