Air cushion vehicle cooperatively controlled by multiple motors

Abstract

The utility model relates to the field of intelligent vehicles, in particular to a multi-motor cooperative control air cushion vehicle, which comprises a microcontroller unit, an image unit, an interaction unit, a signal acquisition unit, a control driving unit and a vehicle body unit, the microcontroller unit is electrically connected with the image unit, the interaction unit, the signal acquisition unit and the control driving unit, and the control driving unit is electrically connected with the vehicle body unit; the image unit is used for collecting images in a racing track, extracting target features in the images and sending image data to the microcontroller unit, the microcontroller unit is used for processing the image data and sending control signals to the control driving unit, and the control driving unit is used for receiving the control signals and controlling the vehicle body unit to run. Compared with an existing common air cushion vehicle, the air cushion vehicle has the advantages of being high in response speed, high in anti-interference capacity, high in adaptability and the like.

Description

Technical Field

[0001] The utility model relates to the field of intelligent vehicles, and in particular to an air-cushion vehicle with cooperative control of multiple motors. Background Art

[0002] The electric racing air-cushion vehicle's principle is based on aerodynamics and aerodynamic buoyancy. Its core device is the air-cushion module, which consists of a load-bearing plate and a ring-shaped airbag. When the air-cushion module is inflated, the airbag expands to form a ring-shaped structure. Air enters the air chamber inside the airbag through the air holes, building up a load-bearing pressure in the air chamber. Simultaneously, air flows through the gaps around the airbag to form a very thin air film with the ground. Because this air film has minimal friction, the air-cushion vehicle can move forward, backward, rotate, and position itself with minimal thrust. As the electric racing air-cushion vehicle navigates the track, mechanical tracking sensors are used to keep the vehicle on track. These sensors operate primarily based on infrared sensing technology. When placed on the ground, the tracking sensor emits a beam of infrared light and detects the reflected light. By comparing the intensity of the reflected light, the sensor can determine the object's position and direction of movement. However, mechanical tracking sensors still have problems such as slow response speed, low accuracy, and susceptibility to interference when in use, making it difficult to meet the driving needs of complex tracks. Utility Model Content

[0003] In order to solve the above technical problems, the present invention is solved by the following technical solutions:

[0004] A multi-motor collaboratively controlled air-cushion vehicle comprises a microcontroller unit, an image unit, an interaction unit, a signal acquisition unit, a control drive unit, and a vehicle body unit; the microcontroller unit is electrically connected to the image unit, the interaction unit, the signal acquisition unit, and the control drive unit, and the control drive unit is electrically connected to the vehicle body unit; the image unit is used to capture images of a track, extract target features in the images, and send the image data to the microcontroller unit; the microcontroller unit is used to process the image data and send control signals to the control drive unit; and the control drive unit is used to receive the control signals and control the vehicle body unit to travel.

[0005] As a preferred solution of the present invention, the acquisition unit is composed of a tachometer wheel, an orthogonal encoder, a gyroscope, a differential amplifier circuit, and a filter circuit connected in sequence, and the input end of the differential amplifier circuit is connected to the AD input port of the microcontroller unit.

[0006] As a preferred solution of the present invention, the image unit communicates with the control unit via USART.

[0007] As a preferred solution of the present utility model, the interaction unit and the microcontroller unit are connected to the SPI serial port.

[0008] As a preferred solution of the present invention, the chip of the microcontroller unit is WCH32V307EVT.

[0009] As a preferred solution of the present invention, the core chip of the image unit is MT9V032.

[0010] The utility model adopts the above technical solution, and can achieve the following beneficial effects:

[0011] 1. Compared with the current common air-cushion vehicles, the utility model has the advantage of fast response speed; the image information is collected in real time by the camera and processed quickly, and the response speed is much faster than that of mechanical sensors.

[0012] 2. Compared with the current common air-cushion vehicles, the present invention has the advantage of strong anti-interference ability; the camera tracking is not affected by factors such as ground environment and lighting, and has strong anti-interference ability.

[0013] 3. Compared with the current common air-cushion vehicles, the utility model has the advantage of strong adaptability; it can adapt to various complex tracks, including straight lines, curves, roundabouts, intersections, etc. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a schematic diagram of the structure of the air-cushion vehicle with multi-motor coordinated control in Example 1.

[0015] Figure 2 This is the circuit diagram of the control drive unit in Example 1. DETAILED DESCRIPTION

[0016] In order to further understand the content of the present invention, the present invention is described in detail with reference to the accompanying drawings and embodiments. It should be understood that the embodiments are merely for explanation of the present invention and are not intended to limit the present invention.

