CN103529840A - High-speed dash turn servo system of dual-core controller for two-wheeled microcomputer mouse - Google Patents
High-speed dash turn servo system of dual-core controller for two-wheeled microcomputer mouse Download PDFInfo
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- CN103529840A CN103529840A CN201310469094.2A CN201310469094A CN103529840A CN 103529840 A CN103529840 A CN 103529840A CN 201310469094 A CN201310469094 A CN 201310469094A CN 103529840 A CN103529840 A CN 103529840A
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Abstract
The invention discloses a high-speed dash turn servo system of a dual-core controller for a two-wheeled microcomputer mouse. The high-speed dash turn servo system comprises a battery module, a key module, a sensor module, a dual-core all-digital minimum hardware servo unit, a first driver unit, a second drive unit, a first gyroscope, a second gyroscope, a first direct current motor and a second direct current motor. A transmitting sensor and a receiver are arranged in the sensor module; a motion controller ARM9 conversion module and a high-speed drive controller LM629 are arranged in the dual-core all-digital minimum hardware servo unit; a display module used for displaying electric charge quantity is arranged in the battery module; an automatic search module and an information retrieval module are arranged in the key module. By adopting the mode, according to the high-speed dash turn servo system disclosed by the invention, high-speed turn control of a dash stage is performed on the microcomputer mouse by adopting the dual-core controller through a decomposition motion curve by means of a forward navigation sensor, and meanwhile, multiple dash methods are designed, and the optimal scheme is intelligently selected, so that the dash time of the microcomputer mouse in the match can be greatly shortened.
Description
Technical field
The present invention relates to a kind of micro computer mouse spurt system, particularly relate to a kind of two-wheeled micro computer mouse double-core controller and connect at a high speed and turn 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:
The U.S.: the international micro computer mouse of IEEE 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;
Japan: the international micro computer mouse robot conference (expert's level) in all Japan, overall scores only calculates the spurt time, score=best spurt time;
Britain: the challenge match of micro computer mouse robot, 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;
Singapore: robot contest, exploration time, spurt time are charged to overall scores; Each robot that contacts once attempts chance by minimizing, 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 two-wheeled micro computer mouse double-core controller and connects at a high speed and turn spurt servo-drive system, can be according to laws of the game, make a kind of high speed that can independently control micro computer mouse speed and direction and connected and turn spurt system, can avoid causing because of error the generation of the failed phenomenon of spurt.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of two-wheeled micro computer mouse double-core controller to connect at a high speed and turn spurt servo-drive system, comprising: battery module, key-press module, sensor assembly, the digital minimal hardware servo unit of double-core, the first driver element, the second driver element, the first gyroscope, the second gyroscope, the first direct current generator and the second direct current generator; Between described battery module, key-press module, sensor assembly, the digital minimal hardware servo unit of double-core and described the first driver element, the second driver element and the first direct current generator and the second direct current generator, be electrically connected; The digital minimal hardware servo unit of described the first gyroscope, the second gyroscope and double-core is electrically connected; In described sensor assembly, be further provided with emission sensor and receiver, in the digital minimal hardware servo unit of described double-core, be further provided with motion controller ARM9 conversion module and high-speed driving controller LM629, between described motion controller ARM9 conversion module and high-speed driving controller LM629, be electrically connected; In described battery module, be provided with for showing the display module of the quantity of electric charge, between described display module and key-press module, interconnect, in described key-press module, be provided with automatic search module and gathering information module, electrically and the digital minimal hardware servo unit electric connection of double-core, described key information module realizes choosing of information by automatic search module and gathering information module to described key information module.
In a preferred embodiment of the present invention, in the digital minimal hardware servo unit of described double-core, further include and select module and motion module, described selection module and motion module are electrically connected to first, second driver element, and signal transmission is by selecting module to flow to motion module.
In a preferred embodiment of the present invention, (1) described selection module further includes automatic spurt module, module and the setting speed spurt module of making a spurt fast; (2) in described motion module, further include judge module, start module and spurt module, and be provided with photoelectric encoder and current sensor; Between described photoelectric encoder, current sensor and described sensor, be electrically connected.
In a preferred embodiment of the present invention, in described motion module, also further include: coordinate memory module, rate control module, for the first direct current generator and the second direct current generator are controlled and the motor module and the drive axle that drive, interconnect between described coordinate memory module, parameter instruction module and motion controller ARM9 conversion module, high-speed driving controller LM629; Between described photoelectric encoder, current sensor, motor module and drive axle module, be electrically connected.
