CN103529836A - Dual-core-based two-wheel high-speed microcomputer mouse and diagonal ramp-up servo system thereof - Google Patents
Dual-core-based two-wheel high-speed microcomputer mouse and diagonal ramp-up servo system thereof Download PDFInfo
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Abstract
The invention discloses a diagonal ramp-up servo system for a dual-core-based two-wheel high-speed microcomputer mouse. The diagonal ramp-up servo system comprises a ramp-up control unit, two motion driving units, two gyroscopes and a power supply unit, wherein the power supply unit is electrically connected with the ramp-up control unit; the ramp-up control unit comprises an ARM9 (Advanced RISC Machines 9) processor and an LM629 control chip; the ARM9 processor is electrically connected with the LM629 control chip; the ARM9 processor is further electrically connected with the gyroscopes to receive angular speed information and speed information; the LM629 control chip is further electrically connected with each motion driving unit to control the motion driving unit to work. According to the diagonal ramp-up servo system, two processors are adopted at the same time for processing data in a synergistic way, so that the computing speed is high, the generation of high current is avoided, and the influence of a battery on high-speed ramp-up is reduced; the gyroscopes can be used for navigating during turning of the microcomputer mouse, so that the stability of the microcomputer mouse is enhanced.
Description
Technical field
The present invention relates to a kind of based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system.
Background technology
Micro computer mouse is a kind of Intelligent walking robot that uses embedded microcontroller, sensor and electromechanical movement parts to form, micro computer mouse can be in different " labyrinths " automatic Memory and selecting paths, adopt corresponding algorithm, arrive rapidly the destination setting.The match of micro computer mouse has had the history of more than 30 years abroad, all will hold in the world every year now up to a hundred similarly micro computer mouse contests.
The contest of micro computer mouse adopts working time, labyrinth time and touches this three parameters, from three aspects of reliability of speed, the efficiency that solves labyrinth and computer mouse, mark, different countries adopts different standards of grading, has four national standards of representative to be most:
(1) the international micro computer mouse of American I EEE APEC robot competition: exploration time, spurt time and the fixing deduction of points that contacts, all charge to overall scores, score=exploration time/30+spurt time+fixing contact deduction of points;
(2) the international micro computer mouse robot conference (expert's level) in all Japan: overall scores only calculates the spurt time, score=best spurt time;
(3) Britain's micro computer mouse robot challenge match: overall scores is all charged in exploration time, spurt time and the variable deduction of points that contacts, score=exploration time/30+spurt time+change contact deduction of points;
(4) Singapore robot contest: exploration time, spurt time are charged to overall scores, contacts robot at every turn minimizing is once attempted to chance, score=exploration time/30+spurt time.
From international standard above, the success or failure of spurt Time dependent whole micro computer mouse, because the unit of this robot of domestic research and development is less, R & D Level is relatively backward relatively, the micro computer mouse structure of research and development is as Fig. 1, and long-play is found to exist a lot of safety problems, that is:
(1) what as the eyes of micro computer mouse, adopt is ultrasound wave or general infrared sensor, and sensor arrange wrong, make micro computer mouse to the judgement in labyrinth around, have certain erroneous judgement when making a spurt fast, make micro computer when making a spurt fast, easily knock the barricade in the place ahead.
(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 the memory of spurt position to occur mistake, can not find sometimes the terminal of spurt.
(3) owing to adopting stepper motor, make organism fever more serious, be unfavorable for spurt fast in large complicated labyrinth.
(4) owing to adopting more rudimentary algorithm, make the calculating in best labyrinth and the calculating in spurt path have certain problem, the micro computer mouse of research and development can repeatedly not accelerate spurt substantially automatically, spurt in the middle of general labyrinth generally all will spend the time of 15 ~ 30 seconds, and this makes cannot win victory in real international complex maze contest.
(5) because micro computer mouse is needing brake frequently and start in spurt process fast, increased the weight of the workload of single-chip microcomputer, Signal Processors cannot meet the requirement of spurt fast of micro computer mouse.
(6) what relatively adopt is all that the plug-in components that some volume ratios are larger makes the volume and weight of micro computer mouse huger, and center of gravity is higher, cannot meet the requirement of quick spurt.
(7) owing to disturbed by surrounding environment labile factor, the particularly interference of some light around, singlechip controller often there will be extremely, causes that 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 be difficult to accomplish for single single-chip microcomputer, make micro computer mouse can be in the middle of labyrinth when sound lunge rocking tendency larger, often occur that the phenomenon of hitting wall occurs, and causes making a spurt unsuccessfully.
(9) owing to being subject to single-chip microcomputer capacity and algorithm affects, micro computer mouse is to the not storage of the information in labyrinth, and information all when running into power-down conditions will disappear, and this cannot complete whole spurt process.
(10) owing to not having the auxiliary of angular-rate sensor to turn, often occur that the too small or excessive phenomenon of angle of turn occurs, then rely on the sensor of navigation to compensate, in the labyrinth that causes turning in continuous several times, occur that the phenomenon of hitting wall occurs, and causes and makes a spurt unsuccessfully.
