CN103472834A - Ultra-fast sprint controller of two-wheel micro-mouse based on dual processors - Google Patents
Ultra-fast sprint controller of two-wheel micro-mouse based on dual processors Download PDFInfo
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- CN103472834A CN103472834A CN2013104184974A CN201310418497A CN103472834A CN 103472834 A CN103472834 A CN 103472834A CN 2013104184974 A CN2013104184974 A CN 2013104184974A CN 201310418497 A CN201310418497 A CN 201310418497A CN 103472834 A CN103472834 A CN 103472834A
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Abstract
The invention discloses an ultra-fast sprint controller of a two-wheel micro-mouse based on dual processors. The fast sprint controller comprises a master control unit, a first moving control unit, a second moving control unit and a power source. The power source is electrically connected with the master control unit. The master control unit comprises an ARM processor and an FPGA processor, wherein the ARM processor is electrically connected with the FPGA processor to control working or stopping of the FPGA processor. The first moving control unit and the second moving control unit are respectively and electrically connected with the FPGA. By means of the method, the dual processors are adopted for working cooperatively, so that the computing speed is improved, program fleeting is prevented, and the development cycle is shortened; the production of a large current is avoided, and the stability and the dynamic performance are good; motors are independently controlled, and the moving track can be changed more easily.
Description
Technical field
The present invention relates to the microrobot field, relate in particular to a kind of based on the supper-fast spurt 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, arrive rapidly the destination set.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, and 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, be the brain of micro computer mouse, the information that the micro computer mouse is all, comprise wall information, positional information, angle information and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.
The 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, relative level is relatively backward, 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 judgement in labyrinth on every side when spurt fast.
(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 spurt position.
(3) owing to adopting stepper motor, make organism fever more serious, be unfavorable for spurt fast in large complicated labyrinth.
(4) owing to adopting more rudimentary algorithm, the spurt in the middle of labyrinth generally all will spend the time of 15 ~ 30 seconds, and this makes in real contest and can't win victory.
(5) because the micro computer mouse will be braked frequently and start in quick spurt process, increased the weight of the workload of single-chip microcomputer, Signal Processors can't meet the requirement of spurt fast of micro computer mouse.
(6) what relatively adopt is all that 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 spurt.
(7) owing to disturbed by the surrounding environment labile factor, the particularly interference of some light on every side, 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, during particularly for sound lunge, the micro computer mouse sometimes in the middle of labyrinth rocking tendency larger.
(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 spurt process to complete.
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 spurt controller of double-core two-wheeled micro computer mouse, adopts the dual processor collaborative work, has improved arithmetic speed, prevents that the race of program from flying, and has shortened the construction cycle short; Avoided the generation of large electric current, stability and dynamic property are better; Each motor is independently controlled, and more easily changes movement locus.
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 spurt controller of double-core two-wheeled micro computer mouse, comprise main control unit, the first motion control unit, the second motion control unit and power supply, described power supply and described main control unit are electrically connected, described main control unit comprises arm processor and FPGA processor, described arm processor and FPGA processor are electrically connected to control the work of described FPGA processor or shutoff, described FPGA processor is electrically connected with described the first motion control unit and the second motion control unit respectively.
In a preferred embodiment of the present invention, described quick spurt controller further comprises the PC control unit, described PC control unit comprises labyrinth reading unit, coordinate setting unit and online output unit, and described labyrinth reading unit, coordinate setting unit and online output unit are electrically connected with described arm processor respectively.
In a preferred embodiment of the present invention, described the first motion control unit and the second motion control unit comprise respectively motion controller and motor, and described motion controller and motor are electrically connected, and described motor is the High-speed DC motor.
In a preferred embodiment of the present invention, described main control unit further comprises motor control unit, described motion controller comprises servocontrol driver element, data storage cell and IO interface, and described servocontrol driver element, data storage cell and IO interface are electrically connected with described FPGA processor respectively.
In a preferred embodiment of the present invention, described servocontrol driver element comprises D/A conversion unit, photoelectric encoder, current/voltage detecting unit, speed detection unit and coordinate measurement unit.
