CN101713662A - Auxiliary navigation system of ceiling projector - Google Patents
Auxiliary navigation system of ceiling projector Download PDFInfo
- Publication number
- CN101713662A CN101713662A CN200910246578A CN200910246578A CN101713662A CN 101713662 A CN101713662 A CN 101713662A CN 200910246578 A CN200910246578 A CN 200910246578A CN 200910246578 A CN200910246578 A CN 200910246578A CN 101713662 A CN101713662 A CN 101713662A
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- projector
- controller
- ceiling
- robot
- ceiling projector
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention provides an auxiliary navigation system of a ceiling projector, which comprises a rotary platform, a controller, a wireless communication module, a laser, an upper computer and a ceiling projector, wherein the ceiling projector is arranged on the rotary platform; the ceiling projector is connected with the controller; two stepping motors are vertically arranged in the rotary platform, and rotary shafts of the two stepping motors are separately connected with two connecting rods which are arranged on the rotary platform; the two stepping motors are connected with the controller; the laser is fixed on the connecting rods; and the upper computer is connected with the controller through the wireless communication module. In the invention, the path planning function is completed by the upper computer, and the planned path information is sent to the projector by a certain method. The path information is projected by the projector to guide a robot to move forwards, and then the robot has no need of any path planning, thereby the data calculation and the processing quantity of the robot main body are reduced, the types and the quantity of the sensors carried by the robot are reduced, and the cost is decreased.
Description
Technical field
The present invention relates to a kind of robot navigation's positioning system, belong to robot navigation's field of locating technology.
Background technology
The sensor (as sonac, laser sensor etc.) that the navigation of robot at present, the many dependences in location robot itself carry carries out perception to environmental information, then institute's acquired information is handled, with next step motion strategy of decision robot.Ubiquitous phenomenon is that robot self need carry out complicated logical operation and data processing, and is higher to the performance requirement of robot.Simultaneously, robot need carry multiple sensors, cost an arm and a leg (as the laser sensor) that has.
For reducing the consideration that the robot navigation locatees cost, how research utilizes other navigation, positioning means to reduce the requirement to the robot performance, and the kind that reduces required sensor simultaneously just seems particularly important.
Summary of the invention
The present invention is directed to need that robot body exists and carry out complex calculation and processing, and need carry the problem of multiple sensors in navigation procedure, proposed the low auxiliary navigation system of ceiling projector of a kind of cost that navigates.
Auxiliary navigation system of ceiling projector of the present invention is by the following technical solutions:
This auxiliary navigation system of ceiling projector comprises rotatable platform, controller, wireless communication module, laser instrument, host computer and ceiling projector, ceiling projector is installed on the rotatable platform, ceiling projector is connected with controller, two stepper motors vertically are placed in the rotatable platform, the rotating shaft of two stepper motors respectively be installed on rotatable platform on two connecting rods be connected, two stepper motors are connected with controller, laser instrument is fixed on the connecting rod, and host computer is connected by wireless communication module with controller.
Controller adopts single-chip microcomputer STC12C2052, and its P3.2～P3.5 pin connects limit switch, because ceiling projector comprises two stepper motors, therefore needs four limit switches; P1.0～P1.7 pin meets chip for driving ULN2003A.The output of chip for driving connects stepper motor, adds Schmidt trigger between single-chip microcomputer P1.0～P1.7 pin and the chip for driving.
The stepper motor drivening rod of ceiling projector is realized the two degrees of freedom rotation, when hanging on rotatable platform on the wall, be loaded on connecting rod on the rotation platform can realize around the bottom tie point do on the plane, metope place rotation and perpendicular to the rotation on plane, metope place.Laser instrument is implemented in the hot spot that projects motion on the ground along with the motion of connecting rod, guides the motion of robot.
The course of work of the present invention is as follows:
It at first is path planning, the host computer follow procedure will plan that good routing information is scaled the control command of corresponding motor through coordinate transformation etc., then with the protocol packing of control command by radio communication, send to ceiling projector by wireless communication module, ceiling projector is resolved control command, extract the motion step number and the directional information of each stepper motor, control circuit sends pulse signal according to control information to driver, the rotation of drive motor, the driven by motor link motion can realize the projection in the path of planning when ceiling projector is in opening.
The present invention transfers to host computer with the path planning function and finishes, to plan that simultaneously good routing information sends to projector by certain way, projector is finished the projection of routing information in view of the above, guide advancing of robot, make that robot need not to carry out path planning, reduced the data operation and the treatment capacity of robot body, alleviated the kind and the quantity of the required sensor that carries of robot simultaneously, reduced cost, for robot provides a kind of simple and effective navigate mode.
