Intelligent visual and auditory vehicle

Abstract

The utility model relates to the field of intelligent carriers, in particular to an intelligent visual and auditory vehicle, which comprises a vehicle model and a control system arranged at the position of the vehicle model, and the model of the control system is Enipu. MX RT1064. The control system is electrically connected with a visual identification system, an auditory identification system, a GPS positioning system and a sensor module; the car model comprises four driving wheels and a brush direct current motor connected with the driving wheels, and the car model further comprises a mechanical arm and two steering engines; the mechanical arm is used for carrying a target plate and controlled by the steering engine to move. And the driving plate module is connected with the control system and is used for driving the motor. The utility model has remarkable advantages in the aspects of target identification, carrying efficiency, operation stability, environmental adaptability and the like, and can meet the requirements of intelligent automobile competition and related intelligent vehicle application scenes.

Description

TECHNICAL FIELD

[0001] The utility model discloses the field of intelligent carrying vehicle, specifically, relates to an intelligent visual and auditory vehicle. BACKGROUND

[0002] With the rapid development of artificial intelligence technology, intelligent robot technology is widely applied in various fields. The existing intelligent visual vehicle mainly relies on visual sensors such as cameras for target recognition and environment perception, but the target recognition accuracy is greatly affected by factors such as light and angle; the vehicle is difficult to stably drive in complex road environment. UTILITY MODEL CONTENTS

[0003] In order to solve the above technical problems, the utility model solves the problem through the following technical scheme:

[0004] An intelligent visual and auditory vehicle, comprising a vehicle model and a control system arranged at the vehicle model, the model of the control system is NXP i.MX RT1064; the control system is electrically connected with a visual recognition system, an auditory recognition system, a GPS positioning system and a sensor module; the visual recognition system comprises an OpenART Mini image recognition module, an MCX Vision visual sensor and a total drill wind camera; the OpenART Mini image recognition module is used for identifying and classifying target plates, the MCX Vision visual sensor is used for target detection and vehicle body correction, and the total drill wind camera is used for road tracking; the vehicle model comprises four driving wheels and a brush DC motor connected with the driving wheels, and further comprises a mechanical arm and two servos for the mechanical arm; the mechanical arm is used for carrying target plates and is controlled to move by the servos; further comprising a driving board module, the driving board module is connected with the control system and is used for driving the motor.

[0005] As a preferred scheme of the utility model, the auditory recognition system comprises four silicon microphone modules and a voice recognition module, wherein the silicon microphone module is used for sound source acquisition; the voice recognition module is responsible for receiving sound signals emitted by the outside world.

[0006] As a preferred scheme of the utility model, the GPS positioning system comprises a GPS module, and the GPS module is used for satellite positioning and navigation of the vehicle model.

[0007] As a preferred scheme of the utility model, the control system, the visual recognition system, the auditory recognition system, the GPS positioning system and the sensor module are powered by the power module.

[0008] As a preferred scheme of the utility model, the sensor module comprises an encoder and a gyroscope, the encoder is used for speed measurement of the vehicle model, and the gyroscope (23) is used for acquiring the vehicle body posture of the vehicle model.

[0009] As a preferred scheme of the utility model, the four drive wheels of the car model are all micromega wheels.

[0010] As a preferred scheme of the utility model, the car model is further provided with a light supplementing plate for supplementing light for the total drilling wind camera.

[0011] The utility model adopts the above technical scheme, can reach beneficial effect is:

[0012] 1, the utility model discloses a recognition system that is formed by OpenART Mini image recognition module, MCXVision poem sensor and total drilling wind camera, can accurately identify target picture and obtain road information. The cooperation of the mechanical arm and the temporary storage bin makes the carrying of the target plate more efficient, can place the identified target plate to the specified area quickly, reduces the task completion time.

[0013] 2, the utility model discloses a control system that is formed by the core of NXP i.MX RT1064 chip, combines motor, rudder, encoder, gyroscope and other components, can realize the accurate control to the car model. The application of PID algorithm ensures the stability of the car model in speed control and tracking, so that the car model can stably travel in the complex race track environment.

[0014] 3, the utility model discloses a car model that adopts M car model and is equipped with micromega wheel, realizes omnidirectional movement, can adapt to complex race track environment, such as cross intersection, roundabout, different illumination conditions etc. The power module provides multiple voltage outputs, satisfies the power supply demand of different devices, improves the adaptability of the system. DRAWINGS

[0015] Figure 1 It is a structure schematic view of an intelligent visual and auditory car in embodiment 1.

