CN103529841A - Top-speed dash turn servo system of dual-core controller for two-wheeled microcomputer mouse - Google Patents
Top-speed dash turn servo system of dual-core controller for two-wheeled microcomputer mouse Download PDFInfo
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- CN103529841A CN103529841A CN201310469224.2A CN201310469224A CN103529841A CN 103529841 A CN103529841 A CN 103529841A CN 201310469224 A CN201310469224 A CN 201310469224A CN 103529841 A CN103529841 A CN 103529841A
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Abstract
The invention discloses a top-speed dash turn servo system of a dual-core controller for a two-wheeled microcomputer mouse. The top-speed dash turn servo system comprises a battery device, a key device, a sensor device, a control unit, a first motor drive unit, a second motor drive unit, a gyroscope rotating module, a first motor and a second motor. An automatic search module and an information retrieval module are arranged in the key module; an infrared transmitter and an infrared receiver are arranged in the sensor device; a motion controller ARM9, a top-speed drive controller FPGA (field programmable gate array) responsible for processing data communication, a dash selection module and a dash motion module are arranged in the control unit; the motion controller ARM9 and the top-speed drive controller FPGA are electrically connected, and are combined with each other to generate the dash selection module and the dash motion module. By adopting the mode, according to the top-speed dash turn servo system disclosed by the invention, a two-axle direct-current servo system of which the workload is maximum can be handed over to the FPGA for processing in a provided servo control system to fully exert the characteristic of higher data processing speed of the FPGA.
Description
Technical field
The present invention relates to a kind of micro computer mouse spurt control system, particularly relate to the very fast company of a kind of two-wheeled micro computer mouse double-core controller 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 the very fast company of a kind of two-wheeled micro computer mouse double-core controller and turns spurt servo-drive system, the synchronous servo of two direct current generators while processing micro computer mouse sound lunge by FPGA is controlled, make to control fairly simple, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle short, and program transportability ability is strong.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide the very fast company of a kind of two-wheeled micro computer mouse double-core controller to turn spurt servo-drive system, comprising: cell apparatus, key device, sensor device, control module, first, second electric-motor drive unit, gyroscope rotary module, first, second motor; Between described cell apparatus, key device, sensor device, control module, first, second motor of first, second electric-motor drive unit, be electrically connected; Described gyroscope rotary module and control module are electrically connected; In described key device, be provided with automatic search module and gathering information module, between described automatic search module and gathering information module and key device and servo control unit, interconnect, according to the obtaining information of the automatic search module in described key device and gathering information module; In described sensor device, be provided with infrared transmitter and infrared remote receiver; In described control module, be provided with motion controller ARM9, be responsible for the very fast driving governor FPGA of deal with data communication, the selection module of making a spurt and spurt motion module, between described motion controller ARM9 and very fast driving governor FPGA, be electrically connected.
In a preferred embodiment of the present invention, described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, described automatic spurt module, module and the setting speed spurt module of making a spurt is connected respectively with between described key device fast, according to key device, realizes choosing of spurt mode.
In a preferred embodiment of the present invention, described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, and described automatic spurt module, make a spurt module and setting speed spurt module is electrically connected with described key device respectively fast.
In a preferred embodiment of the present invention, in described spurt motion module, be further provided with photoelectric encoder and current sensor, between described photoelectric encoder and current sensor and described very fast driving governor FPGA, be connected.
In described spurt motion module, also further include: coordinate memory module, instruction conversion module, PWM control module and the drive axle that left control motor and the right motor of control are controlled, be electrically connected between described coordinate memory module, instruction conversion module, PWM control module and drive axle.
In a preferred embodiment of the present invention, in described straight dash module, be further provided with barricade identification module and straight dash unit, described barricade identification module is connected with drive axle with described coordinate memory module, motion controller ARM9, instruction conversion module, very fast driving governor FPGA with straight dash unit, thereby described signal is delivered to drive axle after very fast driving governor FPGA generates pwm signal.