Description of drawings
Fig. 1 is the structural principle block diagram of ceiling projector navigational system of the present invention.
Fig. 2 is the electrical schematic diagram of the control circuit of ceiling projector navigational system of the present invention.
Fig. 3 is the main control process flow diagram of ceiling projector navigational system of the present invention.
Fig. 4 is that pulse produces control flow chart.
Fig. 5 is spacing control flow chart.
Fig. 6 is a stepper motor speed Control process flow diagram.
Fig. 7 is the staging treating sub-process figure of stepper motor speed Control.
Table 1 is a communication data form between host computer and the wireless communication module (Zigbee telegon).
Table 2 are Zigbee terminal nodes with the projector controller between the data layout of communicating by letter.
Among the figure, 1, host computer, 2, wireless communication module, 3, single-chip microcomputer, 4, the voltage conversion module, 5, Switching Power Supply, 6, limit switch, 7, the voltage conversion module, 8, CMOS six Schmidt triggers, 9, chip for driving, 10, stepper motor, 11, laser instrument.
Embodiment
Fig. 1 has provided the structural principle of ceiling projector navigational system of the present invention.Comprise rotatable platform, controller, wireless communication module 2, laser instrument 11, host computer 1 and ceiling projector.Ceiling projector is installed on the rotatable platform, ceiling projector is connected with controller, ceiling projector comprises two stepper motors 10, the stepper motor model is 35BY48HJ30, two stepper motors vertically are placed in the rotatable platform, the rotating shaft of two stepper motors respectively be installed on rotatable platform on two connecting rods be connected, two stepper motors are connected with controller, controller adopts STC12C2052 type single-chip microcomputer 3, laser instrument 11 is fixed on the connecting rod, and host computer is connected by wireless communication module 2 with controller (single-chip microcomputer 3).Laser instrument 11 is connected with Switching Power Supply 5 by voltage conversion module 7, and single-chip microcomputer 3 all is connected with Switching Power Supply 5 with CMOS six Schmidt triggers 8, and wireless communication module 2 is connected with Switching Power Supply 5 by voltage conversion module 4.
As shown in Figure 2, controller adopts STC12C2052 type single-chip microcomputer 3, and the P3.2 of single-chip microcomputer 3～P3.5 pin connects limit switch 6, and P1.0～P1.7 pin connects chip for driving 9, and chip for driving 9 adopts ULN2003A.Because ceiling projector comprises two stepper motors 11, therefore need four limit switches 6.The output of chip for driving 9 connects stepper motor 11.Add CMOS six Schmidt triggers 8 between the P1.0 of single-chip microcomputer 3～P1.7 pin and the chip for driving 9, i.e. 40106 chips.
Fig. 3 has provided the main control process flow diagram of controller, after single-chip microcomputer 3 initialization, opens interruption, receives data, and after Data Receiving was intact, if the validity of judgment data invalid, then abandoned data and waits for next group data; If effectively, then judge whether to receive data for resetting or stopping, be then operation to be set according to the corresponding command, otherwise the stepper motor that extracts wherein rotates step number and directional information, determine the lead-in wire power-up sequence of motor, and send pulse that drive stepping motor 10 is rotated by timer.
Fig. 4 has provided pulse and has produced control flow chart.The frequency that pulse signal produces is decided by the timer initial value, and timer T0 is responsible for producing pulse.When producing pulse number accumulative total and equal step number that motor need rotate, the timeing closing device no longer produces pulse, thereby the control motor stops operating.
Simultaneously, for preventing the winding of lead, the rotational angle of restriction ceiling projector, four limit switches 6 have been disposed, to guarantee that ceiling projector is in operational process, even program fleet, program is spacing when inoperative, still can force stop ceiling projector by limit switch 6 and rotate.
Spacing control flow as shown in Figure 5.Four limit switches 6 link to each other with P3.2, P3.3, P3.4, the P3.5 mouth of single-chip microcomputer 3 respectively, and when not bumping, limit switch output is 1, if bump, then corresponding port for example puts 0., when P3.2=0, illustrate that collision has taken place limit switch 1, therefore can not continue to continue operation on same direction, at this moment, timer no longer produces pulse, if direction of rotation, then the control command that sends according to host computer continues to send pulse to driver, the control motor movement.
