CN205485624U - Intelligent vehicle is optimizing control system independently based on STM32 - Google Patents

Abstract

The utility model discloses a self-optimizing control system for an intelligent car based on STM32, which comprises a micro-controller circuit, a power supply circuit connected with the power supply terminal of the micro-controller circuit, and an automatic avoidance circuit connected with the detection signal terminal of the micro-controller circuit. Obstacle and path-finding circuit, speed detection circuit connected to the speed detection signal input end of the microcontroller circuit, motor drive circuit connected to the drive output end of the microcontroller circuit, the motor drive circuit connected to the wheel of the trolley, automatic obstacle avoidance The path-finding circuit includes an ultrasonic sensor and an infrared photoelectric sensor. The motor drive circuit includes a driving transistor and a motor. The base of the driving transistor is connected to the PWM output unit of the microcontroller circuit, and the control terminal of the motor is connected to the collector of the driving transistor. , There is a freewheeling diode inside the motor. The utility model has the advantages of simple structure, strong applicability, greatly improved use stability, wide application range, strong intelligence and good practicability.

Description

Autonomous optimization control system of smart car based on STM32

technical field

The utility model belongs to the technical field of mobile robots, in particular to an STM32-based intelligent car autonomous optimization control system.

Background technique

Based on mobile robots in unknown environments, due to the lack of prior knowledge, the environment modeling can only be done online and autonomously. The analysis and integration of perceptual information in an unstructured environment requires real-time processing capabilities of large amounts of data. The computing power of the main controller in the control system largely determines the intelligence of the mobile robot system, so the choice of the main controller is particularly important. The advantage of using 8-bit single-chip microcomputer as the main controller is that it is cheap, but the system resources are less, the processing capacity is limited, it is difficult to deal with more data processing, and the real-time performance is poor, so it is only suitable for simple control applications.

Contents of the invention

In order to solve the above technical problems, the utility model provides an STM32-based intelligent car autonomous optimization control system with simple structure, good stability and strong applicability.

The technical solution for realizing the purpose of this utility model is: a kind of STM32-based smart car autonomous optimization control system, including a microcontroller circuit, a power supply circuit connected to the power supply end of the microcontroller circuit, and a power supply circuit connected to the microcontroller circuit. The automatic obstacle avoidance and path-finding circuit connected to the circuit detection signal end, the speed detection circuit connected to the speed detection signal input end of the microcontroller circuit, the steering gear connected to the microcontroller circuit, and the The upper computer connected with the micro-controller circuit and the motor drive circuit connected with the drive output of the micro-controller circuit, the motor drive circuit is connected with the wheel of the trolley, and the automatic obstacle avoidance and path-finding circuit includes ultrasonic sensor and an infrared photoelectric sensor, the ultrasonic sensor and the infrared photoelectric sensor are respectively connected to the detection signal input end of the microcontroller, the motor drive circuit includes a drive triode and a motor, the base of the drive triode is connected to the The PWM output unit of the micro-controller circuit is connected, the control terminal of the motor is connected with the collector of the drive triode, a freewheeling diode is arranged in the motor, and the main chip model of the micro-controller circuit is STM32F103C08.

A communication circuit connected to the microcontroller circuit is also provided, and the communication circuit includes a wired communication circuit and a wireless communication circuit.

The model of the main chip of the infrared photoelectric sensor is TCRT5000.

The main chip model of the wired communication circuit is TJA1050, and the TJA1050 chip is connected to the CAN bus pin of the microcontroller circuit through the CAN bus, the main chip model of the wireless communication circuit is PTR2000, and the PRT2000 and the microcontroller circuit connected to the serial port pins.

The utility model has positive effects: the utility model has a simple structure and has the following positive effects at the same time, (1) through the sensor and the motor drive circuit, the sensor carried by itself can sense the surrounding environment and make decisions, such as path Operations such as planning, positioning, and navigation are highly intelligent and greatly improve the scope of application; (2) When the car is moving, it uses infrared sensors and ultrasonic sensors to detect obstacle information, and at the same time obtains its own positioning information by using mileage statistics , which greatly improves the stability of use, strong applicability and good practicability; (3) There is also a communication circuit, which can be manually controlled according to needs, thus ensuring the stability and reliability of the control, strong applicability, and stability of use. Greatly improved, wide application range, strong intelligence and good practicability.