[0016] Figure 2 It is Figure 1 It is a system principle schematic view of an intelligent visual and auditory car in embodiment 1.

[0017] Figure 3 It is a peripheral circuit diagram in embodiment 1.

[0018] Figure 4 It is a circuit diagram of a power module in embodiment 1. CONCRETE IMPLEMENTATION

[0019] In order to further understand the content of the utility model, the utility model is described in detail in combination with the drawings and embodiments. It should be understood that the embodiment is only used to explain the utility model and is not limited.

[0020] Embodiment 1

[0021] As Figures 1-4As shown, the embodiment provides an intelligent visual and auditory vehicle, which comprises a hardware system and a control system arranged at the hardware system, the control system is of a model of NXP i.MX RT1064 and is used for being responsible for processing external environment information, making decisions and generating control signals; the control system is electrically connected with a visual recognition system, an auditory recognition system, a GPS positioning system and a sensor module; the visual recognition system comprises an OpenART Mini image recognition module, an MCX Vision visual sensor and a total drill wind camera, and the vehicle model is further provided with a light supplementing plate for supplementing light for the total drill wind camera.

[0022] The OpenART Mini image recognition module is used for target board identification and classification, the MCX Vision visual sensor is used for target detection and vehicle body correction, and the total drill wind camera is used for road tracking; the vehicle model comprises four driving wheels and brush DC motors connected with the driving wheels, and the four driving wheels of the vehicle model are all Mecanum wheels. The vehicle model further comprises a mechanical arm and two servos, the mechanical arm is used for carrying the target board and is controlled to move by the servos, and further comprises a driving board module connected with the control system and used for driving the motors.

[0023] The auditory recognition system comprises four silicon microphone modules and a voice recognition module, the silicon microphone modules are used for sound source collection, and the voice recognition module is responsible for receiving sound signals emitted from the outside. A power module is used for supplying power to the control system, the visual recognition system, the auditory recognition system, the GPS positioning system and the sensor module. The control system receives information from the visual recognition system, the auditory recognition system and the GPS positioning system, such as the position and category of the target and the loudness of the sound, and then controls the movement of components such as motors and servos in the hardware system according to the information. The sensor module comprises an encoder and a gyroscope, the encoder is used for measuring the speed of the vehicle model, and the gyroscope is used for obtaining the body posture of the vehicle model. The GPS positioning system comprises a GPS module, which is used for satellite positioning and navigation of the vehicle model.

[0024] The motor provides power for the vehicle model, the servo is used for controlling the steering and movement of the mechanical arm, the encoder collects speed information and feeds it back to the NXP i.MX RT1064 core control system to adjust the motor speed, the gyroscope obtains the angular velocity and acceleration of the vehicle model to assist motion control and vehicle body correction, the mechanical arm is provided with an electromagnet and is used for adsorbing the target board with a magnet, and the vehicle model is further provided with a TFT color screen, which is used for displaying vehicle information or images.

[0025] OpenART Mini image recognition module collects images, uses self-made data set combined with EIQ and mobilenet_v2 network for model training, and identifies and classifies the target. MCX Visioni visual sensor is used for target search and body correction, and the total wind camera is used for road tracking. It collects images, processes them through image preprocessing (binarization, noise reduction, scaling, etc.) and line searching algorithm, adjusts the speed and steering angle according to the external environment, and realizes the stable driving of the car model. The auditory recognition system uses a silicon microphone module to collect sound and transmits information to the control system for data processing; the voice recognition module uses a microphone to collect external instructions, and then transmits them to the voice recognition system. After voice recognition, the command car makes the corresponding instructions, and the voice broadcast module is responsible for reading and broadcasting real-time information to realize interaction.

[0026] The drive board module adopts a specific design to drive the motor, such as using DRV8701 single-channel H-bridge gate driver combined with external N-channel MOSFET design, which reduces the total armature circuit resistance, improves the efficiency of the drive circuit, and has adjustable current control function. The power module provides power support for the entire system, including an 11.1V battery as the power supply, which supplies power to the motor and servo drive through an adjustable power module, 5V for some devices and using SCT2450 voltage stabilizing chip, 3.3V for the total wind camera and some devices and using linear voltage stabilizing chip RT9013. The light supplement board supplements light for the total wind camera, which is conducive to identification.

