CN102841619A - Rapid exploration automatic control system for micro-mouse - Google Patents

Rapid exploration automatic control system for micro-mouse Download PDF

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Publication number
CN102841619A
CN102841619A CN2012103539753A CN201210353975A CN102841619A CN 102841619 A CN102841619 A CN 102841619A CN 2012103539753 A CN2012103539753 A CN 2012103539753A CN 201210353975 A CN201210353975 A CN 201210353975A CN 102841619 A CN102841619 A CN 102841619A
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module
computer mouse
micro computer
described
control system
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CN2012103539753A
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Chinese (zh)
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CN102841619B (en
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张好明
王应海
袁丽娟
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苏州工业园区职业技术学院
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Abstract

The invention discloses a rapid exploration automatic control system for a micro-mouse. The rapid exploration automatic control system for the micro-mouse comprises an upper computer system and a movement control system, wherein the upper computer system and the movement control system are controlled by a processor unit; the processor unit is a dual-core processor and comprises a singlechip and a field programmable gate array (FPGA) processor; the upper computer system comprises a maze storage module, a coordinate positioning module and an online output module; the movement control system comprises a servo control module, a data storage module and an input/output (I/O) control module, wherein the maze storage module, the coordinate positioning module, the online output module, the data storage module and the I/O control module are controlled by the singlechip; the servo control module is controlled by the FPGA processor; and data exchange and call are performed between the singlechip and the FPGA processor in real time. According to the rapid exploration automatic control system for the micro-mouse, the singlechip and FPGA-based dual-core processor is formed, so that the singlechip is freed from heavy workload, and the anti-jamming capability is greatly increased.

Description

The micro computer mouse is explored automatic control system fast

Technical field

The invention relates to the technical field of microrobot, and particularly explore automatic control system fast relevant for the micro computer mouse.

Background technology

A kind of intelligent walking robot that the micro computer mouse is to use that embedded microcontroller, sensor and electromechanical movement parts constitute; Abroad contest nearly 30 years; Can be converted into the industrial robot of multiple reality by its principle; Just introduce in recent years domesticly, and become an emerging sports gradually.The micro computer mouse can be remembered automatically in different " labyrinth " and select the path, adopts corresponding algorithm, arrives the destination that sets apace.An outstanding micro computer mouse must possess good perception, and good locomotor activity is arranged, outstanding intelligent algorithm, and a complete micro computer mouse is being divided into following components substantially:

1) sensor: sensor is the eyes of micro computer mouse, is the foundation that the micro computer mouse accurately obtains external environmental information, is transported to microprocessor to external information then and carries out various condition judgment.

2) motor: actuating motor is the power source of micro computer mouse, and it carries out the relevant action of micro computer mouse when in the labyrinth, walking according to the instruction of microprocessor.

3) algorithm: algorithm is the soul of micro computer mouse.The micro computer mouse must adopt certain intelligent algorithm just can find terminal point, just can find a path the shortest, in the shortest time, reaches home.

4) microprocessor: microprocessor is the core of micro computer mouse, is the brain of micro computer mouse.The information that the micro computer mouse is all comprises wall information, positional information, and angle information and motor status information etc. all need pass through microprocessor processes and make corresponding judgment.

The micro computer mouse has combined multi-subject knowledge, for being lifted at school students'ability for practice, team collaboration's ability and innovation ability, promotes that the digestion of student classroom knowledge and expansion students'knowledge face are all very helpful.The computer mouse walks the labyrinth and has interest in addition, obtains student's approval and participation easily, and can well excite interest and hobby with the guiding student this respect.It is carried out must promote technical merit and the application power of entrant in association area, for technological innovation provides platform.The talent of large quantities of association areas be can cultivate, and then the technical development and the industrialization process of association area promoted.

