CN103472830A - Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors - Google Patents
Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors Download PDFInfo
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- CN103472830A CN103472830A CN2013104183134A CN201310418313A CN103472830A CN 103472830 A CN103472830 A CN 103472830A CN 2013104183134 A CN2013104183134 A CN 2013104183134A CN 201310418313 A CN201310418313 A CN 201310418313A CN 103472830 A CN103472830 A CN 103472830A
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Abstract
The invention discloses an ultra-fast exploring controller of a two-wheel micro-mouse based on dual processors. The exploring controller comprises an ARM processor, an FPGA processor, shielding sensors, two moving drive units and two motors, wherein the ARM processor is respectively and electrically connected with the shielding sensors to receive a signal to judge whether a barrier exits in the front or on the two sides or not. The ARM processor is electrically connected with the FPGA processor to control the working of the FPGA processor, the FPGA processor is respectively and electrically connected with the moving drive units to control the working of the moving drive units, and each moving drive unit is electrically connected with the corresponding motor to control the working of the motor. The dual processors are adopted for working cooperatively at the same time, so that the workload of each control chip is relatively low, the program fleeting is effectively prevented, and the antijamming capability is improved; the production of a large current is avoided, the computing precision is high, and the performance is stable.
Description
Technical field
The present invention relates to the microrobot field, relate in particular to a kind of based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse.
Background technology
The micro computer mouse is a kind of Intelligent walking robot that uses embedded microcontroller, sensor and electromechanical movement parts to form, 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 gradually an emerging sports.The micro computer mouse can be in different " labyrinths " automatic Memory and selecting paths, adopt corresponding algorithm, the destination that arrival sets rapidly.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 of micro computer mouse Obtaining Accurate external environmental information, then external information is transported to microprocessor 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 while walking in labyrinth 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, just can find a path the shortest, within 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, comprise wall information, positional information, and angle information and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.
The micro computer mouse combines multi-subject knowledge, and for the manipulative ability, team collaboration's ability and the innovation ability that promote students, the digestion of promotion student classroom knowledge and the scope of one's knowledge of expansion student are all very helpful.The computer mouse walks labyrinth and has interest in addition, easily obtains student's approval and participation, 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 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, R & D Level is relatively backward relatively, and the micro computer mouse structure of research and development is as Fig. 1, and long-play is found to exist a lot of safety problems, that is:
(1) what as the eyes of micro computer mouse, adopt is ultrasound wave or general infrared sensor, makes the micro computer mouse have certain erroneous judgement to the exploration in labyrinth on every side.
(2) what as the topworks of micro computer mouse, adopt is stepper motor, and the problem that often can run into pulse-losing occurs, causes mistake is appearred in the memory of position.
(3) owing to adopting stepper motor, make organism fever more serious, be unfavorable for exploring in large complicated labyrinth and spurt.
(4) owing to adopting more rudimentary algorithm, the exploration in the middle of labyrinth generally all will spend the time of 4 ~ 5 minutes, and this makes in real contest and can't win victory.
(5) 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.
(6) what relatively adopt is all the plug-in components that some volume ratios are larger, makes the volume ratio of micro computer mouse huger, can't meet the requirement of quick exploration.
(7) 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.
(8) 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, during particularly for quick exploration.
(9) 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.
Therefore, need to based on monolithic processor controlled micro computer mouse controller, be redesigned existing.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, the present invention adopts the double-core collaborative work simultaneously, the workload less of each control chip, prevented program fleet effectively, strengthened antijamming capability; Avoid producing large electric current, operational precision is higher, and performance is more stable.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, be applied in two-wheeled micro computer mouse, described exploration controller comprises arm processor, the FPGA processor, sensor keeps in obscurity, two motion driver elements and two motors, described arm processor electrically is connected to receive signal and judges whether the place ahead or both sides have barrier with each described sensor that keeps in obscurity, described arm processor and described FPGA processor be electrically connected to control the work of described FPGA processor and and the FPGA processor between transmitting data information, described FPGA processor is electrically connected to control the work of described motion driver element with each described motion driver element respectively, each described motion driver element and a described motor are electrically connected to control described machine operation, described motor is the High-speed DC motor.
In a preferred embodiment of the present invention, described exploration controller further comprises the PC control unit, described PC control unit and described arm processor are electrically connected, and described PC control unit comprises labyrinth reading unit, coordinate setting unit and online output unit.
