Outdoor intelligent vehicle guiding method based on GPS navigation positioning

Abstract

The invention discloses an outdoor intelligent vehicle guiding method based on GPS navigation positioning, and relates to an intelligent vehicle automatic control method, and the method comprises a TC264D-40F200W chip core board, a power supply module, a GPS navigation module, a Bluetooth module, a gyroscope, a steering engine, an Omron encoder and a motor driving board which are installed on a vehicle body. The invention provides an outdoor intelligent guide vehicle based on GPS navigation and positioning, which can autonomously perform navigation and positioning according to acquired target points to complete a path planning task and a guide task under the condition of no human intervention and guidance. Gravels, ramps and other elements are arranged on the autonomous navigation road, no guiding device is arranged in the whole driving field, no human intervention exists, and the actual requirement is better met. The outdoor intelligent guiding vehicle based on GPS navigation positioning can complete path planning tasks and guiding tasks, and is higher in practicability and wider in application scene.

Description

Technical Field

[0001] The invention relates to an automatic control method for an intelligent vehicle, and in particular to an outdoor intelligent vehicle guiding method based on GPS navigation and positioning. Background Art

[0002] As smart manufacturing gradually develops rapidly in all walks of life, smart industrial robots can achieve more efficient production methods and reduce production costs through automation and intelligence. This smart car equipped with GPS modules and gyroscopes can be widely used in many scenarios such as outdoor guidance and warehouse logistics.

[0003] Traditional smart cars can only follow the paths that have been planned and laid indoors, and cannot run smoothly and normally on the roads in normal life as needed. At the same time, traditional smart cars have relatively single functions and can only manually specify the walking planning path, and cannot achieve autonomous navigation and positioning in different road environments.

[0004] Smart cars can reduce labor costs and improve work efficiency through automation technology. Smart cars equipped with GPS modules and gyroscopes can be widely used in many scenarios such as outdoor guidance, warehousing and logistics. Therefore, it is very necessary to develop a working vehicle that can realize navigation and positioning according to the collection target points in outdoor venues. The road for autonomous navigation and positioning has elements such as sand, gravel and ramps, which is more in line with actual needs. There is no guidance device in the entire driving venue, and no human intervention can be performed. Navigation and positioning are only carried out through the navigation method composed of GPS and gyroscopes. This outdoor intelligent guide vehicle based on GPS navigation and positioning can complete path planning tasks and guidance tasks, and is more practical and has a wider range of application scenarios. Summary of the invention

[0005] The purpose of the present invention is to propose an outdoor intelligent vehicle guidance method based on GPS navigation and positioning, which comprises a TC264D-40F200W chip core board, a power module, a GPS navigation module, a Bluetooth module, a gyroscope, a servo, an Omron encoder, and a motor drive board installed on a vehicle body; and realizes the completion of path planning tasks and guidance tasks by autonomously performing navigation and positioning according to collected target points in an outdoor venue with elements such as sand, stone, and ramps without human intervention and guidance.

[0006] The technical solution adopted by the present invention is: The invention discloses an outdoor intelligent vehicle guiding method based on GPS navigation and positioning. The method comprises a TC264D-40F200W chip core board, a power module, a GPS navigation module, a Bluetooth module, a gyroscope MPU6050, a steering gear, an Omron encoder and a motor driving board installed on a vehicle body; the power module adopts a 12V lithium battery, which is respectively reduced to 5V and 3.3V by a BUCK circuit and an LDO voltage reduction process, so as to provide working voltage for each module; the motor driving board is located below the chip core board, and is connected to the motor driving board by two PWM signal lines of the chip core board for communication; the motor is controlled by an H-bridge driving circuit composed of a BTN7971B chip on the motor driving board, and the GPS and the chip core board transmit data through serial port communication, and the Bluetooth module HC-06 communicates with a host computer to monitor the system status; the communication connection between each module and the chip core board completes the control of each module, and in the absence of human intervention and guidance, in an outdoor field with elements such as sandstone and ramps, the path planning task and the guiding task are completed by autonomously navigating according to pre-collected target points.

[0007] The outdoor intelligent vehicle guidance method based on GPS navigation positioning, the chip core board uses a Bluetooth module to communicate with a host computer; the host computer is a PC.