(11) adopt single-sensor to find out the barricade in labyrinth, the place ahead, very easily receive external interference, cause the upfront sensor misguidance micro computer mouse of spurt fast, cause micro computer mouse in labyrinth, make a spurt not in place or hit wall, cause and make a spurt unsuccessfully.
Therefore, need to based on monolithic processor controlled micro computer mouse controller, redesign existing.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, adopt two processor collaborative work deal with data simultaneously, arithmetic speed is very fast, has avoided the generation of large electric current, has reduced the impact of battery on sound lunge; Described gyroscope can be turned and navigate for described micro computer mouse, has improved the stability 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 double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, be applied in two-wheeled micro computer mouse, described spurt servo-drive system comprises spurt control module, two motion driver elements, two gyroscopes and power-supply unit, described power-supply unit and described spurt control module are electrically connected, described spurt control module comprises ARM9 processor and LM629 control chip, described ARM9 processor and LM629 control chip are electrically connected to control the work of described LM629 control chip, described ARM9 processor is further electrically connected to receive with each gyroscope angular velocity information and the velocity information that described gyroscope detects, described LM629 control chip is further electrically connected to control the work of described motion driver element with motion driver element described in each.
In a preferred embodiment of the present invention, described spurt servo-drive system further comprises two motors, and described in each, motor and a described motion driver element are electrically connected.
In a preferred embodiment of the present invention, described power-supply unit comprises lithium ion battery, described motor is High-speed DC motor, photoelectric encoder and current sensor are further set on motor described in each, and described photoelectric encoder and current sensor are electrically connected with described LM629 control chip respectively.
In a preferred embodiment of the present invention, described spurt servo-drive system further comprises at least six sensors that keep in obscurity, and the sensor that keeps in obscurity described in each is electrically connected with described ARM9 processor respectively.
In a preferred embodiment of the present invention, described in the sensor that keeps in obscurity be infrared ray sensor, described infrared ray sensor comprises infrared transmitter OPE5594A and infrared receiver TSL262.
The present invention also provides a kind of two-wheeled micro computer mouse, comprise described spurt servo-drive system, described spurt servo-drive system comprises spurt control module, two motion driver elements, two gyroscopes and power-supply unit, described power-supply unit and described spurt control module are electrically connected, described spurt control module comprises ARM9 processor and LM629 control chip, described ARM9 processor and LM629 control chip are electrically connected to control the work of described LM629 control chip, described ARM9 processor is further electrically connected to receive with each gyroscope angular velocity information and the velocity information that described gyroscope detects, described LM629 control chip is further electrically connected to control the work of described motion driver element with motion driver element described in each,
Described two-wheeled micro computer mouse further comprises housing and two wheels, described enclosure interior arranges described spurt servo-drive system, described housing both sides arrange respectively a described wheel, described in each, wheel is connected with a described motor, described in each, gyroscope is connected with the rotating shaft of a described wheel, described in one of them, gyroscope comprises micro-mechanical sensor of angular velocity, and another gyroscope comprises speed pickup.
In a preferred embodiment of the present invention, described two-wheeled micro computer mouse further comprises opto-electronic compensation sensor, and described opto-electronic compensation sensor and described ARM9 processor are electrically connected.
The present invention also provides the control method of a kind of described two-wheeled micro computer mouse, described two-wheeled micro computer mouse comprises described spurt servo-drive system, described spurt servo-drive system comprises spurt control module, two motion driver elements, two gyroscopes and power-supply unit, described power-supply unit and described spurt control module are electrically connected, described spurt control module comprises ARM9 processor and LM629 control chip, described ARM9 processor and LM629 control chip are electrically connected to control the work of described LM629 control chip, described ARM9 processor is further electrically connected to receive with each gyroscope angular velocity information and the velocity information that described gyroscope detects, described LM629 control chip is further electrically connected to control the work of described motion driver element with motion driver element described in each,
The control method of described two-wheeled micro computer mouse comprises upper computer control module and motion-control module, described upper computer control module comprises labyrinth read module, coordinate setting module and online output module, described motion-control module comprises data memory module, input/output module and LM629 control module, described LM629 control module comprises straight dash module, module, the spurt module of turning left, diagonal line spurt module and the U-shaped spurt module of making a spurt of turning right.
In a preferred embodiment of the present invention, described LM629 control module is controlled the dash speed of described two-wheeled micro computer mouse in each section of motion distance, described dash speed is divided into permanent accelerated motion stage, uniform motion stage and permanent retarded motion stage successively, in described permanent accelerated motion stage and permanent retarded motion stage, the acceleration of two-wheeled micro computer mouse all remains unchanged and equal and opposite in direction.
In a preferred embodiment of the present invention, described two-wheeled micro computer mouse comprises explores spurt and the two kinds of spurt patterns of directly making a spurt, and described direct spurt pattern further comprises constant speed spurt pattern and non-constant speed spurt pattern; Under described exploration spurt pattern, described two-wheeled micro computer mouse automatic search complete labyrinth explore reach home after return to origin again, finally transfer the labyrinth information obtained in heuristic process fast spurt to terminal; Under direct spurt pattern, described two-wheeled micro computer mouse is directly transferred the quick spurt of historical labyrinth information to terminal.
