Intelligent racing car integrating integrated navigation and sound beacon positioning

Abstract

The utility model discloses an intelligent racing car integrating integrated navigation and sound beacon positioning. The intelligent racing car comprises a car body, a controller is arranged in the middle of the car body, a transmission shaft is arranged on the front portion of the car body, front wheels are symmetrically installed on the two sides of the transmission shaft, the two front wheels are respectively connected to a steering engine, a gyroscope is installed on the front portion of the car body, and a plurality of beacon lights are arranged in a racing car driving area. The rear portion of the vehicle body is provided with a transmission rod, the two sides of the transmission rod are symmetrically provided with rear wheels, the transmission rod and a transmission shaft are connected through a transmission assembly, the rear portion of the vehicle body is provided with a brushless motor, an output shaft of the brushless motor is provided with a gear, the gear is meshed with teeth on the transmission shaft, a controller is connected with the brushless motor through a driver, and the center of the vehicle body is provided with a silicon microphone array. The steering engine, the GPS module, the gyroscope, the driver and the silicon microphone array are respectively connected with the controller, and the controller receives sound signals of the beacon light through the wireless serial port communication module. According to the utility model, effective fusion of inertial navigation and the GPS is realized, and the positioning precision of the GPS is obviously improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to a kind of intelligent racing cars of fusion combination navigation and sound beacon positioning. BACKGROUND

[0002] The national college students intelligent car competition has obtained the high attention of relevant industry researchers, and has attracted the extensive participation of colleges and universities all over the country.

[0003] In the 19th national college students intelligent car competition, the cross-country beacon group requires the racing vehicle to drive in an open area. The open area is arranged with several beacon lights that can emit specific sounds. The beacon lights emit sound in a set order. After receiving the specified label, the racing car needs to find the corresponding beacon light and continue to find the next beacon light that rings after touching the beacon light. Since the track is an open non-marked surface, traditional camera line-finding methods cannot achieve accurate positioning. At the same time, the beacon lights are far apart and the venue is wide, which poses a higher challenge to the navigation accuracy of the players. In addition, the competition uses off-road vehicles, which have high requirements for the speed and stability of the racing car. SUMMARY

[0004] To solve the above technical problems, the utility model provides an intelligent racing car that combines combination navigation and sound beacon positioning, which is simple in structure, low in cost and high in intelligence.

[0005] The technical solution of the utility model to solve the above technical problems is: an intelligent racing car that combines combination navigation and sound beacon positioning, including a vehicle body, a controller is arranged in the middle of the vehicle body, a transmission shaft is arranged at the front of the vehicle body, two front wheels are symmetrically installed on the left and right sides of the transmission shaft, each of the two front wheels is connected to a rudder to realize steering control, a gyroscope for obtaining vehicle body attitude information is installed at the front of the vehicle body, a plurality of beacon lights are arranged in the racing car driving area, and the beacon lights emit sound signals in a set order; a transmission rod is installed at the rear of the vehicle body, two rear wheels are symmetrically installed on the left and right sides of the transmission rod, the transmission rod and the transmission shaft are connected through a transmission assembly to make the rear wheels and the front wheels linked, a brushless motor is installed at the position close to the rear wheels at the rear of the vehicle body, a gear is installed on the output shaft of the brushless motor, the gear is engaged with the teeth on the transmission shaft, the controller is connected to the brushless motor through a driver, a silicon microphone array supported by a carbon rod is installed in the center of the vehicle body, the distance between adjacent silicon microphones in the silicon microphone array is equal, and the silicon microphone array is used for receiving sound source signals to realize sound positioning; the rudder, the gyroscope, the driver and the silicon microphone array are respectively connected to the controller, and the controller receives the sound signals of the beacon lights through a wireless serial communication module.

[0006] The aforementioned intelligent racing car that integrates navigation and sound beacon positioning has a silicon microphone array containing four silicon microphones arranged in a cross shape. The coordinate system is established with the front of the car as the y-axis and the center of the car body as the origin, according to the right-hand rule. The four silicon microphones are numbered 1, 2, 3, and 4, and are distributed on the positive half-axis of the y-axis, the positive half-axis of the x-axis, the negative half-axis of the y-axis, and the negative half-axis of the x-axis, respectively.

