CN103472837A - Fast sprint controller of two-wheel micro-mouse based on double processors - Google Patents
Fast sprint controller of two-wheel micro-mouse based on double processors Download PDFInfo
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Abstract
The invention discloses a fast sprint controller of a two-wheel micro-mouse based on double processors. The fast sprint controller comprises a power source device, a voltage detecting module, a low-voltage alarm device, a maze optimal information calling module, a sensor, a servo adjusting control unit, a first driving unit, a second driving unit, a first motor and a second motor. The voltage detecting module is electrically connected with the power source device and the low-voltage alarm device. The power source device is electrically connected with the maze optimal information calling module, the sensor, the servo adjusting control unit, a first signal controller, a second signal controller, the first motor and the second motor. The maze optimal information calling module controls the controller through the servo adjusting control unit, and the motors are driven independently and synchronously in a servo mode by the controllers. By means of the method, the fast sprint controller of the two-wheel micro-mouse can be provided, and the fast sprint of the micro-mouse can be achieved in a match through the processors of a double-buffering structure.
Description
Technical field
The present invention relates to a kind of spurt controller, particularly relate to a kind of based on the double-core two-wheeled micro computer mouse controller of making a spurt fast.
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 computer mouse combines multi-subject knowledge, and the computer mouse walks the talent that can cultivate large quantities of association areas that carries out of maze technique, and then promotes technical development and the industrialization process of association area.The environment around but the micro computer mouse will constantly judge in the heuristic process of labyrinth, then communicate a parameter to controller, by its accurate accelerates and deceleration is explored in the middle of the grid in labyrinth of controller repetitive control, labyrinth retaining wall around slightly careless micro computer mouse will bump against, make and explore unsuccessfully, therefore, concerning SCM Based heuristic process with micro computer mouse unit, it is the key that determines its spurt victory or defeat, but 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, long-play finds 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 double-core two-wheeled micro computer mouse controller of making a spurt fast, can on original two-wheeled micro computer mouse, realize a kind of brand-new control model based on ARM9+LM629.Use the diaxon servo control unit, take the ARM9 microprocessor as control core, using LM629 as servocontrol regulator data processing core, realize the real-time processing of diaxon direct current generator servo-drive system digital signal in micro computer mouse spurt process, realize the quick spurt of micro computer mouse.
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 double-core two-wheeled micro computer mouse controller of making a spurt fast, comprising: supply unit, detect voltage module, low-pressure alarming device, transfer labyrinth best information module, sensor, servo regulation unit, the first driver element, the second driver element and the first motor and the second motor; Described sensor setting is 6, and described detection voltage module and supply unit and low-pressure alarming device are electrically connected; Described supply unit and described labyrinth best information module, sensor, servo regulation unit, the first driver element, the second driver element, the first motor and the second motor transferred are electrically connected; The described labyrinth best information module of transferring is electrically connected by sensor and described servo regulation unit.
In a preferred embodiment of the present invention, described labyrinth is transferred in unit, operation control module and return exploration unit and is included for receiving the Data Control module of signal control signal transmission, for receiving the data processing module that the Data Control module is sent signal and carried out the signal processing, speed/distance transducer and the motor driving for driving micro computer mouse left and right wheels to move, described Data Control module, data processing module and motor drive and are electrically connected.
In a preferred embodiment of the present invention, described servo regulation unit is diaxon synchronous servo regulation unit, comprises that unit is transferred in labyrinth, operation control module and return are explored unit; Described labyrinth is transferred unit and described operation control module and return and is explored the unit electric connection; The order that signal is transferred unit, operation control module and return exploration unit by labyrinth is transmitted successively.
In a preferred embodiment of the present invention, include the LM629 processor in described data processing module, include pwm modulator in described LM629 processor, described pwm modulator and Data Control module and motor drive and are electrically connected; Also further include rate generator in described data processing module, described rate generator and motor drive and are electrically connected; Described Data Control module further includes compensating module.
In a preferred embodiment of the present invention, described labyrinth is transferred unit and is also further included the interrupt request module, between described sensor, interrupt request module, Data Control module, data processing module, speed/distance transducer and motor drive, is electrically connected; Described labyrinth transfers that unit also further includes reset circuit and labyrinth information is transferred module, and described reset circuit and described sensor and labyrinth information are transferred module and is electrically connected.