The invention has the beneficial effects as follows:
(1) adopt ARM9 processor and LM629 control chip division of labor work simultaneously, greatly improved arithmetic speed, avoid producing large electric current, shortened the construction cycle short, and program transportability ability is strong; The race that has effectively prevented program flies, and antijamming capability strengthens greatly; Constantly monitor the residual capacity of lithium ion battery, be conducive to the energy state of electrolytic cell, when energy content of battery state is lower, can before spurt prerequisite, change battery, thereby reduced battery, the mistake of sound lunge is disturbed;
(2) in micro computer mouse spurt process fast, described ARM9 processor can carry out on-line identification and utilize the relation of direct current generator moment and electric current to compensate the torque of direct current generator X and motor Y, has reduced motor torque shake to the impact of spurt fast of micro computer mouse;
(3) described gyroscope can be determined angular coordinate and measure vehicle wheel rotational speed by time cumulation, this calculates and has navigation function for micro computer mouse continuous rotation certain angle, can realize velocity magnitude and the independent of direction of two-wheeled micro computer mouse controls, stability and dynamic property while being conducive to improve the spurt of micro computer mouse, make micro computer mouse more easily realize the rotation of curvilinear path;
(4) described data memory module can be stored the labyrinth exploration information of micro computer mouse, is conducive to extract corresponding informance and optimizes the path that secondary is made a spurt, and reduces the spurt time;
(5) described LM629 control module is transferred different spurt module controls spurt directions and dash speed according to concrete path, and spurt is automatically stopped contact deduction of points, quick and safe;
(6) described two-wheeled micro computer mouse comprises two kinds of spurt patterns, meets the demand of reality match.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also according to these accompanying drawings, obtain other accompanying drawing, wherein:
Fig. 1 is the schematic block circuit diagram of monolithic processor controlled micro computer mouse;
Fig. 2 is the schematic block circuit diagram of spurt servo-drive system of the present invention;
Fig. 3 is the fundamental diagram of spurt control module of the present invention;
Fig. 4 is the control module block diagram of the control method of two-wheeled micro computer mouse of the present invention;
Labyrinth coordinate schematic diagram when Fig. 5 is two-wheeled micro computer mouse motion of the present invention;
Fig. 6 is the structural representation of two-wheeled micro computer mouse of the present invention one preferred embodiment;
Fig. 7 is the speed curve diagram of two-wheeled micro computer mouse of the present invention;
Fig. 8 is the automatic spurt program flow diagram of the control method of two-wheeled micro computer mouse of the present invention;
Fig. 9 is the right-hand rotation spurt schematic diagram of two-wheeled micro computer mouse of the present invention;
Figure 10 is the left-hand rotation spurt schematic diagram of two-wheeled micro computer mouse of the present invention;
Stair shape labyrinth structure figure when Figure 11 is two-wheeled micro computer mouse motion of the present invention;
Figure 12 is the schematic diagram that two-wheeled micro computer mouse of the present invention carries out 45 degree spurt along stair shape labyrinth;
U-shaped labyrinth structure figure when Figure 13 is two-wheeled micro computer mouse motion of the present invention;
Figure 14 is the movement locus schematic diagram of two-wheeled micro computer mouse of the present invention in U-shaped labyrinth;
Figure 15 is that two-wheeled micro computer mouse of the present invention is along the kinematic parameter schematic diagram of U-shaped labyrinth spurt.
In accompanying drawing, the mark of each parts is as follows: 1, housing, 2, wheel, S1, first sensor that keeps in obscurity, S2, second sensor that keeps in obscurity, S3, the 3rd sensor that keeps in obscurity, S4, the 4th sensor that keeps in obscurity, S5, the 5th sensor that keeps in obscurity, S6, the 6th sensor that keeps in obscurity, S7, opto-electronic compensation sensor.
Embodiment
Below the technical scheme in the embodiment of the present invention is 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 creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1 to Figure 15, the embodiment of the present invention comprises:
A kind of based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, be applied in two-wheeled micro computer mouse, described spurt servo-drive system comprises spurt control module, two motion driver elements, two gyroscopes and power-supply unit, described power-supply unit comprises lithium ion battery, described power-supply unit and described spurt control module are electrically connected, described spurt control module comprises ARM9 processor and LM629 control chip, described ARM9 processor and LM629 control chip are electrically connected to control the work of described LM629 control chip, described ARM9 processor is further electrically connected to receive with each gyroscope angular velocity information and the velocity information that described gyroscope detects, described LM629 control chip is further electrically connected to control the work of described motion driver element with motion driver element described in each.
ARM9 processor adopting R I SC (Reduce Instruction Computer, Reduced Instruction Set Computer) structure, has that register is many, addressing mode is simple, bulk transfer data, use the features such as address automatically increases or decreases.The ARM9 processor of a new generation, by brand-new design, has adopted more transistor, can reach twice above in the processing power of ARM7 processor, and the raising of this processing power is by increasing clock frequency and reducing instruction execution cycle and realize.
LM629 is a special chip of controlling for precise motion that National semiconductor produces, there are 24 pin and two kinds of surface-mounted encapsulation of 28 pin, at a core Embedded repertoire controlled of digital-type sport, make to design one fast and accurately the task of kinetic control system become easily, easy.