In a preferred embodiment of the present invention, described photoelectric encoder adopts 512 linear light code-discs, 512 pulses of output of often going around.
The present invention also provides a kind of two-wheeled micro computer mouse, comprise described quick spurt controller, described quick spurt controller comprises main control unit, the first motion control unit, the second motion control unit and power supply, described power supply and described main control unit are electrically connected, described main control unit comprises arm processor and FPGA processor, described arm processor and FPGA processor are electrically connected to control the work of described FPGA processor or shutoff, and described FPGA processor is electrically connected with described the first motion control unit and the second motion control unit respectively; Described two-wheeled micro computer mouse further comprises shell, and described quick spurt controller is arranged on described enclosure.
In a preferred embodiment of the present invention, described two-wheeled micro computer mouse further comprises wheel, and the quantity of described wheel equates with the quantity of described motor, and each described wheel is connected with a described motor.
In a preferred embodiment of the present invention, described wheel is arranged on the both sides of described shell, and a described photoelectric encoder is set in the rotating shaft of each described motor.
In a preferred embodiment of the present invention, described case top further is provided with the sensor that keeps in obscurity, opto-electronic compensation sensor and voltage sensor, the described sensor that keeps in obscurity, opto-electronic compensation sensor and voltage sensor are electrically connected with described main control unit respectively, the quantity of the described sensor that keeps in obscurity is more than or equal to six, and the signal transmit direction of each described sensor that keeps in obscurity is identical with the direction of motion of described wheel or be less than or equal to 90 ° with the angle of the direction of motion of described wheel.
The invention has the beneficial effects as follows:
1. in motion process, taken into full account the effect of battery in this system, ARM9 processor and FPGA processor are all monitored and computing in the running status to the micro computer mouse constantly, have effectively prevented that the race of program from flying, antijamming capability strengthens greatly, has avoided the generation of large electric current; Described main control unit detects the residual capacity of battery constantly, has been conducive to the energy state of electrolytic cell, when battery remaining power is low, can before micro computer mouse spurt prerequisite, change battery, thereby reduced battery, the mistake of sound lunge is disturbed.
2. by the FPGA processor, two direct current generators are carried out to synchronous servo control, make control fairly simple, the micro computer mouse is more easily realized the rotation of curvilinear path, be conducive to improve stability and the dynamic property of micro computer mouse simultaneously, greatly improved arithmetic speed simultaneously, solved the slower bottleneck of scm software operation of the prior art, shortened the construction cycle short, and the program transportability ability has been strong.
3.ARM9 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, has reduced the motor torque shake to the impact of spurt fast of micro computer mouse.
4. described data storage cell can be stored the labyrinth information of having explored, and is conducive to optimize the path of secondary spurt, reduces the spurt time.
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 quick spurt controller of the present invention;
Fig. 3 is that the arm processor of quick spurt controller of the present invention is controlled schematic diagram;
Labyrinth coordinate schematic diagram when Fig. 4 is micro computer mouse motion of the present invention;
Fig. 5 is the structural representation of micro computer mouse one preferred embodiment of the present invention;
Fig. 6 is movement velocity-time plot of micro computer mouse of the present invention;
Fig. 7 is the right-hand rotation spurt schematic diagram of micro computer mouse of the present invention;
Fig. 8 is the left-hand rotation spurt schematic diagram of micro computer mouse of the present invention.
In accompanying drawing, the mark of each parts is as follows: 1, shell; 2, wheel; 3, the sensor that keeps in obscurity; 4, opto-electronic compensation sensor, 5, 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 spurt controller of double-core two-wheeled micro computer mouse, comprise main control unit, the first motion control unit, the second motion control unit and power supply, described power supply comprises lithium ion battery, described power supply and described main control unit are electrically connected, described main control unit comprises arm processor and FPGA processor, described arm processor and FPGA processor are electrically connected to control the work of described FPGA processor or shutoff, and described FPGA processor is electrically connected with described the first motion control unit and the second motion control unit respectively.
Described quick spurt controller further comprises the PC control unit, described PC control unit comprises labyrinth reading unit, coordinate setting unit and online output unit, and described labyrinth reading unit, coordinate setting unit and online output unit are electrically connected with described arm processor respectively.