Description of drawings

In order to make the content of the utility model easier to understand clearly, the utility model will be further described in detail according to specific embodiments below in conjunction with the accompanying drawings, wherein:

Fig. 1 is a structural block diagram of the utility model.

detailed description

(Example 1)

Fig. 1 shows a specific embodiment of the utility model, wherein Fig. 1 is a structural block diagram of the utility model. See Fig. 1, a kind of STM32-based smart car autonomous optimization control system, including a microcontroller circuit 1, a power supply circuit 2 connected to the power supply terminal of the microcontroller circuit 1, and a detection circuit with the microcontroller circuit 1 The automatic obstacle avoidance and path-finding circuit 3 connected to the signal end, the speed detection circuit 4 connected to the speed detection signal input end of the microcontroller circuit 1, the steering gear 7 connected to the microcontroller circuit, and the The host computer 8 connected to the microcontroller circuit and the motor drive circuit 5 connected to the drive output of the microcontroller circuit 1, the motor drive circuit 5 is connected to the wheel of the trolley, the automatic obstacle avoidance and The routing circuit 3 includes an ultrasonic sensor 31 and an infrared photoelectric sensor 32, the ultrasonic sensor and the infrared photoelectric sensor are respectively connected to the detection signal input terminals of the microcontroller, and the motor drive circuit 5 includes a drive triode 51 and a motor 52 , the base of the driving triode is connected with the PWM output unit of the microcontroller circuit, the control terminal of the motor is connected with the collector of the driving triode, and a freewheeling diode 53 is arranged in the motor 52, The model of the main chip of the microcontroller circuit is STM32F103C08. The design idea of the smart car in this embodiment is to use it as a robot working in a place with a better road environment, so a four-wheeled robot is used. The four-wheel mechanism is stronger than the three-wheel mechanism in terms of stability. There are usually two ways for the structure of the general wheeled mobile robot steering device. The first way is to use the steering gear to steer. In this way, the front wheel is a free wheel and the rear wheel is a driving wheel. The steering gear is controlled by the steering wheel (front wheel); another way is to use differential control steering. The same as the steering gear steering, the rear wheel is the driving wheel, but the left and right wheels are driven by independent motors, and the front wheel is free. The steering is realized by controlling the speed of the left and right driving wheels. Considering the load capacity, stability and steering precision requirements of the smart car, the system adopts a four-wheel differential steering system, in which the rear two wheels are driving wheels, and the front two wheels are follower universal wheels.

In this embodiment, according to the structure of the actual car body, the structure of the smart car is studied, and a mathematical model is established on this basis. This structure enables the smart car to choose the optimal path to reach the target point in a complex environment with obstacles. The new structure uses the steering gear and the differential motor to cooperate with each other to control the turning of the research object at the same time. Using STM32 as the main controller chip, combined with CAN bus and wireless communication interface to control the smart car. The infrared photoelectric sensor is responsible for identifying the path information, and then transmits the collected data to the main controller. The main controller provides accurate data information through the control strategy, and finally uses the combination of the steering gear and the differential motor to control the turning angle and driving of the car. speed. The choice of control strategy will also affect the properties of the smart car in path recognition and tracking to a certain extent, such as its accuracy, stability and real-time performance. Because the identified path information is complex and uncertain, the fuzzy control algorithm is selected for path information analysis. By observing the running state of the smart car: it is found that the smart car can run accurately on a given route, and its path recognition performance is good, especially in terms of accuracy, stability, and speed control. The utility model Research will greatly improve the performance of smart cars.

In addition, the model of the motor driving chip in this embodiment is L293D. The use of the motor driving chip can not only greatly simplify the hardware circuit, but also have a larger output power, which is beneficial to the stability of the motor speed. In actual use, it is connected to the PWM output signal of the main controller. When the EN pin input is in a high level state, the motor it controls is in the running state, otherwise it is in the stop state. Pins 1Y, 2Y, 3Y, and 4Y are motor control output terminals, of which 1Y and 2Y are used to control the action of one motor, and the other two ports are used to control the action of another motor.

The working principle of the motor drive is: input the PWM pulse at the base of the crystal triode, and during the ON time, because the input is at a high level, the triode is in the conduction state at this time, and the motor can rotate. During the OFF time, since the input is at a low level, the triode is in a closed state at this time, and the motor will stop at this time. However, due to the existence of the freewheeling diode, during the switching from ON time to OFF time, some energy will be stored inside the motor coil, which can be provided to the motor so that it can continue to maintain the running state during the OFF interval of the PWM pulse.

A communication circuit 6 connected to the microcontroller circuit is also provided, and the communication circuit includes a wired communication circuit 61 and a wireless communication circuit 62 .