In a preferred embodiment of the present invention, the quantity of the described sensor that keeps in obscurity is more than or equal to 6.
In a preferred embodiment of the present invention, the described sensor that keeps in obscurity comprises infrared transmitter and infrared remote receiver.
In a preferred embodiment of the present invention, the model of described infrared transmitter is OPE5594A, and the model of described infrared remote receiver is TSL262.
In a preferred embodiment of the present invention, the signal transmit direction of two described infrared transmitters is identical with the direction of motion of described two-wheeled micro computer mouse, the signal transmit direction of two described infrared transmitters is contrary and perpendicular to the direction of motion of described two-wheeled micro computer mouse, the signal transmit direction of two described infrared transmitters about the direction of motion of described two-wheeled micro computer mouse symmetrical and with the direction of motion angle at 45 ° of described two-wheeled micro computer mouse, the angle of the direction of motion of the signal transmit direction of other described infrared transmitter and described two-wheeled micro computer mouse is acute angle.
The present invention also provides a kind of two-wheeled micro computer mouse, comprise described exploration controller, described exploration controller comprises arm processor, the FPGA processor, sensor keeps in obscurity, two motion driver elements and two motors, described arm processor electrically is connected to receive signal and judges whether the place ahead or both sides have barrier with each described sensor that keeps in obscurity, described arm processor and described FPGA processor be electrically connected to control the work of described FPGA processor and and the FPGA processor between transmitting data information, described FPGA processor is electrically connected to control the work of described motion driver element with each described motion driver element respectively, each described motion driver element and a described motor are electrically connected to control described machine operation, described motor is the High-speed DC motor, described two-wheeled micro computer mouse further comprises housing and two wheels, described housing both sides arrange respectively a described wheel, described enclosure interior arranges described exploration controller.
In a preferred embodiment of the present invention, each described wheel is connected with a described motor, in the rotating shaft of each motor, photoelectric encoder is set.
In a preferred embodiment of the present invention, described two-wheeled micro computer mouse further comprises two gyroscopes, and each described gyroscope is connected with the rotating shaft of a described wheel.
In a preferred embodiment of the present invention, described two-wheeled micro computer mouse further comprises voltage sensor and opto-electronic compensation sensor, and described voltage sensor and opto-electronic compensation sensor are electrically connected with described arm processor respectively.
The invention has the beneficial effects as follows:
1: in motion process, taken into full account the effect of battery in this system, based on the ARM9+FPGA controller, constantly all in the running status to dolly, monitored and computing, avoided the generation of large electric current, so fundamentally solved the impact of large electric current to lithium ion battery, avoided the generation of the lithium ion battery overaging phenomenon that causes due to heavy-current discharge.
2: by FPGA(A3P250) synchronous servo in two direct current generator heuristic process of processing micro computer mouse is controlled, make control fairly simple, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle short, and the program transportability ability is strong.
3: the present invention realizes full SMD components material substantially, has realized veneer control, has not only saved control panel and has taken up room, but also realized the velocity magnitude of micro computer mouse and independently controlling of direction, is conducive to improve stability and the dynamic property of micro computer mouse.
4: 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.
5: because this controller adopts FPGA(A3P250) process a large amount of data and algorithm, and the interference source around having taken into full account, and ARM9(S3C2440A) from the hard work amount, free, effectively prevented " race flies " of program, antijamming capability strengthens greatly.
6: 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 restriction discharge current; 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.
7: in micro computer mouse operational process, ARM9(S3C2440A) can carry out on-line identification and utilize the relation of direct current generator moment and electric current to compensate the torque of direct current generator, reduce the motor torque shake and the micro computer mouse has been explored fast to the impact of labyrinth information, guaranteed striving for of labyrinth information.
8: 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 accurate motion of right-hand rotation all directions.
9: 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 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 circuit structure block diagram of the spurt controller of micro computer mouse of the prior art;
Fig. 2 is the circuit structure block diagram of exploration controller of the present invention;
Labyrinth coordinate schematic diagram when Fig. 3 is micro computer mouse motion of the present invention;
Fig. 4 is the structural representation of micro computer mouse one preferred embodiment of the present invention;
Fig. 5 is the schematic diagram that advances of micro computer mouse of the present invention;
Fig. 6 is the schematic diagram that retreats of micro computer mouse of the present invention;
Fig. 7 is that schematic diagram is advanced on the right side of micro computer mouse of the present invention;
Fig. 8 is that schematic diagram is moved back on the left side of micro computer mouse of the present invention.