In a preferred embodiment of the present invention, (1) described operation control module further includes coordinate memory module, curvilinear motion control module, short lines distance parameter conversion module, between driving, described sensor, coordinate memory module, curvilinear motion control module, short lines distance parameter conversion module, Data Control module, data processing module, speed/distance transducer and motor be electrically connected, described sensor transmits signals to the coordinate memory module and is stored, and transmits signals to described Data Control module and data processing module simultaneously; (2) described operation control module further includes object module, error compensation module, motor speed adjuster, described object module and error compensation module, motor speed adjuster, Data Control module, data processing module, speed/distance transducer and motor drive and are electrically connected, and the Data Control module is connected with data processing module to motor and drives.
In a preferred embodiment of the present invention, further include unknown region of search module and known search regions module in described return search unit, described unknown region of search module and known search regions module and motor drive and data processing module is electrically connected.
In a preferred embodiment of the present invention, described motor is provided with photoelectric sensor in driving, and described photoelectric sensor and controller are electrically connected.
The invention has the beneficial effects as follows: the present invention will control the supply unit of micro computer mouse motion and detect voltage module and transfer the labyrinth information module and be electrically connected, and can detect timely the situation of low pressure, in time the micro computer mouse be protected.Utilize sensor that servo regulation unit is electrically connected, the first driver element is connected with the first motor simultaneously, the second driver element is connected with the second motor, can when transferring timely and effectively labyrinth information, to the micro computer mouse, control in real time, make the operation of micro computer mouse obtain controlling more accurately.
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 that the present invention is a kind of based on make a spurt the fast structural representation of controller one preferred embodiment of double-core two-wheeled micro computer mouse;
Fig. 2 is that the present invention is a kind of based on make a spurt the fast servocontrol regulon block diagram of controller of double-core two-wheeled micro computer mouse;
Fig. 3 is that the present invention is a kind of based on make a spurt the fast motion-control module block diagram of controller one preferred embodiment of double-core two-wheeled micro computer mouse;
Fig. 4 is that the present invention is a kind of based on make a spurt the fast micro computer mouse structural representation of controller one preferred embodiment of double-core two-wheeled micro computer mouse;
Fig. 5 is that the present invention is a kind of based on make a spurt the fast labyrinth schematic diagram of controller one preferred embodiment of double-core two-wheeled micro computer mouse;
Fig. 6 is that the present invention is a kind of based on make a spurt the fast speed curve diagram of controller one preferred embodiment of double-core two-wheeled micro computer mouse;
Fig. 7 is that the present invention is a kind of based on make a spurt the fast right-hand rotation spurt schematic diagram of controller one preferred embodiment of double-core two-wheeled micro computer mouse;
Fig. 8 is that the present invention is a kind of based on make a spurt the fast left-hand rotation spurt meaning figure of controller one preferred embodiment of double-core two-wheeled micro computer mouse.
In accompanying drawing, the mark of each parts is as follows: 1, left control motor; 2, right control motor; 3, 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, Fig. 2, Fig. 3 and Fig. 4, the embodiment of the present invention provides following technical scheme.
In one embodiment, a kind of based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, comprising: supply unit, detect voltage module, low-pressure alarming device, transfer labyrinth best information module, sensor 3, servo regulation unit, the first driver element, the second driver element and the first motor and the second motor; Described sensor 3 is set to 6, is respectively S1, S2, S3, S4, S5, S6; Described detection voltage module and supply unit and low-pressure alarming device are electrically connected; Described supply unit and described labyrinth best information module, sensor 3, servo regulation unit, the first driver element, the second driver element, the first motor and the second motor transferred are electrically connected; The described labyrinth best information module of transferring is controlled described the first driver element and the second driver element by described servo regulation unit, by the first driver element and the second driver element, realizes independent, the synchronous servo of the first motor and the second motor are driven.
Be different from prior art, in one embodiment, preferably, described servo regulation unit is diaxon synchronous servo regulation unit, comprise that unit is transferred in labyrinth, operation control module and return are explored unit, described labyrinth is transferred unit and is explored the unit electric connection with described operation control module and return; The order that signal is transferred unit, operation control module and return exploration unit by labyrinth is transmitted successively.
