CN103472842A - Probe controller based on ARM9 two-wheeled microcomputer mouse - Google Patents
Probe controller based on ARM9 two-wheeled microcomputer mouse Download PDFInfo
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- CN103472842A CN103472842A CN2013104202169A CN201310420216A CN103472842A CN 103472842 A CN103472842 A CN 103472842A CN 2013104202169 A CN2013104202169 A CN 2013104202169A CN 201310420216 A CN201310420216 A CN 201310420216A CN 103472842 A CN103472842 A CN 103472842A
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Abstract
The invention discloses a probe controller based on an ARM9 two-wheeled microcomputer mouse. The probe controller comprises a sensor, a gyroscope, an ARM9 controller, an L298N chip, a first motor, a second motor, a left wheel and a right wheel, wherein the sensor is located on the upper portion of the two-wheeled microcomputer mouse, the gyroscope is connected with the ARM9 controller, the ARM9 controller and the L298N chip are welded together, the L298N chip is connected with the two motors, the first motor is connected with the left wheel, and the second motor is connected with right wheel. Through the mode, according to the probe controller based on the ARM9 two-wheeled microcomputer mouse, the ARM9 controller achieves a two-shaft servo system with largest workload in a control system, an human-computer interface, labyrinth probing, on-line output, data storage, I/O control and other functions and communicates with the L298N chip to perform data exchanging and calling in real time.
Description
Technical field
The present invention relates to the microrobot field, particularly relate to a kind of based on ARM9 two-wheeled micro computer mouse exploration controller.
Background technology
The micro computer mouse is a kind of Intelligent walking robot consisted of embedded microcontroller, sensor and electromechanical movement parts, and its principle can be converted into the industrial robot of multiple reality, also becomes gradually an emerging sports.The micro computer mouse can be in different labyrinths automatic Memory and selecting paths, adopt corresponding algorithm, arrive rapidly the destination set.An outstanding micro computer mouse must possess good perception, and good locomotor activity and outstanding intelligent algorithm are arranged.
As shown in Figure 1, long-play finds that the safety problem existed has to the micro computer mouse structure of current domestic research and development:
(1) what as the topworks of micro computer mouse, adopt is stepper motor; often can run into the problems such as pulse-losing; cause mistake is appearred in the memory of position, the use of stepper motor makes organism fever more serious, is unfavorable in large complicated labyrinth, exploring and spurt.
(2) because the micro computer mouse adopts more rudimentary algorithm, the exploration in the middle of labyrinth generally all will spend the time of 4 ~ 5 minutes, and this makes it can't win victory in real contest.
(3) because the micro computer mouse will be braked frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer can't meet the requirement that the micro computer mouse starts fast and stops.
(4) what the micro computer mouse adopted relatively is all the plug-in components that some volume ratios are larger, makes its volume ratio huger, can't meet the requirement of quick exploration.
(5) owing to disturbed by the surrounding environment labile factor, singlechip controller often there will be extremely, causes that the micro computer mouse is out of control, and antijamming capability is poor.
(6) for the micro computer mouse of differential control, it is synchronous that the control signal of two motor of General Requirements is wanted, but for single single-chip microcomputer, be difficult to again accomplish, compensation that will be back and forth when making the micro computer mouse travel on straight way, and sometimes in the middle of labyrinth rocking tendency larger, when exploring fast, performance is especially obvious.
(7) owing to being subject to single-chip microcomputer capacity and algorithm affects, the information not storage of micro computer mouse to labyrinth, information all when running into power-down conditions will disappear, and this makes whole heuristic process to restart.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of based on ARM9 two-wheeled micro computer mouse exploration controller, and it is fast that this two-wheeled micro computer mouse is explored controller processing speed, moves smooth and easy.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of and explore controller based on ARM9 two-wheeled micro computer mouse, comprise sensor, gyroscope, the ARM9 controller, the L298N chip, the first motor, the second motor, revolver and right the wheel, described sensor is positioned at the top of described two-wheeled micro computer mouse, described gyroscope is connected with described ARM9 controller, described ARM9 controller is together with described L298N chips welding, described L298N chip is connected with described the second motor with described the first motor, described the first motor is connected with described revolver, described the second motor is connected with described right the wheel.
In a preferred embodiment of the present invention, described ARM9 controller is the S3C2440A processor.
In a preferred embodiment of the present invention, described sensor is 6, and described 6 sensors are positioned at the position of front and back up and down on described two-wheeled micro computer mouse top.
In a preferred embodiment of the present invention, described two-wheeled micro computer mouse adopts the SMD components material.
