Design And Control System Of Automatic Card Receiver Based On STM32

With the rapid development of China’s automobile industry,the increasing automobile ownership,leading to the huge pressure of high-speed charging,and the endless traffic congestion events at high-speed toll stations.At present,although the popularity of ETC on expressways has improved the efficiency of toll work,25% of car owners do not install ETC,trucks need to charge by load,even if ETC is installed,they need to take mixed lanes,resulting in huge pressure of mixed lane toll.At the present stage,there are still deficiencies in the charging mode and intelligent devices.Semi-automatic intelligent charging increases the cost input and affects the efficiency of vehicle traffic to a certain extent.Therefore,this topic aims at the above problems,in order to improve the intelligent level of expressway toll service,improve the traffic efficiency of expressway toll station,and reduce the purpose of labor cost input.Design a highway fully automatic intelligent toll collection machine.Using industrial robot technology,sensor induction technology,microcomputer control technology combined with each other,realize high-speed intelligent card machine accurately identify different models,distance and driver position,and design the mechanical structure and control system,realize automatic IC card,print invoice charging business,as well as the automatic control of charge process action.The main research contents are described as follows:(1)The exploration of card decker parameters and the overall scheme determination.Explore the method of locating the location of the vehicle driver,and then count the height of the existing vehicles in the market,determine the height of different models,and then arrange the sensor,and finally get the working range parameters of the card receiving equipment.Determine the overall design scheme of the card receiving equipment according to the required functions of the equipment.Including the charging process design and control system design and the complete machine structure design.The overall structural design includes the design of lifting platform,card collection mechanism,structure design of industrial mechanical arm and chassis structure design.According to the overall structural scheme,using Solid Works software to model the card collection equipment,process non-standard parts and purchase standard parts for the equipment,and optimize the physical design.(2)Mechanical arm design and simulation.First,the working range of the six-axis arm is obtained according to the working range of the whole machine,and the three-dimensional modeling of the six-axis arm is designed by Solid Works software.Design the design on the coordinates,through the analysis of coordinates and connecting rod can get the mechanical arm DH parameter table,two adjacent two spatial coordinate system change with 44 homogeneous transformation matrix,the positive of six-axis arm and reverse motion analysis and solve,with five polynomial for mechanical arm trajectory planning,with MATLAB for six-axis industrial machinery positive kinematics simulation and trajectory planning simulation,verify the correctness of the mechanical arm design.ADAMS motion simulation software is used to simulate the joint torque and acceleration of the manipulator to justify the robot arm.(3)The design of the control system.Complete the overall control design according to the overall scheme and the functional requirements of the card receiving equipment.In terms of hardware,the model STM32F103VBT6 is used as the microcontroller of the device to complete the hardware circuit design of each module of the device and determine the sensor selection of the device module.Software,more equipment control scheme,using Kail 5 software to the equipment logic control system programming design.(4)Commissioning and testing of the card-receiving equipment prototype.Set up the prototype of card receiving equipment,connect the electrical control system,and run and debug the prototype of card receiving equipment.In order to ensure the positioning accuracy,the positioning accuracy experiment was repeated.Verify that the designed card receiving device meets the requirements of card collection.Through the overall structure design of the automatic card collection machine,the mechanical arm design and simulation of the expressway exit,the sensor selection circuit design,the microcontroller control and the performance experiment analysis of the prototype,the paper completes the development of the prototype at the expressway exit,which provides a new reference for the high-speed mixed lane toll.