CN202433773U - Control device of automatic track searching intelligent vehicle based on single chip microcomputer (SCM) - Google Patents
Control device of automatic track searching intelligent vehicle based on single chip microcomputer (SCM) Download PDFInfo
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- CN202433773U CN202433773U CN2011205351788U CN201120535178U CN202433773U CN 202433773 U CN202433773 U CN 202433773U CN 2011205351788 U CN2011205351788 U CN 2011205351788U CN 201120535178 U CN201120535178 U CN 201120535178U CN 202433773 U CN202433773 U CN 202433773U
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- intelligent vehicle
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- driving circuit
- microprocessor
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Abstract
The utility model discloses a control device of an automatic track searching intelligent vehicle based on an SCM. The control device comprises a power supply, a microprocessor, a camera, a speed sensor, a motor driving circuit and a steering engine driving circuit, wherein the microprocessor, the camera, the speed sensor, the motor driving circuit and the steering engine driving circuit are respectively connected with the power supply, the camera, the speed sensor, the motor driving circuit and the steering engine driving circuit are respectively connected with the microprocessor. Omni vision (OV) 6620 is utilized by the camera, an MC9S12DG128 SCM is utilized by the microprocessor, an MC 33886 chip produced by the Freescale Company is utilized by the motor driving circuit, an MMA 7260 is utilized by the speed sensor, and a nickel chromium storage battery of 7.2 V/2000mAh is utilized as the power supply. According to the control device, information is processed and collected by the speed sensor and the camera, steering and speed of the intelligent vehicle is controlled according to the processed result, and automatic tracing of the intelligent vehicle is achieved.
Description
Technical field
The utility model belongs to the intelligent vehicle automation field, is specifically related to a kind of SCM Based Automatic Track Finding intelligent vehicle control device.
Background technology
The Automatic Track Finding intelligent vehicle relates to the many advanced technologies in the current high-tech sector, wherein, and most importantly sensing technology, path planning and motion control.
This problem is to be background with the intelligent vehicle contest,, as the Path Recognition sensor, with the drive unit of direct current generator as dolly, turns to steering wheel control dolly with camera as key control unit with single-chip microcomputer.The racing track of car mould contest is a KT plate with particular geometric dimension constraint, friction factor and optical characteristics, its center post visible light and invisible light are all had strong absorption characteristic black stripe as guide line, width is 2.5cm.In the process of moving; SCM system obtains the view data of the place ahead racing track through camera; Obtain the speed of intelligent vehicle simultaneously in real time through tachogenerator; Adopt path search algorithm to carry out hunting judgement and velocity analysis, do control decision then, control steering engine and direct-drive motor work intelligent vehicle are through adjust " edge " racing track fast running to displacement speed and direction etc. in real time.
In the utility model design process, the major parameter of camera is analyzed, improved the accuracy of input.The camera half-twist uses the needs that meet Path Recognition.Compressed the picture signal of gathering, extracted black line and realized the setting of dynamic threshold value, deviation has adopted non-homogeneous calibration, guaranteed to track preferably effect.
Summary of the invention
Defective or deficiency to above-mentioned prior art existence; The purpose of the utility model is; A kind of SCM Based Automatic Track Finding intelligent vehicle control device is provided; This device is handled through the information of speed pickup and camera collection, according to turning to and speed of result control intelligent vehicle, realizes the intelligent vehicle Automatic Track Finding.
To achieve these goals, the utility model adopts following technical solution:
A kind of SCM Based Automatic Track Finding intelligent vehicle control device; It is characterized in that; Comprise power supply, microprocessor, camera, speed pickup, motor-drive circuit and steering wheel driving circuit; Wherein, microprocessor, camera, speed pickup, motor-drive circuit and steering wheel driving circuit are connected power supply respectively, and camera, speed pickup, motor-drive circuit and steering wheel driving circuit are connected microprocessor respectively.
The utility model also comprises following other technologies characteristic:
Said camera is selected OV6620.
Said microprocessor adopts the MC9S12DG128 single-chip microcomputer.
Said motor-drive circuit is selected the MC33886 chip of Freescale company.
Said speed pickup adopts MMA7260.
Said power supply is selected the nickel chromium triangle accumulator of 7.2V/2000mAh.
Description of drawings
Fig. 1 is the structural representation of the utility model.
Fig. 2 is applied in the connection synoptic diagram of intelligent vehicle for the utility model.
Below in conjunction with accompanying drawing and embodiment the utility model is done further and to be explained.
Embodiment
Referring to Fig. 1; The SCM Based Automatic Track Finding intelligent vehicle control device of the utility model; Comprise power supply, microprocessor, camera, speed pickup, motor-drive circuit and steering wheel driving circuit; Wherein, microprocessor, camera, speed pickup, motor-drive circuit and steering wheel driving circuit are connected power supply respectively, and camera, speed pickup, motor-drive circuit and steering wheel driving circuit are connected microprocessor respectively.
Camera is used to gather routing information, and camera is selected 0V6620.
Microprocessor is MCU, adopts the MC9S12DG128 single-chip microcomputer.