Wherein, described the first motion control unit and the second motion control unit comprise respectively motion controller and motor, described motion controller and motor are electrically connected, described motor is the High-speed DC motor, in the present embodiment, motor in the first motion control unit is numbered to X, the motor in the second motion control unit is numbered to Y.Described motion controller comprises servocontrol driver element, data storage cell and IO interface, and described servocontrol driver element, data storage cell and IO interface are electrically connected with described FPGA processor respectively.Described servocontrol driver element comprises D/A conversion unit, photoelectric encoder, current/voltage detecting unit, speed detection unit and coordinate measurement unit.Described photoelectric encoder adopts 512 linear light code-discs, 512 pulses of output of often going around.
The present invention also provides a kind of two-wheeled micro computer mouse, comprises the above spurt controller fast, and described two-wheeled micro computer mouse further comprises shell 1 and wheel 2, and described quick spurt controller is arranged on described shell 1 inside.The quantity of described wheel 2 equates with the quantity of described motor, and each described wheel 2 is connected with a motor.Described wheel 2 is arranged on the both sides of described shell 1, in the rotating shaft of each described motor, is provided with photoelectric encoder.
In addition, described case top further is provided with the sensor 3 that keeps in obscurity, opto-electronic compensation sensor 4 and voltage sensor 5, the described sensor 3 that keeps in obscurity, opto-electronic compensation sensor 4 and voltage sensor 5 are electrically connected with described main control unit respectively, the described quantity that keeps in obscurity sensor 3 is more than or equal to six, and the signal transmit direction of each described sensor 3 that keeps in obscurity is identical with the direction of motion of described wheel or be less than or equal to 90 ° with the angle of the direction of motion of described wheel.
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.
Principle of work 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 and transfers the maze path of having optimized, then the micro computer mouse on the front, left and right side keep in obscurity sensor 3 according to actual navigational environment transformation parameter to the ARM9 in the double-core controller (S3C2440A), ARM9 (S3C2440A) processes rear and FPGA(A3P50) communication, then by FPGA(A3P50) in conjunction with the servocontrol of two individual motor of feedback processing of photoelectric encoder, and the deal with data communication to ARM9 (S3C2440A), continue to process follow-up running status by ARM9 (S3C2440A).
2) before the micro computer mouse is not received the spurt order, it generally can be at starting point coordinate (0,0) wait for the spurt order that controller sends, and recall the optimum labyrinth after exploring, once, after receiving the spurt order, can start fast to terminal point coordinate (7 along starting point, 7), (7,8), (8,7), (8,8) spurt.
3) the micro computer mouse is placed on starting point coordinate (0,0), receive after task in order to prevent from misplacing the spurt direction, its sensor 3 that keeps in obscurity can be judged the environment in the place ahead, define and do not have barricade to enter range of movement, as exist barricade to send interrupt request to ARM9 (S3C2440A), ARM9 (S3C2440A) can be to interrupting doing very first time response, if the interrupt response of ARM9 (S3C2440A) does not have enough time to process, motor X and the motor Y of micro computer mouse will continue self-locking, then the place ahead information is determined in secondary judgement labyrinth, prevents the information erroneous judgement; If do not have barricade to enter the range of movement in the place ahead, the micro computer mouse will be made a spurt normally.