Described spurt servo-drive system further comprises two motors, and two motors are numbered respectively X, Y, and described in each, motor and a described motion driver element are electrically connected.Described motor is High-speed DC motor, and photoelectric encoder and current sensor are further set on motor described in each, and described photoelectric encoder and current sensor are electrically connected with described LM629 control chip respectively.
Described spurt servo-drive system further comprises at least six sensors that keep in obscurity, and the sensor that keeps in obscurity described in each is electrically connected with described ARM9 processor respectively.In the present embodiment, described in the keep in obscurity quantity of sensor be six, number consecutively is S1, S2, S3, S4, S5, S6.The described sensor that keeps in obscurity is infrared ray sensor, and described infrared ray sensor comprises infrared transmitter OPE5594A and infrared receiver TSL262.
The present invention also provides a kind of two-wheeled micro computer mouse, comprise described spurt servo-drive system, described two-wheeled micro computer mouse further comprises housing 1 and two wheels 2, described housing 1 inside arranges described spurt servo-drive system, described housing 1 both sides arrange respectively a described wheel 2, described in each, wheel 2 is connected with a described motor, described in each, gyroscope is connected with the rotating shaft of a described wheel 2, described in one of them, gyroscope comprises micro-mechanical sensor of angular velocity, and another gyroscope comprises speed pickup.
Described two-wheeled micro computer mouse further comprises opto-electronic compensation sensor, and described opto-electronic compensation sensor and described ARM9 processor are electrically connected.
The present invention also provides the control method of a kind of described two-wheeled micro computer mouse, comprise upper computer control module and motion-control module, described upper computer control module comprises labyrinth read module, coordinate setting module and online output module, described motion-control module comprises data memory module, input/output module and LM629 control module, described LM629 control module comprises straight dash module, module, the spurt module of turning left, diagonal line spurt module and the U-shaped spurt module of making a spurt of turning right.In the present embodiment, described straight dash module, the spurt module of turning right, the spurt module of turning left, diagonal line spurt module and U-shaped spurt module number consecutively are subroutine 1, subroutine 2, subroutine 3, subroutine 4, subroutine 5.
Wherein, described LM629 control module is controlled the dash speed of described two-wheeled micro computer mouse in each section of motion distance, described dash speed is divided into permanent accelerated motion stage, uniform motion stage and permanent retarded motion stage successively, in described permanent accelerated motion stage and permanent retarded motion stage, the acceleration of two-wheeled micro computer mouse all remains unchanged and equal and opposite in direction.
In addition, described two-wheeled micro computer mouse comprises spurt and the two kinds of spurt patterns of direct spurt explored; Under described exploration spurt pattern, described two-wheeled micro computer mouse automatic search complete labyrinth explore reach home after return to origin again, finally transfer the labyrinth information obtained in heuristic process fast spurt to terminal; Under direct spurt pattern, described two-wheeled micro computer mouse is directly transferred the quick spurt of historical labyrinth information to terminal.In the present embodiment, described direct spurt pattern further comprises constant speed spurt pattern and non-constant speed spurt pattern.
When concrete application, when developing, the present invention adopt S3C2440A as development board core, described computer mouse is realized full SMD components material substantially, realized veneer control, not only having saved control panel takes up room, and be conducive to alleviating of volume and weight, be conducive to improve stability and the dynamic property of micro computer mouse servo-drive system.
For the double-core controller designing herein, first micro computer mouse is placed on to labyrinth starting point, under power supply opening state, micro computer mouse determines it is that automatic search completes the optimum spurt of the labyrinth Information generation path that storage was explored or transferred in labyrinth according to key information, then rely on the place ahead, left and right side keep in obscurity sensor according to actual navigational environment transformation parameter to the ARM9 in double-core controller (S3C2440A), ARM9 (S3C2440A) processes rear and LM629 communication, then by LM629, according to ladder diagram parameter, open the servocontrol that inner servo position regulator is processed two individual motor, and deal with data communication to ARM9 (S3C2440A), by ARM9 (S3C2440A), continue to process follow-up running status.
Principle of work of the present invention is:
1) in micro computer mouse opening power moment, system will complete spurt according to the mode of Fig. 8, first system will complete initialization, then wait for key information, before not receiving key information order, it generally can be at starting point coordinate (0,0) wait for the spurt order that controller sends, according to key information, the present invention has multiple spurt method: if what press is that START(starts) key, illustrative system will be abandoned the advanced line search of former labyrinth information, has then searched for the spurt labyrinth information that rear generation is optimized, and micro computer mouse enters automatically the repeatedly sprint stage; If what press is that RESET(resets)+STRAT(startup) key, the optimum labyrinth after illustrative system will recall and explore, then starts fast to terminal (7,7), (7,8), (8,7), (8,8) spurt along starting point; If what press is that RESET(resets)+STRAT(startup)+SPEED(speed) key, the optimum labyrinth after illustrative system will recall and explore, then starts fast to terminal (7 with the dash speed of setting along starting point, 7), (7,8), (8,7), (8,8) spurt.