Because the unit of this robot of domestic research and development is less, lower to the international rule read level, level is relatively backward relatively, and micro computer mouse of the prior art is explored automatic control system system fast and comprises a single-chip microcomputer.Long-play is found to exist a lot of safety problems, comprising:

What (1) adopt as the eyes of micro computer mouse is ultrasound wave or general infrared sensor, makes the micro computer mouse when spurt fast, have certain erroneous judgement to the judgement in labyrinth on every side;

What (2) adopt as the topworks of micro computer mouse is stepper motor, and the problem that runs into pulse-losing through regular meeting occurs, and causes mistake is appearred in the memory of spurt position;

(3) owing to adopt stepper motor, make organism fever more serious, be unfavorable for spurt fast in large complicated labyrinth;

(4) owing to adopt more rudimentary algorithm, the spurt in the middle of the labyrinth generally all will spend 15 ~ 30 seconds time, and this makes can't win victory in real contest;

(5) because the micro computer mouse wanting frequent brake and startup in the spurt process fast, has been increased the weight of the workload of single-chip microcomputer, the monolithic signal processor can't satisfy the requirement of spurt fast of micro computer mouse;

What (6) adopt relatively all is that the bigger plug-in unit components and parts of some volume ratios make that the volume ratio of micro computer mouse is huger, can't satisfy the requirement of quick spurt;

(7) owing to disturbed by the surrounding environment labile factor, the particularly interference of some light on every side, singlechip controller occurs unusual through regular meeting, cause that the micro computer mouse is out of control, and antijamming capability is relatively poor;

(8) the micro computer mouse of controlling for differential; Generally require the control signal of its two motors to want synchronously; But for single single-chip microcomputer, be difficult to again accomplish; Compensation that will be back and forth when making the micro computer mouse on straight way, go, during particularly for sound lunge, the micro computer mouse sometimes in the middle of the labyrinth rocking tendency bigger;

(9) owing to receive single-chip microcomputer capacity and algorithm affects, the micro computer mouse is to the not storage of information in labyrinth, and information all when running into power-down conditions will disappear, and this makes whole spurt process to accomplish.

Therefore, need explore automatic control system fast based on monolithic processor controlled micro computer mouse and design again existing.

Summary of the invention

To the problems referred to above, the purpose of this invention is to provide a kind of micro computer mouse and explore automatic control system fast, solved the problem of poor anti jamming capability in the prior art.

For solving the problems of the technologies described above; The technical scheme that the present invention adopts is: provide a kind of micro computer mouse to explore automatic control system fast;, comprising master system and kinetic control system, described master system and kinetic control system are controlled by processor unit; Described processor unit is a dual core processor; Comprise single-chip microcomputer and FPGA processor, described master system comprises labyrinth memory module, coordinate setting module and online output module, and described kinetic control system comprises servocontrol module, data memory module and I/O control module; Wherein, Described labyrinth memory module, coordinate setting module, online output module, data memory module and I/O control module are by Single-chip Controlling, and described servocontrol module is controlled by the FPGA processor, and carry out exchanges data between single-chip microcomputer and the FPGA processor in real time and call.

In preferred embodiment of the present invention; Described micro computer mouse is explored automatic control system fast and also comprises first controller, second controller, the first high speed dc brushless motor, the second high speed dc brushless motor and micro computer mouse; Described processor unit sends and controls signal to described first controller and second controller; Control the second high speed dc brushless motor and the first high speed dc brushless motor respectively by described first controller; Drive signal through the first high speed dc brushless motor and the second high speed dc brushless motor through signal processor synthetic after; By the speed of described first high speed dc brushless motor control micro computer mouse, the direction of described second high speed dc brushless motor control micro computer mouse.

In preferred embodiment of the present invention, described quick spurt automatic control system also comprises battery, and described battery is a lithium ion battery.

In preferred embodiment of the present invention, described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.

Whether in preferred embodiment of the present invention, described servocontrol module also comprises coder module, and described coder module is used to detect micro computer mouse actual speed, judges whether to meet rate request, too fast or slow excessively, and sends control signal.

In preferred embodiment of the present invention, described servocontrol module also comprises current module, and the output power that described current module is used to adjust battery reaches the scope of micro computer mouse needs.

In preferred embodiment of the present invention; Described servocontrol module also comprises the speed module; Described speed module is connected with the coder module communication; Too fast or slow excessively when coder module detection micro computer mouse actual speed, the speed module is regulated micro computer mouse actual speed according to the result that coder module detects.

In preferred embodiment of the present invention, described servocontrol module also comprises the coordinate module, and described coordinate module is used to detect the coordinate position of micro computer mouse, receive the spurt order that controller sends after, can begin to make a spurt toward the tape fast along starting point.