In a preferred embodiment of the present invention, described in turn to spurt to be further provided with in module to turn to spurt unit, data transmission module, data conversion module, speed generation module and error compensation module; Described turn to spurt unit, data transmission module, data conversion module, speed generation module and error compensation module to be generated by described motion controller ARM9 and very fast driving governor FPGA and and drive axle between be electrically connected, thereby described signal is delivered to drive axle after FPGA generates pwm signal.
In a preferred embodiment of the present invention, in described curve spurt module, further include coordinate renew module, error compensation module, speed adjusting module, between described coordinate renew module, speed adjusting module and gyroscope rotary module, described motion controller ARM9, instruction conversion module, very fast driving governor FPGA, PWM control module and drive axle, be electrically connected successively.
The invention has the beneficial effects as follows: the present invention adds gyroscope rotary module and motion controller ARM9 and very fast driving governor FPGA in servo-control system, make micro computer pindone become speed and direction independently to control, not only can realize the very fast spurt of micro computer mouse, can also make micro computer mouse more easily realize the rotation of curvilinear path.
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 structural representation that the very fast company of a kind of two-wheeled micro computer of the present invention mouse double-core controller turns one preferred embodiment of spurt servo-drive system;
Fig. 2 is the control module block diagram that the very fast company of a kind of two-wheeled micro computer of the present invention mouse double-core controller turns spurt servo-drive system;
Fig. 3 is the curve spurt module frame chart that the very fast company of a kind of two-wheeled micro computer of the present invention mouse double-core controller turns one preferred embodiment of spurt servo-drive system;
Fig. 4 is the micro computer mouse labyrinth schematic diagram that the very fast company of a kind of two-wheeled micro computer of the present invention mouse double-core controller turns one preferred embodiment of spurt servo-drive system;
Fig. 5 is the micro computer mouse two-dimensional representation that the very fast company of a kind of two-wheeled micro computer of the present invention mouse double-core controller turns one preferred embodiment of spurt servo-drive system;
What Fig. 6 was that the very fast company of a kind of two-wheeled micro computer of the present invention mouse double-core controller turns spurt servo-drive system one preferred embodiment is micro computer mouse speed curve diagram;
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 motor; 2, the second motor; 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, the very fast company of micro computer mouse double-core controller turns a spurt servo-drive system, comprising: cell apparatus, key device, sensor device, control module, first, second electric-motor drive unit, gyroscope rotary module, first, second motor; Between described cell apparatus, key device, sensor device, control module, first, second motor of first, second electric-motor drive unit, be electrically connected; Described gyroscope rotary module and control module are electrically connected; In described key device, be provided with automatic search module and gathering information module, between described automatic search module and gathering information module and key device and servo control unit, interconnect, according to the obtaining information of the automatic search module in described key device and gathering information module; In described sensor device, be provided with infrared transmitter and infrared remote receiver; In described control module, be provided with motion controller ARM9, be responsible for the very fast driving governor FPGA of deal with data communication, the selection module of making a spurt and spurt motion module, between described motion controller ARM9 and very fast driving governor FPGA, be electrically connected.
Be different from prior art, in one embodiment, described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, described automatic spurt module, module and the setting speed spurt module of making a spurt is connected respectively with between described key device fast, according to key device, realizes choosing of spurt mode.
Described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, and described automatic spurt module, make a spurt module and setting speed spurt module is electrically connected with described key device respectively fast.
In described spurt motion module, be further provided with photoelectric encoder and current sensor, between described photoelectric encoder and current sensor and described very fast driving governor FPGA, be connected.
In described spurt motion module, also further include: coordinate memory module, instruction conversion module, PWM control module and the drive axle that left control motor and the right motor of control are controlled, be electrically connected between described coordinate memory module, instruction conversion module, PWM control module and drive axle.
In described straight dash module, be further provided with barricade identification module and straight dash unit, described barricade identification module is connected with drive axle with described coordinate memory module, motion controller ARM9, instruction conversion module, very fast driving governor FPGA with straight dash unit, thereby described signal is delivered to drive axle after very fast driving governor FPGA generates pwm signal.