[0007] In the aforementioned intelligent racing car that integrates navigation and sound beacon positioning, each silicon microphone in the silicon microphone array is 20 centimeters away from the origin of the coordinate system.

[0008] The aforementioned intelligent racing car, which integrates combined navigation and sound beacon positioning, has a signal amplification circuit integrated on the circuit board of the silicon microphone array to enhance the sound signal.

[0009] The main chip of the signal amplification circuit in the aforementioned intelligent racing car that integrates navigation and sound beacon positioning is the LMV321.

[0010] The aforementioned intelligent racing car, which integrates navigation and sound beacon positioning, has a GPS module at the rear of the vehicle body for obtaining the current latitude and longitude position of the vehicle body and the latitude and longitude positions of each beacon light. The GPS module is connected to the controller.

[0011] The aforementioned intelligent racing car integrating combined navigation and sound beacon positioning includes a controller comprising a microcontroller and a current amplifier circuit, and a driver comprising a MOSFET driver circuit and a three-phase full-bridge inverter circuit. The microcontroller is connected to the current amplifier circuit and the MOSFET driver circuit, which is connected to the three-phase full-bridge inverter circuit. The current amplifier circuit collects current signals from each phase, amplifies them through an operational amplifier, and sends them to the microcontroller. The three-phase full-bridge inverter circuit converts DC power into three-phase AC power to drive the motor by controlling the conduction of the upper and lower half-bridge MOSFETs. The MOSFET driver circuit controls the conduction state of the MOSFETs in the three-phase full-bridge inverter circuit, thereby achieving motor control.

[0012] The aforementioned intelligent racing car, which integrates navigation and sound beacon positioning, has shock absorbers installed at both the front and rear ends of the vehicle body, and the shock absorbers adopt a spring structure.

[0013] The beneficial effects of this utility model are as follows:

[0014] 1. This utility model uses a brushless motor and its driver combination as the power source for the car. The brushless motor has a high speed limit, which can meet the strict speed requirements of the competition. In addition, the use of a brushless motor can effectively reduce noise, thereby reducing interference with the sound recognition process.

[0015] 2. The silicon microphone array of this invention adopts a cross-shaped arrangement design to calculate the approximate location of the sound more quickly and accurately. The traditional X-shaped arrangement requires four sets of FFT calculations to obtain the approximate location, while the silicon microphone support with the cross arrangement only requires two sets of FFT calculations, thus significantly improving the calculation efficiency.

[0016] 3. This utility model uses a GPS module as the main positioning module and combines it with a gyroscope to achieve effective integration of inertial navigation and GPS. This combination significantly improves the positioning accuracy of GPS and enhances the system's adaptability to various weather conditions, thereby better meeting the strict requirements of the competition. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of the overall structure of this utility model.

[0018] Figure 2 for Figure 1 The front view.

[0019] Figure 3 for Figure 1 The right view.

[0020] Figure 4 for Figure 1 Top view.

[0021] Figure 5 This is the circuit diagram for a silicon microphone.

[0022] Figure 6 This is the circuit schematic of the controller.

[0023] Figure 7 This is the circuit diagram of a microcontroller.

[0024] Figure 8 This is a circuit diagram of a gyroscope, a wireless serial communication module, and a GPS module.

[0025] Figure 9 This is a circuit diagram for the sound signal acquisition interface module, servo motor interface module, and motor interface module.

[0026] Figure 10 This is a circuit diagram of a power conversion circuit.

[0027] Figure 11 This is the circuit diagram of a three-phase full-bridge inverter circuit.

[0028] Figure 12 This is a circuit diagram of a MOSFET driver circuit.