In a preferred embodiment of the present invention, described ARM9 controller generates the PWM ripple, and described PWM ripple is transferred to described the first motor and described the second motor by described L298N chip.
The invention has the beneficial effects as follows: of the present invention based on ARM9 two-wheeled micro computer mouse exploration controller, diaxon servo-drive system, man-machine interface, the labyrinth of workload maximum in control system find out, the functions such as output, data storage, I/O control are given ARM9 and are completed online, and with the L298N communication, carry out in real time exchanges data and calling.
The accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, in below describing embodiment, the accompanying drawing of required use is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, under the prerequisite of not paying creative work, can also obtain other accompanying drawing according to these accompanying drawings, wherein:
Fig. 1 is the schematic diagram of monolithic processor controlled micro computer mouse in background technology of the present invention;
Fig. 2 explores the schematic diagram of controller one preferred embodiment based on ARM9 two-wheeled micro computer mouse in the present invention;
Fig. 3 explores the system chart of controller one preferred embodiment based on ARM9 two-wheeled micro computer mouse in the present invention;
Fig. 4 explores the flow chart of controller one preferred embodiment based on ARM9 two-wheeled micro computer mouse in the present invention;
Fig. 5 explores the 16*16 labyrinth schematic diagram of controller one preferred embodiment based on ARM9 two-wheeled micro computer mouse in the present invention;
Fig. 6 is the structural representation of the mouse of micro computer described in the present invention one preferred embodiment;
Fig. 7 explores the schematic diagram that advances of controller one preferred embodiment based on ARM9 two-wheeled micro computer mouse in the present invention;
Fig. 8 explores the schematic diagram that retreats of controller one preferred embodiment based on ARM9 two-wheeled micro computer mouse in the present invention;
Fig. 9 is that in the present invention, schematic diagram is advanced on the right side based on one preferred embodiment of ARM9 two-wheeled micro computer mouse exploration controller;
Figure 10 is that in the present invention, schematic diagram is moved back on the left side based on one preferred embodiment of ARM9 two-wheeled micro computer mouse exploration controller;
In accompanying drawing, the mark of each parts is as follows: 1, shell, 2, wheel, 3, sensor.
Embodiment
Below will the technical scheme in the embodiment of the present invention be clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under the creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 2,3,4,6, the invention provides and a kind ofly based on ARM9 two-wheeled micro computer mouse, explore controller, comprise sensor, gyroscope, ARM9 controller, L298N chip, motor X, motor Y, wheel 1 and wheel 2.Described sensor is positioned at the top of described two-wheeled micro computer mouse, described gyroscope is connected with described ARM9 controller, described ARM9 controller is together with described L298N chips welding, described L298N chip is connected with described motor Y with described motor X, described motor X is connected with described wheel 1, described motor Y is connected with described wheel 2, and described sensor is 6, and described 6 sensors are positioned at the position of front and back up and down on described two-wheeled micro computer mouse top.
The ARM9 chip adopts RISC(Reduce Instruction Computer, Reduced Instruction Set Computer) structure, the characteristics such as have that register is many, addressing mode simple, bulk transfer data, use address automatically increase or decrease.The ARM9 processor of a new generation, by brand-new design, adopted more transistor, can reach twice above in the processing power of ARM7 processor.The raising of this processing power is by increasing clock frequency and reducing instruction execution cycle and realize.
S3C2440A adopts the ARM920T kernel, and its principal feature has: (1) 1.2V kernel, 1.8V/2.5V/3.3V reservoir, 3.3V expansion I/O, 16KB Instruction Cache (I-Cache)/16KB Data Cache (D-Cache); (2) 3 road URAT; (3) 4 road PWM timers/1 road timer internal/WatchDog Timer; (4) 8 10, tunnel ADC and touch screen interfaces; (5) 130 general purpose I/O, 24 exterior interrupt; (6) 32 bit fixed point risc processors, modified ARM/Thumb code interweaves, and the enhancement Multiplier Design is supported (real-time) debugging in real time; (7) chip instruction and data SRAM, and the memory span of instruction and data is adjustable; (8) chip instruction and data high-speed impact damper (cache) capacity are from the 4K byte to the 1M byte; (9) protected location (protection unit) is set, is applicable to very much, in Embedded Application, storer is carried out to segmentation and protection; (10) adopt AMBA ahb bus interface, for peripheral hardware provides unified address and data bus; (11) support external coprocessor, the instruction and data bus has the signaling support of simply shaking hands; (12) support standard basic logic unit scan testing methods to learn, and support BIST(built-in-self-test); (13) support the Embedded Trace macroelement, support the real-time follow-up instruction and data.
