CN103713634A - Two-wheel micromouse fast diagonal dash system based on ARM9 - Google Patents
Two-wheel micromouse fast diagonal dash system based on ARM9 Download PDFInfo
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- CN103713634A CN103713634A CN201310469159.3A CN201310469159A CN103713634A CN 103713634 A CN103713634 A CN 103713634A CN 201310469159 A CN201310469159 A CN 201310469159A CN 103713634 A CN103713634 A CN 103713634A
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Abstract
The invention discloses a two-wheel micromouse fast diagonal dash system based on an ARM9. The system comprises a battery device, a key device, a sensor device, a single core full-digital minimum hardware servo unit, left and right motor drive units, a gyro and left and right motors. In the single core full-digital minimum hardware servo unit, parameter transformation and multiaxis PWM wave generation are realized through the motion controller ARM9. Electrical connection with a fast drive controller L298N, a photoelectric encoder and a current sensor is carried out, wherein the photoelectric encoder and the current sensor are located on left and right motors. According to the invention, the two-wheel micromouse full-digital fast diagonal dash system is provided; through the cooperation between a front navigation sensor and a diagonal sensor, fast diagonal dash of a micromouse in a complicated maze is realized; and the dash time of the micromouse is reduced.
Description
Technical field
The present invention relates to micro computer mouse spurt control system in, particularly relate to a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse 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 based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, can reduce the spurt time, for staircase-type, making a spurt, employing 45 degree diagonal line in labyrinth turn method and U-shaped spurt labyrinth adopts U to turn method, than turning continuously method, more save time; And in the sprint stage, there are the sensor S1 in the place ahead and S6 to compensate information the moment always, guaranteed the Stability and veracity of spurt.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, comprising: cell apparatus, key device, sensor, the digital minimal hardware servo unit of monokaryon, left and right electric-motor drive unit, gyroscope, left and right motor; Described cell apparatus, key device, sensor device, the digital minimal hardware servo unit of monokaryon and left and right motor drive between single and left and right motor and are electrically connected; Between the digital minimal hardware servo unit of described gyroscope and described monokaryon, be electrically connected; In the digital minimal hardware servo unit of described monokaryon, be further provided with motion controller ARM9, PWM controller, fast driving controller L298N and be positioned at photoelectric encoder and the current sensor on the motor of left and right, described motion controller ARM9 realizes parameter conversion module, multiaxis PWM ripple generates, and and fast driving controller L298N, photoelectric encoder, current sensor between be electrically connected, thereby institute's pwm signal flows to driving governor L298N after being generated in conjunction with various feedbacks by motion controller ARM9.
In a preferred embodiment of the present invention, in the digital minimal hardware servo unit of described monokaryon, further include a plurality of spurt and select module, described spurt selects module to be connected with described key device; Described spurt selects further to include in module automatic spurt module, make a spurt module and setting speed spurt module fast, according to key device, realizes spurt module automatically, make a spurt the choosing of module and setting speed spurt module fast.
In a preferred embodiment of the present invention, in the digital minimal hardware servo unit of described monokaryon, also further include spurt motion module, in described spurt motion module, further include the unit of preparing to make a spurt, start spurt unit and spurt unit, between described preparation spurt unit, startup spurt unit and spurt unit, connect successively in order.
In described startup spurt unit, further include interrupt request module and normal spurt module, described interrupt request module and normal spurt module interconnect with starting spurt unit, thereby described signal flows to respectively disconnected request module or the module of normally making a spurt.
In a preferred embodiment of the present invention, described spurt unit further includes straight dash unit, turn to spurt unit, diagonal line spurt unit and U-shaped spurt unit, described straight dash unit, turns to spurt unit, diagonal line spurt unit to be connected with the motion controller ARM9 in described servo-control system with U-shaped spurt unit.
In a preferred embodiment of the present invention, described straight dash unit, turn in spurt unit, diagonal line spurt unit and U-shaped spurt unit and include coordinate memory module, subroutine control module.
In a preferred embodiment of the present invention, described turning in spurt unit, diagonal line spurt unit and U-shaped spurt unit further includes curvilinear motion track module, error compensation module, object module, speed adjusting module, described curvilinear motion track module is connected with coordinate memory module, thereby described signal flows to coordinate memory module and curvilinear motion track module by subroutine control module; Described error compensation module, speed adjusting module, gyroscope are connected with object module respectively, thereby described signal flows to error compensation module, speed adjusting module or gyroscope by object module.
In a preferred embodiment of the present invention, described diagonal line spurt unit also further includes diagonal motion module and spacing module, and described diagonal motion module and coordinate memory module have been controlled by motion controller ARM9.
The invention has the beneficial effects as follows: the present invention in the servo-control system of micro computer mouse, added control the motion of micro computer mouse motion controller ARM9, by parameter, transform after by Software Create multiaxis PWM ripple, described PWM ripple is delivered to left and right motor after fast driving controller L298N, can realize by the way the diagonal line spurt fast of micro computer mouse.
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 a kind of structural representation based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Fig. 2 is a kind of digital minimal hardware servo unit of monokaryon block diagram based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Fig. 3 is a kind of digital minimal hardware servo unit spurt of monokaryon module frame chart based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Fig. 4 is a kind of micro computer mouse labyrinth schematic diagram based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Fig. 5 is a kind of micro computer mouse two-dimensional representation based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Fig. 6 be the present invention a kind of based on one preferred embodiment of the quick diagonal line of ARM9 two-wheeled micro computer mouse spurt system, be micro computer mouse speed curve diagram;
Fig. 7 is a kind of micro computer mouse based on one preferred embodiment of the quick diagonal line of ARM9 two-wheeled micro computer mouse spurt system of the present invention program schematic diagram of automatically making a spurt;
Fig. 8 be the present invention a kind of based on one preferred embodiment of the quick diagonal line of ARM9 two-wheeled micro computer mouse spurt system, be the micro computer mouse schematic diagram of making a spurt of turning right;
Fig. 9 is a kind of micro computer mouse left-hand rotation spurt schematic diagram based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Figure 10 is a kind of stair labyrinth figure based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Figure 11 is a kind of 45 degree spurt stair schematic diagram based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention;
Figure 12 is that a kind of company based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention turns U-shaped labyrinth figure;
Figure 13 is that a kind of company based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention turns U-shaped schematic diagram;
Figure 14 is that a kind of company based on one preferred embodiment of the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system of the present invention turns U-shaped labyrinth parameter schematic diagram.