In accompanying drawing, the mark of each parts is as follows: 1, housing, 2, wheel, S1, first sensor that keeps in obscurity, S2, second sensor that keeps in obscurity, S3, the 3rd sensor that keeps in obscurity, S4, the 4th sensor that keeps in obscurity, S5, the 5th sensor that keeps in obscurity, S6, the 6th sensor that keeps in obscurity, S7, opto-electronic compensation sensor, S8, voltage 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. 1 to Fig. 8, the embodiment of the present invention comprises:
A kind of based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, be applied in two-wheeled micro computer mouse, described exploration controller comprises arm processor, the FPGA processor, sensor keeps in obscurity, two motion driver elements and two motors, described arm processor electrically is connected to receive signal and judges whether the place ahead or both sides have barrier with each described sensor that keeps in obscurity, described arm processor and described FPGA processor be electrically connected to control the work of described FPGA processor and and the FPGA processor between transmitting data information, described FPGA processor is electrically connected to control the work of described motion driver element with each described motion driver element respectively, each described motion driver element and a described motor are electrically connected to control described machine operation, described motor is the High-speed DC motor, two motors are numbered X, Y.
In the present invention, described exploration controller further comprises the PC control unit, described PC control unit and described ARM9(S3C2440A) the processor electric connection, described PC control unit comprises labyrinth reading unit, coordinate setting unit and online output unit.
The quantity of the sensor that keeps in obscurity of the present invention is more than or equal to 6.The described sensor that keeps in obscurity comprises infrared transmitter and infrared remote receiver.The model of described infrared transmitter is OPE5594A, and the model of described infrared remote receiver is TSL262.Wherein, the signal transmit direction of two described infrared transmitters is identical with the direction of motion of described two-wheeled micro computer mouse, the signal transmit direction of two described infrared transmitters is contrary and perpendicular to the direction of motion of described two-wheeled micro computer mouse, the signal transmit direction of two described infrared transmitters about the direction of motion of described two-wheeled micro computer mouse symmetrical and with the direction of motion angle at 45 ° of described two-wheeled micro computer mouse, the angle of the direction of motion of the signal transmit direction of other described infrared transmitter and described two-wheeled micro computer mouse is acute angle.
The present invention also provides a kind of two-wheeled micro computer mouse, comprises described exploration controller, housing 1 and two wheels 2, and described housing 1 both sides arrange respectively a described wheel 2, and described housing 1 inside arranges described exploration controller.Each described wheel 2 is connected with a described motor, in the rotating shaft of each motor, photoelectric encoder is set, and described photoelectric encoder, for adopting 512 linear light code-discs, is often goed around and exported 512 pulses.Described two-wheeled micro computer mouse further comprises two gyroscopes, and each described gyroscope is connected with the rotating shaft of a described wheel 2.Described two-wheeled micro computer mouse further comprises voltage sensor S8 and opto-electronic compensation sensor S7, and described voltage sensor S8 and opto-electronic compensation sensor S7 are electrically connected with described arm processor respectively.
When concrete application, when developing, the present invention adopt S3C2440A and A3P250 as the development board core, described computer mouse is realized full SMD components material substantially, realized veneer control, not only having saved control panel takes up room, and be conducive to alleviating of volume and weight, be conducive to improve stability and the dynamic property of micro computer mouse servo-drive system.
The principle of work of micro computer mouse of the present invention is:
1) first the micro computer mouse is placed on to the labyrinth starting point, under the power supply opening state, the micro computer mouse is introduced into self-locking state, then the micro computer mouse relies on the place ahead, the left and right side sensor S1 that keeps in obscurity, S2, S3, S4, S5, S6 according to actual navigational environment transformation parameter to the ARM9(S3C2440A in the double-core controller), ARM9(S3C2440A) process rear and FPGA(A3P250) communication, then by FPGA(A3P250) in conjunction with the synchronous servo of two individual motor of feedback processing of photoelectric encoder, control, and the deal with data communication to ARM9(S3C2440A), by ARM9(S3C2440A) the follow-up running status of continuation processing.
