CN103713637A - Intelligent trolley gravity inclination angle control method based on one-chip microcomputer - Google Patents
Intelligent trolley gravity inclination angle control method based on one-chip microcomputer Download PDFInfo
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- CN103713637A CN103713637A CN201310658191.6A CN201310658191A CN103713637A CN 103713637 A CN103713637 A CN 103713637A CN 201310658191 A CN201310658191 A CN 201310658191A CN 103713637 A CN103713637 A CN 103713637A
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Abstract
The invention discloses an intelligent trolley gravity inclination angle control method based on a one-chip microcomputer. The method comprises initialization of a timing mode of a one-chip microcomputer control system; a wireless sending module which sends remote control inclination data; a wireless receiving module which receives the remote control inclination data sent by the wireless sending module, performs center positioning on the intelligent trolley, and sends the remote control inclination data to the one-chip microcomputer control system; a sensor magnetic-field detection module which detects the magnetic-field components of three coordinates, and sends the magnetic-field components to the one-chip microcomputer control system; a sensor acceleration module used for detecting the accelerating magnetic-field components of the three coordinates and sending to the accelerating magnetic-field components to the one-chip microcomputer control system; the one-chip microcomputer control system which receives and stores the remote control inclination data, the magnetic-field component data and the accelerating magnetic-field component data, and sends a control command; and a motor driving module which receives the command, and controls the intelligent trolley to turn. The intelligent trolley gravity inclination angle control method based on the one-chip microcomputer realizes gravity inclination angle control through the sensor magnetic-field detection module and the sensor acceleration module.
Description
Technical field
The present invention relates to gravity angle of inclination control method, particularly a kind of SCM Based intelligent carriage gravity angle of inclination control method.
Background technology
A lot of handle remote-control toys have higher requirement for user, conventionally to practise could freely controlling for a long time, for having relatively high expectations of user, after gravity sensing technology occurs, a lot of gravity sensing telecars arise at the historic moment, and can to the running status of telecar, control easily by the inclination of telepilot.But in actual control procedure, still there is certain problem, such as: when toy head is towards own time, the traffic direction of toy and the vergence direction of telepilot are always inconsistent, make the operation of remote-control toy become more difficult.
Summary of the invention
The invention provides a kind of SCM Based intelligent carriage gravity angle of inclination control method, it can overcome the deficiencies in the prior art, realizes gravity angle of inclination control by sensor magnetic field detection module and sensor accelerating module.
A kind of SCM Based intelligent carriage gravity angle of inclination control method that the embodiment of the present invention provides, comprises the following steps:
The timing mode of initialization single-chip computer control system;
The remote control tilt data that wireless sending module sends;
Wireless receiving module receives the remote control tilt data that wireless sending module sends, and to intelligent carriage centralized positioning, and described remote control tilt data is sent to single-chip computer control system;
Sensor magnetic field detection module detects the magnetic-field component of its three coordinates, and described magnetic-field component is sent to single-chip computer control system;
Sensor accelerating module, for detection of the acceleration magnetic-field component of its three coordinates, is sent to single-chip computer control system by described acceleration magnetic-field component;
The remote control tilt data that single-chip computer control system receives, magnetic-field component data and acceleration magnetic-field component data, and store, control command sent;
Motor drive module receives described order, controls intelligent carriage and is rotated.
The method also comprises display remoting information and end message.
A kind of SCM Based intelligent carriage gravity provided by the invention angle of inclination control method, by sensor magnetic field detection module and sensor accelerating module, in real time, accurately grasps the traffic direction of intelligent carriage, realizes gravity angle of inclination and controls.
Embodiment
Below the embodiment of the embodiment of the present invention is described in detail:
A kind of SCM Based intelligent carriage gravity angle of inclination control method that the embodiment of the present invention provides, comprises the following steps:
The timing mode of initialization single-chip computer control system;
The remote control tilt data that wireless sending module sends;
Wireless receiving module receives the remote control tilt data that wireless sending module sends, and to intelligent carriage centralized positioning, and described remote control tilt data is sent to single-chip computer control system;
Sensor magnetic field detection module detects the magnetic-field component of its three coordinates, and described magnetic-field component is sent to single-chip computer control system;
Sensor accelerating module, for detection of the acceleration magnetic-field component of its three coordinates, is sent to single-chip computer control system by described acceleration magnetic-field component;
The remote control tilt data that single-chip computer control system receives, magnetic-field component data and acceleration magnetic-field component data, and store, control command sent;
Motor drive module receives described order, controls intelligent carriage and is rotated.
The method also comprises display remoting information and end message.
A kind of SCM Based intelligent carriage gravity provided by the invention angle of inclination control method, by sensor magnetic field detection module and sensor accelerating module, in real time, accurately grasps the traffic direction of intelligent carriage, realizes gravity angle of inclination and controls.
Power module is linear power supply, Switching Power Supply or lithium battery.
The master chip of described single-chip computer control system adopts single-chip microcomputer or the ARM series monolithic of scale programmable logic device, enhancement mode 51 kernels.
Described motor drive module adopts discrete component to put up a bridge or integrated chip.
Motor in described motor drive module adopts stepper motor or direct current generator.
Described sensor magnetic field detection module adopts uniaxial magnetic field sensor detection module, double-axis magnetic field sensor detection module or triaxial magnetic field sensor detection module.
Described sensor accelerating module adopts uniaxial magnetic field sensor accelerating module, double-axis magnetic field sensor accelerating module or triaxial magnetic field sensor accelerating module.