L298N is the product of SGS company, more commonly 20 pin PowerSO20 encapsulation, and inside comprises 4 channel logic driving circuits, can drive easily two direct current generators, and output voltage reaches as high as 50V, can directly by power supply, carry out regulation output voltage.The 6 pin VS of L298N connect supply voltage, and the VS voltage range is+2.5～46 V, and output current can reach 2.5 A, can drive inductive load.The emitter of 2 pin and 19 underfooting pipes is drawn separately respectively in order to access current sampling resistor, forms current sensing signal.8 pin of L298N and 14 pin EnA, EnB enable control end, control respectively the stall of motor X and motor Y.7,9,13,15 pin of L298N meet ARM9(S3C2440A) output pin, by ARM9(S3C2440A) control the level of OUT1, OUT2 and OUT3, OUT4, control the rotating of motor X and motor Y.These characteristics make L298N be particularly suitable for driving the diaxon servomotor.
Refer to Fig. 5,7-10, the described concrete function step based on ARM9 two-wheeled micro computer mouse exploration controller is:
1) before the micro computer mouse is not received the exploration order, its generally can wait for exploration order that controller send at starting point coordinate (0,0), once, after receiving task, meeting start to explore to terminal (7,7), (7,8), (8,7), (8,8) along starting point.
2) the micro computer mouse is placed on starting point coordinate (0,0), receiving sensor S1, the S6 in its place ahead after task can be judged the environment in the place ahead, define and do not have barricade to enter range of movement, as exist barricade to send interrupt request to ARM9, ARM9 can be to interrupting doing very first time response, then forbid controlling L298N Enable Pin ENA, the ENB work of left and right wheels, block the motor X of micro computer mouse and the PWM of motor Y and drive signal, make it be still in original place, then the place ahead information is determined in secondary judgement labyrinth, prevents the information erroneous judgement.
3) the micro computer mouse, before Y-axis, move, if determine do not have barricade to enter the range of movement in the place ahead at the center of any one grid, the micro computer mouse will be stored its coordinate (X, Y), and give ARM9 the location parameter of the lattice that travel forward, then by ARM9, according to exploration speed and acceleration, required and the feedback formation speed of photoelectric encoder-time motion ladder diagram, this trapezoidal area comprised is exactly the lattice distance that micro computer mouse motor X and motor Y will move.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, ARM9 enables L298N, and control OUT1 and OUT3 is high level, OUT2 and OUT4 are low level, before driving two independent direct current motor X and motor Y-direction by L298N, move, when arriving target setting, to upgrade its coordinate is (X, Y+1), under the prerequisite of Y+1<15, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, the micro computer mouse is prepared return and explores.
4) if having barricade to enter the range of movement in the place ahead the micro computer mouse in motion process before Y-axis, and when now there is barricade sensor S2, the S3 of left and right, S4, S5 judgement left and right, the micro computer mouse will be stored now coordinate (X, Y), calculate according to the feedback of sensor S1 and S6 the location parameter that travels forward and stop, require formation speed-time motion ladder diagram by ARM9 according to exploration speed and acceleration, this trapezoidal area comprised is exactly the distance that two motors of micro computer mouse will stop.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, ARM9 enables L298N, and control OUT1 and OUT3 is high level, OUT2 and OUT4 are high level, by L298N, drive two individual motor to rely on friction force retarded motion realize that central point stops forward, ARM9 enables L298N and makes two motor movement opposite directions, micro computer mouse original place is controlled and is adjusted turnback by gyroscope, then along the Y-axis counter motion, in its Y-axis counter motion process, give ARM9 the location parameter of the lattice that travel forward, by ARM9, according to exploration speed and acceleration, required and the feedback formation speed of photoelectric encoder-time motion ladder diagram, this trapezoidal area comprised is exactly the lattice distance that micro computer mouse motor X and motor Y will move.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, ARM9 enables L298N, and control OUT1 and OUT3 is high level, OUT2 and OUT4 are low level, before driving two independent direct current motor X and motor Y-direction by L298N, move, when arriving target setting, to upgrade its coordinate is (X, Y-1), determining Y-1 > under 0 prerequisite, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, the micro computer mouse is prepared return and explores.
