CN103472838A - Fast sprint controller of four-wheel micro-mouse based on double processors - Google Patents
Fast sprint controller of four-wheel micro-mouse based on double processors Download PDFInfo
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- CN103472838A CN103472838A CN2013104186486A CN201310418648A CN103472838A CN 103472838 A CN103472838 A CN 103472838A CN 2013104186486 A CN2013104186486 A CN 2013104186486A CN 201310418648 A CN201310418648 A CN 201310418648A CN 103472838 A CN103472838 A CN 103472838A
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Abstract
The invention discloses a fast sprint controller of a four-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, six sensors, a servo adjusting control unit, a controller body and motors. The controller body comprises a first driving unit, a second driving unit, a third driving unit and a fourth driving unit. The motors comprise a first motor, a second motor, a third motor and a fourth 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 sensors, the servo adjusting control unit, the controller body and the motors. The maze optimal information calling module is electrically connected with the servo adjusting control unit through the sensors. By means of the method, the fast sprint controller of the four-wheel micro-mouse can be provided, and the micro-mouse can fast return to sprint in a match through the processors of a double-buffering structure.
Description
Technical field
The present invention relates to a kind of micro computer mouse spurt controller, particularly relate to a kind of based on the double-core four-wheel 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 four-wheel 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, use LM629 to produce the real-time processing that the PWM ripple is realized 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 four-wheel 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, controller and motor; Described sensor setting is 6, and described controller includes: the first driver element, the second driver element, the 3rd driver element and 4 wheel driven moving cell, and described motor includes the first motor, the second motor, the 3rd motor and the 4th motor; Described detection voltage module and supply unit and low-pressure alarming device are electrically connected; Supply unit and described labyrinth best information module, sensor, servo regulation unit, controller and the 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 servo regulation unit is four axle synchronous servo regulation units, 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, 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, data processing module and four-wheel drive, pre-driver and rearmounted driving for driving the motion of micro computer mouse of for receiving the Data Control module, sending signal and carrying out the signal processing, described Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving are electrically connected.
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 four-wheel drive, pre-driver and rearmounted the driving 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 and four-wheel drive, pre-driver and rearmounted the driving, 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; Be electrically connected between described sensor and coordinate memory module, curvilinear motion control module and short lines distance parameter conversion module, be electrically connected between described curvilinear motion control module and short lines distance parameter conversion module and Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving; 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 and error compensation module, between described sensor and object module and error compensation module, be electrically connected, signal transforms by the PWM ripple Data Control module and data processing module after object module flows to the error compensation module, and then control signal is sent to four-wheel drive, pre-driver and rearmounted the driving.
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, be provided with photoelectric sensor in described four-wheel drive, pre-driver and rearmounted the driving, described photoelectric sensor and controller are electrically connected.
The invention has the beneficial effects as follows: the supply unit that will control micro computer mouse motion of the present invention is electrically connected with detecting voltage module and transfer the labyrinth information module; can detect timely the situation of low pressure, in time the micro computer mouse be carried out to data storage and protection.Utilize sensor that servo regulation unit is electrically connected, controller is connected with motor simultaneously, can controls in real time the micro computer mouse when transferring timely and effectively labyrinth information, make the operation of micro computer mouse more accurate, speed is also more accelerated, and omnibearing realization is made a spurt fast.
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 four-wheel 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 one preferred embodiment of double-core four-wheel 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 four-wheel 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 four-wheel 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 four-wheel 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 four-wheel 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 four-wheel 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 four-wheel micro computer mouse.
In accompanying drawing, the mark of each parts is as follows: 1, front left is controlled motor; 2, front right is controlled motor; 3, rear left is controlled motor; 4, the right control motor in front and back; 5, 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 four-wheel 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 5, servo regulation unit, controller and motor; Described sensor 5 is set to 6, is respectively S1, S2, S3, S4, S5, S6; Described controller includes: the first driver element, the second driver element, the 3rd driver element and 4 wheel driven moving cell, and described motor includes the first motor, the second motor, the 3rd motor and the 4th motor; Described detection voltage module and supply unit and low-pressure alarming device are electrically connected; Supply unit and described labyrinth best information module, sensor 5, servo regulation unit, controller and the motor transferred are electrically connected; The described labyrinth best information module of transferring electrically connects by sensor 5 and described servo regulation unit.
Be different from prior art, in one embodiment, preferably, described servo regulation unit is four axle synchronous servo regulation units, 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.
Preferably, 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, data processing module and four-wheel drive, pre-driver and rearmounted driving for driving the motion of micro computer mouse of for receiving the Data Control module, sending signal and carrying out the signal processing, described Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving 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.