In a preferred embodiment of the present invention, in described judge module, further include interrupt request module, between described interrupt request module and described motion controller ARM9 conversion module, high-speed driving controller LM629, be connected; Described sensor assembly sends interrupt request singal to motion controller ARM9 conversion module, and described motion controller ARM9 conversion module and high-speed driving controller LM629 receive described interrupt request singal and respond.
In a preferred embodiment of the present invention, in described startup module, further include signaling module, spacing module, between described signaling module and described motion controller ARM9 conversion module, spacing module, high-speed driving controller LM629, motor module and drive axle, be connected; Described spacing module and described photoelectric encoder and current sensor are electrically connected to high-speed driving controller LM629.
In a preferred embodiment of the present invention, in described spurt module, further include apart from generation module, spurt unit and rate control module; Described rate control module, apart from generation module and spurt unit be connected to described coordinate memory module; In described spurt module, also further include straight line units, steering unit and the curved unit for controlling micro computer mouse forms of motion.
In a preferred embodiment of the present invention, in described straight line units, further include straight dash module, between described straight dash module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629, motor module and drive axle, be electrically connected successively, high-speed driving controller LM629 exports PWM ripple and is delivered to motor movement module through drive axle.
In a preferred embodiment of the present invention, in described steering unit, further include and turn to spurt module, curvilinear motion module, compensating module and gyroscope rotary module; Described turning between spurt module, curvilinear motion module, compensating module and coordinate memory module and parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629, motor module and drive axle is electrically connected successively, thereby the PWM ripple of exporting is delivered to motor movement module through driver module.
In a preferred embodiment of the present invention, in described curved unit, further include curve spurt module, curvilinear motion module, coordinate renew module, compensating module, gyroscope rotary module and status control module; Between described curve spurt module, curvilinear motion module, coordinate renew module, error compensation module and described coordinate memory module, parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629 and motor module, be electrically connected, thereby the PWM ripple of exporting is delivered to motor movement module through driver module; Described status control module further includes constant ratio turning module and the constant ratio module of advancing.
The invention has the beneficial effects as follows: the present invention has given up the single single-chip microcomputer mode of operation that domestic micro computer mouse adopts, a kind of control system based on ARM9 and LM629 dual core processor is provided, two rotary gyroscopes have been added simultaneously, and make the digital minimal hardware servo unit of gyroscope and double-core be connected, can make micro computer mouse turn to or in curve labyrinth the inside freedom of movement more, save the spurt time.
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 that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the structural representation that turns one preferred embodiment of spurt servo-drive system;
Fig. 2 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the digital minimal hardware servo unit of the double-core block diagram that turns spurt servo-drive system;
Fig. 3 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the spurt module frame chart that turns one preferred embodiment of spurt servo-drive system;
Fig. 4 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the micro computer mouse labyrinth schematic diagram that turns one preferred embodiment of spurt servo-drive system;
Fig. 5 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the micro computer mouse two-dimensional representation that turns one preferred embodiment of spurt servo-drive system;
Fig. 6 is that to connect at a high speed what turn spurt servo-drive system one preferred embodiment be micro computer mouse speed curve diagram to a kind of two-wheeled micro computer of the present invention mouse double-core controller;
Fig. 7 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the micro computer mouse that the turns spurt servo-drive system one preferred embodiment program schematic diagram of automatically making a spurt;
Fig. 8 is that to connect at a high speed what turn spurt servo-drive system one preferred embodiment be the micro computer mouse schematic diagram of making a spurt of turning right to a kind of two-wheeled micro computer of the present invention mouse double-core controller;
Fig. 9 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the micro computer mouse left-hand rotation spurt schematic diagram that turns one preferred embodiment of spurt servo-drive system;
Figure 10 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the company that turns spurt servo-drive system one preferred embodiment and turns stair labyrinth;
Figure 11 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the company that turns spurt servo-drive system one preferred embodiment and turns stair schematic diagram;
Figure 12 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the company that turns spurt servo-drive system one preferred embodiment and turns stair parameter schematic diagram;
Figure 13 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the company that turns spurt servo-drive system one preferred embodiment and turns U-shaped labyrinth;
Figure 14 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the company that turns spurt servo-drive system one preferred embodiment and turns U-shaped schematic diagram;
Figure 15 is that a kind of two-wheeled micro computer of the present invention mouse double-core controller connects at a high speed the company that turns spurt servo-drive system one preferred embodiment and turns U-shaped labyrinth parameter schematic diagram.