Described labyrinth is transferred in unit, operation control module and return exploration unit and is included for receiving the Data Control module of signal control signal transmission, send signal and carry out the data processing module of signal processing and drive for the motor that drives the motion of micro computer mouse left and right wheels for receiving the Data Control module, described Data Control module, data processing module and motor drive and are electrically connected.
Preferably, be provided with the ARM9 chip processor in described Data Control module, the ARM9 chip adopts R I SC (Reduce Instruction Computer, Reduced Instruction Set Computer) structure, have that register is many, addressing mode is simple, the bulk transfer data, use the characteristics such as address automatically increases or decreases.
Data processing module is provided with the LM629 chip, LM629 is a special chip of controlling for precise motion that National semiconductor produces, 24 pin and two kinds of surface-mounted encapsulation of 28 pin are arranged, the repertoire that integrated digital-type sport is controlled in a chip, make one of design fast and accurately the task of motion control unit become easily, easy.
Preferably, in described data processing module, include pwm modulator, include the LM629 processor in described data processing module, in described LM629 processor, include pwm modulator, described pwm modulator is for the modulation (PWM) waveform; Also further include rate generator in described data processing module, described rate generator and motor drive and are electrically connected; Described Data Control module further includes compensating module, for the identification to motor torque and processing.
Described labyrinth is transferred unit and is also further included the interrupt request module, between described sensor 3, interrupt request module, Data Control module, data processing module and motor drive, is electrically connected; Described labyrinth transfers that unit also further includes reset circuit and labyrinth information is transferred module, and described reset circuit and described sensor 3 and labyrinth information are transferred module and is electrically connected.
Preferably, described operation control module further includes coordinate memory module, curvilinear motion control module, short lines distance parameter conversion module, described sensor 3, coordinate memory module, curvilinear motion control module, short lines distance parameter conversion module, Data Control module, data processing module and motor drive and are electrically connected, described sensor 3 transmits signals to the coordinate memory module and is stored, and transmits signals to described Data Control module and data processing module simultaneously.
Preferably, described operation control module further includes object module, error compensation module, motor speed adjuster, described object module and error compensation module, motor speed adjuster, Data Control module, data processing module and motor drive and are electrically connected, described controller is sent to the Data Control module by motion trace data information, and the Data Control module is connected with data processing module and controls the motor driving.
Preferably, further include unknown region of search module and known search regions module in described return search unit, described unknown region of search module and known search regions module and motor drive and data processing module is electrically connected.
Preferably, described motor is provided with photoelectric sensor in driving, and described photoelectric sensor was read abnormal light source on every side for the micro computer mouse sprint stage, and automatically gave controller.
Please refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, for the quick spurt running status of the concrete description micro computer mouse of energy, its concrete function performing step is as follows.
Before the micro computer mouse is not received the spurt order, detect voltage module and detect battery supply.To open low-pressure alarming device prompting charging if there is low pressure.If voltage is normal, waits at starting point coordinate (0,0) the spurt order that controller sends, and utilize and transfer labyrinth best information module and recall the optimum labyrinth after exploring.After receiving the spurt order, can start fast to terminal (7,7), (7,8), (8,7), (8,8) spurt along starting point.
Preferably, the micro computer mouse is placed on starting point coordinate (0,0), receives after task in order to prevent from misplacing the spurt direction sensor 3S1, the S6 in its place ahead and can the environment in the place ahead be judged do not have barricade to enter range of movement to define.As exist barricade to think that the interrupt request module sends interrupt request to the ARM9 processor, the ARM9 processor can be to interrupting doing very first time response, then forbid controlling the LM629 work of left and right wheels, block the left control motor 1 of micro computer mouse and the PWM of right control motor 2 and drive signal, make it be still in original place, 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 opened reset circuit, utilize labyrinth information to transfer module and transfer normal labyrinth information, prepare to make a spurt normally.