2) 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.
3) the micro computer mouse is placed on starting point coordinate (0,0), receive sensor S1, the S6 in its place ahead after task and can the environment in the place ahead be judged, define and do not have barricade to enter range of movement, as exist the barricade will be to ARM9(S3C2440A) send interrupt request, ARM9(S3C2440A) can be to interrupting doing very first time response, if interrupt response ARM9(S3C2440A) does not have enough time to process, the X motor of micro computer mouse and Y motor are by the original place self-locking, then ARM9(S3C2440A) the place ahead information is determined in secondary judgement labyrinth, prevents the information erroneous judgement.
4) if do not have barricade to enter the range of movement in the place ahead the micro computer mouse along moving before Y-axis, the micro computer mouse will be stored its coordinate (X, Y), ARM9(S3C2440A) distance to last lattice is converted into to acceleration and the speed value that the micro computer mouse need to move according to time requirement, then with FPGA(A3P250) communication, FPGA(A3P250) feedback in conjunction with photoelectric encoder is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P250) generate to drive the PWM ripple signal of diaxon direct current generator, arrive preset distance through drive axle rear drive micro computer mouse, the micro computer mouse is every through a grid, ARM9(S3C2440A) will 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.
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 the sensor S2 now, S3, S4, when there is barricade S5 judgement left and right, the micro computer mouse will be stored now coordinate (X, Y), ARM9(S3C2440A) distance of stopping forward is converted into to acceleration and the speed value that the micro computer mouse need to move according to time requirement, then with FPGA(A3P250) communication, FPGA(A3P250) feedback in conjunction with photoelectric encoder is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P250) generate to drive the PWM ripple signal of diaxon direct current generator, arriving preset distance through drive axle rear drive micro computer mouse stops, then FPGA(A3P250 is arranged) generate the two-way PWM ripple signal of opposite direction, drive motor X and motor Y are with contrary direction motion, make the micro computer mouse adjust turnback in original place under gyroscope is controlled, then along the Y-axis counter motion, in its Y-axis counter motion process, ARM9(S3C2440A) distance to last lattice is converted into to acceleration and the speed value that the micro computer mouse need to move according to time requirement, then with FPGA(A3P250) communication, FPGA(A3P250) feedback in conjunction with photoelectric encoder is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P250) generate to drive the PWM ripple signal of diaxon direct current generator, arrive preset distance through drive axle rear drive micro computer mouse, every through a grid, 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.
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 the sensor S2 now, S3, S4, when S5 judgement left has barricade, the micro computer mouse will be stored now coordinate (X, Y), ARM9(S3C2440A) distance of stopping forward is converted into to acceleration and the speed value that the micro computer mouse need to move according to time requirement, then with FPGA(A3P250) communication, FPGA(A3P250) feedback in conjunction with photoelectric encoder is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P250) generate to drive the PWM ripple signal of diaxon direct current generator, arriving preset distance through drive axle rear drive micro computer mouse stops, then FPGA(A3P250 is arranged) generate the two-way PWM ripple signal of opposite direction, drive motor X and motor Y are with contrary direction motion, make the micro computer mouse adjust and turn 90 degrees in original place under gyroscope is controlled to the right, then along the X-axis positive movement, at it in X-axis positive movement process, ARM9(S3C2440A) distance to last lattice is converted into to acceleration and the speed value that the micro computer mouse need to move according to time requirement, then with FPGA(A3P250) communication, FPGA(A3P250) feedback in conjunction with photoelectric encoder is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P250) generate to drive the PWM ripple signal of diaxon direct current generator, arrive preset distance through drive axle rear drive micro computer mouse, every through a grid, to upgrade its coordinate is (X+1, Y), under the prerequisite of 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.
