CN106873683B - A kind of intelligent vehicle system for supervised learning - Google Patents

Abstract

A smart car system for supervised learning, comprising: a car and a track, the car can be moved on the track, the car includes a direction control module, a speed control module, a first information collection module, a second 2. An information collection module, a rotary encoding module, a power supply module, and an information collection and control module capable of collecting information from each module and controlling each module. The power supply module supplies power to other modules. The track is composed of road surfaces and edges. Electric wires with alternating current are laid under the road surface, and the first information collection module is 2-8 L-C oscillation circuit collectors for collecting electromagnetic signals on the track, and the L-C oscillation circuit collectors are connected to the The information collection and control module is arranged in front of the car, and the second information collection module is a CMOS camera that collects optical signals on the track, and the CMOS camera is connected to the information collection and control module and is arranged on the car. superior.

Description

A smart car system for supervised learning

technical field

The invention relates to a smart car system for supervised learning.

Background technique

In recent years, machine learning has developed rapidly, and the importance of applying machine learning to industrial production is self-evident. In the teaching of machine learning in colleges and universities, it is difficult for students to have a deep understanding of machine learning in experiments; in the field of research in machine learning, there is also a need for experimental equipment that can use machine learning to carry out theoretical research in a simple, intuitive and economical way. verify. But such experimental devices that leverage machine learning are uncommon.

For example, the Chinese invention patent application with application number 201610450044.3 discloses an experimental teaching device for three-axis wind swing motion control, which is characterized in that it includes a three-axis wind swing and a host computer, the three-axis wind swing includes a bracket, and the The support includes a column and a cantilever. The support is provided with a power supply, a control device and a driving device. The free end of the cantilever is connected with a swing rod through a universal joint, and the swing rod is connected with a bracket. There are angle sensors and three-axis motors, and positive and negative paddles are installed on the three-axis motors; the control device includes sequentially connected data classification modules, data recording modules, information processing modules, analysis and instruction execution modules, and the angle sensors , the control device, and the driving device are connected in sequence through the transmission system, the driving device is connected with the three-axis motor, and the power supply supplies power to the control device and the three-axis motor; the control device is connected to the host computer through a communication interface; the host computer includes The processor is connected with a display screen, a loudspeaker, an input device, and a two-way communication module. The upper computer controls the movement of the three-axis wind swing or adjusts its state through various interactive modes. The platform involves training in various aspects such as motion detection, control algorithms, and machine learning, and is suitable for practical training for students majoring in automation, computer, and electronic information technology.

The above-mentioned invention adopts an experimental teaching device controlled by three-axis wind swing motion, which has uncertainty.

Contents of the invention

The purpose of the present invention is to provide a smart car system for supervised learning, provide two different sensors, and use two different algorithms to supervise and learn to control the operation of the car model, so as to realize simple and intuitive supervised machine learning , Economical verification and testing purposes.

To achieve the above object, the present invention adopts the following technical solutions:

A smart car system for supervised learning, comprising: a car and a track, the car can be moved on the track, the car includes a direction control module, a speed control module, a first information collection module, a second 2. an information collection module, a rotary encoding module, a power supply module, a voltage conversion module, and an information collection and control module, the power supply module is connected to the direction control module, the speed control module, the first information collection module through the voltage conversion module, The second information collection module and the information collection and control module, the direction control module, the speed control module, the first information collection module, the second information collection module and the rotary encoding module are respectively connected to the information collection and control module, and the The race track is composed of the road surface and the edge, and the electric wires with alternating current are laid under the road surface, the rotary encoding module is connected to the rear wheel of the car, and the first information collection module is 2-8 electromagnetic signals collected on the race track The L-C oscillation circuit collector, the L-C oscillation circuit collector is connected to the information collection and control module and arranged in front of the car, the second information collection module is a CMOS camera that collects optical signals on the track, so The CMOS camera is connected to the information collection and control module and arranged on the vehicle.

Further, the first information collection module is 6 L-C oscillation circuit collectors, and the first information collection module includes three groups of L-C oscillation circuit collectors symmetrical along the center line of the car, each group of L-C oscillation circuit collectors Both the setting height and the setting direction are different.

Further, the vehicle includes a filter, amplification and rectification module, and the first information collection module and the second information collection module are connected to the information collection and control module through the filter, amplification and rectification module.

Further, the direction control module is powered by 5v and uses 5vPWM wave to drive and control the steering servo, and the servo controls the steering gear of the car.

Further, the speed control module is powered by 9v and uses 5v PWM wave to drive and control the speed of the DC motor.

Further, the information collection and control module is a single-chip microcomputer, the single-chip microcomputer is Freescale's K60 series single-chip microcomputer, the operating voltage of the single-chip microcomputer is 0-3.3v, and the single-chip microcomputer is connected to the host computer.

Further, the power supply module is a 9v lithium battery, and the 9v lithium battery is connected to the voltage conversion module.

Further, the range of alternating current flowing under the pavement is 19-21KHz, 80-120mA.