2) micro computer mouse is placed on starting point coordinate (0, 0), receive after task in order to prevent from misplacing spurt direction, the sensor S1 in its place ahead, S6 and can judging the environment in the place ahead, define and do not have barricade to enter range of movement, as exist barricade to send interrupt request to ARM9 (S3C2440A), ARM9 (S3C2440A) can be to interrupting doing very first time response, then forbid controlling the LM629 work of left and right wheels, block the motor X of micro computer mouse and the PWM of motor Y driving signal, make it be still in original place, then the place ahead information is determined in secondary judgement labyrinth, prevent information erroneous judgement, if do not have barricade to enter the range of movement in the place ahead, micro computer mouse will be opened reset circuit, transfer normal labyrinth information, prepare to make a spurt normally.
3) at micro computer, start the moment of making a spurt, sensor S1, S2, S3, S4, S5, six infrared lights that independently infrared transmitting tube OPE5594A sends of S6(are converted into the information in labyrinth around after receiver TSL262 accepts) judge environment around and give ARM9(S3C2440A), then by ARM9(S3C2440A) according to the instruction set-point of ladder diagram formation speed-time motion diagram of spurt labyrinth Information generation Fig. 7, the area that this graphics package contains is exactly the distance S1 that two motor X of micro computer mouse, motor Y will move.Then with LM629 communication, then LM629 generates in conjunction with the feedback of photoelectric coded disk and current sensor PWM ripple and the direction that drives diaxon direct current generator according to speed, acceleration parameter command value.PWM ripple, through two individual motor of drive axle rear drive, completes whole accelerator until reach spurt setting speed, and deal with data communication to ARM9(S3C2440A), by ARM9(S3C2440A) continue to process follow-up running status.
4) if 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 spurt process in the information of labyrinth, system enters spurt subroutine 1, micro computer mouse is by its present coordinate (X of storage, Y), and travelling forward the location parameter of Z lattice this location parameter is transferred to ARM9 (S3C2440A), then ARM9 (S3C2440A) is converted into speed parameter and acceleration parameter 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, to upgrade its coordinate is (X, Y+Z), for spurt need to fast, the present invention has given up traditional single speed spurt pattern, according to the speed of Fig. 7 and time curve, control acceleration and the deceleration of micro computer mouse, the area that ladder diagram comprises is the distance of micro computer mouse motion Z lattice.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 makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
5) if oppositely show forward 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 micro computer mouse in spurt process fast in the information of labyrinth, system enters spurt subroutine 1, micro computer mouse is by its present coordinate (X of storage, Y), and travelling forward the location parameter of Z lattice this location parameter is transferred to ARM9 (S3C2440A), then ARM9 (S3C2440A) is converted into speed parameter and acceleration parameter 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, control the motor of left and right wheels to Y-axis counter motion, when arriving target setting, to upgrade its coordinate is (X, Y-Z), for spurt need to fast, the present invention has given up traditional single speed spurt pattern, according to the speed of Fig. 7 and time curve, control acceleration and the deceleration of micro computer mouse, the area that ladder diagram comprises is the distance of micro computer mouse motion Z lattice.When its process that travels forward arrives set objective, 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 micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path;
6) if having barricade to enter the range of movement in the place ahead micro computer mouse in motion process before Y-axis, and when now in the information of labyrinth, left has barricade, system enters spurt subroutine 2, micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Fig. 9, when right spurt is turned, ARM9 (S3C2440A) first the very short distance D ashTurn_R90_Leading of walking straight line 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_Leading speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then control left and right wheels work, when arriving set objective, sensor reference value R90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After finishing, error compensation starts to adjust direct current generator X and direct current generator Y speed is DashTurn_R90_VelX1 and DashTurn_R90_VelY1, this Time Controller can send ARM9 (S3C2440A) to curvilinear motion track DashTurn_R90_Arc1, the curvilinear path DashTurn_R90_Arc1 of walking is converted into speed parameter according to the different requirement of various spurt conditions to ARM9 (S3C2440A) 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 control left and right wheels work, after arriving set objective, adjusting immediately micro computer mouse speed is DashTurn_R90_VelX2 and DashTurn_R90_VelY2, the curvilinear path DashTurn_R90_Arc2 of walking is converted into speed parameter according to the different requirement of various spurt conditions to ARM9 (S3C2440A) 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 set objective, micro computer mouse under gyroscope is controlled the right side turn 90 degrees, the very short distance D ashTurn_R90_Passing of straight line moving is converted into speed parameter according to the different requirement of various spurt conditions with controller 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, after arriving set objective, complete the geometric locus motion of whole right-hand bend.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 micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path;