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, to not have the coordinate grid numerical value note of barricade to be Z, the micro computer mouse will be stored its coordinate (X, Y), for walking need to fast, given up traditional single speed spurt pattern, speed and time curve according to Fig. 6 are accelerated and are slowed down, in it travels forward process, ARM9 (S3C2440A) is converted into according to time requirement acceleration and the speed value that the micro computer mouse need to be made a spurt to the distance of Z lattice forward, then with FPGA(A3P50) communication, FPGA(A3P50) feedback in conjunction with photoelectric encoder and current sensor is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P50) 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 in the spurt process, to upgrade its coordinate is (X, Y+1), under the prerequisite of Y+1<15, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, the secondary return that the micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
5) if do not have barricade to enter the range of movement in the place ahead in motion process the micro computer mouse in the other direction along Y-axis, to not have the coordinate grid numerical value note of barricade to be Z, the micro computer mouse will be stored now coordinate (X, Y), for walking need to fast, given up traditional single speed spurt pattern, speed and time curve according to Fig. 6 are accelerated and are slowed down, in it travels forward process, ARM9 (S3C2440A) is converted into according to time requirement acceleration and the speed value that the micro computer mouse need to be made a spurt to the distance of Z lattice forward, then with FPGA(A3P50) communication, FPGA(A3P50) feedback in conjunction with photoelectric encoder and current sensor is converted into actual speed and acceleration to acceleration and speed value, by FPGA(A3P50) 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 in the spurt process, 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 target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, the secondary return that the micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
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 when now in the information of labyrinth, left has barricade, the micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Fig. 7, when right spurt is turned, at first the micro computer mouse will go to straight line to walk very short distance B ashTurn_R90_Leading and be transferred to ARM9 (S3C2440A), ARM9 (S3C2440A) is according to the time requirement of spurt, this distance is converted into to corresponding position, then speed and assisted instruction are transferred to FPGA(A3P50), FPGA(A3P50) again in conjunction with the photoelectric encoder A of motor feedback, B, Z and motor current signal (I1 and I2) generate the PWM ripple of controlling motor X and motor Y, then through drive axle, drive the two-wheeled motor rotation to precalculated position, now R90_FrontWallRef starts working, prevent that external interference from starting to do error compensation, then the micro computer mouse is transferred to DashTurn_R90_Arc1 ARM9 (S3C2440A), ARM9 (S3C2440A) is according to new spurt time requirement, then position, speed and assisted instruction that this distance is converted into to response are transferred to FPGA(A3P50), FPGA(A3P50) control motor X and the PWM ripple of motor Y and speed DashTurn_R90_VelX1 and the DashTurn_R90_VelY1 of motor in conjunction with photoelectric encoder A, B, Z and the generation of current of electric I signal of motor feedback again, then through drive axle, drive the two-wheeled motor rotation to precalculated position, subsequently, the micro computer mouse starts to regulate the speed the micro computer mouse is transferred to ARM9 (S3C2440A) by the distance B ashTurn_R90_Arc2 of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into to corresponding position, then speed and assisted instruction are transferred to FPGA(A3P50), FPGA(A3P50) control motor X and the PWM ripple of motor Y and speed DashTurn_R90_VelX2 and the DashTurn_R90_VelY2 of motor in conjunction with the feedback generation of photoelectric encoder and current of electric again, then through drive axle, drive the two-wheeled motor rotation to precalculated position, the micro computer mouse starts to regulate the speed the micro computer mouse is transferred to ARM9 (S3C2440A) by the distance B ashTurn_R90_Passing of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into to corresponding position, then speed and assisted instruction are transferred to FPGA(A3P50), FPGA(A3P50) control motor X and the PWM of motor Y and speed DashTurn_R90_VelX3 and the DashTurn_R90_VelY3 of motor in conjunction with the feedback generation of photoelectric encoder and current of electric again, then through drive axle, drive the two-wheeled motor rotation to precalculated position, through four sections different speed, complete the geometric locus motion of whole right-hand bend with the closed-loop control of electric current.Now will upgrade its coordinate for (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 target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, and the secondary return that the micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