[0029] Figure 13 This is the circuit diagram of a current amplifier circuit. Detailed Implementation

[0030] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0031] like Figures 1-4 As shown, an intelligent racing car integrating combined navigation and sound beacon positioning includes a vehicle body 1, a controller 2 located in the middle of the vehicle body 1, a drive shaft at the front of the vehicle body 1, two front wheels 7 symmetrically mounted on the left and right sides of the drive shaft, each front wheel 7 connected to a servo motor 9 for steering control, a gyroscope 11 for acquiring vehicle attitude information mounted at the front of the vehicle body 1, several beacon lights arranged in the racing car's driving area, the beacon lights emitting sound signals in a preset sequence; a drive rod is mounted at the rear of the vehicle body 1, two rear wheels 8 symmetrically mounted on the left and right sides of the drive rod, the drive rod and drive shaft connected by a transmission assembly. The components are connected to enable the rear wheel 8 to be linked with the front wheel 7. A brushless motor 6 is installed at the rear of the vehicle body 1 near the rear wheel 8. A gear is installed on the output shaft of the brushless motor 6, and the gear meshes with the gear on the transmission shaft. The controller 2 is connected to the brushless motor 6 through the driver 3. A silicon microphone array 4 supported by a carbon rod is installed in the center of the vehicle body 1. The spacing between adjacent silicon microphones in the silicon microphone array 4 is equal, which is used to receive sound source signals to achieve sound positioning. The servo motor 9, gyroscope 11, driver 3 and silicon microphone array 4 are respectively connected to the controller 2. The controller 2 receives the sound signal of the beacon light through a wireless serial communication module.

[0032] The silicon microphone array 4 contains four silicon microphones arranged in a cross shape. A coordinate system is established using the direction directly in front of the vehicle as the y-axis and the center of the vehicle body 1 as the origin, following the right-hand rule. The four microphones are numbered 1, 2, 3, and 4, and are distributed along the positive y-axis, positive x-axis, negative y-axis, and negative x-axis, respectively. Each microphone is 20 centimeters away from the origin of the coordinate system. The circuit board of the silicon microphone array 4 integrates a signal amplification circuit for enhancing the audio signal. The main chip of the signal amplification circuit is an LMV321.

[0033] The rear of the vehicle body 1 is equipped with a GPS module 5 for obtaining the current latitude and longitude position of the vehicle body 1 and the latitude and longitude positions of each beacon light. The GPS module 5 is connected to the controller 2.

[0034] The controller 2 includes a microcontroller and a current amplifier circuit. The driver includes a MOSFET driver circuit and a three-phase full-bridge inverter circuit. The microcontroller is connected to the current amplifier circuit and the MOSFET driver circuit. The MOSFET driver circuit is connected to the three-phase full-bridge inverter circuit. The current amplifier circuit collects the current signals of each phase and amplifies them through an operational amplifier before sending them to the microcontroller. The three-phase full-bridge inverter circuit converts DC power into three-phase AC power to drive the motor by controlling the conduction of the upper and lower half-bridge MOSFETs. The MOSFET driver circuit is used to control the conduction state of the MOSFETs in the three-phase full-bridge inverter circuit, thereby realizing the control of the motor.

[0035] Shock absorbers 10 are installed at both the front and rear ends of the vehicle body 1, and the shock absorbers 10 adopt a spring structure.

[0036] like Figure 5 As shown, the core of this circuit is the combination of a microphone chip IM68A130A and an operational amplifier LMV321. The IM68A130A is responsible for picking up the audio signal, while the LMV321 amplifies the picked-up signal. The microphone chip IM68A130A converts the audio signal into an electrical signal, and its input terminal MIC is connected to the microphone signal source. The circuit design uses a 3.3V power supply to power the microphone, and a 100nF bypass capacitor C2 is used for decoupling, filtering out high-frequency noise in the power supply to ensure the stable operation of the IM68A130A. The operational amplifier U1 is a low-power single operational amplifier responsible for amplifying the weak audio signal output by the IM68A130A. The LMV321 is also powered by a 3.3V power supply, and a 1µF input coupling capacitor C3 is used to block the DC component, allowing only the AC audio signal to enter the amplifier. By setting resistors R2 and R3, a voltage divider circuit is formed, and the gain of the amplifier is set. The 1.5MΩ resistor R2 and the 2.49KΩ resistor R3 together determine the attenuation of the input signal and may form a feedback network to adjust the amplification ratio. The feedback resistor R1 is used to further adjust the amplifier gain, determining the amplification factor of the input signal. Ultimately, this circuit can amplify the audio signal by 100 times and output it.