5) if having barricade to enter the range of movement in the place ahead the micro computer mouse in motion process before Y-axis, and when now sensor S2, the S3 of left and right, S4, S5 judgement left have barricade, the micro computer mouse will be stored now coordinate (X, Y), calculate according to the feedback of sensor S1 and S6 the location parameter that travels forward and stop, require formation speed-time motion ladder diagram by ARM9 according to exploration speed and acceleration, this trapezoidal area comprised be exactly two motors of micro computer mouse to stop apart from S.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, ARM9 enables L298N, and control OUT1 and OUT3 is high level, OUT2 and OUT4 are high level, by L298N, drive two individual motor to rely on friction force retarded motion realize that central point stops forward, ARM9 enables L298N and makes two motor movement opposite directions, micro computer mouse original place is controlled to the right and is adjusted and turn 90 degrees by gyroscope, then along the X-axis positive movement, in its X-axis positive movement process, give ARM9 the location parameter of the lattice that travel forward, then by ARM9, according to exploration speed and acceleration, required and the feedback formation speed of photoelectric encoder-time motion ladder diagram, this trapezoidal area comprised is exactly the lattice distance that micro computer mouse motor X and motor Y will move.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, ARM9 enables L298N, and control OUT1 and OUT3 is high level, OUT2 and OUT4 are low level, before driving two independent direct current motor X and motor Y-direction by L298N, move, when arriving target setting, to upgrade its coordinate is (X+1, Y), under the prerequisite of determining X+1<15, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, the micro computer mouse is prepared return and explores.
6) if having barricade to enter the range of movement in the place ahead the micro computer mouse in motion process before Y-axis, and now sensor S2, S3, S4, the S5 of left and right judgement is right-hand when barricade is arranged, the micro computer mouse will be stored now coordinate (X, Y), calculate according to the feedback of sensor S1 and S6 the location parameter that travels forward and stop, require formation speed-time motion ladder diagram by ARM9 according to exploration speed and acceleration, this trapezoidal area comprised is exactly the distance that two motors of micro computer mouse will stop.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, ARM9 enables L298N, and control OUT1 and OUT3 is high level, OUT2 and OUT4 are high level, by L298N, drive two individual motor to rely on friction force retarded motion realize that central point stops forward, ARM9 enables L298N and makes two motor movement opposite directions, micro computer mouse original place is controlled left and is adjusted and turn 90 degrees by gyroscope, then along the X-axis counter motion, in its X-axis counter motion process, give ARM9 the location parameter of the lattice that travel forward, then by ARM9, according to exploration speed and acceleration, required and the feedback formation speed of photoelectric encoder-time motion ladder diagram, this trapezoidal area comprised is exactly the lattice distance that micro computer mouse motor X and motor Y will move.ARM9 generates the PWM ripple that drives the diaxon direct current generator according to this ladder diagram, ARM9 enables L298N, and control OUT1 and OUT3 is high level, OUT2 and OUT4 are low level, before driving two independent direct current motor X and motor Y-direction by L298N, move, when arriving target setting, to upgrade its coordinate is (X-1, Y), determining X-1 > under 0 prerequisite, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, the micro computer mouse is prepared return and explores.
7) when the arrival of micro computer mouse (7,7), (7,8), (8,7), (8,8) when preparing return and exploring, controller can recall its labyrinth of having stored, then calculate the optimal path that may exist according to quick labyrinth algorithm, return starts to enter one that wherein thinks optimum.
8) entering labyrinth the micro computer mouse normally makes a return voyage when operation, the sensor S1 of its navigation, S2, S3, S4, S5, S6 will work, and give ARM9 the photosignal reflected, enable L298N after the ARM9 judgement, navigation motor X and motor Y: if enter the zone of having searched for, will change exploration speed and advance fast, if unknown return area adopts the normal speed search, and constantly upgrade its coordinate (X, Y), and judge that its coordinate is (0, 0), if words put to make a return voyage to explore and be masked as 0, the micro computer mouse enters the sprint stage, the juxtaposition spurt is masked as 1.
9) in order to realize micro computer mouse coordinate computing function accurately, the sensor S2 of micro computer mouse left and right, S3 and S4, S5 can be surveyed labyrinth retaining wall and pillar on every side constantly, if S2, S3 or S4, S5 finds that transition has occurred sensor signal, illustrate that the micro computer mouse has entered the interface point of labyrinth retaining wall and pillar, now side sensor S2 or S5 can accurately survey this constantly, when again transition occurring, illustrate that the micro computer mouse has started current labyrinth grid, ARM9 can calculate also according to sensor feedback information is compensated according to the distance of the current operation of micro computer mouse, the present invention has added the photoelectric encoder of 512 lines on High-speed DC motor X-axis and Y-axis, because precision is higher, make the coordinate calculating of micro computer mouse not there will be mistake, for the quick spurt of micro computer mouse is laid a good foundation.
10) in micro computer mouse operational process, controller can carry out on-line identification to the torque of High-speed DC motor X and motor Y, if pulsation appears in torque, controller can utilize the relation of direct current generator moment and electric current to carry out linear compensation, has reduced the impact of navigation when the motor torque shake is explored fast on the micro computer mouse.