[0027] The mechanical arm is composed of standard parts, the upper arm is a large long U-shaped support, the lower arm is composed of two large long U-shaped supports and a short U-shaped support, and a 3D printed part is fixed at the head position, the end is an electromagnet, and two servos form a two-degree-of-freedom mechanical arm that can move in most positions in the vertical plane of its installation shaft. The temporary storage warehouse adopts a five-sided structure with five temporary storage spaces, controlled by a 360° servo, which rotates to the specified position when different target objects are identified, facilitating subsequent handling operations. The silicon microphone support adopts a cross structure for placement, making the collection of sound signals more comprehensive, and the silicon microphone support is raised using a carbon rod to avoid electromagnetic interference of the sound signal, and the GPS support is used to raise the GPS module to an appropriate height to collect signals.

[0028] The intelligent visual and auditory vehicle in this embodiment has the following advantages:

[0029] 1. Efficient target recognition and handling capability; through the OpenART Mini image recognition module, MCXVision poem sensor and total drill wind camera composed of the recognition system, the target picture can be accurately recognized and the road information can be obtained. The cooperation of the mechanical arm and the temporary storage warehouse makes the handling of the target plate more efficient, which can quickly place the recognized target plate to the specified area, reducing the task completion time.

[0030] 2. Stable running performance; the control system with the core of NXP i.MX RT1064 chip, combined with motor, servo, encoder, gyroscope and other components, can realize accurate control of the vehicle model. The application of PID algorithm ensures the stability of the vehicle model in speed control and tracking, so that the vehicle model can stably run in complex track environment.

[0031] 3. Good environmental adaptability; the vehicle model adopts M car model and is equipped with Mecanum wheel, realizes omnidirectional movement, and can adapt to complex track environment, such as cross intersection, roundabout, different light conditions, etc. The power module provides multiple voltage outputs to meet the power supply needs of different devices, improving the adaptability of the system.

[0032] 4. Functional diversity; the vehicle is equipped with an auditory recognition system, which can realize vehicle movement by collecting external sounds and cooperating with GPS navigation positioning; it can realize smooth human-computer interaction, and the vehicle collects sound through the microphone and transmits it to the voice recognition software, which can complete the user's instructions after processing.

[0033] 5. Switchable function; the vehicle has visual recognition mode, auditory recognition mode and visual and auditory recognition mode. The selection mode can be realized by pressing the key. The switchable function of the vehicle widens the use and use environment of the vehicle, which can better complete the task.

[0034] In summary, the intelligent visual car in the embodiment has significant advantages in target recognition, handling efficiency, running stability and environmental adaptability, which can meet the needs of intelligent automobile competition and related intelligent vehicle application scenarios.

[0035] In summary, the above only describes the preferred embodiment of the present application, and any changes and modifications made within the scope of the application should be included in the scope of the application.

Claims

1. An intelligent visual and auditory vehicle, characterized by: The application relates to a hardware system and a control system arranged at the hardware system, the control system is an NXP i.MX RT1064 model; the control system is electrically connected with a visual recognition system, an auditory recognition system, a GPS positioning system and a sensor module; the visual recognition system comprises an OpenART Mini image recognition module, an MCXVision visual sensor and a total drill wind camera; the OpenART Mini image recognition module is used for target plate identification and classification, the MCXVision visual sensor is used for target detection and vehicle body correction, and the total drill wind camera is used for road tracking; the hardware system comprises a vehicle model, the vehicle model comprises four driving wheels and brush DC motors connected with the driving wheels, the vehicle model further comprises a mechanical arm and two rudders; the mechanical arm is used for carrying a target plate and is controlled to move by the rudders; the application further comprises a driving board module, the driving board module is connected with the control system and is used for driving the motors.

2. The intelligent visual and auditory vehicle according to claim 1, characterized in that: The auditory recognition system comprises four silicon microphone modules and a voice recognition module, wherein the silicon microphone modules are used for sound source collection; the voice recognition module is responsible for receiving sound signals emitted by the outside world.

3. The intelligent visual and auditory vehicle according to claim 1, characterized in that: The GPS positioning system comprises a GPS module, and the GPS module is used for satellite positioning and navigation of the vehicle model.

4. The intelligent visual and auditory vehicle according to claim 1, wherein: The control system, the visual recognition system, the auditory recognition system, the GPS positioning system and the sensor module are powered by a power module.

5. The intelligent visual and auditory vehicle according to claim 1, wherein: The sensor module comprises an encoder and a gyroscope, the encoder is used for speed measurement of the vehicle model, and the gyroscope (23) is used for acquiring the vehicle body posture of the vehicle model.

6. The intelligent visual and auditory vehicle according to claim 1, wherein: The four driving wheels of the vehicle model are all Mecanum wheels.

7. The intelligent visual and auditory vehicle according to claim 1, wherein: The vehicle model is further provided with a light supplementing plate for supplementing light for the total drill wind camera.

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