[0008] The outdoor intelligent vehicle guidance method based on GPS navigation positioning, the GPS module, Bluetooth module, gyroscope, Omron encoder, steering gear and core board are communicatively connected, the motor drive board is located below the core board, and the core board is communicatively connected to the drive board by two PWM signal lines, and the H-bridge drive circuit composed of BTN7971B chip on the drive board controls the motor.

[0009] In the outdoor intelligent vehicle guidance method based on GPS navigation and positioning, the 12V lithium battery supplies power to the power system of the intelligent vehicle, that is, the 12V voltage provides working voltage to the DC brushed motor; the 12V voltage of the lithium battery is processed by the BUCK circuit, which is a step-down switching power supply, which steps down the 12V voltage to 5V to provide working voltage for the Omron encoder, servo, and GPS module.

[0010] In the outdoor intelligent vehicle guidance method based on GPS navigation positioning, the 5V voltage processed by the BUCK circuit is processed into a 3.3V voltage by an LDO low-voltage difference linear regulator; the obtained 3.3V voltage provides working voltage for the chip core board and the gyroscope MPU6050.

[0011] The outdoor intelligent vehicle guidance method based on GPS navigation and positioning, the GPS navigation and positioning module selects a fly-by-fly dual-frequency GPS navigation and positioning module to perform serial port communication with a chip core board.

[0012] The outdoor intelligent vehicle guidance method based on GPS navigation positioning, the motor drive board is located below the core board, and is communicated with the motor drive board by two PWM signal lines of the core board. The H-bridge drive circuit composed of the BTN7971B chip on the drive board controls the forward and reverse rotation of the motor, and the speed is adjusted by adjusting the duty cycle of the PWM signal.

[0013] In the outdoor intelligent vehicle guidance method based on GPS navigation positioning, the data acquired by the gyroscope include three-axis angular velocity and three-axis acceleration. Taking the acquisition of angular velocity as an example, during the measurement process, the gyroscope senses external rotational motion and converts these motions into electrical signal output.

[0014] The outdoor intelligent vehicle guidance method based on GPS navigation positioning, the Omron encoder is an incremental encoder. After the intelligent vehicle collects data through the Omron encoder, the current speed of the intelligent vehicle can be calculated through a formula to complete the closed-loop control of the intelligent vehicle.

[0015] In the outdoor intelligent vehicle guidance method based on GPS navigation and positioning, the S-D5 steering gear completes the steering gear rotation angle by adjusting the PWM signal duty cycle.

[0016] The present invention has the following advantages and positive effects: The present invention can perform navigation and positioning in outdoor venues according to the collected target points. The host computer communicates with the Bluetooth module, and the host computer monitors the movement of the smart car in the environment in real time. There are sand, ramps and tunnel elements on the road for autonomous navigation and positioning, which is more in line with actual needs. There is no guidance device and human intervention in the entire driving venue, and navigation is only performed through the navigation method composed of GPS and gyroscope. This outdoor intelligent guided vehicle based on GPS navigation can complete path planning tasks and guidance tasks, and has stronger practicality and wider application scenarios. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 This is a block diagram of the outdoor intelligent guided vehicle system based on GPS navigation and positioning of the present invention; Figure 2 This is a BUCK circuit diagram for converting 12V voltage to 5V voltage of an outdoor intelligent guide vehicle based on GPS navigation and positioning of the present invention; Figure 3 This is a low voltage difference linear voltage stabilization circuit diagram of 5V voltage to 3.3V voltage for an outdoor intelligent guide vehicle based on GPS navigation and positioning of the present invention; Figure 4 This is a schematic diagram of the H-bridge motor driving circuit of the outdoor intelligent guide vehicle based on GPS navigation and positioning of the present invention. DETAILED DESCRIPTION

[0018] The specific implementation modes of the present invention are described below in conjunction with the accompanying drawings so that those skilled in the art can understand the present invention.

[0019] In the following examples of the present invention, the present invention provides an implementation state and operation mode of an outdoor intelligent guided vehicle based on GPS navigation and positioning.