Micro computer mouse of the present invention is explored automatic control system fast; In order to improve arithmetic speed; Assurance micro computer mouse is explored the stability and the reliability of automatic control system fast; The present invention introduces the FPGA processor in the single-chip microcomputer of processor unit, form the dual core processor based on single-chip microcomputer+FPGA, and this processor unit takes into full account the effect of battery in this system; Explore the micro computer mouse fast the diaxon servo-drive system of workload maximum in the automatic control system and give FPGA processor processes; Give full play to FPGA processor data processing speed characteristics faster, and labyrinth memory module, coordinate setting module, online output module, data memory module and I/O control module are given Single-chip Controlling, have so just realized the division of labor of single-chip microcomputer and FPGA processor; From the hard work amount, free single-chip microcomputer, antijamming capability strengthens greatly.

Description of drawings

Fig. 1 explores the block scheme of automatic control system fast for the micro computer mouse of preferred embodiment of the present invention;

Fig. 2 explores the block diagram of automatic control system fast for the micro computer mouse of preferred embodiment of the present invention;

Fig. 3 is the micro computer mouse labyrinth synoptic diagram of preferred embodiment of the present invention;

Fig. 4 is the micro computer mouse synoptic diagram that advances;

Fig. 5 retreats synoptic diagram for the micro computer mouse;

Fig. 6 advances meaning figure for the micro computer mouse right side;

Fig. 7 moves back synoptic diagram for a micro computer mouse left side.

Embodiment

Below in conjunction with accompanying drawing preferred embodiment of the present invention is set forth in detail, thereby protection scope of the present invention is made more explicit defining so that advantage of the present invention and characteristic can be easier to it will be appreciated by those skilled in the art that.

Single-chip microcomputer was born so far from late 1970s, had experienced one chip microcomputer SCM, microcontroller MCU and three megastages of SOC(system on a chip) SoC, and preceding two stages are representative with MCS-51 and 80C51 respectively.Along with performance and the functional requirement to single-chip microcomputer in built-in field is increasingly high; Single-chip microcomputer in the past is that many-sides such as travelling speed or level of integrated system all can not satisfy new design demand; At this moment Silicon Labs company has released the C8051F series monolithic, becomes typical case's representative of SoC.C8051F has upward quick-moving (complete compatible 8051 instruction set), (developing instrument is easy-to-use soon in research and development; Can shorten the R&D cycle) and the characteristics of instant effect (debugging method is flexible); Its performance advantage imbody is in the following areas: based on the CIP-51 kernel that strengthens; Its instruction set and MCS-51 are compatible fully, have the organizational structure of standard 8051, can use the 803x/805x assembler of standard and compiler to carry out software development.CIP-51 adopts pipeline organization, 70% instruction time be 1 or 2 system clock cycle, be 12 times of standard 8051 instruction execution speeds; Its peak value execution speed can reach 100MIPS (C8051F120 etc.), is present 8 fastest in the world single-chip microcomputers; Increased interrupt source.8051 of standard have only 7 the interrupt source Silicon Labs C8051F of company series monolithics expanded Interrupt Process this for the time real multitask system processing be that the interrupt system of very important expansion provides 22 interrupt sources to allow a large amount of analog-and digital-peripheral hardwares to interrupt Interrupt Process to CIP-51 to need less CPU to intervene higher execution efficient is but arranged; Integrated abundant simulation resource, the C8051F series monolithic of the overwhelming majority is all integrated single or two ADC can realize the effect of analog switch under the collection of multichannel analog signals is changed in sheet; The sampling precision of ADC reaches as high as 24bit in the sheet; Sampling rate reaches as high as 500ksps; The part model is also integrated single or two high resolving power DAC independently can satisfy the application of most mixed-signal systems and the seamless interfacing of realization and simulation electronic system; Temperature sensor monitoring of environmental temperature and make handled through program rapidly and has accurately then improved reliability of system operation in the sheet.Select for use C8051F120 can satisfy the needs of system fully as the central processing unit of native system.

Hardware implementation method based on field programmable gate array (FPGA) and hyundai electronics design automation (EDA) technology is recent years to have occurred a kind of brand-new design philosophy.Though FPGA itself is the cell array of standard just; There is not the general function that integrated circuit had; But the user can be according to the design demand of oneself; Placement-and-routing's instrument through specific reconfigures connection to its inside, in the shortest time, designs the special IC of oneself, so just reduces cost, shortens the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just make to have good reusable and the property revised based on FPGA processor designed system.This brand-new design philosophy has been applied in the high performance AC driving control gradually, and fast-developing.