Described 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, include the LM629 processor in described data processing module, in described LM629 processor, include pwm modulator, described pwm modulator and Data Control module and four-wheel drive, pre-driver and rearmounted the driving are electrically connected; Described Data Control module further includes compensating module.
Preferably, described labyrinth is transferred unit and is also further included the interrupt request module, between described sensor 5, interrupt request module, Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving, 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 5 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; Be electrically connected between described sensor 5 and coordinate memory module, curvilinear motion control module and short lines distance parameter conversion module, be electrically connected between described curvilinear motion control module and short lines distance parameter conversion module and Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving; Described sensor 5 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 and error compensation module, between described sensor 5 and object module and error compensation module, be electrically connected, signal transforms by the PWM ripple Data Control module and data processing module after object module flows to the error compensation module, and then control signal is sent to four-wheel drive, pre-driver and rearmounted the 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, in described four-wheel drive, pre-driver and rearmounted the driving, be provided with photoelectric sensor, described photoelectric sensor and controller are electrically connected.
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, the controller utilization detects voltage module battery supply is detected, if low pressure will start low-pressure alarming device prompting charging; If voltage is normally at starting point coordinate (0,0) wait for the spurt order that controller sends, and utilize to adjust and go labyrinth best information module to recall the optimum maze path after exploring, after receiving the spurt order, can start fast to terminal (7,7), (7,8), (8 along starting point, 7), (8,8) spurt.
The micro computer mouse is placed on to starting point coordinate (0, 0), receive after the spurt task in order to prevent from misplacing the spurt direction, the sensor 5S1 in its place ahead, S6 and can the environment in the place ahead being judged, define and do not have barricade to enter range of movement, as exist barricade to send interrupt request to the ARM9 processor, the ARM9 processor can be to interrupting doing very first time response, send interrupt request, then forbid controlling the LM629 work of four-wheel all around, block the front left of micro computer mouse and control motor 1, front right is controlled motor 2, the PWM that rear left is controlled motor 3 and rear right control motor 4 drives 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, transfer normal labyrinth information, prepare to make a spurt normally.
Start at micro computer the moment of making a spurt, sensor 5S1, S2, S3, S4, S5, six infrared lights that independently infrared transmitting tube OPE5594A sends of S6(are converted into the information in labyrinth on every side after receiver TSL262 accepts) judge environment on every side and give the ARM9 processor.Then the instruction set-point according to spurt labyrinth Information generation Velocity-time motion ladder diagram by the ARM9 processor.This trapezoidal area comprised be exactly two front lefts of micro computer mouse control that motors 1, front rights control that motor 2, rear left control that motor 3 and rear right control that motor 4 will move apart from S1.Then the ARM9 processor enables four axle LM629, with the LM629 communication, is generated the PWM ripple of driving four axle direct current generators in conjunction with the feedback of photoelectric encoder and current sensor according to these parameters by LM629.The PWM ripple is turned round through four motors of drive axle rear drive, completes whole accelerator until reach the spurt setting speed.And the deal with data communication to the ARM9 processor, continue to process follow-up running status by the ARM9 processor.
If the micro computer mouse along showing fast that the place ahead has under Z lattice rectilinear coordinates and do not have barricade to enter the range of movement in the place ahead before Y-axis in the spurt process in the information of labyrinth, the micro computer mouse will be stored its present coordinate (X, Y) to the coordinate memory module, and the location parameter of the Z lattice that travel forward 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 enables two LM629 of rear-guard, then be transferred to setting command value the LM629 that controls left and right wheels, the trapezoidal motion generator of LM629 inside can generate according to these parameters and in conjunction with the feedback of photoelectric encoder and current sensor the PWM waveform that drives left and right wheels, front left control motor 1 and the front right control motor 2 of controlling left and right wheels travel forward fast, and constantly be recorded in concrete apart from S that labyrinth moves.If in the motion process of making a spurt fast, occur skidding or during situation that dust is more, the ARM9 processor can enable two LM629 of forerunner, the ARM9 processor is converted into new reference instruction value to remaining distance and is transferred to and controls the LM629 of four-wheel all around, and the trapezoidal motion generator of LM629 inside can generate and drive the PWM waveform of four-wheel all around in conjunction with the feedback of photoelectric coded disk and current sensor according to these parameters.Control the front left of wheel all around through drive axle and control motor 1, front right is controlled motor 2, rear left controls motor 3 and rear right control motor 4 travels forward, when arriving target setting, to upgrade its coordinate is (X, Y+Z), when its process that travels forward arrives set objective, 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 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.