[0020] The car body model uses an "L"-shaped car body model with good shock absorption effect and strong carrying capacity. A power supply, namely a 12V lithium battery, is installed on the chassis of the car model. The power module uses a 12V lithium battery to provide working voltage for the smart car system, which is respectively reduced to 5V and 3.3V by BUCK circuit and LDO to provide working voltage for each module. A chip core board and a motor drive board are installed on the "L"-shaped car model. At the same time, the GPS module, Bluetooth module, gyroscope, Omron encoder, and steering gear are communicatively connected with the core board. The motor drive board is located below the core board and is communicatively connected with the drive board by two PWM signal lines of the core board. The H-bridge drive circuit composed of BTN7971B chip on the motor drive board controls the motor, and the Bluetooth module communicates with the host computer as a wireless communication module.

[0021] The TC264D chip core board is connected to the GPS navigation module, Omron encoder, Bluetooth module, gyroscope, and steering gear. Although the chip core board integrates I / O ports, ROM, CPU, etc. on one chip, it still needs the support of external circuits, namely gyroscope MPU6050, GPS module, Omron encoder, motor driver board, steering gear control, and Bluetooth wireless communication module.

[0022] The 12V lithium battery supplies power to the power system of the smart car, that is, the 12V voltage provides the working voltage for the DC brushed motor. The 12V voltage of the lithium battery is processed by the BUCK circuit, which is a step-down switching power supply. The 12V voltage is stepped down to 5V. In order to prevent the chip from overheating, the LM2596 is selected and the peripheral voltage regulator circuit is designed for power supply. Provide working voltage for Omron encoders, servos, and GPS modules. The 5V voltage processed by the BUCK circuit is processed by the LDO low-voltage dropout linear regulator to 3.3V. The solution for converting 5V to 3.3V power supply uses the LDO low-voltage dropout linear regulator solution designed by the AMS1117 chip. The AMS1117 is a linear regulator used to step down the high voltage to a low voltage output to obtain a 3.3V voltage, which provides working voltage for the chip core board and the gyroscope MPU6050.

[0023] The motor driver board is connected to the driver board by two PWM signal lines of the chip core board. The H-bridge driver circuit composed of the BTN7971B chip on the motor driver board controls the forward and reverse rotation of the motor. The chip integrates two complete H-bridge circuits to achieve dual-channel DC motor drive. The H-bridge drive circuit rotates counterclockwise. In the H-bridge circuit, there are two pairs of switches on each side, usually using MOSFET tubes. The control signal is input through the digital input interface of the chip to control the on and off of the switch tube, thereby controlling the rotation direction and speed of the motor. By using the H-bridge circuit structure, the BTN7971B chip can achieve efficient and stable dual-channel DC motor drive.

[0024] The GPS navigation and positioning module uses the Zhufei dual-frequency GPS navigation and positioning module to communicate with the chip core board via serial port. If you want the guide vehicle to autonomously navigate according to the path task, the first step is to let the smart car do positioning, transmit the GPS to the chip core board via serial port communication data, obtain the longitude and latitude information, and collect point information on the path after obtaining the longitude and latitude information.

[0025] The gyroscope model is MPU6050. The data obtained by the gyroscope include three-axis angular velocity and three-axis acceleration. Taking angular velocity as an example, during the measurement process, the gyroscope will sense the external rotational motion and convert these motions into electrical signal output. After the point acquisition is completed, it is necessary to track the points, because the coordinates of each point are collected in advance, and the longitude and latitude of the two points are used to calculate the distance and direction between the two points. The distance calculated by the chip core board is used to determine whether the target point has been reached (within the distance error range) and the direction angle is used to tell the smart car servo rotation angle, that is, which direction the smart car should drive.

[0026] The model of the Bluetooth module is HC-06, which is used as a wireless communication module to communicate with the host computer, which is a PC.

[0027] For the Bluetooth module to communicate with the host computer, the RXD and TXD signal lines of the Bluetooth module need to be connected to the chip core board for communication. At the same time, the host computer needs to set the same baud rate as the Bluetooth module.