As shown in Figure 1, explore the block scheme of automatic control system fast for the micro computer mouse of preferred embodiment of the present invention.In the present embodiment; The micro computer mouse is explored automatic control system fast and comprises master system and kinetic control system; Described master system and kinetic control system are controlled by processor unit, and described processor unit is a dual core processor, comprise single-chip microcomputer and FPGA processor; Described master system comprises labyrinth memory module, coordinate setting module and online output module; Described kinetic control system comprises servocontrol module, data memory module and I/O control module, and wherein, described labyrinth memory module, coordinate setting module, online output module, data memory module and I/O control module are by Single-chip Controlling; Described servocontrol module is controlled by the FPGA processor, and carries out exchanges data between single-chip microcomputer and the FPGA processor in real time and call.

See also Fig. 2, the micro computer mouse is explored automatic control system fast and also comprises battery, first controller, second controller, the first high speed dc brushless motor, the second high speed dc brushless motor and micro computer mouse among the present invention.Wherein, described battery is a lithium ion battery, is a kind of electric supply installation, for whole system operation provides WV.The built-in control system of described processor unit; Described processor unit sends and controls signal to described first controller and second controller; Control the second high speed dc brushless motor and the first high speed dc brushless motor respectively by described first controller; Drive signal through the first high speed dc brushless motor and the second high speed dc brushless motor through signal processor synthetic after; By the speed of described first high speed dc brushless motor control micro computer mouse, the direction of described second high speed dc brushless motor control micro computer mouse.

The present invention overcomes single single-chip microcomputer can not satisfy the requirement that the micro computer mouse is explored the stability and the rapidity of automatic control system fast; Given up the micro computer mouse and explored the mode of operation that automatic control system adopts single single-chip microcomputer fast, the brand-new control model based on single-chip microcomputer+FPGA processor is provided.Processor unit is an its processing core with the FPGA processor; Realize the real-time processing of digital signal, in the middle of the work of complicacy, free single-chip microcomputer the steering logic of the signal processing algorithm of implementation part and FPGA processor; And realization data communication and storage of real time signal are interrupted in response.

Master system comprises labyrinth memory module, coordinate setting module and online output module.The labyrinth memory module is with the storage of advancing of labyrinth map; The coordinate setting mould is used to point out position of micro computer mouse and location parameter to be provided with etc.; Online output module is used to point out the duty of micro computer mouse.

Kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, data memory module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.The servocontrol module further comprises modular converter, coder module, current module, speed module and coordinate module.

Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module is used to detect micro computer mouse actual speed, judges whether to meet rate request, too fast or slow excessively, and sends control signal.

Described current module is connected with controller, modular converter with battery.Modular converter is according to the electric current of battery and controller, and the output power that judgment task power, and feed back to battery to power condition, current module are used to adjust battery reaches the scope of micro computer mouse needs.

Described speed module is connected with the coder module communication, and too fast or slow excessively when coder module detection micro computer mouse actual speed, the speed module is regulated micro computer mouse actual speed according to the result that coder module detects.

Described coordinate module is used to detect the coordinate position of micro computer mouse, receive the spurt order that controller sends after, can begin to make a spurt toward the tape fast along starting point.

For processor unit is a dual core processor; Under the power supply opening state; The micro computer mouse is introduced into self-locking state, is placed on the labyrinth starting point to the micro computer mouse then, and the micro computer mouse on the front, the left and right side sensor that keeps in obscurity gives the single-chip microcomputer in the processor unit according to actual navigational environment transmission parameter; Single-chip microcomputer is handled back and the communication of FPGA processor; Give single-chip microcomputer then by the servocontrol of two individual motor of FPGA processor processes, and the deal with data communication, continue to handle follow-up running status by single-chip microcomputer.

Describe in conjunction with above, master system comprises labyrinth memory module, coordinate setting module, online output module; Kinetic control system comprises servocontrol module, data memory module, I/O control module.Wherein, The maximum servocontrol module of workload is given the control of FPGA processor; Remaining comprises that whole modules of master system give Single-chip Controlling; So just realized the division of labor of single-chip microcomputer and FPGA processor, also can carry out communication between the two simultaneously, carried out exchanges data in real time and call.