[0037] like Figure 6 As shown, when using sound recognition technology to locate beacon lights, four silicon microphones collect the sound signals emitted by the beacon lights. After being amplified by operational amplifiers on the silicon microphone circuits, the sound signals are read by the microcontroller. Since the sound arrives at the four silicon microphones at different times, the approximate location of the sound can be calculated using the time delay difference between two silicon microphones. When using integrated navigation to locate beacon lights, the microcontroller reads data transmitted by the GPS module and converts the parsed latitude and longitude information of the vehicle into points in a Cartesian coordinate system. Simultaneously, using the vehicle's attitude data and speed information obtained from the gyroscope, the current position of the vehicle in the coordinate system is calculated. By using a loose coupling method, the inertial navigation data is coupled with the coordinate data obtained from GPS to improve the vehicle's positioning accuracy and enhance its anti-interference capability under various weather conditions. The steering control of the servo motor adopts a proportional-integral-derivative (PID) control strategy. By calculating the deviation between the current position and the beacon light position and inputting this deviation into the PID controller, precise control of the servo motor is achieved. Simultaneously, the controller can also adjust the motor speed through the driver. Based on the difference between the actual speed and the desired speed fed back by the driver, the system adjusts the motor speed in real time to achieve closed-loop control.

[0038] like Figures 7-9As shown, the microcontroller selected is the CYT4BB7CEx, a high-performance microcontroller from Infineon Technologies. It employs a dual-core or single-core ARM Cortex-M4F or Cortex-M7 processor with a clock frequency of up to 200 MHz, supporting floating-point operations and DSP instructions. It provides multiple communication interfaces, such as CAN, LIN, FlexRay, Ethernet, and USB, and supports various ADCs, DACs, PWM controllers, and timers, making it suitable for complex control tasks and fully capable of supporting this intelligent racing car design.

[0039] The gyroscope uses the IMU660RA from Zhufei Company, whose main chip is BMI270. The IMU660RA has eight pins: GND, 3V3, SCL / SPC, SDA / SDI, SAO / SDO, CS, INT1, and INT2. The GND pin is connected to GND, the 3V3 pin is connected to the 3.3V power supply, the SCL / SPC pin is connected to the P18.4 pin of the microcontroller, the SDA / SDI pin is connected to the P18.5 pin of the microcontroller, the SAO / SDO pin is connected to the P18.6 pin of the microcontroller, the CS pin is connected to the P18.7 pin of the microcontroller, and the INT1 and INT2 pins are left floating.

[0040] The wireless serial communication module uses the LORA3A22 wireless module produced by Zhufei Company. It has four pins: GND, 5V, TX, and RX. The GND pin is connected to GND, the 5V pin is connected to the 5V power supply, the TX pin is connected to the P20.0 pin of the microcontroller, and the RX pin is connected to the P20.1 pin of the microcontroller.

[0041] The GPS module uses the TAU1201 dual-frequency GPS module produced by Huada Beidou. It has four pins: GND, 5V, TX, and RX. The GND pin is connected to GND, the 5V pin is connected to the 5V power supply, the TX pin is connected to the P6.4 pin of the microcontroller, and the RX pin is connected to the P6.5 pin of the microcontroller.

[0042] The driver has six pins: 3V3, GND, PWMIN, DIRIN, PWMOUT, and DIROUT. The 3V3 pin is connected to a 3.3V power supply, the GND pin is connected to GND, the PWMIN pin is connected to pin P17.3 of the microcontroller, the DIRIN pin is connected to pin P17.4 of the microcontroller, the PWMOUT pin is connected to pin P18.2 of the microcontroller, and the DIROUT pin is connected to pin P18.3 of the microcontroller.