In accompanying drawing, the mark of each parts is as follows: 1, the first direct current generator; 2, the second direct current generator; 3, 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, Fig. 2 and Fig. 3, the embodiment of the present invention provides following technical scheme.
In one embodiment, micro computer mouse double-core controller connects at a high speed and turns a spurt servo-drive system, comprising: battery module, key-press module, sensor assembly, the digital minimal hardware servo unit of double-core, the first driver element, the second driver element, the first gyroscope, the second gyroscope, the first direct current generator and the second direct current generator; Between described battery module, key-press module, sensor assembly, the digital minimal hardware servo unit of double-core and described the first driver element, the second driver element and the first direct current generator and the second direct current generator, be electrically connected; The digital minimal hardware servo unit of described the first gyroscope, the second gyroscope and double-core is electrically connected; In described sensor assembly, be further provided with emission sensor and receiver, in the digital minimal hardware servo unit of described double-core, be further provided with motion controller ARM9 conversion module and high-speed driving controller LM629, between described motion controller ARM9 conversion module and high-speed driving controller LM629, be electrically connected; In described battery module, be provided with for showing the display module of the quantity of electric charge, between described display module and key-press module, interconnect, in described key-press module, be provided with automatic search module and gathering information module, electrically and the digital minimal hardware servo unit electric connection of double-core, described key information module realizes choosing of information by automatic search module and gathering information module to described key information module.
Be different from prior art, in one embodiment, in the digital minimal hardware servo unit of described double-core, further include and select module and motion module, described selection module and motion module are electrically connected to first, second driver element, and signal transmission is by selecting module to flow to motion module.
(1) described selection module further includes automatic spurt module, module and the setting speed spurt module of making a spurt fast; (2) in described motion module, further include judge module, start module and spurt module, and be provided with photoelectric encoder and current sensor; Between described photoelectric encoder, current sensor and described sensor, be electrically connected.
In described motion module, also further include: coordinate memory module, rate control module, for the first direct current generator and the second direct current generator are controlled and the motor module and the drive axle that drive, interconnect between described coordinate memory module, parameter instruction module and motion controller ARM9 conversion module, high-speed driving controller LM629; Between described photoelectric encoder, current sensor, motor module and drive axle module, be electrically connected.
In described judge module, further include interrupt request module, between described interrupt request module and described motion controller ARM9 conversion module, high-speed driving controller LM629, be connected; Described sensor assembly sends interrupt request singal to motion controller ARM9 conversion module, and described motion controller ARM9 conversion module and high-speed driving controller LM629 receive described interrupt request singal and respond.
In described startup module, further include signaling module, spacing module, between described signaling module and described motion controller ARM9 conversion module, spacing module, high-speed driving controller LM629, motor module and drive axle, be connected; Described spacing module and described photoelectric encoder and current sensor are electrically connected to high-speed driving controller LM629.
In described spurt module, further include apart from generation module, spurt unit and rate control module; Described rate control module, apart from generation module and spurt unit be connected to described coordinate memory module; In described spurt module, also further include straight line units, steering unit and the curved unit for controlling micro computer mouse forms of motion.
In described straight line units, further include straight dash module, between described straight dash module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629, motor module and drive axle, be electrically connected successively, high-speed driving controller LM629 exports PWM ripple and is delivered to motor movement module through drive axle.
In described steering unit, further include and turn to spurt module, curvilinear motion module, compensating module and gyroscope rotary module; Described turning between spurt module, curvilinear motion module, compensating module and coordinate memory module and parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629, motor module and drive axle is electrically connected successively, thereby the PWM ripple of exporting is delivered to motor movement module through driver module.
In described curved unit, further include curve spurt module, curvilinear motion module, coordinate renew module, compensating module, gyroscope rotary module and status control module; Between described curve spurt module, curvilinear motion module, coordinate renew module, error compensation module and described coordinate memory module, parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629 and motor module, be electrically connected, thereby the PWM ripple of exporting is delivered to motor movement module through driver module; Described status control module further includes constant ratio turning module and the constant ratio module of advancing.
For the motion that can make the Gao Lianzhuan spurt servo-drive system of micro computer mouse act on micro computer mouse is more easily understood by technician.Refer to Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15, provide micro computer mouse to connect at a high speed to turn the concrete method of operation of spurt.