Described turning in spurt module is further provided with and turns to spurt unit, data transmission module, data conversion module, speed generation module and error compensation module; Described turn to spurt unit, data transmission module, data conversion module, speed generation module and error compensation module to be generated by described motion controller ARM9 and very fast driving governor FPGA and and drive axle between be electrically connected, thereby described signal is delivered to drive axle after FPGA generates pwm signal.
In described curve spurt module, further include coordinate renew module, error compensation module, speed adjusting module, between described coordinate renew module, speed adjusting module and gyroscope rotary module, described motion controller ARM9, instruction conversion module, very fast driving governor FPGA, PWM control module and drive axle, be electrically connected successively.
In described curve spurt module, when described signal arrives set objective, be divided into five kinds and connect and transmission mode, be respectively:
(1) between coordinate memory module and described motion controller ARM9, instruction conversion module, very fast driving governor FPGA, PWM control module and drive axle, be connected, thus signal by coordinate memory module, flow to described motion controller ARM9, instruction conversion module, very fast driving governor FPGA and be combined with photoelectric encoder and current sensor after flow to PWM control module and drive axle;
(2) between parameter conversion module and very fast driving governor FPGA, PWM control module and drive axle, be connected, thus described signal by parameter conversion module, flow to very fast driving governor FPGA and be combined with photoelectric encoder and current sensor after flow to PWM control module and drive axle;
(3) between coordinate renew module and error compensation module, speed conversion module and drive axle, be connected, thereby described signal flows to error compensation module and speed conversion module and drive axle by coordinate renew module;
(4) between speed adjusting module, parameter conversion module, very fast driving governor FPGA, PWM control module and drive axle, connect, thus described signal by speed adjusting module, parameter conversion module, flow to very fast driving governor FPGA and be combined with photoelectric encoder and current sensor after flow to PWM control module and drive axle;
(5) between gyroscope rotary module and parameter conversion module, very fast driving governor FPGA, PWM control module and drive axle, be connected, thus described signal by gyroscope rotary module, flow to parameter conversion module and very fast driving governor FPGA and be combined with photoelectric encoder and current sensor after flow to PWM control module and drive axle.
In order to further describe the motion control in play of micro computer mouse, please 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, its concrete function is achieved as follows:
In micro computer mouse opening power moment, system will complete spurt according to the mode of Fig. 7.First system will complete initialization, then wait for key information, before not receiving key information order, it generally can wait for the spurt order that controller sends at starting point coordinate (0,0), according to key information, the invention provides multiple spurt method: (1) is 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; (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 received task at starting point coordinate (0,0), and 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 do not have barricade to enter range of movement.
(1) as existed barricade to incite somebody to action: send interrupt request to ARM9 (S3C2440A), ARM9 (S3C2440A) can be to interrupting doing very first time response, if the interrupt response of ARM9 (S3C2440A) does not have enough time to process, X motor and the Y motor of micro computer mouse will continue self-locking, then the place ahead information is determined in secondary judgement labyrinth, prevents information erroneous judgement; (2) if do not have barricade to enter the range of movement in the place ahead, micro computer mouse will be made 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).By ARM9(S3C2440A) according to the instruction set-point of the S curvilinear path of spurt labyrinth Information generation Fig. 6, the area that this graphics package contains is exactly the distance S1 that micro computer mouse two the first motors 1, the second motors 2 will move.Then with FPGA communication, then FPGA generates in conjunction with the feedback of photoelectric coded disk and current sensor the PWM ripple that drives diaxon direct current generator according to speed, acceleration parameter command value.PWM ripple, through two direct current generators 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.