Power supply circuit: including the 12V power supply required to drive the motor and the 5V and 3.3V power supplies required by the main controller system;

Microcontroller circuit: as the core of the control system, it is mainly used for information collection and data processing, and coordinates various functional circuits in the system to complete predetermined tasks;

Automatic obstacle avoidance and path-finding circuit: The automatic obstacle avoidance circuit detects obstacles in the process of robot movement through ultrasonic sensors and infrared photoelectric sensors, and then transmits corresponding signals to the main controller for processing, driving the smart car to follow the predetermined path. If the car fails to enter the predetermined track normally, the system will send out an alarm message in time to help the smart car avoid obstacles and start automatic path finding;

Motor drive circuit: responsible for the independent drive of the left and right wheels of the robot, mainly using the PWM output unit built in the main controller and the motor drive chip to achieve differential control of the left and right wheels of the robot;

Speed detection circuit: responsible for measuring the real-time speed of the left and right wheels of the robot, mainly through the cooperation of the photoelectric encoder and the counter inside the main controller to detect the real-time speed of the wheels;

Communication expansion circuit: mainly divided into two parts: wired and wireless. The wired communication circuit is CAN bus communication. The main controller is embedded with a CAN bus controller, which can be connected to the CAN bus through the CAN bus high-speed receiving chip TJA1050; the wireless communication circuit is controlled by the main The device communicates with the wireless radio frequency circuit PTR2000 through the serial interface USART, which is simple and reliable to implement.

The model of the main chip of the infrared photoelectric sensor is TCRT5000. In this embodiment, the TCRT5000 photoelectric sensor circuit is used for path identification, and the TCRT5000 infrared photoelectric sensor is used for circuit design. It is composed of an infrared photodiode and a phototransistor, and is a photoelectric switch based on infrared reflection. The diode adopts a high emission power type, and the transistor is High-sensitivity type is adopted. Before the circuit outputs the signal, the signal passes through the Schmidt circuit, and the shaped signal is more stable and reliable.

The TCRT5000 sensor uses an infrared emitting diode to emit infrared rays, and controls the output level through the infrared reflection to control the working state. When the intensity of the reflected infrared light is not enough, or even zero reflection line, the phototransistor cannot detect the reflected light, so it will be in the off state. The circuit in this state is a high level output, and the output terminal of the circuit is a high level at this time. , the diode goes out; when the detection finds a black runway, the infrared rays emitted by the diode will be reflected back, and the reflection effect is good, the phototransistor detects the reflected line and saturates itself, then, the output end of the circuit becomes low level, at this time The diode lights up. The road information can be read by turning on and off the diode indicator light.

The main chip model of the wired communication circuit is TJA1050, and the TJA1050 chip is connected to the CAN bus pin of the microcontroller circuit through the CAN bus, the main chip model of the wireless communication circuit is PTR2000, and the PRT2000 and the microcontroller circuit connected to the serial port pins.

Apparently, the above-mentioned embodiments of the present utility model are only examples for clearly illustrating the present utility model, rather than limiting the implementation manner of the present utility model. For those of ordinary skill in the art, other changes or changes in different forms can be made on the basis of the above description. It is not necessary and impossible to exhaustively list all the implementation manners here. And these obvious changes or changes derived from the essential spirit of the present utility model still belong to the protection scope of the present utility model.

Claims (4)

1. An autonomous optimization control system for smart cars based on STM32, characterized in that: comprise a microcontroller circuit, a power supply circuit connected to the power supply end of the microcontroller circuit, and a detection signal terminal of the microcontroller circuit The connected automatic obstacle avoidance and path-finding circuit, the speed detection circuit connected with the speed detection signal input end of the microcontroller circuit, the steering gear connected with the microcontroller circuit, and the microcontroller circuit The connected upper computer and the motor drive circuit connected with the drive output of the microcontroller circuit, the motor drive circuit is connected with the wheel of the trolley, and the automatic obstacle avoidance and path-finding circuit includes an ultrasonic sensor and an infrared photoelectric sensor , the ultrasonic sensor and the infrared photoelectric sensor are respectively connected to the detection signal input end of the microcontroller, the motor drive circuit includes a drive triode and a motor, the base of the drive triode is connected to the microcontroller circuit The PWM output unit is connected, the control terminal of the motor is connected with the collector of the driving triode, a freewheeling diode is arranged in the motor, and the main chip model of the microcontroller circuit is STM32F103C08. 2. The autonomous optimization control system for smart cars based on STM32 according to claim 1, characterized in that: a communication circuit connected to the microcontroller circuit is also provided, and the communication circuit includes a wired communication circuit and a wireless communication circuit. communication circuit. 3. The autonomous optimization control system for smart cars based on STM32 according to claim 2, characterized in that: the model of the main chip of the infrared photoelectric sensor is TCRT5000. 4. The autonomous optimization control system for smart cars based on STM32 according to claim 3, characterized in that: the main chip model of the wired communication circuit is TJA1050, and the TJA1050 chip passes through the CAN bus of the CAN bus and the microcontroller circuit The main chip model of the wireless communication circuit is PTR2000, and the PRT2000 is connected to the serial port pin of the microcontroller circuit.