The single-chip microcomputer STC89C52RC of the application based on 51 kernels, made simple remote operated vehicle chassis, its principle is by the triaxial magnetic field sensor on telepilot and three axle acceleration sensors, to measure the inclined degree of telepilot, vergence direction calculates the angle of vergence direction and magnetic south, by wireless base station apparatus, vergence direction data in the ground of telepilot are sent to telecar, telecar is recorded dolly headstock and is contrasted towards data by self triaxial magnetic field sensor and three axle acceleration sensors, by analyzing two groups of data, determine the current state of telecar and the state that will move.
Its core technology is one, and no matter how to tilt can be accurately southern compass.Sensor adopts GY-80 BMPO085 nine axle IMU magnetic field acceleration gyroscope atmospheric pressure modules, and this module height is integrated, adopts IIC communication, can conveniently link with single-chip microcomputer.This technology has broad application prospects, such as the remote control of automobile is parked, the flight attitude of unmanned aerial vehicle controls etc. the various smart machines that need manual remote control or automatically control.
Through the above description of the embodiments, those skilled in the art can be well understood to the mode that the present invention can add essential general hardware platform by software and realize, and can certainly pass through hardware, but in a lot of situation, the former is better embodiment.Understanding based on such, the part that technical scheme of the present invention contributes to prior art in essence in other words can embody with the form of software product, this computer software product is stored in a storage medium, comprise that some instructions are with so that a computer equipment (can be personal computer, server, or the network equipment etc.) carry out the method described in each embodiment of the present invention.
Disclosed is above only several specific embodiment of the present invention, and still, the present invention is not limited thereto, and the changes that any person skilled in the art can think of all should fall into protection scope of the present invention.
Claims (2)
1. a SCM Based intelligent carriage gravity angle of inclination control method, is characterized in that, comprises the following steps:
The timing mode of initialization single-chip computer control system;
The remote control tilt data that wireless sending module sends;
Wireless receiving module receives the remote control tilt data that wireless sending module sends, and to intelligent carriage centralized positioning, and described remote control tilt data is sent to single-chip computer control system;
Sensor magnetic field detection module detects the magnetic-field component of its three coordinates, and described magnetic-field component is sent to single-chip computer control system;
Sensor accelerating module, for detection of the acceleration magnetic-field component of its three coordinates, is sent to single-chip computer control system by described acceleration magnetic-field component;
The remote control tilt data that single-chip computer control system receives, magnetic-field component data and acceleration magnetic-field component data, and store, control command sent;
Motor drive module receives described order, controls intelligent carriage and is rotated.
2. a kind of SCM Based intelligent carriage gravity according to claim 1 angle of inclination control method, is characterized in that, the method also comprises display remoting information and end message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310658191.6A CN103713637A (en) | 2013-12-09 | 2013-12-09 | Intelligent trolley gravity inclination angle control method based on one-chip microcomputer |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310658191.6A CN103713637A (en) | 2013-12-09 | 2013-12-09 | Intelligent trolley gravity inclination angle control method based on one-chip microcomputer |
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| CN103713637A true CN103713637A (en) | 2014-04-09 |
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| CN201310658191.6A Pending CN103713637A (en) | 2013-12-09 | 2013-12-09 | Intelligent trolley gravity inclination angle control method based on one-chip microcomputer |
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| CN202087051U (en) * | 2011-05-19 | 2011-12-28 | 威雅利电子（深圳）有限公司 | Remote control capable of being operated by one hand and toy |
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| CN103177545A (en) * | 2011-12-26 | 2013-06-26 | 联想(北京)有限公司 | Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller |
| CN103411605A (en) * | 2013-07-31 | 2013-11-27 | 重庆大学 | Vehicle-mounted non-blind-area positioning navigation and travel posture measuring device and measuring method |
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|---|---|---|---|---|
| JPH0363516A (en) * | 1989-07-31 | 1991-03-19 | Seibutsukei Tokutei Sangyo Gijutsu Kenkyu Suishin Kiko | Azimuth detecting device for field working vehicle |
| EP1475610B1 (en) * | 2003-05-06 | 2009-02-04 | Harman/Becker Automotive Systems GmbH | Remote vehicle control |
| CN1472044A (en) * | 2003-06-05 | 2004-02-04 | 上海交通大学 | Wire walking robot |
| CN101089556A (en) * | 2006-06-16 | 2007-12-19 | 三星电子株式会社 | Moving apparatus, method, and medium for compensating position of the moving apparatus |
| CN101134147A (en) * | 2007-09-24 | 2008-03-05 | 台南科技大学 | Intelligent type telecontrol system |
| CN201566512U (en) * | 2009-12-09 | 2010-09-01 | 西安理工大学 | Intelligent trolley controlled based on posture detection |
| CN201904829U (en) * | 2010-09-01 | 2011-07-20 | 黄俊升 | Remote control device for mobile phone |
| CN202083962U (en) * | 2010-12-08 | 2011-12-21 | 合发微系统科技股份有限公司 | Toy controller and signal processing device thereof |
| CN102566781A (en) * | 2010-12-08 | 2012-07-11 | 合发微系统科技股份有限公司 | Device and method for controlling motion of target objects |
| CN202087051U (en) * | 2011-05-19 | 2011-12-28 | 威雅利电子（深圳）有限公司 | Remote control capable of being operated by one hand and toy |
| CN103177545A (en) * | 2011-12-26 | 2013-06-26 | 联想(北京)有限公司 | Remote controller, mobile equipment and method for controlling mobile equipment by using remote controller |
| CN103411605A (en) * | 2013-07-31 | 2013-11-27 | 重庆大学 | Vehicle-mounted non-blind-area positioning navigation and travel posture measuring device and measuring method |
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