If oppositely fast show that along Y-axis the place ahead has under Z lattice rectilinear coordinates and do not have barricade to enter the range of movement in the place ahead the micro computer mouse in the spurt process in the information of labyrinth, the micro computer mouse will be stored its present coordinate (X, Y) to the coordinate memory module, and the location parameter of counter motion Z lattice 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 enables two LM629 of rear-guard, then be transferred to setting command value the LM629 that controls left and right wheels, the trapezoidal motion generator of LM629 inside can generate according to these parameters and in conjunction with the feedback of photoelectric encoder and current sensor the PWM waveform that drives left and right wheels, front left control motor 1 and the front right control motor 2 of controlling left and right wheels travel forward fast, and constantly be recorded in concrete apart from S that labyrinth moves.If in the motion process of making a spurt fast, occur skidding or during situation that dust is more, the ARM9 processor can enable two LM629 of forerunner, and the ARM9 processor is converted into new reference instruction value to remaining distance and is transferred to and controls the LM629 of four-wheel all around.The trapezoidal motion generator of LM629 inside can generate and drive all around PWM waveform and the direction of four-wheel in conjunction with the feedback of photoelectric coded disk according to these parameters.Through drive axle control, all around the front left of wheel is controlled motor 1, front right is controlled motor 2, rear left control motor 3 and rear right control motor 4 and travelled forward.When arriving target setting, will upgrade its coordinate for (X, Y-Z), when its process that travels forward arrives set objective, at Y-Z > whether under 0 prerequisite, judge its coordinate (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 labyrinth retaining wall 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) to the coordinate memory module, then the arrival curve movement locus.When right spurt is turned, the ARM9 processor at first the very short distance L eading of walking straight line is converted into to speed parameter according to the different requirement of various spurt conditions and then acceleration parameter enables four LM629 all around.Then this is set to command value and be transferred to the LM629 that control is taken turns all around, the trapezoidal motion generator of LM629 inside can, according to these parameters PWM waveform and the direction of all around taking turns in conjunction with the feedback generation driving of photoelectric encoder and current sensor, be controlled front left and control motor 1, front right control motor 2, rear left control motor 3 and rear right control motor 4 rapid movement forward.When arriving set objective, sensor 5 reference value R90_FrontWallRef start working, and prevent that external interference from starting to do error compensation.After error compensation finishes, the ARM9 processor is converted into speed parameter and the acceleration parameter command value of four LM629 of rear-guard and forerunner to the curvilinear path Arc1 of walking according to the different requirement of various spurt conditions with Arc3, the trapezoidal motion generator of LM629 inside can, according to these parameters and in conjunction with the feedback generation driving forerunner of photoelectric encoder and current sensor and the PWM waveform of rear-guard four spindle motors, then be controlled four-wheel work all around.After arriving set objective, the ARM9 processor is converted into speed parameter and the acceleration parameter command value of four LM629 of rear-guard and forerunner to the curvilinear path Arc2 of walking according to the different requirement of various spurt conditions with Arc4, the trapezoidal motion generator of LM629 inside can, according to these parameters and in conjunction with the feedback generation driving forerunner of photoelectric encoder and current sensor and the PWM waveform of rear-guard four spindle motors, then be controlled four-wheel work all around.After arriving set objective, the controller distance P assing very short straight line moving is converted into speed parameter according to the different requirement of various spurt conditions and then acceleration parameter enables four LM629 all around, then this is set to command value and be transferred to the LM629 that control is taken turns all around, the trapezoidal motion generator of LM629 inside can be according to these parameters the PWM waveform of all around taking turns in conjunction with the feedback generation driving of photoelectric encoder and current sensor, control front left and control motor 1, front right is controlled motor 2, rear left controls motor 3 and rear right is controlled motor 4 rapid movement forward.Complete the geometric locus motion of whole right-hand bend after arriving set objective.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 its coordinate of renewal; 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 labyrinth retaining wall 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 left spurt is turned, the ARM9 processor at first the very short distance L eading of walking straight line is converted into to speed parameter according to the different requirement of various spurt conditions and then acceleration parameter enables four LM629 all around, then this is set to command value and be transferred to the LM629 that control is taken turns all around, the trapezoidal motion generator of LM629 inside can be according to these parameters the PWM waveform of all around taking turns in conjunction with the feedback generation driving of photoelectric encoder and current sensor, control front left and control motor 1, front right is controlled motor 2, rear left controls motor 3 and rear right is controlled motor 4 rapid movement forward.When arriving set objective, sensor 5 reference value L90_FrontWallRef start working, and prevent that external interference from starting to do error compensation.After error compensation finishes, the ARM9 processor is converted into speed parameter and the acceleration parameter command value of four LM629 of rear-guard and forerunner to the curvilinear path Arc1 of walking according to the different requirement of various spurt conditions with Arc3.The trapezoidal motion generator of LM629 inside can be according to these parameters and in conjunction with the feedback generation driving forerunner of photoelectric encoder and current sensor and the PWM waveform of rear-guard four spindle motors.Then control four-wheel work all around; After arriving set objective, the ARM9 processor is converted into speed parameter and the acceleration parameter command value of four LM629 of rear-guard and forerunner to the curvilinear path Arc2 of walking according to the different requirement of various spurt conditions with Arc4, the trapezoidal motion generator of LM629 inside can, according to these parameters and in conjunction with the feedback generation driving forerunner of photoelectric encoder and current sensor and the PWM waveform of rear-guard four spindle motors, then be controlled four-wheel work all around.After arriving set objective, the controller distance P assing very short straight line moving is converted into speed parameter according to the different requirement of various spurt conditions and then acceleration parameter enables four LM629 all around, then this is set to command value and be transferred to the LM629 that control is taken turns all around, the trapezoidal motion generator of LM629 inside can be according to these parameters the PWM waveform of all around taking turns in conjunction with the feedback generation driving of photoelectric encoder and current sensor, control front left and control motor 1, front right is controlled motor 2, rear left controls motor 3 and rear right is controlled motor 4 rapid movement forward, complete the geometric locus motion of whole left-hand bend after arriving set objective.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.