7) if having barricade to enter the range of movement in the place ahead the micro computer mouse in motion process before Y-axis, and the sensor S2 now, S3, S4, S5 judgement is right-hand when barricade is arranged, the micro computer mouse will be stored now coordinate (X, Y), ARM9(S3C2440A) distance of stopping forward is converted into to acceleration and the speed value that the micro computer mouse need to move according to time requirement, then with FPGA(A3P250) communication, FPGA(A3P250) feedback in conjunction with photoelectric encoder is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P250) generate to drive the PWM ripple signal of diaxon direct current generator, arriving preset distance through drive axle rear drive micro computer mouse stops, then FPGA(A3P250 is arranged) generate the two-way PWM ripple signal of opposite direction, drive motor X and motor Y are with contrary direction motion, make the micro computer mouse adjust and turn 90 degrees in original place under gyroscope is controlled left, then along the X-axis counter motion, at it in X-axis counter motion process, ARM9(S3C2440A) distance to last lattice is converted into to acceleration and the speed value that the micro computer mouse need to move according to time requirement, then with FPGA(A3P250) communication, FPGA(A3P250) feedback in conjunction with photoelectric encoder is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P250) generate to drive the PWM ripple signal of diaxon direct current generator, arrive preset distance through drive axle rear drive micro computer mouse, every through a grid, to upgrade its coordinate is (X-1, Y), at 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.
8) 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, then return starts to enter one that wherein thinks optimum.
9) entering labyrinth the micro computer mouse normally makes a return voyage when operation, and the sensor S1 of its navigation, S2, S3, S4, S5, S6 will work, and give ARM9(S3C2440A the photosignal reflected), through ARM9(S3C2440A) judgement after give FPGA(A3P250), by FPGA(A3P250) after computing with ARM9(S3C2440A) carry out communication, then by controller, send motor X and the motor Y of control signal to navigation to be determined: will advance fast if enter the zone of having searched for, 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.
10) in order to realize micro computer mouse coordinate computing function accurately, the present invention has added the optical code disk of 512 lines on High-speed DC motor X-axis and Y-axis, constantly the distance of micro computer mouse operation is calculated and according to labyrinth retaining wall and pillar to sensor feedback information different characteristics introduced compensation, make the coordinate of micro computer mouse calculate and not there will be mistake.
11) in micro computer mouse operational process, ARM9(S3C2440A) can carry out on-line identification to the torque of motor X and motor Y, when the torque of motor is subject to the larger shake of external interference appearance, compensation when controller can utilize the relation of motor torque and electric current to carry out, reduced the impact that the motor torque shake is explored fast on the micro computer mouse, the accuracy in labyrinth while having guaranteed to explore.
12) when completing whole heuristic process, micro computer gets back to starting point (0,0), ARM9(S3C2440A) will control FPGA(A3P250) make the micro computer central point stop, then readjust FPGA(A3P250) PWM ripple output, make motor X and motor with contrary direction motion, and under gyrostatic control, original place Rotate 180 degree, then stop 1 second, transfer labyrinth information, finally according to algorithm, calculate optimum spurt path, then put spurt and be masked as 1, system enters the quick sprint stage.
In sum, the present invention adopts the dual processor collaborative work, and ARM9(S3C2440A) processor and FPGA processor are all monitored and computing in the running status to the micro computer mouse constantly, effectively prevent that the race of program from flying; The FPG processor adopted has improved arithmetic speed greatly,, solved the slower bottleneck of scm software operation of the prior art, shortened the construction cycle short, and the program transportability ability is strong; ARM9(S3C2440A) processor can carry out on-line identification and utilize the relation of direct current generator moment and electric current to compensate two motor torques in micro computer mouse spurt process fast, reduced the motor torque shake to the impact of spurt fast of micro computer mouse, stability and dynamic property are better; Each motor is independently controlled, and more easily changes movement locus.
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 (10)
1. one kind based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, be applied in two-wheeled micro computer mouse, it is characterized in that, described exploration controller comprises arm processor, the FPGA processor, sensor keeps in obscurity, two motion driver elements and two motors, described arm processor electrically is connected to receive signal and judges whether the place ahead or both sides have barrier with each described sensor that keeps in obscurity, described arm processor and described FPGA processor be electrically connected to control the work of described FPGA processor and and the FPGA processor between transmitting data information, described FPGA processor is electrically connected to control the work of described motion driver element with each described motion driver element respectively, each described motion driver element and a described motor are electrically connected to control described machine operation, described motor is the High-speed DC motor.
2. according to claim 1 based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, it is characterized in that, described exploration controller further comprises the PC control unit, described PC control unit and described arm processor are electrically connected, and described PC control unit comprises labyrinth reading unit, coordinate setting unit and online output unit.
3. according to claim 1ly based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, it is characterized in that, the quantity of the described sensor that keeps in obscurity is more than or equal to 6.