[0017] Example 1

[0018] like Figure 1-2 As shown, this embodiment provides an air-cushion vehicle with multi-motor coordinated control, comprising: a microcontroller unit, an image unit, an interaction unit, a signal acquisition unit, a control drive unit, and a vehicle body unit; one end of the image unit communicates with the microcontroller unit via a USART, the other end of the interaction unit is connected to the SPI serial port of the microcontroller unit, the input end of the signal acquisition unit is mounted on the rear of the vehicle body unit, the output end of the signal acquisition unit is connected to the AD input port of the microcontroller unit, the input end of the control drive unit is connected to the PWM output port of the microcontroller unit, and the input end of the control drive unit is connected to the controller input end of the vehicle body unit.

[0019] The image unit is mounted on the vehicle body and is used to capture track image information. An image processing algorithm analyzes the image to extract the track centerline or boundary information, and controls the vehicle's steering and speed based on this information to achieve track-following driving.

[0020] The acquisition unit is composed of a tachometer wheel, an orthogonal encoder, a gyroscope, a differential amplifier circuit, and a filter circuit, connected in sequence. The input of the differential amplifier circuit is connected to the AD input port of the microcontroller unit, whose core chip is the WCH32V307EVT. The signal acquisition unit collects the vehicle speed and posture data from the vehicle body unit. Based on the actual deviation and the rate of change of the deviation, the PID control algorithm is used to adjust the control parameters for steering and speed control in real time to ensure smooth and fast driving of the vehicle body unit. The data output by the signal acquisition unit is integrated with the image unit for posture compensation, achieving inner open-loop and outer closed-loop control, thereby improving tracking accuracy.

[0021] like Figure 2 As shown, the control drive unit adopts HIP4082IBZT as the drive chip.

[0022] The vehicle body unit is composed of a frame and multiple motors. The frame is used to fix the units together. The multiple motors are used to drive the vehicle forward and turn using a closed-loop control strategy to ensure motor synchronization and load balance, thereby improving driving efficiency and stability.

[0023] The output pin PWM of the microcontroller unit is connected to the control drive unit, and the output end of the control drive unit is connected to the controller of the vehicle body unit, which provides an excitation signal for the vehicle body unit on the one hand and a speed control signal for the motor controller on the other hand.

[0024] The image unit of the present invention is used to extract certain features of the target in the image and send the image data to the microcontroller unit. The microcontroller unit is used to process the image data and send a control signal to the control drive unit. The control drive unit is used to receive the control signal and control the vehicle unit to travel. The image captured by the camera is continuous, and the image that can be processed by the microcontroller unit is digital information. Therefore, it is necessary to convert the captured image into a corresponding digital image. In order to reduce the complexity of image processing, the Otsu binarization method is used to automatically extract the threshold of the grayscale image and convert it into a binary form to better cope with changes under different lighting conditions.

[0025] The multi-motor coordinated controlled air-cushion vehicle in this embodiment has the following advantages over currently common air-cushion vehicles:

[0026] 1. Fast response speed: The camera collects image information in real time and processes it quickly, and its response speed is much faster than that of mechanical sensors.

[0027] 2. High precision: The image processing algorithm can accurately extract the center line or boundary information of the track, with high tracking accuracy.

[0028] 3. Strong anti-interference ability: The camera tracking is not affected by factors such as ground environment and lighting, and has strong anti-interference ability.

[0029] 4. Strong adaptability; it can adapt to various complex tracks, including straight lines, curves, roundabouts, intersections, etc.

[0030] 5. Flexible control strategies; different control strategies can be designed according to different track elements to improve driving efficiency and stability.

[0031] In short, the above description is only a preferred embodiment of the present invention. All equivalent changes and modifications made according to the scope of the patent application of the present invention should fall within the scope of the present invention patent.

Claims

1. A multi-motor coordinated air-cushion vehicle, characterized by: It includes a microcontroller unit, an image unit, an interaction unit, a signal acquisition unit, a control drive unit and a vehicle body unit; the microcontroller unit is electrically connected to the image unit, the interaction unit, the signal acquisition unit and the control drive unit, and the control drive unit is electrically connected to the vehicle body unit; the image unit is used to collect images of the track and extract target features in the image and send the image data to the microcontroller unit, the microcontroller unit is used to process the image data and send control signals to the control drive unit, and the control drive unit is used to receive the control signals and control the vehicle body unit to travel.

2. The multi-motor coordinated air-cushion vehicle according to claim 1, characterized in that: The acquisition unit is composed of a speed measuring wheel, an orthogonal encoder, a gyroscope, a differential amplifier circuit, and a filter circuit connected in sequence. The input end of the differential amplifier circuit is connected to the AD input port of the microcontroller unit.

3. The multi-motor coordinated air-cushion vehicle according to claim 1, characterized in that: The image unit communicates with the control unit via USART.

4. The multi-motor coordinated air-cushion vehicle according to claim 1, characterized in that: The interaction unit and the microcontroller unit are connected to the SPI serial port.

5. The multi-motor coordinated air-cushion vehicle according to claim 1, characterized in that: The chip of the microcontroller unit is WCH32V307EVT.

6. The multi-motor coordinated air-cushion vehicle according to claim 1, characterized in that: The core chip of the image unit is MT9V032.

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