[0043] The servo motor used is the BDS200 from Boswell, which has three pins: 3V3, GND, and SERVO_IN. The 3V3 pin is connected to a 3.3V power supply, the GND pin is connected to GND, and the SERVO_IN pin is connected to the P3.1 pin of the microcontroller.

[0044] The silicon microphone array contains four silicon microphones: silicon microphone 1, silicon microphone 2, silicon microphone 3, and silicon microphone 4 each have a MIC pin, which are connected to the P6.0, P6.1, P6.2, and P6.3 pins of the microcontroller, respectively. Their 3V3 pins are connected to a 3.3V power supply, and their GND pins are connected to GND.

[0045] like Figure 10 As shown, this circuit converts a 12V power supply voltage to 3V and 5V to provide a stable power supply for the microcontroller and various peripherals. The RY8121 is a high-efficiency, low-power synchronous buck converter, commonly used for power management in portable electronic devices. Its main function is to convert a higher input voltage to a stable, lower output voltage, with a typical input voltage range of 4.5V to 18V, suitable for applications using battery or high-voltage power inputs. The RY8121's output voltage is adjustable, typically set via an external feedback resistor network, supporting output voltages from 0.8V to higher to accommodate different load requirements. This synchronous buck converter boasts a conversion efficiency of up to 95%, making it ideal for efficiency-critical applications such as battery-powered devices. The RY8121 integrates a high-efficiency MOSFET switch, simplifying circuit design and reducing the use of external components. Its operating frequency can reach up to 500kHz, allowing for the use of smaller external inductors and capacitors, thus reducing the overall circuit size. In addition, the RY8121 features comprehensive protection functions, including overcurrent protection (OCP), short-circuit protection (SCP), overtemperature protection (OTP), and overvoltage protection (OVP), improving circuit safety and reliability. It also supports external enable control, allowing flexible control of the circuit's start and stop via the enable pin (EN), suitable for scenarios requiring dynamic power management. In the upper half of the 5V power supply circuit, resistors R3 and R4 form a voltage divider, providing a reference voltage for the RY8121's feedback pin, while resistor R8 acts as a pull-up resistor for enable control. In the lower half of the 5V power supply circuit, resistors R9 and R10 also form a voltage divider, providing a reference voltage for the RY8121's feedback pin, and resistor R25 is also a pull-up resistor for enable control. The entire circuit uses the RY8121 IC to convert the input voltage to a 5.5V / 3.3V output.

[0046] like Figure 11As shown, this circuit uses an N-channel MOSFET (model BSC014N04LS) to control the flow of three-phase current. When selecting a MOSFET, the main factors considered include voltage rating, on-resistance, and package size. The battery power supply has a rated voltage of 12.6V. Since the brushless motor may be in regenerative braking mode during operation, the voltage rating of the drive components should be at least twice the voltage, i.e., above 25.2V. Furthermore, lower on-resistance is better, and a larger package size allows for greater power handling. Ultimately, the low-voltage power MOSFET BSC014N04LS from Infineon was selected. This device has a very low typical on-resistance of only 1.4 mΩ, which significantly reduces conduction losses and improves overall efficiency, making it particularly suitable for applications requiring high performance. In addition, this MOSFET has a high current handling capability, capable of handling a maximum continuous drain current of 120A, with a maximum drain-source voltage of 40V, and features comprehensive overcurrent, undervoltage, and overtemperature protection functions.