The micro computer mouse along before Y-axis fast in the spurt process, if in the information of labyrinth there be under Z lattice rectilinear coordinates demonstration the place ahead, do not have barricade to enter the range of movement in the place ahead, the micro computer mouse will be stored its present coordinate (X, Y), and travelling forward the location parameter of Z lattice this location parameter is transferred to the ARM9 processor, then the ARM9 processor is converted into speed parameter and acceleration parameter to this parameter according to the different requirement of various spurt conditions and is transferred to the LM629 that controls left and right wheels, the trapezoidal motion generator of LM629 inside can generate the PWM waveform that drives left and right wheels according to these parameters, the motor of controlling left and right wheels travels forward fast.When arriving target setting, will upgrade its coordinate for (X, Y+Z), for spurt need to fast, the present invention has given up traditional single speed spurt pattern, controls acceleration and the deceleration of micro computer mouse according to speed and time curve, the distance that the area that ladder diagram comprises is micro computer mouse motion Z lattice.When its process that travels forward arrives object module, under the prerequisite of Y+Z<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 makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that the micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
The micro computer mouse along Y-axis oppositely forward in spurt process fast, if in the information of labyrinth there be under Z lattice rectilinear coordinates demonstration the place ahead, do not have barricade to enter the range of movement in the place ahead, the micro computer mouse will be stored its present coordinate (X, Y), and travelling forward the location parameter of Z lattice this location parameter is transferred to the ARM9 processor.Then the ARM9 processor is converted into speed parameter and acceleration parameter to this parameter according to the different requirement of various spurt conditions and is transferred to the LM629 that controls left and right wheels.The trapezoidal motion generator of LM629 inside can generate the PWM waveform that drives left and right wheels according to these parameters, controls the motor of left and right wheels to the Y-axis counter motion.When arriving target setting, will upgrade its coordinate for (X, Y-Z), for spurt fast needs, according to speed and time curve acceleration and the deceleration of controlling the micro computer mouse, the area that ladder diagram comprises is the move distance of Z lattice of micro computer mouse.When its process that travels forward arrives object module, determining Y-Z > under 0 prerequisite, judge its coordinate whether (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 makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that the micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
If have 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 transfer the curvilinear motion track in the curvilinear motion control module.When right spurt is turned, the ARM9 processor at first the very short distance B ashTurn_R90_Leading of walking straight line in short lines distance parameter modular converter is converted into to speed parameter according to the different requirement of various spurt conditions and acceleration parameter is transferred to the LM629 that controls left and right wheels.LM629 generates according to current speed and travel distance DashTurn_R90_Leading speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then controls left and right wheels work; When arriving object module, sensor 3 reference value R90_FrontWallRef start working, and prevent that external interference from starting to do error compensation.Error compensation starts to adjust left control motor 1 after finishing and right control motor 2 speed are DashTurn_R90_VelX1 and DashTurn_R90_VelY1.This Time Controller can send curvilinear motion track DashTurn_R90_Arc1 to the ARM9 processor, and the curvilinear path DashTurn_R90_Arc1 of walking is converted into to speed parameter according to the different requirement of various spurt conditions with the ARM9 processor and acceleration parameter is transferred to the LM629 that controls left and right wheels.LM629 generates according to current speed and travel distance DashTurn_R90_Arc1 speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then controls left and right wheels work; After arriving object module, adjusting immediately micro computer mouse speed is DashTurn_R90_VelX2 and DashTurn_R90_VelY2, and the curvilinear path DashTurn_R90_Arc2 of walking is converted into to speed parameter according to the different requirement of various spurt conditions with the ARM9 processor and acceleration parameter is transferred to the LM629 that controls left and right wheels.LM629 generates according to current speed and travel distance DashTurn_R90_Arc2 speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then controls left and right wheels work; After arriving object module, the controller distance B ashTurn_R90_Passing very short straight line moving is converted into speed parameter according to the different requirement of various spurt conditions and acceleration parameter is transferred to the LM629 that controls left and right wheels, LM629 generates according to current speed and travel distance DashTurn_R90_Passing speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then control left and right wheels work, complete the geometric locus motion of whole right-hand bend after arriving object module.Now will upgrade its coordinate for (X+1, Y), under the prerequisite of X+1<15, judge its coordinate whether (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 makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that the micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