7) if having barricade to enter the range of movement in the place ahead micro computer mouse in motion process before Y-axis, and now right-hand while having barricade in the information of labyrinth, system enters spurt subroutine 3, micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Figure 10, when right spurt is turned, ARM9 (S3C2440A) first the very short distance D ashTurn_L90_Leading of walking straight line 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_Leading speed ladder diagram and the PWM ripple of controlling the motion of micro computer mouse, then control left and right wheels work, when arriving set objective, sensor reference value L90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After finishing, error compensation starts to adjust direct current generator X and direct current generator Y speed is DashTurn_L90_VelX1 and DashTurn_L90_VelY1, this Time Controller can send ARM9 (S3C2440A) to curvilinear motion track DashTurn_L90_Arc1, the curvilinear path DashTurn_L90_Arc1 of walking is converted into speed parameter according to the different requirement of various spurt conditions to ARM9 (S3C2440A) 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 control left and right wheels work, after arriving set objective, 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 speed parameter according to the different requirement of various spurt conditions to ARM9 (S3C2440A) 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 set objective, micro computer mouse under gyroscope is controlled a left side turn 90 degrees, the very short distance D ashTurn_L90_Passing of straight line moving is converted into speed parameter according to the different requirement of various spurt conditions with controller 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, after arriving set objective, complete the geometric locus motion of whole left-hand bend.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 micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path;
8) micro computer mouse along X-axis, if there is the staircase-type labyrinth retaining wall of similar Figure 11 to enter the range of movement in the place ahead before Y-axis in motion process, system enters spurt subroutine 4, micro computer mouse will be stored now coordinate (X, Y), system enters spurt subroutine 4, then enter the diagonal motion track shown in Figure 12, at straight way coordinate, be (X, Y) time, double-core controller is controlled direct current generator X and direct current generator Y at the uniform velocity advances with identical speed, sensor S2 in the process of advancing, S3 and S4, S5 acting in conjunction, when guaranteeing the spurt of micro computer mouse, necessarily along labyrinth center line, travel, being about to go out coordinate is (X, Y) during the grid of labyrinth, micro computer mouse upfront sensor S1 and S6 are by work, when reading preset value, the front portion that micro computer mouse is described has entered coordinate (X+1, Y), then micro computer mouse sensor S1 position is transferred to ARM9 (S3C2440A) to the distance SX of motor center, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance SX of walking straight line according to different spurt condition time requirement, then LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then control left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, labyrinth coordinate renew now, be (X+1, Y), it is that attitude adjustment is done in 45 degree diagonal line spurt that micro computer mouse starts, now ARM9 (S3C2440A) can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc1_45, then LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then control left and right wheels and advance with constant ratio, after arriving set objective, adjust immediately the speed of micro computer mouse left and right wheels, ARM9 (S3C2440A) is converted into speed parameter and acceleration parameter command value curvilinear motion track R_Arc2_45 according to different spurt condition time requirement, then LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then control left and right wheels and advance with constant ratio, under gyrostatic control, the slope that guarantees arrival curve R_Arc2_45 when arriving set objective A point is 45 degree, then controller is converted into speed parameter and acceleration parameter command value the very short distance P assing1 of straight line moving according to different spurt condition time requirement, then LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then controlling left and right wheels advances with identical acceleration and speed, after arriving set objective, by three sections of different tracks, completing the geometric locus that whole right-hand bend 45 degree directions change moves, micro computer mouse enters the diagonal line sprint stage, now upfront sensor S1 and S6 start working, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value walking air line distance according to different spurt condition time requirement, then LM629 is in conjunction with feedback and sensor S1 and the detection of S6 to the place ahead pillar of the photoelectric encoder on motor X and motor Y, current sensor, through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then control left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, micro computer pindone becomes at coordinate (X+1, Y-1) makes a spurt to the diagonal line under coordinate (X+2, Y-1), and micro computer pindone becomes the spurt in a lattice stair labyrinth, labyrinth coordinate renew now, is (X+2, Y-2), the like, micro computer pindone becomes the spurt in Z lattice stair labyrinth, renewal labyrinth is (X+Z+1, Y-Z-1), micro computer mouse starts to produce action, this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track L_Arc3_45, then LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then control left and right wheels and advance with constant ratio, after arriving set objective, adjust immediately the speed of micro computer mouse left and right wheels, controller is converted into speed parameter and acceleration parameter command value curvilinear motion track L_Arc4_45 according to different spurt condition time requirement, then LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then control left and right wheels and advance with constant ratio, under gyrostatic control, the slope that guarantees arrival curve L_Arc4_45 when arriving set objective B point is 0 degree, then controller is converted into speed parameter and acceleration parameter command value the very short distance P assing2 of straight line moving according to different spurt condition time requirement, then LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner PID regulator, generate the PWM ripple of controlling left and right wheels, then controlling left and right wheels advances with identical acceleration and speed, after arriving set objective, by three sections of different tracks, complete at coordinate (X+Z+1, Y-Z-1) lower whole left-hand bend 45 motion of line tracking of writing music, micro computer pindone becomes forthright track after becoming diagonal line to make a spurt changes, micro computer mouse enters the straight dash stage, upfront sensor S2 now, S3, S4 and S5 start working, enter line navigation, and upgrade current coordinate for (X+Z+2, Y-Z-1) is at X+Z+2<15 and Y-Z-1>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 micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path,