(1) if do not have barricade to enter the range of movement in the place ahead micro computer mouse along the Y-axis Z lattice coordinate that travels forward, system enters spurt subroutine 1, micro computer mouse will be stored its coordinate (X, Y), for walking need to fast, given up traditional single speed spurt pattern, according to the speed of Fig. 6 and time curve, accelerate and slow down, at it, travel forward in process, ARM9 (S3C2440A) is converted into according to time requirement acceleration and the speed value that micro computer mouse need to be made a spurt the distance of Z lattice forward, then with FPGA communication.FPGA is converted into actual speed and acceleration in conjunction with the feedback of photoelectric encoder and current sensor acceleration and speed value, by FPGA, generated the PWM ripple signal that drives diaxon direct current generator, through drive axle rear drive micro computer mouse, arrive preset distance, micro computer mouse is every through a grid in spurt process, to upgrade its coordinate is (X, Y+1), under the prerequisite of Y+1 < 15, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
If have a plurality of coordinates not have barricade to enter the range of movement in the place ahead micro computer mouse in Y-axis counter motion process, system enters spurt subroutine 1, and micro computer mouse will be stored now coordinate (X, Y), in order to walk and to need fast, given up traditional single speed spurt pattern.According to the speed of Fig. 6 and time curve, accelerate and slow down, at it, travel forward in process, ARM9 (S3C2440A) is converted into according to time requirement acceleration and the speed value that micro computer mouse need to be made a spurt the distance of Z lattice forward, then with FPGA communication, FPGA is converted into actual speed and acceleration in conjunction with the feedback of photoelectric encoder and current sensor acceleration and speed value, by FPGA, generated the PWM ripple signal that drives diaxon direct current generator, through drive axle rear drive micro computer mouse, arrive preset distance, micro computer mouse is every through a grid in spurt process, , to upgrade its coordinate is (X, Y-1), determining Y-1 > under 0 prerequisite, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
(2) 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. 8, when right spurt is turned, micro computer mouse is transferred to ARM9 (S3C2440A) by first going to straight line to walk very short distance D ashTurn_R90_Leading, ARM9 (S3C2440A) is according to the time requirement of spurt, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA is again in conjunction with the photoelectric encoder A of motor feedback, B, Z and current of electric I signal generate the PWM ripple of controlling the first motor 1 and the second motor 2, then through drive axle, drive two-wheeled motor rotation to precalculated position, now R90_FrontWallRef starts working, prevent that external interference from starting to do error compensation, then micro computer mouse is transferred to DashTurn_R90_Arc1 ARM9 (S3C2440A), ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, speed and assisted instruction and is then transferred to FPGA, FPGA generates control the first motor 1 and the PWM ripple of the second motor 2 and speed DashTurn_R90_VelX1 and the DashTurn_R90_VelY1 of motor in conjunction with photoelectric encoder A, B, Z and the current of electric I signal of motor feedback again, then through drive axle, drives two-wheeled motor rotation to precalculated position, subsequently, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_R90_Arc2 of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA generates control the first motor 1 and the PWM ripple of the second motor 2 and speed DashTurn_R90_VelX2 and the DashTurn_R90_VelY2 of motor in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drive two-wheeled motor rotation to precalculated position, and micro computer mouse under gyroscope is controlled the right side turn 90 degrees, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_R90_Passing of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA generates control the first motor 1 and second PWM of motor 2 and the speed DashTurn_R90_VelX3 of motor and DashTurn_R90_VelY3 in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drive two-wheeled motor rotation to precalculated position, through four sections of different speed, complete the geometric locus motion of whole right-hand bend with the closed-loop control of electric current.Now will upgrade its coordinate for (X+1, Y), under the prerequisite of X+1 < 15, judge that its coordinate is (7,7), (7,8), (8,7), (8,8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, and the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
(3) 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 Fig. 9, when right spurt is turned, micro computer mouse is transferred to ARM9 (S3C2440A) by first going to straight line to walk very short distance D ashTurn_L90_Leading, ARM9 (S3C2440A) is according to the time requirement of spurt, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA.FPGA generates in conjunction with photoelectric encoder A, B, Z and the current of electric I signal of motor feedback the PWM ripple of controlling the first motor 1 and the second motor 2 again, then through drive axle, drive two-wheeled motor rotation to precalculated position, now L90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation, then micro computer mouse is transferred to DashTurn_L90_Arc1 ARM9 (S3C2440A), ARM9 (S3C2440A) is according to new spurt time requirement, then position, speed and assisted instruction that this distance is converted into response are transferred to FPGA, FPGA generates control the first motor 1 and the PWM ripple of the second motor 2 and speed DashTurn_L90_VelX1 and the DashTurn_L90_VelY1 of motor in conjunction with photoelectric encoder A, B, Z and the current of electric I signal of motor feedback again, then through drive axle, drives two-wheeled motor rotation to precalculated position, subsequently, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_L90_Arc2 of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, speed and assisted instruction and is then transferred to FPGA, FPGA generates control the first motor 1 and the PWM ripple of the second motor 2 and speed DashTurn_L90_VelX2 and the DashTurn_L90_VelY2 of motor in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drives two-wheeled motor rotation to precalculated position, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_L90_Passing of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA generates control the first motor 1 and the PWM ripple of the second motor 2 and speed DashTurn_L90_VelX3 and the DashTurn_L90_VelY3 of motor in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drive two-wheeled motor rotation to precalculated position, and micro computer mouse under gyroscope is controlled the right side turn 90 degrees, through four sections of different speed, complete the geometric locus motion of whole right-hand bend with the closed-loop control of electric current.Now will upgrade its coordinate for (X-1, Y), at X-1 > under 0 prerequisite, judge that its coordinate is (7,7), (7,8), (8,7), (8,8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, and the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