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 now right-hand when barricade is arranged in the information of labyrinth, the micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Fig. 8, when right spurt is turned, at first the micro computer mouse will go to straight line to walk very short distance B ashTurn_L90_Leading and be transferred to ARM9 (S3C2440A), ARM9 (S3C2440A) is according to the time requirement of spurt, this distance is converted into to corresponding position, then speed and assisted instruction are transferred to FPGA(A3P50), FPGA(A3P50) again in conjunction with the photoelectric encoder A of motor feedback, B, Z and motor current signal (I1 and I2) generate the PWM ripple of controlling motor X and motor Y, then through drive axle, drive the two-wheeled motor rotation to precalculated position, now L90_FrontWallRef starts working, prevent that external interference from starting to do error compensation, then the micro computer mouse is transferred to DashTurn_L90_Arc1 ARM9 (S3C2440A), ARM9 (S3C2440A) is according to new spurt time requirement, then position, speed and assisted instruction that this distance is converted into to response are transferred to FPGA(A3P50), FPGA(A3P50) control motor X and the PWM ripple of motor Y and speed DashTurn_L90_VelX1 and the DashTurn_L90_VelY1 of motor in conjunction with photoelectric encoder A, B, Z and motor current signal (I1 and the I2) generation of motor feedback again, then through drive axle, drive the two-wheeled motor rotation to precalculated position, subsequently, the micro computer mouse starts to regulate the speed the micro computer mouse is transferred to ARM9 (S3C2440A) by the distance B ashTurn_L90_Arc2 of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into to corresponding position, then speed and assisted instruction are transferred to FPGA(A3P50), FPGA(A3P50) control motor X and the PWM ripple of motor Y and speed DashTurn_L90_VelX2 and the DashTurn_L90_VelY2 of motor in conjunction with the feedback generation of photoelectric encoder and current of electric again, then through drive axle, drive the two-wheeled motor rotation to precalculated position, the micro computer mouse starts to regulate the speed the micro computer mouse is transferred to ARM9 (S3C2440A) by the distance B ashTurn_L90_Passing of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into to corresponding position, then speed and assisted instruction are transferred to FPGA(A3P50), FPGA(A3P50) control motor X and the PWM of motor Y and speed DashTurn_L90_VelX3 and the DashTurn_L90_VelY3 of motor in conjunction with the feedback generation of photoelectric encoder and current of electric again, then through drive axle, drive the two-wheeled motor rotation to precalculated position, through four sections different speed, complete the geometric locus motion of whole right-hand bend with the closed-loop control of electric current.Now will upgrade its coordinate for (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 target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, and the secondary return that the micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
8) when micro computer mouse spurt arrival (7,7), (7,8), (8,7), (8,8) after, the return after can preparing to make a spurt is explored in order to search more excellent path, and ARM9 (S3C2440A) can recall its labyrinth information of having stored, then calculate other optimal path that may exist, then return starts to enter one that wherein thinks optimum.
9) when the micro computer mouse enters labyrinth return exploration, the sensor 3 that keeps in obscurity of its navigation will be worked, and give ARM9 (S3C2440A) photosignal reflected, give FPGA(A3P50 after ARM9 (S3C2440A) judgement), by FPGA(A3P50) carry out communication with ARM9 (S3C2440A) after computing, 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 photoelectric encoder 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 spurt coordinate of micro computer mouse calculate and not there will be mistake.
11) in order to reduce the interference of light source to the spurt of micro computer mouse, the present invention has added opto-electronic compensation sensor 4, opto-electronic compensation sensor 4 can be read abnormal light source on every side in the micro computer mouse sprint stage, and automatically give controller and do real-Time Compensation, eliminated the interference of external light source to spurt.
12) in micro computer mouse operational process, ARM9 (S3C2440A) can carry out on-line identification to the torque of direct current generator 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 direct current generator moment and electric current to carry out, reduced the impact of motor torque shake on micro computer mouse sound lunge.
13) when completing whole spurt process, micro computer arrives (7, 7), (7, 8), (8, 7), (8, 8), the micro computer mouse can be put to explore and is masked as 1, micro computer mouse return is explored and is got back to starting point (0, 0), ARM9 (S3C2440A) will control FPGA(A3P50) make the micro computer mouse at origin coordinates (0, 0) central point stops, then readjust FPGA(A3P50) PWM ripple output, make motor X and motor Y with contrary direction motion, and carry under gyrostatic control the micro computer mouse, original place Rotate 180 degree, then stop 1 second, secondary is transferred labyrinth information, then calculate according to algorithm the optimum spurt path of optimizing after the information of labyrinth, then put spurt and be masked as 1, system enters the quick sprint stage of secondary.Then according to spurt-explore-spurt, complete spurt repeatedly, to reach the purpose of quick spurt.