9) micro computer mouse along X-axis, if there is the U-shaped labyrinth retaining wall of similar Figure 13 to enter the range of movement in the place ahead before Y-axis in motion process, system enters spurt subroutine 5, micro computer mouse will be stored now coordinate (X, Y), then enter Figure 14, curvilinear motion track shown in Figure 15, when once right spurt is turned, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance L eading1 of walking straight line according to different spurt condition time requirement, then with LM629 communication, LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner servo-operated regulator, the PWM ripple that generates control left and right wheels is controlled left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, labyrinth coordinate renew now, be (X-1, Y), sensor reference value R90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc1, then with LM629 communication, LM629, generates the PWM ripple of controlling left and right wheels and controls the speed of left and right wheels and turn with constant ratio through inner servo-operated regulator in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, after arriving set objective, adjust immediately the speed of micro computer mouse, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc2, then with LM629 communication, LM629, generates the speed that the PWM that controls left and right wheels controls left and right wheels and turns with constant ratio through inner servo-operated regulator in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, after arriving set objective, micro computer mouse under gyroscope is controlled the right side turn 90 degrees, controller is the very short distance P assing1+Leading2 of straight line moving, according to different spurt condition time requirement, be converted into speed parameter and acceleration parameter command value, , then with LM629 communication, LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner servo-operated regulator, the PWM ripple control left and right wheels that generates control left and right wheels is advanced with identical acceleration and speed, when the value generation of sensor S5 has low level to arrive the transition of high level, upgrading micro computer mouse coordinate is (X-1, Y+1), micro computer mouse continues to advance with current speed and acceleration, when arriving set objective, sensor reference value R90_FrontWallRef starts working, prevent that external interference from starting to do error compensation.After error compensation finishes, micro computer mouse continues to turn right, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc1, then with LM629 communication, LM629, generates the PWM ripple of controlling left and right wheels and controls the speed of left and right wheels and turn with constant ratio through inner servo-operated regulator in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, after arriving set objective, adjust immediately the speed of micro computer mouse, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc2, then with LM629 communication, LM629, generates the PWM ripple of controlling left and right wheels and controls the speed of left and right wheels and turn with constant ratio through inner servo-operated regulator in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, after arriving set objective, micro computer mouse under gyroscope is controlled the right side turn 90 degrees, controller is converted into speed parameter and acceleration parameter command value the very short distance P assing2 of straight line moving according to different spurt condition time requirement, , then with LM629 communication, LM629 in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor through inner servo-operated regulator, the PWM ripple control left and right wheels that generates control left and right wheels is advanced with identical acceleration and speed, arrive after set objective, micro computer pindone becomes the spurt in a U-shaped labyrinth, upgrading micro computer mouse coordinate is (X, Y+1), and 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 micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path,
9) when the spurt of micro computer mouse arrives (7,7), (7,8), (8,7), (8,8) return that can prepare after after spurt is explored 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.
10) when micro computer mouse enters labyrinth return exploration, the sensor S1 of its navigation, S2, S3, S4, S5, S6 is by work, and give ARM9 (S3C2440A) the photosignal reflecting, after ARM9 (S3C2440A) judgement, give LM629, by carrying out communication with ARM9 (S3C2440A) after LM629 computing, then by controller, send motor X and the motor Y of control signal to navigation to determine: if enter the region of having searched for, will advance fast, ARM9 (S3C2440A) can strengthen the dutycycle of controlling motor, to pass through fast known region, reduce secondary and explore the time, 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, micro computer mouse enters the sprint stage, juxtaposition spurt is masked as 1.
11) in order to realize the coordinate computing function of micro computer mouse accurate labyrinth spurt, the sensor S2 of micro computer mouse left and right, S3 and S4, S5 can survey labyrinth retaining wall and pillar around constantly, if S2, S3 or S4, S5 finds that transition has occurred sensor signal, illustrate that micro computer mouse has entered the interface point of labyrinth retaining wall and pillar, now side sensor S2 or S5 can accurately survey this constantly, when again there is transition, illustrate that mouse has started current labyrinth grid, ARM9(S3C2440A) can calculate also according to sensor feedback information is 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 in High-speed DC motor X-axis and Y-axis, because precision is higher, make the coordinate calculating of micro computer mouse there will not be mistake, the accuracy that while having guaranteed the quick spurt of micro computer mouse, read in labyrinth.
12) in order to reduce the interference of light source to the spurt of micro computer mouse, the present invention has added opto-electronic compensation sensor S7, this sensor can read abnormal light source around 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.
13) in micro computer mouse spurt process, ARM9 (S3C2440A) 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, has reduced motor torque shake to the impact of spurt fast of micro computer mouse.
14) if micro computer mouse runs in spurt process to skid 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 ARM9 (S3C2440A); now ARM9 (S3C2440A) can control immediately LM629 and quits work, and not only reduces and has effectively solved stall problem, and reduced the destruction to system hardware.
15) when completing whole spurt process, micro computer arrives (7, 7), (7, 8), (8, 7), (8, 8), 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) control LM629 is made to micro computer origin coordinates (0, 0) central point stops, then readjust the PWM ripple output of LM629, make motor X and motor Y with contrary direction motion, and under gyrostatic control, original place Rotate 180 degree, then stop 1 second, secondary is transferred labyrinth information, then according to algorithm, calculate 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, completes spurt repeatedly, to reach the object of quick spurt.