(4) micro computer mouse in motion process before X-axis, Y-axis, if occur, the staircase-type labyrinth retaining wall shown in Figure 10 enters the range of movement in the place ahead, system enters spurt subroutine 4.Micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Figure 11, 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 FPGA communication.FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 2 and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controls left and right wheels with identical acceleration and speed straight ahead;
When arriving set objective, labyrinth coordinate renew now, be (X, Y+1), 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 motor 1 and direct current the second motor 2 speed are DashTurn_R90_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 FPGA communication, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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 FPGA communication, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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, micro computer mouse under gyroscope is controlled the right side turn 90 degrees, controller, the very short distance P assing1+Leading2 of straight line moving, is converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement, then with FPGA communication.FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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 motor 1 and direct current the second motor 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 FPGA communication, FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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, 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 FPGA communication, FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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 FPGA communication, FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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), under the prerequisite of X+Z+1 < 15 and Y+Z < 15, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
(5) 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 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 be transferred to FPGA, FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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, Y+1), 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 be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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, 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 be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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, and 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 be transferred to FPGA, FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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 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 be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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, 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 be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 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 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 be transferred to FPGA, FPGA generates in conjunction with the feedback of the photoelectric encoder on the first motor 1 and the second motor 2 and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controls acceleration and the speed that left and right wheels is identical and advances.
Arrive after set objective, micro computer pindone becomes the spurt in a U-shaped labyrinth, and upgrading micro computer mouse coordinate is (X+1, and judge its coordinate whether (7,7), (7 Y),, 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;
When the spurt of micro computer mouse arrives (7,7), (7,8), (8,7), (8,8) after, the return that can prepare after spurt is explored to search more excellent path, and ARM9 (S3C2440A) can recall its labyrinth information of having stored, then calculate other optimal path that may exist, then return starts to enter one that wherein thinks optimum.
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 FPGA, by carrying out communication with ARM9 (S3C2440A) after FPGA computing, then by controller, send first motor 1 and second motor 2 of control signal to navigation to determine: if enter the region of having searched for, will advance fast, if unknown return area adopts normal speed search, and constantly upgrade its coordinate (X, Y), and judge that its coordinate is (0, 0), if words put to make a return voyage to explore and be masked as 0, micro computer mouse enters the sprint stage, juxtaposition spurt is masked as 1.
In order to realize micro computer mouse coordinate computing function accurately, the present invention has added the photoelectric encoder of 512 lines in High-speed DC the first motor 1 axle and Y-axis, constantly the distance of micro computer mouse operation calculated and with pillar, the different feature of sensor feedback information introduced to compensation according to labyrinth retaining wall, making the spurt coordinate calculating of micro computer mouse there will not be mistake.
In order to reduce the interference of light source to the spurt of micro computer mouse, the present invention has added photoelectric sensor S8, 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 operational process, ARM9 (S3C2440A) can carry out on-line identification to the torque of direct current the first motor 1 and the second motor 2, when the torque of motor is subject to the larger shake of external interference appearance, compensation when controller can utilize the relation of direct current generator moment and electric current to carry out, has reduced the impact of motor torque shake on micro computer mouse sound lunge.