The selection of chip for driving 9 has determined the control mode of stepper motor 10, selects the ULN2003A chip for driving for use, when drive motor rotates, must respectively take turns the operation of controlling motor of flow-thru electrode mutually to give motor.Selected motor is six lines, four phase motors, built-in two motors of projector, and ULN2003A has only 7 pins, therefore adopts two ULN2003A chips to control ceiling projector.
The speed Control flow process of stepper motor 10 as shown in Figure 6.When the track of need projections was one section oblique line, two stepper motors 10 needed operation simultaneously, but step number is not quite similar, and at this moment, for reaching the purpose of synchronous operation, needed to change the motor travelling speed, promptly changed the pulsed frequency of two drivers.
The present invention produces the driving pulse of two stepper motors 10 by a timer of single-chip microcomputer 3, and timer interrupts once, produces a pulse.At first calculate the velocity ratio of motor, in view of the above, divide three kinds of situations to handle according to the radiometer of stepper motor 10 operation step numbers:
1) when x or y are 0, for example, work as x=0, then x direction stepper motor 10 does not change, the every interruption of timer once, y direction stepper motor 10 changes a step;
2) when x, y all are not 0, if x or y are, for example, work as x=1 at 1 o'clock, the every interruption of timer 1 time, y direction stepper motor 10 changes a step, the every interruption of timer y+1 time, x direction stepper motor 10 changes a step;
3) when x, y all non-1, non-0 the time, because this moment, x, y did not have common divisor, when x, y ratio are big (as 10: 9), as if the direct every interruption of control timer x time, y direction stepper motor 10 changes a step, the every interruption of timer y time, x direction motor changes a step, and then each step midfeather is longer, causes the outside no obvious run action of ceiling projector, cause projection long working time, do not meet the requirement of quick assisting navigation.
At all non-1, non-0 the situation of x, y, take staging treating, idiographic flow is as shown in Figure 7.With xstep＞ystep is example, obtains the merchant t of xstep and ystep, and remainder r divides running orbit two sections processing then, and x direction stepper motor 10 rotates r* (t+1) step in first section, and y direction motor rotates the r step, and the ratio of step number is (t+1): 1; X direction stepper motor 10 rotates xstep-r* (t+1) step in second section, and y direction stepper motor 10 rotates the ystep-r step, and the ratio of step number is t: 1. wherein, handling first section and second section is sequencing, can not move simultaneously.
Because the ceiling projector installation site is higher, the communication aspect needs to be equipped with long lead if adopt the lead ways of connecting.Lead is long, and secondly the easy loose contact of lead on the one hand needs to consider wiring problem, and avoid the problem that may cause because of lead, wireless communication module 2 of the present invention adopts the Zigbee wireless network, realizes the telecommunication of projector, has promptly increased security and has guaranteed the convenience of installing again.The single-chip microcomputer of Zigbee module adopts CC2430.
Communication among the present invention comprises the serial communication between radio communication, Zigbee terminal node and the controller (single-chip microcomputer 3) between serial communication, Zigbee telegon and terminal node between host computer 1 and Zigbee telegon (wireless communication module 2).
1, communicates by letter between host computer and Zigbee telegon
The present invention has relatively high expectations to the real-time of projector communication, the data layout relative fixed, and also volume of transmitted data is little, considers the interface of Zigbee inside modules chip, adopts the RS232 serial communication between host computer and the Zigbee telegon.Because need addressing when communicating by letter between the Zigbee network, so, be defined as follows communication format shown in the table.Packet is totally 14 bytes, and 112, wherein Zigbee node physical address accounts for eight bytes, and the rotation direction of two stepper motors respectively accounts for a byte, rotates step number and respectively accounts for two bytes.
| The instruction space | ??0～63 | ??64～79 | ??80～87 | ??88～103 | ??104～111 |
| Implication | The ZigBee joint | Horizontal direction | Horizontal direction | Vertical direction | Vertical direction |
| The point physical address | Machine rotates step number | The machine rotation direction | Machine rotates step number | The machine rotation direction | |
| Content | ??MAC | ??0x0000～??0xffff | ??0x00/0x01 | ??0x0000～??0xffff | ??0x00/0x01 |
2, Zigbee wireless communication
Coordinator node is created the Zigbee network, and successfully indicates to host computer transmission networking, waits for that then terminal node adds.After terminal node powers on, can search the Zigbee network that exists in the space automatically, find the back and add network, and the terminal node physical address is sent to telegon, telegon sends to computing machine to the address information of terminal node etc. by serial ports and preserves.