4. according to claim 1ly based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, it is characterized in that, the described sensor that keeps in obscurity comprises infrared transmitter and infrared remote receiver.
5. according to claim 3ly based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, it is characterized in that, the model of described infrared transmitter is OPE5594A, and the model of described infrared remote receiver is TSL262.
6. according to claim 3 based on the supper-fast exploration controller of double-core two-wheeled micro computer mouse, it is characterized in that, the signal transmit direction of two described infrared transmitters is identical with the direction of motion of described two-wheeled micro computer mouse, the signal transmit direction of two described infrared transmitters is contrary and perpendicular to the direction of motion of described two-wheeled micro computer mouse, the signal transmit direction of two described infrared transmitters about the direction of motion of described two-wheeled micro computer mouse symmetrical and with the direction of motion angle at 45 ° of described two-wheeled micro computer mouse, the angle of the direction of motion of the signal transmit direction of other described infrared transmitter and described two-wheeled micro computer mouse is acute angle.
7. a two-wheeled micro computer mouse, it is characterized in that, comprise the arbitrary described exploration controller of claim 1 to 6, described two-wheeled micro computer mouse further comprises housing and two wheels, described housing both sides arrange respectively a described wheel, and described enclosure interior arranges described exploration controller.
8. two-wheeled micro computer mouse according to claim 7, is characterized in that, each described wheel is connected with a described motor, in the rotating shaft of each motor, photoelectric encoder is set.
9. two-wheeled micro computer mouse according to claim 7, is characterized in that, described two-wheeled micro computer mouse further comprises two gyroscopes, and each described gyroscope is connected with the rotating shaft of a described wheel.
10. two-wheeled micro computer mouse according to claim 7, is characterized in that, described two-wheeled micro computer mouse further comprises voltage sensor and opto-electronic compensation sensor, and described voltage sensor and opto-electronic compensation sensor are electrically connected with described arm processor respectively.
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| CN2013104183134A CN103472830A (en) | 2013-09-16 | 2013-09-16 | Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors |
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| CN2013104183134A CN103472830A (en) | 2013-09-16 | 2013-09-16 | Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors |
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| CN105116894A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Double-core high-speed two-wheeled picomouse full digital navigation servo controller, and control method thereof |
| CN105116895A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Double-core high-speed six-wheeled full digital navigation servo controller, and control method thereof |
| CN105116893A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Double-core high-speed two-wheeled picomouse exploration controller and control method thereof |
| CN105137980A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Double-core high-speed six-wheel mini mouse exploration controller and control method for the same |
| CN105137986A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Double-core intermediate speed two-wheel exploration controller and control method |
| CN105137983A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Double-core high speed two-wheel mini mouse spurting controller and control method |
| CN105137988A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Single-core low-speed two-wheel mini mouse full digital navigation servo controller and control method |
| CN105137991A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Single-core low-speed two-wheel mini mouse exploration controller |
| CN105204503A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Single-core low-speed four-wheel little mouse full-digital navigation servo controller and control method thereof |
| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
| CN107465367A (en) * | 2017-08-14 | 2017-12-12 | 广东工业大学 | A kind of method and device of motor control |
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| CN105116894A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Double-core high-speed two-wheeled picomouse full digital navigation servo controller, and control method thereof |
| CN105116895A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Double-core high-speed six-wheeled full digital navigation servo controller, and control method thereof |
| CN105116893A (en) * | 2015-08-24 | 2015-12-02 | 铜陵学院 | Double-core high-speed two-wheeled picomouse exploration controller and control method thereof |
| CN105137980A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Double-core high-speed six-wheel mini mouse exploration controller and control method for the same |
| CN105137986A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Double-core intermediate speed two-wheel exploration controller and control method |
| CN105137983A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Double-core high speed two-wheel mini mouse spurting controller and control method |
| CN105137988A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Single-core low-speed two-wheel mini mouse full digital navigation servo controller and control method |
| CN105137991A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Single-core low-speed two-wheel mini mouse exploration controller |
| CN105204503A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Single-core low-speed four-wheel little mouse full-digital navigation servo controller and control method thereof |
| CN105204502A (en) * | 2015-08-24 | 2015-12-30 | 铜陵学院 | Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof |
| CN107465367A (en) * | 2017-08-14 | 2017-12-12 | 广东工业大学 | A kind of method and device of motor control |
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