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) make micro computer mouse at origin coordinates (0 control FPGA, 0) central point stops, then readjust the PWM ripple output of FPGA, make the first motor 1 and the second motor 2 with contrary direction motion, and under gyrostatic control, original place Rotate 180 degree, then stop 1 second, secondary is transferred labyrinth information, then 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 (8)
1. the very fast company of two-wheeled micro computer mouse double-core controller turns a spurt servo-drive system, it is characterized in that: comprising: cell apparatus, key device, sensor device, control module, first, second electric-motor drive unit, gyroscope rotary module, first, second motor; Between described cell apparatus, key device, sensor device, control module, first, second motor of first, second electric-motor drive unit, be electrically connected; Described gyroscope rotary module and control module are electrically connected; In described key device, be provided with automatic search module and gathering information module, between described automatic search module and gathering information module and key device and servo control unit, interconnect, according to the obtaining information of the automatic search module in described key device and gathering information module; In described sensor device, be provided with infrared transmitter and infrared remote receiver; In described control module, be provided with motion controller ARM9, be responsible for the very fast driving governor FPGA of deal with data communication, the selection module of making a spurt and spurt motion module, between described motion controller ARM9 and very fast driving governor FPGA, be electrically connected.
2. the very fast company of a kind of two-wheeled micro computer mouse double-core controller according to claim 1 turns spurt servo-drive system, it is characterized in that: described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, described automatic spurt module, module and the setting speed spurt module of making a spurt is connected respectively with between described key device fast, according to key device, realizes choosing of spurt mode.
3. the very fast company of a kind of two-wheeled micro computer mouse double-core controller according to claim 1 turns spurt servo-drive system, it is characterized in that: in described spurt motion module, be provided with straight dash module, turn to spurt module, curve spurt module, described straight dash module, turn to spurt module, curve spurt module to be connected with very fast driving governor FPGA with described motion controller ARM9.
4. the very fast company of a kind of two-wheeled micro computer mouse double-core controller according to claim 3 turns spurt servo-drive system, it is characterized in that: in described spurt motion module, be further provided with photoelectric encoder and current sensor, described photoelectric encoder is connected with described very fast driving governor FPGA with current sensor.
5. the very fast company of a kind of two-wheeled micro computer mouse double-core controller according to claim 3 turns spurt servo-drive system, it is characterized in that: in described spurt motion module, also further include: coordinate memory module, instruction conversion module, PWM control module and the drive axle that left control motor and the right motor of control are controlled, be electrically connected between described PWM control module and drive axle.
6. according to the very fast company of a kind of two-wheeled micro computer mouse double-core controller described in any one in claim 4 or 5, turn spurt servo-drive system, it is characterized in that: in described straight dash module, be further provided with barricade identification module and straight dash unit, described barricade identification module is connected with drive axle with described coordinate memory module, motion controller ARM9, instruction conversion module, very fast driving governor FPGA with straight dash unit, thereby described signal is delivered to drive axle after very fast driving governor FPGA generates pwm signal.
7. according to the very fast company of a kind of two-wheeled micro computer mouse double-core controller described in any one in claim 4 or 5, turn spurt servo-drive system, it is characterized in that: described in turn to spurt to be further provided with in module to turn to spurt unit, data transmission module, data conversion module, speed generation module and error compensation module; Described turn to spurt unit, data transmission module, data conversion module, speed generation module and error compensation module to be generated by described motion controller ARM9 and very fast driving governor FPGA and and drive axle between be electrically connected, thereby described signal is delivered to drive axle after FPGA generates pwm signal.
8. according to the very fast company of a kind of two-wheeled micro computer mouse double-core controller described in any one in claim 4 or 5, turn spurt servo-drive system, it is characterized in that: in described curve spurt module, further include coordinate renew module, error compensation module, speed adjusting module, between described coordinate renew module, speed adjusting module and gyroscope rotary module, motion controller ARM9, very fast driving governor FPGA and drive axle, be electrically connected.
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Application publication date: 20140122 |