Micro computer mouse opening power, system completes spurt by the mode according to Fig. 7.System is waited for key information after completing initialization.Before not receiving key information order, micro computer mouse locates to wait for that at starting point coordinate (0,0) controller sends spurt order.According to key information, the invention provides the method for making a spurt:
(1) if what press is that START(starts) key, illustrative system will be abandoned the advanced line search of former labyrinth information, then search for the spurt labyrinth information of rear generation optimization, and micro computer mouse enters automatically the repeatedly sprint stage;
(2) if what press is that RESET(resets)+STRAT(starts) 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;
(3) if what press is that RESET(resets)+STRAT(starts)+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.
Micro computer mouse is placed on to starting point coordinate (0,0) and locates, receive after task in order to prevent from misplacing spurt direction, sensor S1, the S6 in its place ahead and can judging the environment in the place ahead, defines and does not have barricade to enter range of movement.As exist barricade to send interrupt request to ARM9 (S3C2440A), ARM9 (S3C2440A) can make response to interrupt request, 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, prevents 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.
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 spurt labyrinth Information generation as the ladder diagram instruction set-point of Fig. 6, the distance S1 that the area that this graphics package contains is exactly two the first direct current generators 1 of micro computer mouse, the second direct current generator 2, 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.
If 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, micro computer mouse will its present coordinate (X, Y) of storage.In order to make a spurt and to need fast, the present invention controls acceleration and the deceleration of micro computer mouse according to the speed of Fig. 6 and time curve, and the area that ladder diagram comprises is the distance of micro computer mouse motion Z lattice.This parameter is converted into speed parameter according to the different requirement of various spurt conditions to ARM9 (S3C2440A) and acceleration parameter command value is transferred to the LM629 that controls left and right wheels, the trapezoidal motion generator of LM629 inside can generate the PWM waveform of driving left and right wheels in conjunction with the value of feedback of photoelectric coding and current sensor according to these parameters, the motor of controlling left and right wheels travels forward fast.When arriving target setting, will upgrade its coordinate for (X, Y+Z), 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.
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, and micro computer mouse will its present coordinate (X, Y) of storage.In order to make a spurt and to need fast, the present invention controls acceleration and the deceleration of micro computer mouse according to the speed of Fig. 6 and time curve, and the area that ladder diagram comprises is the distance of micro computer mouse motion Z lattice.This parameter is converted into speed parameter according to the different requirement of various spurt conditions to ARM9 (S3C2440A) and acceleration parameter command value is transferred to the LM629 that controls left and right wheels, the trapezoidal motion generator of LM629 inside can generate the PWM waveform of driving left and right wheels in conjunction with the value of feedback of photoelectric coding and current sensor according to these parameters, control the motor of left and right wheels to Y-axis counter motion.When arriving target setting, will upgrade its coordinate for (X, Y-Z), 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.
If have 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. 8, 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 command value is transferred to the LM629 that controls left and right wheels, LM629 generates the PWM ripple of control micro computer mouse motion according to current speed and travel distance DashTurn_R90_Leading in conjunction with the feedback of photoelectric encoder and current sensor, then through drive axle, 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 error compensation finishes, start to adjust direct current the first direct current generator 1 and direct current the second direct current generator 2 speed are 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 actual speed ladder diagram and the PWM ripple of the motion of control micro computer mouse according to current speed and travel distance DashTurn_R90_Arc1 in conjunction with the feedback of photoelectric encoder and current sensor, 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 actual speed ladder diagram and the PWM ripple of the motion of control micro computer mouse according to current speed and travel distance DashTurn_R90_Arc2 in conjunction with the feedback of photoelectric encoder and current sensor, then control 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 speed ladder diagram and the PWM ripple of the motion of control micro computer mouse according to current speed and travel distance DashTurn_R90_Passing in conjunction with the feedback of photoelectric encoder and current sensor, then control left and right wheels work.The geometric locus that completes whole right-hand bend when arrival set objective moves, and 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 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.