The invention has the beneficial effects as follows:
1. in motion process, taken into full account the effect of battery in this system, ARM9 (S3C2440A) processor and FPGA processor are all monitored and computing in the running status to the micro computer mouse constantly, the race that has effectively prevented program flies, antijamming capability strengthens greatly, has avoided the generation of large electric current; Described main control unit detects the residual capacity of battery constantly, has been conducive to the energy state of electrolytic cell, when battery remaining power is low, can before micro computer mouse spurt prerequisite, change battery, thereby reduced battery, the mistake of sound lunge is disturbed.
2. by the FPGA processor, two direct current generators are carried out to synchronous servo control, make control fairly simple, the micro computer mouse is more easily realized the rotation of curvilinear path, be conducive to improve stability and the dynamic property of micro computer mouse simultaneously, greatly improved arithmetic speed simultaneously, solved the slower bottleneck of scm software operation of the prior art, shortened the construction cycle short, and the program transportability ability has been strong.
3.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, has reduced the motor torque shake to the impact of spurt fast of micro computer mouse.
4. described data storage cell can be stored the labyrinth information of having explored, and is conducive to optimize the path of secondary spurt, reduces the spurt time.
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 spurt controller of double-core two-wheeled micro computer mouse, it is characterized in that, comprise main control unit, the first motion control unit, the second motion control unit and power supply, described power supply and described main control unit are electrically connected, described main control unit comprises arm processor and FPGA processor, described arm processor and FPGA processor are electrically connected to control the work of described FPGA processor or shutoff, and described FPGA processor is electrically connected with described the first motion control unit and the second motion control unit respectively.
2. according to claim 1 based on the supper-fast spurt controller of double-core two-wheeled micro computer mouse, it is characterized in that, described quick spurt controller further comprises the PC control unit, described PC control unit comprises labyrinth reading unit, coordinate setting unit and online output unit, and described labyrinth reading unit, coordinate setting unit and online output unit are electrically connected with described arm processor respectively.
3. according to claim 1 based on the supper-fast spurt controller of double-core two-wheeled micro computer mouse, it is characterized in that, described the first motion control unit and the second motion control unit comprise respectively motion controller and motor, described motion controller and motor are electrically connected, and described motor is the High-speed DC motor.
4. according to claim 3 based on the supper-fast spurt controller of double-core two-wheeled micro computer mouse, it is characterized in that, described motion controller comprises servocontrol driver element, data storage cell and IO interface, and described servocontrol driver element, data storage cell and IO interface are electrically connected with described FPGA processor respectively.
5. according to claim 4 based on the supper-fast spurt controller of double-core two-wheeled micro computer mouse, it is characterized in that, described servocontrol driver element comprises D/A conversion unit, photoelectric encoder, current/voltage detecting unit, speed detection unit and coordinate measurement unit.
6. according to claim 5ly based on the supper-fast spurt controller of double-core two-wheeled micro computer mouse, it is characterized in that, described photoelectric encoder adopts 512 linear light code-discs, 512 pulses of output of often going around.
7. a two-wheeled micro computer mouse, is characterized in that, comprises the arbitrary described quick spurt controller of claim 1 to 6, and described two-wheeled micro computer mouse further comprises shell, and described quick spurt controller is arranged on described enclosure.
8. two-wheeled micro computer mouse according to claim 7, is characterized in that, described two-wheeled micro computer mouse further comprises wheel, and the quantity of described wheel equates with the quantity of described motor, and each described wheel is connected with a described motor.
9. two-wheeled micro computer mouse according to claim 8, is characterized in that, described wheel is arranged on the both sides of described shell, and a described photoelectric encoder is set in the rotating shaft of each described motor.
10. two-wheeled micro computer mouse according to claim 9, it is characterized in that, described case top further is provided with the sensor that keeps in obscurity, opto-electronic compensation sensor and voltage sensor, the described sensor that keeps in obscurity, opto-electronic compensation sensor and voltage sensor are electrically connected with described main control unit respectively, the quantity of the described sensor that keeps in obscurity is more than or equal to six, and the signal transmit direction of each described sensor that keeps in obscurity is identical with the direction of motion of described wheel or be less than or equal to 90 ° with the angle of the direction of motion of described wheel.
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