When the spurt of micro computer mouse arrives (7,7), (7,8), (8,7), (8,8) return after can preparing after to make a spurt is explored in order to search more excellent path, controller can recall its labyrinth information of having stored, and then calculates other optimal path that may exist, and then return starts to enter one that wherein thinks optimum.
When the micro computer mouse enters labyrinth return exploration, sensor 5S1, the S2 of its navigation, 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, sending control signal to control motor 1, front right control motor 2, rear left control motor 3 and rear right control motor 4 to the front left of navigation is determined: if enter the zone of having searched for, will advance fast, 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 5S2, 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 signal, illustrate that the micro computer mouse has entered the interface point of labyrinth retaining wall and pillar, now side sensor 5S2 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 basis according to the distance of the current operation of micro computer mouse sensor feedback information is compensated, and the present invention controls motor 2 in High-speed DC front left control motor 1, front right, rear left is controlled the photoelectric encoder that has added 512 lines on motor 3 and rear right control motor 4.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 5 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 direct current generator, 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, and 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 four LM629 and quits work, discharge at once front left and control motor 1, front right control motor 2, rear left control motor 3 and rear right control motor 4, not only reduce and effectively solved the stall problem, and reduced the destruction to system 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), ARM9(S3C2440A) the PWM ripple output that will control four LM629 makes micro computer stop at the starting point central point, then readjust the PWM ripple output of LM629, make the motor of both sides: front left is controlled motor 1, rear left controls motor 3 and front right is controlled motor 2, rear right is controlled motor 4 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, system 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 four-wheel 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, controller and motor; Described sensor setting is 6, and described controller includes: the first driver element, the second driver element, the 3rd driver element and 4 wheel driven moving cell, and described motor includes the first motor, the second motor, the 3rd motor and the 4th motor; Described detection voltage module and supply unit and low-pressure alarming device are electrically connected; Supply unit and described labyrinth best information module, sensor, servo regulation unit, controller and the 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 four-wheel micro computer mouse controller of making a spurt fast, it is characterized in that, described servo regulation unit is four axle synchronous servo regulation units, 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 four-wheel 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, data processing module and four-wheel drive, pre-driver and rearmounted driving for driving the motion of micro computer mouse of for receiving the Data Control module, sending signal and carrying out the signal processing, described Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving are electrically connected.
4. according to claim 3 a kind of based on the double-core four-wheel 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 four-wheel drive, pre-driver and rearmounted the driving are electrically connected; Described Data Control module further includes compensating module.
5. according to claim 4 a kind of based on the double-core four-wheel 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 and four-wheel drive, pre-driver and rearmounted the driving, 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 four-wheel 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; Be electrically connected between described sensor and coordinate memory module, curvilinear motion control module and short lines distance parameter conversion module, be electrically connected between described curvilinear motion control module and short lines distance parameter conversion module and Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving; 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 and error compensation module, between described sensor and object module and error compensation module, be electrically connected, signal transforms by the PWM ripple Data Control module and data processing module after object module flows to the error compensation module, and then control signal is sent to four-wheel drive, pre-driver and rearmounted the driving.
7. according to claim 4 a kind of based on the double-core four-wheel 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 four-wheel micro computer mouse controller of making a spurt fast, be provided with photoelectric sensor in described four-wheel drive, pre-driver and rearmounted the driving, described photoelectric sensor and controller electric connection.
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Application publication date: 20131225 |