If have 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 arrival curve movement locus, when right spurt is turned, at first the walking straight line, very short distance B ashTurn_L90_Leading is converted into speed parameter according to the different requirement of various spurt conditions and acceleration parameter is transferred to the LM629 that controls left and right wheels to the ARM9 processor.LM629 generates according to current speed and travel distance DashTurn_L90_Leading speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then controls left and right wheels work.When arriving object module, sensor 3 reference value L90_FrontWallRef start working, and prevent that external interference from starting to do error compensation.Error compensation starts to adjust left control motor 1 after finishing and right control motor 2 speed are DashTurn_L90_VelX1 and DashTurn_L90_VelY1.This Time Controller can send curvilinear motion track DashTurn_L90_Arc1 to the ARM9 processor, and the curvilinear path DashTurn_L90_Arc1 of walking is converted into to speed parameter according to the different requirement of various spurt conditions with the ARM9 processor and acceleration parameter is transferred to the LM629 that controls left and right wheels.LM629 generates according to current speed and travel distance DashTurn_L90_Arc1 speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then controls left and right wheels work.After arriving object module, adjusting immediately micro computer mouse speed is DashTurn_L90_VelX2 and DashTurn_L90_VelY2.The curvilinear path DashTurn_L90_Arc2 of walking is converted into to speed parameter according to the different requirement of various spurt conditions with the ARM9 processor and acceleration parameter is transferred to the LM629 that controls left and right wheels.LM629 generates according to current speed and travel distance DashTurn_L90_Arc2 speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then controls left and right wheels work; After arriving object module, the controller distance B ashTurn_L90_Passing very short straight line moving is converted into speed parameter according to the different requirement of various spurt conditions and acceleration parameter is transferred to the LM629 that controls left and right wheels, LM629 generates according to current speed and travel distance DashTurn_L90_Passing speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then control left and right wheels work, complete the geometric locus motion of whole left-hand bend after arriving object module.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.
Return can prepare spurt after the spurt of micro computer mouse arrives (7,7), (7,8), (8,7), (8,8) after is explored in order to search more excellent path, and controller 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.
When the micro computer mouse enters return exploration unit, labyrinth, in the sensor 3 of its navigation, S1, S2, S3, S4, S5, S6 will work, and give the ARM9 processor photosignal reflected, give LM629 after the judgement of ARM9 processor, by after the LM629 computing, with the ARM9 processor, carrying out communication.Then by controller, send left control motor 1 and the right control motor 2 of control signal to navigation to be determined: will advance fast if enter the zone of having searched for, the ARM9 processor can strengthen the dutycycle of controlling motor,, reduce secondary and explore the time by known region with fast; If unknown return area adopts normal speed search, and constantly upgrade its coordinate (X, Y), and judge its coordinate whether (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.
In order to realize the coordinate computing function of micro computer mouse accurate labyrinth spurt, sensor 3S2, the S3 of micro computer mouse left and right and S4, S5 can be surveyed labyrinth retaining wall and pillar on every side constantly.If S2, S3 or S4, S5 find that transition has occurred sensor 3 signals, illustrate that the micro computer mouse has entered the interface point of labyrinth retaining wall and pillar, now side sensor 3S2 or S5 can accurately survey this constantly.When again transition occurring, illustrate that mouse has started current labyrinth grid, the ARM9 processor can calculate also according to sensor 3 feedback informations are compensated according to the distance of the current operation of micro computer mouse.The present invention has added the optical code disk of 512 lines on the X-axis of the left control motor 1 of direct current and Y-axis.Because precision is higher, make the coordinate of micro computer mouse calculate and not there will be mistake, the accuracy that while having guaranteed the quick spurt of micro computer mouse, read in labyrinth.
In order to reduce the interference of light source to the spurt of micro computer mouse, the present invention has added photoelectric sensor, this sensor 3 can be read abnormal light source on every side in the micro computer mouse sprint stage, and automatically gave controller and do real-Time Compensation, had eliminated the interference of external light source to spurt.
In micro computer mouse spurt process, the ARM9 processor can carry out on-line identification to the torque of motor, when the torque of motor receives that larger shake appears in external interference, compensation when controller can utilize the relation of motor torque and electric current to carry out, reduced the motor torque shake to the impact of spurt fast of micro computer mouse.