[0047] Figure 11 It consists of three main parts. In the power input section, the power supply terminal is marked VBAT, which is a high-voltage DC input terminal primarily used to power the brushless motor. In the MOSFET control section, the positive and negative current flow of each phase is controlled by two MOSFETs. For example, the positive terminal HOA and the negative terminal LOA of phase A are switched by Q1 and Q7, respectively. Similarly, the currents of phases B and C are controlled by Q2, Q8 and Q3, Q9. The gate of each MOSFET is connected to the drive signal through a 4.7-ohm resistor (such as R46, R47, R59, etc.) to ensure a suitable switching speed. Additionally, a 10k-ohm resistor (such as R50, R51, etc.) is connected to ground to ensure reliable MOSFET shutdown when the drive signal is lost. In the current sampling section, the positive and negative current flow of each phase is detected through a 0.002-ohm shunt resistor (such as R73, R74, R75, etc.). The detection results are sent to the subsequent current detection circuit via sampling points IAP, IAN, IBP, IBN, etc., for current feedback or control. The high-side HOA, HOB, HOC and low-side LOA, LOB, LOC of the three phases A, B, and C are implemented by MOSFET switches. By switching different combinations, the power supply control of the three-phase load can be effectively achieved.

[0048] like Figure 12As shown, this MOSFET driver circuit, combined with the previous MOSFET full-bridge inverter circuit, is primarily used to control the MOSFET switching in the full-bridge inverter circuit. This driver circuit employs a dedicated MOSFET driver chip, AUIRS2181, to achieve efficient MOSFET switching control. The AUIRS2181 is a high-side and low-side driver chip specifically designed for high-voltage driving of N-channel MOSFETs. This chip has two input signal terminals, HIN and LIN, used to control the switching of the high-side and low-side MOSFETs respectively, and the output terminals provide drive signals for the high-side HO and low-side LO to drive the MOSFET switching operation.

[0049] Figure 12 In this circuit, PWMAL and PWMAH signals are PWM signals from the controller, corresponding to the control signals for the high-side and low-side MOSFETs, respectively. When the driver's input terminal IN receives the control signal, it generates corresponding drive signals. These drive signals control the switching operation of the high-side and low-side MOSFETs through the high-side and low-side output terminals, respectively. The main function of capacitors C1, C2, C5, etc., is to decouple and filter the drive circuit, ensuring stable circuit operation and removing high-frequency noise. In addition, capacitors C29, C35, C38, etc., are 25V capacitors, which, together with diodes D5, D6, D7, form a bootstrap circuit to provide the necessary bias voltage for the high-side VB pin.

[0050] The AUIRS2181 incorporates dead-time control to ensure that the high-side and low-side MOSFETs do not conduct simultaneously. This design aims to prevent "shoot-through current," a short circuit between the power supply positive terminal and ground that can occur when both high-side and low-side MOSFETs are on at the same time. This not only causes power loss but can also damage the device. Furthermore, the chip features undervoltage lockout (UVLO) protection, automatically shutting off the drive output when the drive voltage falls below a certain threshold. This prevents the MOSFETs from operating in an unstable state under insufficient voltage, further protecting the safety of circuit components.

[0051] In the driver circuit, the high-side MOSFET requires a floating power supply to drive its gate. Therefore, a bootstrap diode and bootstrap capacitor are used to provide the necessary power to the gate of the high-side MOSFET. The AUIRS2181 transmits the control signal to the high-side driver output HO, and the switching control of the high-side MOSFET is achieved through the charging of the bootstrap capacitor. In contrast, the low-side MOSFET is directly driven by the driver's LO pin and does not require a floating power supply. Because its source is grounded, the gate voltage can be effectively controlled by a simple drive current, thereby achieving the switching state transition.

[0052] It is particularly important to note that the gate drive current output by the driver directly affects the switching speed of the MOSFET. During the switching process of the MOSFET, the driver must provide sufficient current to rapidly charge and discharge the MOSFET's gate capacitance. The magnitude of the gate drive current determines the MOSFET's switching slope, which in turn affects switching losses and electromagnetic interference (EMI) performance. Gate resistors in the circuit (such as R1 and R2) are used to limit the charging and discharging current of the gate to ensure that the MOSFET operates stably within a safe range.