See also Fig. 3 to Fig. 7, the concrete function of the present invention realizes as follows:

1) before the micro computer mouse is not received the exploration order, as shown in Figure 3, its generally can be ordered in the exploration that starting point coordinate (0,0) wait controller sends; In case after receiving task, can begin to terminal point (7,7), (7 along starting point; 8), (8,7), (8,8) are explored;

2) the micro computer mouse is placed on starting point coordinate (0,0), receives sensor S1, the S6 in its place ahead after the task and can judge the environment in the place ahead; Defining does not have barricade to get into range of movement, as exists barricade to send interrupt request to single-chip microcomputer, and single-chip microcomputer can be to interrupting doing very first time response; If the interrupt response of single-chip microcomputer does not have enough time to handle; First motor of micro computer mouse and second motor are with the original place self-locking, and the place ahead information is confirmed in secondary judgement labyrinth then, prevent the information erroneous judgement;

3) do not have barricade to get into the range of movement in the place ahead if move before axially along Y the micro computer mouse, the micro computer mouse will store its coordinate (X, Y), in it travels forward process; Every through a grid, will upgrade its coordinate for (X, Y+1), at Y+1 <under 15 the 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, putting then makes a return voyage explores and to be masked as 1, the micro computer mouse is prepared return and explores;

4) if having in the motion process before axially barricade to get into the range of movement in the place ahead the micro computer mouse along Y, and the sensor S2 about this moment, S3, S4, S5 be when having barricade about judging, the micro computer mouse will store at this moment coordinate (X, Y); Turnback is transferred in the original place then, and is then along the counter motion of Y axle, in its Y axle counter motion process, every through a grid; To upgrade its coordinate for (X Y-1), is confirming Y-1>under 0 the 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, putting then makes a return voyage explores and to be masked as 1, the micro computer mouse is prepared return and explores;

5) if having in the motion process before axially barricade to get into the range of movement in the place ahead the micro computer mouse along Y, and the sensor S2 about this moment, S3, S4, S5 judge when left has barricade, the micro computer mouse will store at this moment coordinate (X, Y); The original place is transferred to the right and turn 90 degrees then, and is then along X axle positive movement, in X axle positive movement process, every through a grid at it; To upgrade its coordinate for (X+1, Y), at X+1 <under 15 the 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, putting then makes a return voyage explores and to be masked as 1, the micro computer mouse is prepared return and explores;

6) if having in the motion process before axially barricade to get into the range of movement in the place ahead along Y the micro computer mouse, and the sensor S2 about this moment, S3, S4, S5 judge right-hand when barricade is arranged, the micro computer mouse will store at this moment coordinate (X, Y); The original place is transferred left and turn 90 degrees then, and is then along the counter motion of X axle, in X axle counter motion process, every through a grid at it; To upgrade its coordinate for (X-1 Y), is confirming X-1>under 0 the 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, putting then makes a return voyage explores and to be 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), when (8,8) are prepared return and are explored, controller can access its labyrinth of having stored; Calculate the optimal path that possibly exist then, return begins to get into one that wherein thinks optimum then;

8) when the micro computer mouse gets into the labyrinth and normally makes a return voyage operation, and the sensor S1 of its navigation, S2, S3, S4, S5, S6 will work, and the photosignal that handle reflects is given single-chip microcomputer; After single-chip microcomputer is judged, give FPGA processor, by carrying out communication with single-chip microcomputer after the FPGA processor calculating, the first high speed dc brushless motor, the second high speed dc brushless motor that send control signal to give navigation by controller are then confirmed: will advance fast if get into the zone of having searched for; If unknown return area then adopts the normal speed search; And (X Y), and judges that its coordinate is (0 to upgrade its coordinate constantly; 0); If words put to make a return voyage to explore and be masked as 0, the micro computer mouse gets into the sprint stage, and puts spurt and be masked as 1;

9) in order to realize micro computer mouse coordinate Calculation function accurately; The present invention has added the optical code disk of 512 lines on the first high speed dc brushless motor, the second high speed dc brushless motor; The moment calculates the distance of trolley travelling and according to labyrinth barricade and pillar sensor feedback information different features has been introduced compensation, makes the coordinate Calculation of micro computer mouse mistake can not occur.