Motor-drive circuit: be used to drive direct current generator, select the MC33886 chip of Freescale company.
The steering wheel driving circuit: be used to control steering wheel and turn to, steering wheel is with the control of PWM ripple, and its dutycycle is different, and steering wheel just can turn over corresponding corner.The steering wheel driver module of selecting common intelligent vehicle to adopt gets final product.
Speed pickup adopts MMA7260.
Power supply is used to other module for power supply of system, selects the nickel chromium triangle accumulator of 7.2V/2000mAh, converts the single-chip microcomputer power supply into through 5V, converts the camera power supply into through 12V, and 7.2V directly gives the power supply of steering wheel and direct current generator.
During practical application, speed pickup is installed on the rear-wheel hub next door, and camera is fixed in the car body top of intelligent vehicle, the steering wheel of steering wheel driving circuit connection of intelligent car, and motor-drive circuit is connected to the direct current generator of intelligent vehicle, and steering wheel places in the middle of the front axle.
Used electronic devices and components are commercially available known product in the device of the utility model, and those skilled in the art can realize the concrete connection of each electronic devices and components according to the application's technique effect.
The course of work of the utility model is following:
Camera is taken routing information in real time, and camera is through the line scanning mode, and the video analog signal that image information is converted into one dimension outputs to single-chip microcomputer.With respect to photocell pickoff; Camera can obtain routing information far away, therefore can obtain multirow black line information simultaneously, and the information of camera collection is after single-chip microcomputer carries out the image algorithm processing; Obtain particular location about black line in the prediction scope; Single-chip microcomputer is controlled the front-wheel of intelligent vehicle according to the result after handling through steering wheel driving circuit drives steering wheel, thereby realizes the control that turns to intelligent vehicle; Single-chip microcomputer is controlled the trailing wheel of intelligent vehicle through motor-drive circuit control direct current generator, thereby realizes the speed control to intelligent vehicle.
Claims (6)
1. SCM Based Automatic Track Finding intelligent vehicle control device; It is characterized in that; Comprise power supply, microprocessor, camera, speed pickup, motor-drive circuit and steering wheel driving circuit; Wherein, microprocessor, camera, speed pickup, motor-drive circuit and steering wheel driving circuit are connected power supply respectively, and camera, speed pickup, motor-drive circuit and steering wheel driving circuit are connected microprocessor respectively.
2. SCM Based Automatic Track Finding intelligent vehicle control device as claimed in claim 1 is characterized in that, said camera is selected OV6620.
3. SCM Based Automatic Track Finding intelligent vehicle control device as claimed in claim 1 is characterized in that, said microprocessor adopts the MC9S12DG128 single-chip microcomputer.
4. SCM Based Automatic Track Finding intelligent vehicle control device as claimed in claim 1 is characterized in that, said motor-drive circuit is selected the MC33886 chip of Freescale company.
5. SCM Based Automatic Track Finding intelligent vehicle control device as claimed in claim 1 is characterized in that, said speed pickup adopts MMA7260.
6. SCM Based Automatic Track Finding intelligent vehicle control device as claimed in claim 1 is characterized in that, said power supply is selected the nickel chromium triangle accumulator of 7.2V/2000mAh.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205351788U CN202433773U (en) | 2011-12-14 | 2011-12-14 | Control device of automatic track searching intelligent vehicle based on single chip microcomputer (SCM) |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011205351788U CN202433773U (en) | 2011-12-14 | 2011-12-14 | Control device of automatic track searching intelligent vehicle based on single chip microcomputer (SCM) |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202433773U true CN202433773U (en) | 2012-09-12 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011205351788U Expired - Fee Related CN202433773U (en) | 2011-12-14 | 2011-12-14 | Control device of automatic track searching intelligent vehicle based on single chip microcomputer (SCM) |
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| Country | Link |
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| CN (1) | CN202433773U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103605367A (en) * | 2013-11-22 | 2014-02-26 | 上海电机学院 | Car model control system |
| CN104793617A (en) * | 2015-04-01 | 2015-07-22 | 山东农业大学 | Automatic ridge walking device of tobacco harvester |
| CN104881028A (en) * | 2015-05-11 | 2015-09-02 | 皖西学院 | Intelligent vehicle |
| CN106843228A (en) * | 2017-03-23 | 2017-06-13 | 汕头大学 | Method and system based on mobile terminal line setting intelligent carriage walking path |
-
2011
- 2011-12-14 CN CN2011205351788U patent/CN202433773U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103605367A (en) * | 2013-11-22 | 2014-02-26 | 上海电机学院 | Car model control system |
| CN104793617A (en) * | 2015-04-01 | 2015-07-22 | 山东农业大学 | Automatic ridge walking device of tobacco harvester |
| CN104881028A (en) * | 2015-05-11 | 2015-09-02 | 皖西学院 | Intelligent vehicle |
| CN106843228A (en) * | 2017-03-23 | 2017-06-13 | 汕头大学 | Method and system based on mobile terminal line setting intelligent carriage walking path |
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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: 20120912 Termination date: 20121214 |