3, communicating by letter between Zigbee terminal node and projector controller
With the TXD of Zigbee terminal node CC2430 the RXD pin directly and the RXD of projector controller STC12C2052 the TXD pin interconnected, without the RS232 format conversion, in view of the above, be defined as follows the form of communication data shown in the table, packet is totally 6 bytes, 48, wherein the rotation direction of two motors respectively accounts for a byte, rotates step number and respectively accounts for two bytes.
| The instruction space | ??0～15 | ??16～23 | ??24～39 | ??40～47 |
| Implication | The horizontal direction motor rotates step number | The horizontal direction direction of motor rotation | The vertical direction motor rotates step number | The vertical direction direction of motor rotation |
| Content | ??0x0000～??0xffff | ??0x00/0x01 | ??0x0000～??0xffff | ??0x00/0x01 |
Can manually import by host computer 1 routing information is set, in the edit box of data x and y, import data, because under original state, projector is in reset mode, be institute's light projector spot at the initial point place, so input during data, first group of data is required to be 0,0. the click store button can and be presented in the grid of below data storage.In addition, can click " reading in " button, realize that the routing information that planning in the database is good reads in and is presented in the grid.
After data show in grid, click the " RUN " button, then system automatically with first group of data in the grid as starting point, second group of data be as impact point, through coordinate transformation, converses motor between starting point and the impact point and rotate step number and be presented on the interface, when rotating step number is timing, motor is by clockwise rotating, and when rotating step number when negative, rotation direction is counterclockwise.Simultaneously, motor is rotated step number and directional information generate packet, send to the Zigbee telegon by table 1 form.And the startup delay procedure, delay time is pressed the motor that is sent and is rotated step number, the time set that motor need move.
After time-delay finishes, automatically the current goal point is taken as starting point, current goal is put next group data and is taken as impact point, calculates motor once more and rotates step number, sends packet to the Zigbee telegon.
Calculating and sending is sent data successively, and after last group data were set to starting point, all data sent and finish, and motor stops operating.
Clicking " stopping " button during this time, then is 0 packet to two motors rotations of Zigbee telegon transmission step numbers, can allow projector stop operating immediately.
After stepper motor 10 stop motions, click the Reset button, ceiling projector is resetted.
Claims (2)
1. auxiliary navigation system of ceiling projector, comprise rotatable platform, controller, wireless communication module, laser instrument, host computer and ceiling projector, it is characterized in that: ceiling projector is installed on the rotatable platform, ceiling projector is connected with controller, two stepper motors vertically are placed in the rotatable platform, the rotating shaft of two stepper motors respectively be installed on rotatable platform on two connecting rods be connected, two stepper motors are connected with controller, laser instrument is fixed on the connecting rod, and host computer is connected by wireless communication module with controller.
2. auxiliary navigation system of ceiling projector according to claim 1 is characterized in that: described controller adopts single-chip microcomputer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910246578A CN101713662A (en) | 2009-11-26 | 2009-11-26 | Auxiliary navigation system of ceiling projector |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910246578A CN101713662A (en) | 2009-11-26 | 2009-11-26 | Auxiliary navigation system of ceiling projector |
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| CN101713662A true CN101713662A (en) | 2010-05-26 |
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| CN200910246578A Pending CN101713662A (en) | 2009-11-26 | 2009-11-26 | Auxiliary navigation system of ceiling projector |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102636939A (en) * | 2011-02-11 | 2012-08-15 | 中强光电股份有限公司 | Projection system |
| CN109557908A (en) * | 2017-09-27 | 2019-04-02 | 九阳股份有限公司 | A kind of robot navigation method and system based on projection virtual wall |
| CN113791624A (en) * | 2021-09-17 | 2021-12-14 | 乐聚(深圳)机器人技术有限公司 | Communication method of robot and computer equipment |
-
2009
- 2009-11-26 CN CN200910246578A patent/CN101713662A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102636939A (en) * | 2011-02-11 | 2012-08-15 | 中强光电股份有限公司 | Projection system |
| CN109557908A (en) * | 2017-09-27 | 2019-04-02 | 九阳股份有限公司 | A kind of robot navigation method and system based on projection virtual wall |
| CN109557908B (en) * | 2017-09-27 | 2022-06-14 | 九阳股份有限公司 | Robot navigation method and system based on projection virtual wall |
| CN113791624A (en) * | 2021-09-17 | 2021-12-14 | 乐聚(深圳)机器人技术有限公司 | Communication method of robot and computer equipment |
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Open date: 20100526 |