Wherein, the system that is controlled by FPGA generally is according to position signalling, is combining some sensor signals; And the information of optical code disk, and current of electric, the pwm control signal of generation motor; Its servocontrol process is to be accomplished by FPGA, and whole process does not need single-chip microcomputer or DSP to participate in, and can export PWM modulation signal and direction signal simultaneously by FPGA like this; Through the direct drive motor of driving circuit, not only alleviated the burden of DSP, simplified interface circuit; And saved DSP internal composition position, speed control program, and the trouble of various pid algorithms, make that the debugging of system is simple; In the inner servocontrol of FPGA, integrated multiple PID regulates pattern, can adjust its inner pid parameter automatically according to the peripheral ruuning situation of robot, easily realizes segmentation P, PD, PID control and nonlinear PID controller; Owing to, can on a very little chip, realize the multiaxis synchro control like this in the inner integrated PWM output of multichannel control motor of FPGA; Because do not have single-chip microcomputer to participate in this its servocontrol, and the inner logical circuit of FPGA all is to be realized by hardware circuit, institute is so that its motion process rapid speed is used for High Speed System more.

In sum; The micro computer mouse that the present invention discloses is explored automatic control system fast; In order to improve arithmetic speed, assurance micro computer mouse is explored the stability and the reliability of automatic control system fast, and the present invention introduces the FPGA processor in the single-chip microcomputer of processor unit; Formation is based on the dual core processor of single-chip microcomputer+FPGA; This processor unit takes into full account the effect of battery in this system, explores the micro computer mouse fast the diaxon servo-drive system of workload maximum in the automatic control system and gives FPGA processor processes, gives full play to FPGA processor data processing speed characteristics faster; And labyrinth memory module, coordinate setting module, online output module, data memory module and I/O control module are given Single-chip Controlling; So just realized the division of labor of single-chip microcomputer and FPGA processor, from the hard work amount, freed single-chip microcomputer that antijamming capability strengthens greatly.

Micro computer mouse of the present invention is explored the beneficial effect that automatic control system has fast:

1: in motion process; Taken into full account the effect of battery in this system; Constantly all the running status of micro computer mouse is being monitored and computing based on single-chip microcomputer+FPGA processor; Avoided the generation of big electric current, so fundamentally solved of the impact of big electric current, the generation of the lithium ion battery overaging phenomenon of having avoided causing owing to heavy-current discharge to lithium ion battery;

2: by the independent servocontrol of two motors of FPGA processor processes micro computer mouse, make that control is fairly simple, improved arithmetic speed greatly, solved the slower bottleneck of scm software operation, it is short to have shortened the construction cycle, and the program transportability ability is strong;

3: realize full paster components and parts material basically, realized veneer control, not only saved control panel and taken up room, but also realized the independent control of velocity magnitude and the direction of micro computer mouse, help improving stability and the dynamic property of micro computer mouse;

4: in order to improve arithmetic speed and precision, this micro computer mouse has been adopted and has used maximum infrared sensor OPE5594A in the world, makes operational precision improve greatly;

5: because this controller adopts FPGA processor processes lot of data and algorithm, and taken into full account interference source on every side, and from the hard work amount, freed single-chip microcomputer, antijamming capability strengthens greatly;

6: for the better protection battery, when system ran into low pressure in heuristic process, the low pressure alarming sensor on the micro computer mouse can be opened automatically; And restriction discharge current; Assurance micro computer mouse can be accomplished whole exploration, when starting point is got back in the exploration completion, can be automatically locked in current location; And note labyrinth information, battery is changed in prompting;

7: 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 motor, has reduced the influence that the motor torque shake is explored the micro computer mouse fast;

8:, make the micro computer mouse realize more easily advancing, fall back, turn left and the motion of right-hand rotation all directions because speed and the direction of micro computer mouse independently control;

9: owing to have a memory function, this makes can transfer the labyrinth information of having explored after the power down of micro computer mouse easily, and time and path that secondary is explored reduce greatly;

10: because the single-chip microcomputer that adopts is the C8051F120 of technical grade, when satisfying practicality, its kernel is exactly traditional 8051 kernel, makes that programmer can well secondary development.

The above-described embodiments of the invention that are merely; Be not so limit claim of the present invention; Every equivalent structure or equivalent flow process conversion that utilizes instructions of the present invention and accompanying drawing content to be done; Or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present invention.