If along there being in motion process before Y-axis barricade to enter the range of movement in the place ahead, and now right-hand while having barricade in the information of labyrinth micro computer mouse, system enters spurt subroutine 3.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_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 actual speed ladder diagram and the PWM ripple of the motion of control micro computer mouse according to current speed and travel distance DashTurn_L90_Leading in conjunction with the feedback of photoelectric encoder and current sensor, 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 the first direct current generator 1 and direct current the second direct current generator 2 speed are DashTurn_L90_VelX1 and DashTurn_L90_VelY1.This Time Controller can send ARM9 (S3C2440A) to curvilinear motion track DashTurn_L90_Arc1, and 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 actual speed ladder diagram and the PWM ripple of the motion of control micro computer mouse according to current speed and travel distance DashTurn_L90_Arc1 in conjunction with the feedback of photoelectric encoder and current sensor, 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, and 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 actual speed ladder diagram and the PWM ripple of the motion of control micro computer mouse according to current speed and travel distance DashTurn_L90_Arc2 in conjunction with the feedback of photoelectric encoder and current sensor, then control 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 speed ladder diagram and the PWM ripple of the motion of control micro computer mouse according to current speed and travel distance DashTurn_L90_Passing in conjunction with the feedback of photoelectric encoder and current sensor, 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.
Micro computer mouse along X-axis, if there is the staircase-type labyrinth retaining wall of similar Figure 10 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), then enter Figure 11, curvilinear motion track shown in Figure 12, 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 generates in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, control 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 finishing, error compensation starts to adjust direct current the first direct current generator 1 and direct current the second direct current generator 2 speed are DashTurn_L90_VelX1 and DashTurn_R90_VelY1, this Time 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 in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor, the speed of then controlling left and right wheels by drive axle is advanced with constant ratio.After arriving set objective, adjusting immediately micro computer mouse speed is DashTurn_R90_VelX2 and DashTurn_R90_VelY2, this Time 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 in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor, the speed of then controlling left and right wheels by drive axle is turned with constant ratio; After arriving set objective, micro computer mouse is controlled bottom right at gyroscope and 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 generates in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controls left and right wheels and advances with identical acceleration and speed.When the value generation of sensor S2 has high level to arrive low level transition, upgrading micro computer mouse coordinate is (X+1, Y-1), and micro computer mouse continues to advance with current speed and acceleration.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 the first direct current generator 1 and direct current the second direct current generator 2 speed are DashTurn_L90_VelX1 and DashTurn_L90_VelY1, 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_Arc1, then with LM629 communication, LM629 generates in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controlling left and right wheels speed advances with constant ratio.After arriving set objective, adjusting immediately micro computer mouse speed is DashTurn_L90_VelX2 and DashTurn_L90_VelY2, 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_Arc2, then with LM629 communication, LM629 generates in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controls left and right wheels speed and advances with constant ratio.After arriving set objective, micro computer mouse under gyroscope is controlled a left side turn 90 degrees, controller is converted into speed parameter and acceleration parameter command value the very short distance P assing2+Leading3 of straight line moving according to different spurt condition time requirement, then with LM629 communication, LM629 generates in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controlling left and right wheels advances with identical acceleration and speed, when the value generation of sensor S5 has high level to arrive low level transition, micro computer pindone becomes the spurt of stair, upgrading micro computer mouse coordinate is (X+2, Y-1).The rest may be inferred, when micro computer pindone becomes the spurt of Z lattice stair labyrinth, coordinate at Z lattice is (X+Z, Y-Z), the coordinate of going out Z lattice stair labyrinth is (X+Z+1, Y-Z), at X+Z+1<15 and Y-Z>under 0 prerequisite, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
If enter the range of movement in the place ahead along the U-shaped labyrinth retaining wall that has similar Figure 13 in motion process before X-axis, Y-axis micro computer mouse, system enters spurt subroutine 5.Micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Figure 14, Figure 15.When 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, generates the PWM ripple of controlling left and right wheels and controls left and right wheels with identical acceleration and speed straight ahead through inner servo-operated regulator in conjunction with the feedback of the photoelectric encoder on the first direct current generator 1 and the second direct current generator 2 and current sensor; 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 the first direct current generator 1 and the second direct current generator 2 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 the first direct current generator 1 and the second direct current generator 2 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 the first direct current generator 1 and the second direct current generator 2 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, and prevents 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 the first direct current generator 1 and the second direct current generator 2 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 the first direct current generator 1 and the second direct current generator 2 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 the first direct current generator 1 and the second direct current generator 2 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.
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.
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 first direct current generator 1 and second direct current generator 2 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.
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 the first direct current generator 1 axle 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.
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 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.
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.
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.
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 the first direct current generator 1 and the second direct current generator 2 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.