[0053] like Figure 13 As shown, the working principle of this current amplifier circuit is similar to... Figure 5 The audio signal amplification circuits are basically the same, with the main differences being the selected chip and the signal amplification factor. In the current amplification circuit, the COS8552SR chip is used, characterized by low noise and high precision. The main reason for choosing this chip is for the subsequent development of the FOC driver scheme, which requires precise current acquisition for current loop control. The main function of this circuit is to feed the amplified current signal back to the microcontroller. The microcontroller adjusts the duty cycle of the PWM signal based on this feedback to ensure that the final output current meets the set value, thereby preventing the driver from burning out due to excessive current.

Claims

1. An intelligent racing car that integrates combined navigation and sound beacon positioning, characterized in that: The system includes a vehicle body with a controller located in the center. A driveshaft is located at the front of the vehicle body, with two front wheels symmetrically mounted on either side of the driveshaft. Each front wheel is connected to a servo motor for steering control. A gyroscope for acquiring vehicle attitude information is installed at the front of the vehicle body. Several beacon lights are arranged within the racing area, emitting sound signals in a predetermined sequence. A drive rod is installed at the rear of the vehicle body, with two rear wheels symmetrically mounted on either side of the drive rod. The drive rod and driveshaft are connected via a transmission assembly to link the rear wheels with the front wheels. A brushless motor is installed near the rear wheels at the rear of the vehicle body, with gears mounted on its output shaft. These gears mesh with the gears on the driveshaft. The controller is connected to the brushless motor via a driver. A silicon microphone array supported by carbon rods is installed in the center of the vehicle body. Adjacent silicon microphones in the array are equally spaced to receive sound source signals for sound localization. The servo motors, gyroscope, driver, and silicon microphone array are all connected to the controller, which receives the sound signals from the beacon lights via a wireless serial communication module.

2. The intelligent racing car integrating combined navigation and sound beacon positioning according to claim 1, characterized in that: The silicon microphone array contains four silicon microphones arranged in a cross shape. The coordinate system is established with the front of the vehicle as the y-axis and the center of the vehicle body as the origin, according to the right-hand rule. The four silicon microphones are numbered 1, 2, 3, and 4, and are distributed on the positive half-axis of the y-axis, the positive half-axis of the x-axis, the negative half-axis of the y-axis, and the negative half-axis of the x-axis.

3. The intelligent racing car integrating combined navigation and sound beacon positioning according to claim 2, characterized in that: In the silicon microphone array, each silicon microphone is 20 centimeters away from the origin of the coordinate system.

4. The intelligent racing car integrating combined navigation and sound beacon positioning according to claim 2, characterized in that: The silicon microphone array's circuit board integrates signal amplification circuitry for enhancing audio signals.

5. The intelligent racing car integrating combined navigation and sound beacon positioning according to claim 4, characterized in that: The main chip of the signal amplification circuit is LMV321.

6. The intelligent racing car integrating combined navigation and sound beacon positioning according to claim 1, characterized in that: The rear of the vehicle is equipped with a GPS module for obtaining the current latitude and longitude of the vehicle and the latitude and longitude of each beacon light. The GPS module is connected to the controller.

7. The intelligent racing car integrating combined navigation and sound beacon positioning according to claim 2, characterized in that: The controller includes a microcontroller and a current amplifier circuit. The driver includes a MOSFET driver circuit and a three-phase full-bridge inverter circuit. The microcontroller is connected to the current amplifier circuit and the MOSFET driver circuit. The MOSFET driver circuit is connected to the three-phase full-bridge inverter circuit. The current amplifier circuit collects the current signals of each phase and amplifies them through an operational amplifier before sending them to the microcontroller. The three-phase full-bridge inverter circuit converts DC power into three-phase AC power to drive the motor by controlling the conduction of the upper and lower half-bridge MOSFETs. The MOSFET driver circuit is used to control the conduction state of the MOSFETs in the three-phase full-bridge inverter circuit, thereby realizing the control of the motor.

8. The intelligent racing car integrating combined navigation and sound beacon positioning according to claim 1, characterized in that: Shock absorbers are installed at both the front and rear ends of the vehicle body, and the shock absorbers adopt a spring structure.

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