Further, the voltage conversion module includes a 9v to 5v voltage conversion module, a 9v to 3.3v voltage conversion module, and a 9v to -5v voltage conversion module, and the power supply module converts the 9v to 5v voltage conversion module and 9v to 3.3v voltage conversion module The module and the 9v-to-5v voltage conversion module are respectively connected to the direction control module, the information collection and control module, and the filter, amplification and rectification module.

Further, the 9v to 5v voltage conversion module, the 9v to 3.3v voltage conversion module, and the 9v to -5v voltage conversion module are isolated through optocouplers or latches.

Compared with prior art, the superior effect of the present invention is:

1. In the smart car system for supervised learning of the present invention, by cooperating with the first information collection module and the second information collection module, two different algorithms can supervise and learn each other to control the operation of the car model.

2. In the smart car system for supervised learning described in the present invention, the control of the speed control module by the single-chip microcomputer is more precise by setting the rotary encoding module.

3. The smart car system for supervised learning according to the present invention effectively avoids the phenomenon of backflow of current between different modules or damage to hardware by setting optocouplers or latches.

Description of drawings

Fig. 1 is the schematic diagram of the smart car system for supervised learning of the present invention;

Fig. 2 is a circuit diagram of the L-C oscillation circuit collector according to the present invention.

The reference signs are as follows:

1-direction control module, 2-speed control module, 3-first information collection module, 31-L-C oscillation circuit collector, 4-second information collection module, 41-CMOS camera, 5-rotary encoding module, 6-power supply Module, 7-voltage conversion module, 8-information collection and control module, 9-road surface, 10-edge, 11-filtering, amplification and rectification module, 12-host computer.

Detailed ways

As shown in accompanying drawing 1, a kind of intelligent car system that is used for supervised learning comprises: car and race track, and described car can be arranged on described race track movablely, and described car comprises direction control module 1, speed control module 2. The first information collection module 3, the second information collection module 4, the rotary encoding module 5, the power supply module 6, the voltage conversion module 7 and the information collection and control module 8, and the power supply module 6 is connected through the voltage conversion module 7 In the direction control module 1, the speed control module 2, the first information collection module 3, the second information collection module 4 and the information collection and control module 8, the direction control module 1, the speed control module 2, the first information collection module The module 3, the second information collection module 4 and the rotary encoding module 5 are respectively connected to the information collection and control module 8. The track is composed of a road surface 9 and an edge 10, and an alternating current is laid under the road surface 9. Electric wires, the rotary encoding module 5 is connected to the rear wheel of the car, the first information collection module 3 is 2-8 L-C oscillating circuit collectors 31 for collecting electromagnetic signals on the track, and the L-C oscillating circuit collectors 31 is connected to the information collection and control module 8 and arranged in front of the car, the second information collection module 4 is a CMOS camera 41 for collecting optical signals on the track, and the CMOS camera 41 is connected to the information collection and the control module 8 are arranged on the car; the first information collection module 3 is 6 L-C oscillation circuit collectors 31, and the first information collection module 3 includes three groups of symmetrical L-C oscillations along the center line of the car. Circuit collector 31, the setting height and setting direction of each group of L-C oscillating circuit collectors 31 are all different; The filter, amplification and rectification module 11 is connected to the information collection and control module 8; the direction control module 1 is a servo that is powered by 5v and uses a 5vPWM wave to drive and control the steering, and the servo controls the steering gear of the car ; The speed control module 2 is powered by 9v and uses a 5vPWM wave to drive the DC motor of the control speed; the information collection and control module 8 is a single-chip microcomputer, and the single-chip microcomputer is the K60 series single-chip microcomputer of Freescale, and the work of the single-chip microcomputer The voltage is 0-3.3v, and the single-chip microcomputer is connected to the host computer 12; the power supply module 6 is a 9v lithium battery, and the 9v lithium battery is connected to the voltage conversion module 7; The range of alternating current is 19-21KHz, 80-120mA; the voltage conversion module 7 includes a 9v to 5v voltage conversion module, a 9v to 3.3v voltage conversion module, a 9v to -5v voltage conversion module, and the power supply module 6 The 9v to 5v voltage conversion module, the 9v to 3.3v voltage conversion module, and the 9v to -5v voltage conversion module are respectively connected to the direction control module 1, the information collection and control module 8 and the filter, amplification and rectification module 11; 9v to 5v voltage conversion module, 9v to 3.3v The voltage conversion module and the 9v to -5v voltage conversion module are isolated through optocouplers or latches.

As shown in accompanying drawing 2, accompanying drawing 2 is the circuit diagram of the L-C oscillating circuit collector 31, in the figure, C is a capacitor, the size is 6.8nF; L is the inductance, the size is 10mH; GND is the ground circuit, connected to the 0V voltage ; signal is the output of the signal collector.

Wherein, the width of the track is 450mm, and the width of the edge 10 is 20-30mm; the width of the car is 100-250mm; the road surface 9 and the edge 10 are set to different colors so as to facilitate the collection of the CMOS camera 41, as a kind of preference, The road surface 9 is set to white, its material is a kt board, and the edge 10 is set to black; 6 L-C oscillation circuit collectors 31 are arranged at the position of 300-500mm in front of the car; the single-chip microcomputer is a 32-bit single-chip microcomputer; the upper position The machine 12 is a computer, and the control strategy of the single-chip microcomputer is modified by the computer.