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 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. two-wheeled micro computer mouse double-core controller connects at a high speed and turns a spurt servo-drive system, it is characterized in that: comprising: battery module, key-press module, sensor assembly, the digital minimal hardware servo unit of double-core, the first driver element, the second driver element, the first gyroscope, the second gyroscope, the first direct current generator and the second direct current generator; Between described battery module, key-press module, sensor assembly, the digital minimal hardware servo unit of double-core and described the first driver element, the second driver element and the first direct current generator and the second direct current generator, be electrically connected; The digital minimal hardware servo unit of described the first gyroscope, the second gyroscope and double-core is electrically connected; In described sensor assembly, be further provided with emission sensor and receiver, in the digital minimal hardware servo unit of described double-core, be further provided with motion controller ARM9 conversion module and high-speed driving controller LM629, between described motion controller ARM9 conversion module and high-speed driving controller LM629, be electrically connected; In described battery module, be provided with for showing the display module of the quantity of electric charge, between described display module and key-press module, interconnect, in described key-press module, be provided with automatic search module and gathering information module, electrically and the digital minimal hardware servo unit electric connection of double-core, described key information module realizes choosing of information by automatic search module and gathering information module to described key information module.
2. a kind of two-wheeled micro computer mouse double-core controller according to claim 1 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in the digital minimal hardware servo unit of described double-core, further include and select module and motion module, described selection module and motion module are electrically connected to first, second driver element, and signal transmission is by selecting module to flow to motion module.
3. a kind of two-wheeled micro computer mouse double-core controller according to claim 2 connects at a high speed and turns spurt servo-drive system, it is characterized in that: (1) described selection module further includes automatic spurt module, make a spurt module and setting speed spurt module fast; (2) in described motion module, further include judge module, start module and spurt module, and be provided with photoelectric encoder and current sensor; Between described photoelectric encoder, current sensor and described sensor, be electrically connected.
4. a kind of two-wheeled micro computer mouse double-core controller according to claim 3 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in described motion module, also further include: coordinate memory module, rate control module, for the first direct current generator and the second direct current generator are controlled and the motor module and the drive axle that drive, interconnect between described coordinate memory module, parameter instruction module and motion controller ARM9 conversion module, high-speed driving controller LM629; Between described photoelectric encoder, current sensor, motor module and drive axle module, be electrically connected.
5. a kind of two-wheeled micro computer mouse double-core controller according to claim 4 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in described judge module, further include interrupt request module, between described interrupt request module and described motion controller ARM9 conversion module, high-speed driving controller LM629, be connected; Described sensor assembly sends interrupt request singal to motion controller ARM9 conversion module, and described motion controller ARM9 conversion module and high-speed driving controller LM629 receive described interrupt request singal and respond.
6. a kind of two-wheeled micro computer mouse double-core controller according to claim 4 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in described startup module, further include signaling module, spacing module, between described signaling module and described motion controller ARM9 conversion module, spacing module, high-speed driving controller LM629, motor module and drive axle, be connected; Described spacing module and described photoelectric encoder and current sensor are electrically connected to high-speed driving controller LM629.
7. a kind of two-wheeled micro computer mouse double-core controller according to claim 4 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in described spurt module, further include apart from generation module, spurt unit and rate control module; Described rate control module, apart from generation module and spurt unit be connected to described coordinate memory module; In described spurt module, also further include straight line units, steering unit and the curved unit for controlling micro computer mouse forms of motion.
8. a kind of two-wheeled micro computer mouse double-core controller according to claim 7 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in described straight line units, further include straight dash module, between described straight dash module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629, motor module and drive axle, be electrically connected successively, high-speed driving controller LM629 exports PWM ripple and is delivered to motor movement module through drive axle.
9. a kind of two-wheeled micro computer mouse double-core controller according to claim 7 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in described steering unit, further include and turn to spurt module, curvilinear motion module, compensating module and gyroscope rotary module; Described turning between spurt module, curvilinear motion module, compensating module and coordinate memory module and parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629, motor module and drive axle is electrically connected successively, thereby the PWM ripple of exporting is delivered to motor movement module through driver module.
10. a kind of two-wheeled micro computer mouse double-core controller according to claim 7 connects at a high speed and turns spurt servo-drive system, it is characterized in that: in described curved unit, further include curve spurt module, curvilinear motion module, coordinate renew module, compensating module, gyroscope rotary module and status control module; Between described curve spurt module, curvilinear motion module, coordinate renew module, error compensation module and described coordinate memory module, parameter instruction module, motion controller ARM9 conversion module, high-speed driving controller LM629 and motor module, be electrically connected, thereby the PWM ripple of exporting is delivered to motor movement module through driver module; Described status control module further includes constant ratio turning module and the constant ratio module of advancing.
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