Beneficial effect of the present invention is:
(1) adopt ARM9 processor and LM629 control chip division of labor work simultaneously, greatly improved arithmetic speed, avoid producing large electric current, shortened the construction cycle short, and program transportability ability is strong; The race that has effectively prevented program flies, and antijamming capability strengthens greatly; Constantly monitor the residual capacity of lithium ion battery, be conducive to the energy state of electrolytic cell, when energy content of battery state is lower, can before spurt prerequisite, change battery, thereby reduced battery, the mistake of sound lunge is disturbed;
(2) in micro computer mouse spurt process fast, described ARM9 processor can carry out on-line identification and utilize the relation of direct current generator moment and electric current to compensate the torque of direct current generator X and motor Y, has reduced motor torque shake to the impact of spurt fast of micro computer mouse;
(3) described gyroscope can be determined angular coordinate and measure wheel 2 rotating speeds by time cumulation, this calculates and has navigation function for micro computer mouse continuous rotation certain angle, can realize velocity magnitude and the independent of direction of two-wheeled micro computer mouse controls, stability and dynamic property while being conducive to improve the spurt of micro computer mouse, make micro computer mouse more easily realize the rotation of curvilinear path;
(4) described data memory module can be stored the labyrinth exploration information of micro computer mouse, is conducive to extract corresponding informance and optimizes the path that secondary is made a spurt, and reduces the spurt time;
(5) described LM629 control module is transferred different spurt module controls spurt directions and dash speed according to concrete path, and spurt is automatically stopped contact deduction of points, quick and safe;
(6) described two-wheeled micro computer mouse comprises two kinds of spurt patterns, meets the demand of reality match.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (10)
1. one kind based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, be applied in two-wheeled micro computer mouse, it is characterized in that, described spurt servo-drive system comprises spurt control module, two motion driver elements, two gyroscopes and power-supply unit, described power-supply unit and described spurt control module are electrically connected, described spurt control module comprises ARM9 processor and LM629 control chip, described ARM9 processor and LM629 control chip are electrically connected to control the work of described LM629 control chip, described ARM9 processor is further electrically connected to receive with each gyroscope angular velocity information and the velocity information that described gyroscope detects, described LM629 control chip is further electrically connected to control the work of described motion driver element with motion driver element described in each.
2. according to claim 1ly based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, it is characterized in that, described spurt servo-drive system further comprises two motors, motor and a described motion driver element electric connection described in each.
3. according to claim 2 based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, it is characterized in that, described power-supply unit comprises lithium ion battery, described motor is High-speed DC motor, photoelectric encoder and current sensor are further set on motor described in each, and described photoelectric encoder and current sensor are electrically connected with described LM629 control chip respectively.
4. according to claim 1 based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, it is characterized in that, described spurt servo-drive system further comprises at least six sensors that keep in obscurity, and the sensor that keeps in obscurity described in each is electrically connected with described ARM9 processor respectively.
5. according to claim 4 based on double-core two-wheeled high speed micro computer mouse diagonal line spurt servo-drive system, it is characterized in that, the described sensor that keeps in obscurity is infrared ray sensor, and described infrared ray sensor comprises infrared transmitter OPE5594A and infrared receiver TSL262.
6. a two-wheeled micro computer mouse, it is characterized in that, comprise the spurt servo-drive system as described in as arbitrary in claim 1 to 5, described two-wheeled micro computer mouse further comprises housing (1) and two wheels (2), described enclosure interior arranges described spurt servo-drive system, described housing both sides arrange respectively a described wheel, described in each, wheel is connected with a described motor, described in each, gyroscope is connected with the rotating shaft of a described wheel, described in one of them, gyroscope comprises micro-mechanical sensor of angular velocity, and another gyroscope comprises speed pickup.
7. two-wheeled micro computer mouse according to claim 6, is characterized in that, described two-wheeled micro computer mouse further comprises opto-electronic compensation sensor (S7), and described opto-electronic compensation sensor and described ARM9 processor are electrically connected.
8. a control method for two-wheeled micro computer mouse as claimed in claim 7, it is characterized in that, comprise upper computer control module and motion-control module, described upper computer control module comprises labyrinth read module, coordinate setting module and online output module, described motion-control module comprises data memory module, input/output module and LM629 control module, described LM629 control module comprises straight dash module, module, the spurt module of turning left, diagonal line spurt module and the U-shaped spurt module of making a spurt of turning right.
9. the control method of two-wheeled micro computer mouse according to claim 8, it is characterized in that, described LM629 control module is controlled the dash speed of described two-wheeled micro computer mouse in each section of motion distance, described dash speed is divided into permanent accelerated motion stage, uniform motion stage and permanent retarded motion stage successively, in described permanent accelerated motion stage and permanent retarded motion stage, the acceleration of two-wheeled micro computer mouse all remains unchanged and equal and opposite in direction.
10. the control method of two-wheeled micro computer mouse according to claim 9, it is characterized in that, described two-wheeled micro computer mouse comprises explores spurt and the two kinds of spurt patterns of directly making a spurt, and described direct spurt pattern further comprises constant speed spurt pattern and non-constant speed spurt pattern; Under described exploration spurt pattern, described two-wheeled micro computer mouse automatic search complete labyrinth explore reach home after return to origin again, finally transfer the labyrinth information obtained in heuristic process fast spurt to terminal; Under direct spurt pattern, described two-wheeled micro computer mouse is directly transferred the quick spurt of historical labyrinth information to terminal.
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| CN104401483A (en) * | 2014-11-07 | 2015-03-11 | 北京精密机电控制设备研究所 | Electromechanical servo system |
| CN108388177A (en) * | 2018-02-27 | 2018-08-10 | 南开大学 | A kind of half-size scale computer mouse kinetic control system |
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