Claims (8)

1. a micro computer mouse is explored automatic control system fast; It is characterized in that comprise master system and kinetic control system, described master system and kinetic control system are controlled by processor unit; Described processor unit is a dual core processor; Comprise single-chip microcomputer and FPGA processor, described master system comprises labyrinth memory module, coordinate setting module and online output module, and described kinetic control system comprises servocontrol module, data memory module and I/O control module; Wherein, Described labyrinth memory module, coordinate setting module, online output module, data memory module and I/O control module are by Single-chip Controlling, and described servocontrol module is controlled by the FPGA processor, and carry out exchanges data between single-chip microcomputer and the FPGA processor in real time and call.
2. micro computer mouse according to claim 1 is explored automatic control system fast; It is characterized in that; Described micro computer mouse is explored automatic control system fast and also comprises first controller, second controller, the first high speed dc brushless motor, the second high speed dc brushless motor and micro computer mouse; Described processor unit sends and controls signal to described first controller and second controller; Control the second high speed dc brushless motor and the first high speed dc brushless motor respectively by described first controller; Drive signal through the first high speed dc brushless motor and the second high speed dc brushless motor through signal processor synthetic after, by the speed of described first high speed dc brushless motor control micro computer mouse, the direction of described second high speed dc brushless motor control micro computer mouse.
3. micro computer mouse according to claim 1 is explored automatic control system fast, it is characterized in that, described quick spurt automatic control system also comprises battery, and described battery is a lithium ion battery.
4. micro computer mouse according to claim 2 is explored automatic control system fast, it is characterized in that, described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
5. micro computer mouse according to claim 2 is explored automatic control system fast; It is characterized in that; Described servocontrol module also comprises coder module, and described coder module is used to detect micro computer mouse actual speed, judges whether to meet rate request; Whether too fast or slow excessively, and send control signal.
6. micro computer mouse according to claim 3 is explored automatic control system fast, it is characterized in that, described servocontrol module also comprises current module, and the output power that described current module is used to adjust battery reaches the scope of micro computer mouse needs.
7. micro computer mouse according to claim 5 is explored automatic control system fast; It is characterized in that; Described servocontrol module also comprises the speed module; Described speed module is connected with the coder module communication, and too fast or slow excessively when coder module detection micro computer mouse actual speed, the speed module is regulated micro computer mouse actual speed according to the result that coder module detects.
8. micro computer mouse according to claim 2 is explored automatic control system fast; It is characterized in that; Described servocontrol module also comprises the coordinate module; Described coordinate module is used to detect the coordinate position of micro computer mouse, receive the spurt order that controller sends after, can begin to make a spurt toward the tape fast along starting point.
CN201210353975.3A 2012-09-21 2012-09-21 Rapid exploration automatic control system for micro-mouse CN102841619B (en)

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Publication number Priority date Publication date Assignee Title
CN102841621A (en) * 2012-09-21 2012-12-26 苏州工业园区职业技术学院 Micro-mouse quick sprint automatic control system
CN102841621B (en) * 2012-09-21 2014-12-17 苏州工业园区职业技术学院 Micro-mouse quick sprint automatic control system
CN103294060A (en) * 2013-06-05 2013-09-11 苏州工业园区服务外包职业学院 Medium-low-speed cable patrol robot control system
CN103472840A (en) * 2013-09-16 2013-12-25 苏州工业园区职业技术学院 Probe controller based on ARM9 four-wheeled microcomputer mouse
CN103472830A (en) * 2013-09-16 2013-12-25 苏州工业园区职业技术学院 Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors
CN103529837A (en) * 2013-09-26 2014-01-22 苏州工业园区职业技术学院 Dual-core two-wheeled top-speed microcomputer mouse-based diagonal sprint servo system
CN103529836A (en) * 2013-09-26 2014-01-22 苏州工业园区职业技术学院 Dual-core-based two-wheel high-speed microcomputer mouse and diagonal ramp-up servo system thereof
CN103529839A (en) * 2013-10-10 2014-01-22 苏州工业园区职业技术学院 Two-wheeled microcomputer rat fast continuous rotation sprint servo system based on ARM9
CN103713634A (en) * 2013-10-10 2014-04-09 苏州工业园区职业技术学院 Two-wheel micromouse fast diagonal dash system based on ARM9
CN103529845A (en) * 2013-10-18 2014-01-22 苏州工业园区职业技术学院 ARM9-based continuous-turning sprint servo system for four-wheeled fast microcomputer mice

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