If the micro computer mouse runs in the spurt process, skidding in ground or while misreading labyrinth information, often there will be the phenomenon of hitting wall.Now the electric current of motor will increase, when surpassing setting value, the interruptive command LPES of LM629 will send interrupt request to the ARM9 processor, now the ARM9 processor can be controlled immediately LM629 and quits work, not only reduce and effectively solved the stall problem, and reduced the destruction to unit hardware.
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), the ARM9 processor will be controlled LM629 and make micro computer origin coordinates (0, 0) central point stops, then readjust the PWM ripple output of LM629, make left control motor 1 and right control motor 2 with contrary direction motion, and under gyrostatic control, 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, unit enters the quick sprint stage of secondary.Then according to spurt,---exploration---spurt, complete spurt repeatedly, to reach the purpose of quick spurt.
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 instructions of the present invention and accompanying drawing content 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 (8)
1. one kind based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, it is characterized in that, comprising: supply unit, detect voltage module, low-pressure alarming device, transfer labyrinth best information module, sensor, servo regulation unit, the first driver element, the second driver element and the first motor and the second motor; Described sensor setting is 6, and described detection voltage module and supply unit and low-pressure alarming device are electrically connected; Described supply unit and described labyrinth best information module, sensor, servo regulation unit, the first driver element, the second driver element, the first motor and the second motor transferred are electrically connected; The described labyrinth best information module of transferring is electrically connected by sensor and described servo regulation unit.
2. according to claim 1 a kind of based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, it is characterized in that, described servo regulation unit is diaxon synchronous servo regulation unit, comprises that unit is transferred in labyrinth, operation control module and return are explored unit; Described labyrinth is transferred unit and described operation control module and return and is explored the unit electric connection; The order that signal is transferred unit, operation control module and return exploration unit by labyrinth is transmitted successively.
3. according to claim 2 a kind of based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, it is characterized in that, described labyrinth is transferred in unit, operation control module and return exploration unit and is included for receiving the Data Control module of signal control signal transmission, for receiving the data processing module that the Data Control module is sent signal and carried out the signal processing, speed/distance transducer and the motor driving for driving micro computer mouse left and right wheels to move, described Data Control module, data processing module and motor drive and are electrically connected.
4. according to claim 3 a kind of based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, it is characterized in that, include the LM629 processor in described data processing module, include pwm modulator in described LM629 processor, described pwm modulator and Data Control module and motor drive and are electrically connected; Also further include rate generator in described data processing module, described rate generator and motor drive and are electrically connected; Described Data Control module further includes compensating module.
5. according to claim 4 a kind of based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, it is characterized in that, described labyrinth is transferred unit and is also further included the interrupt request module, between described sensor, interrupt request module, Data Control module, data processing module, speed/distance transducer and motor drive, is electrically connected; Described labyrinth transfers that unit also further includes reset circuit and labyrinth information is transferred module, and described reset circuit and described sensor and labyrinth information are transferred module and is electrically connected.
6. according to claim 4 a kind ofly it is characterized in that based on the double-core two-wheeled micro computer mouse controller of making a spurt fast,
(1) described operation control module further includes coordinate memory module, curvilinear motion control module, short lines distance parameter conversion module, between driving, described sensor, coordinate memory module, curvilinear motion control module, short lines distance parameter conversion module, Data Control module, data processing module, speed/distance transducer and motor be electrically connected, described sensor transmits signals to the coordinate memory module and is stored, and transmits signals to described Data Control module and data processing module simultaneously;
(2) described operation control module further includes object module, error compensation module, motor speed adjuster, described object module and error compensation module, motor speed adjuster, Data Control module, data processing module, speed/distance transducer and motor drive and are electrically connected, and the Data Control module is connected with data processing module to motor and drives.
7. according to claim 4 a kind of based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, it is characterized in that, further include unknown region of search module and known search regions module in described return search unit, described unknown region of search module and known search regions module and motor drive and data processing module is electrically connected.
8. according to claim 3 a kind ofly it is characterized in that based on the double-core two-wheeled micro computer mouse controller of making a spurt fast, described motor is provided with photoelectric sensor in driving, described photoelectric sensor and controller electric connection.
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| 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 |
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Application publication date: 20131225 |