Wherein, the track also includes a track power supply module, the track power supply module can supply 19-21KHz, 80-120mA alternating current, as a preference, the track power supply module can supply 20KHz, 100mA alternating current current.

The single-chip microcomputer filters the data collected by the 6 L-C oscillation circuit collectors 31 through the filtering, amplifying and rectifying module 11, and takes the mean value after removing the two maximum values and the two minimum values for the 10 sets of data returned. Carry out filtering, input the correspondence table of the data collected by the single-chip microcomputer and the height and angle of the L-C oscillating circuit collector 31 into the single-chip microcomputer, and then calculate the The position and angle of the electromagnetic signal source can also be known at the same time as the position and angle of the car.

The single-chip microcomputer performs binary processing on the image collected by the CMOS camera 41. The road surface taken by the CMOS camera 41 is 0, and the edge of the shooting is 1, so as to judge its own position and the shape of the runway ahead. After the position is judged, the steering gear is controlled to control the steering, the motor is controlled to control the speed, and the rotary encoder module 5 is used as the feedback control of the speed to accurately control the speed.

The single-chip microcomputer learns from each other based on the control of two different sensors according to different algorithms, and achieves the effect of mutual supervision and learning.

The present invention is not limited to the above-mentioned embodiments, and without departing from the essence of the present invention, any deformation, improvement, and replacement conceivable by those skilled in the art fall within the protection scope of the present invention.

Claims (10)

1. a kind of intelligent vehicle system for supervised learning, including：Vehicle and racing track, the setting that the vehicle can move is in the match On road, the vehicle includes direction controlling module, rate control module, first information acquisition module, the second information acquisition module, rotation Turn coding module, power supply module, voltage transformation module and information collection and control module, the power supply module pass through the voltage Conversion module is connected to the direction controlling module, rate control module, first information acquisition module, the second information acquisition module With information collection and control module, the direction controlling module, rate control module, first information acquisition module, the second information Acquisition module and rotary coding module are connected to described information collection and control module, and the racing track is by road surface and edge group At being laid under the road surface and be connected with the electric wire of alternating current, the rotary coding module is connected to the trailing wheel of vehicle, and feature exists In the first information acquisition module is the L-C oscillating circuit collectors of electromagnetic signal on 2-8 acquisition racing track, and the L-C shakes Circuit collector is swung to be connected to described information collection and control module and be arranged in the front of the vehicle, second information collection Module is to acquire the CMOS camera of optical signalling on racing track, and the CMOS camera is connected to described information and collects and control mould Block is simultaneously arranged on the vehicle.

2. the intelligent vehicle system according to claim 1 for supervised learning, which is characterized in that the first information acquisition Module is 6 L-C oscillating circuit collectors, the first information acquisition module include three groups along Chinese herbaceous peony into the symmetrical L- in center The setting height of C oscillating circuit collectors, every group of L-C oscillating circuit collector is different from setting direction.

3. the intelligent vehicle system according to claim 1 for supervised learning, which is characterized in that the vehicle include filtering, Amplification and rectification module, the first information acquisition module and the second information acquisition module pass through the filtering, amplification and rectification Module is connected to described information collection and control module.

4. the intelligent vehicle system according to claim 1 for supervised learning, which is characterized in that the direction controlling module It is the servomechanism of 5vPWM wave drive controls steering of powering and use with 5v, the steering engine of servomechanism control vehicle.

5. the intelligent vehicle system according to claim 1 for supervised learning, which is characterized in that the rate control module It is the direct current generator of 5vPWM wave drive control rotating speeds of powering and use with 9v.

6. the intelligent vehicle system according to claim 1 for supervised learning, which is characterized in that described information is collected and control Molding block is microcontroller, and the microcontroller is the K60 series monolithics of Freescale, and the operating voltage of the microcontroller is 0- 3.3v, the microcontroller are connected to host computer.

7. the intelligent vehicle system according to claim 1 for supervised learning, which is characterized in that the power supply module is one The lithium battery of the lithium battery of block 9v, the 9v is connected to the voltage transformation module.

8. the intelligent vehicle system according to claim 1 for supervised learning, which is characterized in that be laid under the road surface logical There are the ranging from 19-21KHz of alternating current, 80-120mA.

9. the intelligent vehicle system according to claim 7 for supervised learning, which is characterized in that the voltage transformation module Turn 5v voltage transformation modules including 9v, 9v turns 3.3v voltage transformation modules, 9v turns -5v voltage transformation modules, the power supply module Turn 5v voltage transformation modules by 9v, 9v turns 3.3v voltage transformation modules, 9v turns -5v voltage transformation modules and is connected to direction Control module, information is collected and control module and filtering, amplification and rectification module.

10. the intelligent vehicle system according to claim 9 for supervised learning, which is characterized in that the 9v turns 5v voltages Conversion module, 9v turn 3.3v voltage transformation modules, 9v turns to do at isolation by optocoupler or latch between -5v voltage transformation modules Reason.