11) when completing whole heuristic process, micro computer gets back to starting point (0,0), ARM9 will control L298N and make the micro computer central point stop, and readjust the level of OUT1, OUT2, OUT3 and the OUT4 of L298N, make motor X and motor Y with contrary direction motion, and, under gyrostatic control, original place Rotate 180 degree, then stop 1 second, transfer labyrinth information, calculate optimum spurt path according to algorithm, then put spurt and be masked as 1, system enters the quick sprint stage.
The beneficial effect that the present invention has is:
1, in motion process, taken into full account the effect of battery in this system, based on the ARM9+L298N controller, constantly all in the running status to the micro computer mouse, monitored and computing, due to the inner integrated current collection circuit of L298N, constantly the electric current of motor gathered, fundamentally avoid the generation of large electric current, solved the impact of large electric current to lithium ion battery, avoided the lithium ion battery overaging phenomenon caused due to heavy-current discharge.
2, process by ARM9 the independent servocontrol that the micro computer mouse is explored two motors during unknown labyrinth, make control fairly simple, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle, and the program transportability ability is strong.
3, the present invention realizes full SMD components material substantially, has realized veneer control, has saved control panel and has taken up room.
4, introduce gyroscope in this micro computer mouse system, can measure accurately the angle that the micro computer mouse was rotated between probe phase, realized the independent control of micro computer mouse velocity magnitude and direction, be conducive to improve stability and the dynamic property of micro computer mouse.
5,, in order to improve arithmetic speed and precision, this micro computer mouse has adopted uses maximum infrared sensor OPE5594A in the world, makes operational precision greatly improve, and has prevented micro computer mouse waving in the middle of labyrinth.
6, because adopting ARM9, this controller processes labyrinth storage and heuristic algorithm, " race flies " that has effectively prevented program, and antijamming capability strengthens greatly.
7, drive the diaxon direct current generator because this controller adopts L298N, greatly reduced the shared space of driving circuit, and improved the efficiency of system.
PWM modulation signal and direction signal while 8, being explored by ARM9 output, then the Enable Pin by L298N directly drives direct current generator X and motor Y, but also the current sensor signal that can accept L298N is done closed-loop control, not only alleviated the burden of ARM9, simplify interface circuit, made the debugging of system simple.
9, in order better to protect battery; when system runs into low pressure in heuristic process; low pressure alarming sensor S7 on the micro computer mouse can open automatically; and limit discharge current by L298N; guarantee that the micro computer mouse can complete whole exploration, complete while getting back to starting point in exploration, can be automatically locked in current location; and record labyrinth information, battery is changed in prompting.
10, in micro computer mouse operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of High-speed DC motor X and motor Y, has reduced the impact that the motor torque shake is explored fast on the micro computer mouse.
11,, because speed and the direction of micro computer mouse are independently controlled, make the micro computer mouse more easily realize advancing, fall back, turn left and the motion of right-hand rotation all directions.
12, owing to having memory function, this can transfer the labyrinth information of having explored after making the power down of micro computer mouse easily, and time and path that secondary is explored reduce greatly.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or directly or indirectly be used in other relevant technical field, all in like manner be included in scope of patent protection of the present invention.
Claims (5)
1. explore controller based on ARM9 two-wheeled micro computer mouse for one kind, it is characterized in that, comprise sensor, gyroscope, ARM9 controller, L298N chip, the first motor, the second motor, revolver and right the wheel, described sensor is positioned at the top of described two-wheeled micro computer mouse, described gyroscope is connected with described ARM9 controller, described ARM9 controller is together with described L298N chips welding, described L298N chip is connected with described the second motor with described the first motor, described the first motor is connected with described revolver, and described the second motor is connected with described right the wheel.
2. according to claim 1ly based on ARM9 two-wheeled micro computer mouse, explore controller, it is characterized in that, described ARM9 controller is the S3C2440A processor.
3. according to claim 1ly based on ARM9 two-wheeled micro computer mouse, explore controller, it is characterized in that, described sensor is 6, described 6 sensors be positioned at described two-wheeled micro computer mouse top up and down before and after position.
4. according to claim 1ly based on ARM9 two-wheeled micro computer mouse, explore controller, it is characterized in that, described two-wheeled micro computer mouse adopts the SMD components material.
5. according to claim 1ly based on ARM9 two-wheeled micro computer mouse, explore controller, it is characterized in that, described ARM9 controller generates the PWM ripple, and described PWM ripple is transferred to described the first motor and described the second motor by described L298N chip.
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Application publication date: 20131225 |