[0028] Omron encoder is an incremental encoder, which consists of a rotating shaft, a light-emitting element, a rotating grating, a fixed grating, and a light-absorbing element. There are evenly distributed gaps on the rotating code disk. The working principle of the encoder is that when the rotating grating moves, two sets of horizontally arranged light-emitting elements and photosensitive elements pass through the rotating grating and the fixed grating to generate a pulse signal with a certain phase difference. The pulse signal is measured and counted by the counter to calculate the position and speed information. After the smart car collects data through the Omron encoder, the current speed of the smart car can be calculated by the formula to complete the closed-loop control of the smart car.

[0029] The S-D5 servo achieves the angle of the servo rotation by adjusting the PWM signal duty cycle. The high level portion of the pulse is usually in the range of 0.5ms-2.5ms to control the various angles of the servo. The high level portion of the PWM in 0.5ms-2.5ms corresponds to the control of the servo 0-180 degrees. Adjust the PWM signal duty cycle to achieve the rotation of the servo, and then control the driving direction.

Claims

1. An outdoor intelligent vehicle guidance method based on GPS navigation positioning, characterized in that: The method comprises a TC264D-40F200W chip core board, a power module, a GPS navigation module, a Bluetooth module, a gyroscope MPU6050, a steering gear, an Omron encoder, and a motor drive board installed on a vehicle body; the power module adopts a 12V lithium battery, which is respectively reduced to 5V and 3.3V by a BUCK circuit and an LDO, so as to provide a working voltage for each module; the motor drive board is located below the chip core board, and is connected to the motor drive board by two PWM signal lines of the chip core board for communication; the motor is controlled by an H-bridge drive circuit composed of a BTN7971B chip on the motor drive board, and the GPS and the chip core board transmit data through serial port communication, and the Bluetooth module HC-06 communicates with a host computer to monitor the system status; the communication connection between each module and the chip core board completes the control of each module, and in the absence of human intervention and guidance, in an outdoor field with elements such as sand, stone, and ramps, the path planning task and the guidance task are completed by autonomously navigating according to the target points collected in advance.

2. According to the outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 1, it is characterized in that: The chip core board uses a Bluetooth module to communicate with a host computer; the host computer is a PC.

3. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 1 is characterized in that: The GPS module, Bluetooth module, gyroscope, Omron encoder, and servo are communicatively connected to the core board. The motor driving board is located below the core board and is communicatively connected to the driving board via two PWM signal lines of the core board. The H-bridge driving circuit composed of the BTN7971B chip on the driving board controls the motor.

4. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 1 is characterized in that: The 12V lithium battery supplies power to the power system of the smart car, that is, the 12V voltage provides the working voltage for the DC brushed motor; the 12V voltage of the lithium battery is processed by the BUCK circuit, which is a step-down switching power supply. The BUCK circuit steps down the 12V voltage to 5V to provide the working voltage for the Omron encoder, servo, and GPS module.

5. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 4 is characterized in that: The 5V voltage processed by the BUCK circuit is processed into a 3.3V voltage by an LDO low-dropout linear regulator; the obtained 3.3V voltage provides working voltage for the chip core board and the gyroscope MPU6050.

6. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 4 is characterized in that: The GPS navigation and positioning module uses a fly-by-fly dual-frequency GPS navigation and positioning module to communicate with the chip core board via a serial port.

7. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 1 is characterized in that: The motor drive board is located below the core board, and is connected to the motor drive board by two PWM signal lines of the core board. The H-bridge drive circuit composed of the BTN7971B chip on the drive board controls the forward and reverse rotation of the motor, and adjusts the speed by adjusting the duty cycle of the PWM signal.

8. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 1 is characterized in that: The data acquired by the gyroscope include three-axis angular velocity and three-axis acceleration. Taking angular velocity as an example, during the measurement process, the gyroscope senses external rotational motion and converts the motion into electrical signal output.

9. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 1, characterized in that: The Omron encoder is an incremental encoder. After the smart car collects data through the Omron encoder, the current speed of the smart car can be calculated through a formula to complete the closed-loop control of the smart car.

10. The outdoor intelligent vehicle guidance method based on GPS navigation positioning according to claim 1, characterized in that: The S-D5 servo achieves the servo rotation angle by adjusting the PWM signal duty cycle.

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