In accompanying drawing, the mark of each parts is as follows: 1, left motor; 2, right 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, based on the quick diagonal line spurt of an ARM9 two-wheeled micro computer mouse system, comprising: cell apparatus, key device, sensor, the digital minimal hardware servo unit of monokaryon, left and right electric-motor drive unit, gyroscope, left and right motor; Described cell apparatus, key device, sensor device, the digital minimal hardware servo unit of monokaryon and left and right motor drive between single and left and right motor and are electrically connected; Between the digital minimal hardware servo unit of described gyroscope and described monokaryon, be electrically connected; In the digital minimal hardware servo unit of described monokaryon, be further provided with motion controller ARM9, PWM controller, fast driving controller L298N and be positioned at photoelectric encoder and the current sensor on the motor of left and right, described motion controller ARM9 realizes parameter conversion module, multiaxis PWM ripple generates, and and fast driving controller L298N, photoelectric encoder, current sensor between be electrically connected, thereby institute's pwm signal flows to driving governor L298N after being generated in conjunction with various feedbacks by motion controller ARM9.
Be different from prior art, in one embodiment, further include a plurality of spurt and select module in the digital minimal hardware servo unit of described monokaryon, described spurt selects module to be connected with described key device; Described spurt selects further to include in module automatic spurt module, make a spurt module and setting speed spurt module fast, according to key device, realizes spurt module automatically, make a spurt the choosing of module and setting speed spurt module fast.
In the digital minimal hardware servo unit of described monokaryon, also further include spurt motion module, in described spurt motion module, further include the unit of preparing to make a spurt, start spurt unit and spurt unit, between described preparation spurt unit, startup spurt unit and spurt unit, connect successively in order.
In described startup spurt unit, further include interrupt request module and normal spurt module, described interrupt request module and normal spurt module interconnect with starting spurt unit, thereby described signal flows to respectively disconnected request module or the module of normally making a spurt.
Described spurt unit further includes straight dash unit, turn to spurt unit, diagonal line spurt unit and U-shaped spurt unit, described straight dash unit, turns to spurt unit, diagonal line spurt unit to be connected with the motion controller ARM9 in described servo-control system with U-shaped spurt unit.
Described straight dash unit, turn in spurt unit, diagonal line spurt unit and U-shaped spurt unit and include coordinate memory module, subroutine control module.
Described turning in spurt unit, diagonal line spurt unit and U-shaped spurt unit further includes curvilinear motion track module, error compensation module, object module, speed adjusting module, described curvilinear motion track module is connected with coordinate memory module, thereby described signal flows to coordinate memory module and curvilinear motion track module by subroutine control module; Described error compensation module, speed adjusting module, gyroscope are connected with object module respectively, thereby described signal flows to error compensation module, speed adjusting module or gyroscope by object module.
Described diagonal line spurt unit also further includes diagonal motion module and spacing module, and described diagonal motion module and coordinate memory module have been controlled by motion controller ARM9.
In order to further describe the motion 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, its concrete function is achieved as follows:
In micro computer mouse opening power moment, system completes spurt according to the mode of Fig. 7.First system will complete initialization, then waits for key information, and before not receiving key information order, micro computer mouse waits at starting point coordinate (0,0) the spurt order that controller sends.According to key information, the present invention has multiple spurt method: if what press is that START(starts) key, illustrative system will be abandoned the advanced line search of former labyrinth information, has then searched for the spurt labyrinth information that rear generation is optimized, and micro computer mouse enters automatically the repeatedly sprint stage; If what press is that RESET(resets)+STRAT(startup) key, the optimum labyrinth after illustrative system will recall and explore, then starts fast to terminal (7,7), (7,8), (8,7), (8,8) spurt along starting point; If what press is that RESET(resets)+STRAT(startup)+SPEED(speed) key, the optimum labyrinth after illustrative system will recall and explore, then starts fast to terminal (7 with the dash speed of setting along starting point, 7), (7,8), (8,7), (8,8) spurt.
Micro computer mouse is placed on starting point coordinate (0,0), receives after task in order to prevent from misplacing spurt direction, and 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.As exist barricade to send interrupt request to ARM9 (S3C2440A), ARM9 (S3C2440A) can be to interrupting doing very first time response, then forbid Enable Pin ENA and the ENB work of L298N, block the left motor 1 of micro computer mouse and the PWM of right motor 2 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 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), then by ARM9(S3C2440A) according to the ladder diagram instruction set-point shown in spurt labyrinth Information generation Fig. 6, the area that this graphics package contains is exactly the distance S that micro computer mouse two left motors 1, right motors 2 will move.Then the feedback in conjunction with photoelectric coded disk and current sensor generates the PWM ripple that drives diaxon direct current generator.PWM ripple, through two individual motor of L298N 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.
The present invention has given up traditional single speed spurt pattern, controls acceleration and the deceleration of micro computer mouse according to the speed of Fig. 6 and time curve.The area that ladder diagram comprises is the distance of micro computer mouse motion Z lattice.If micro computer mouse along showing fast that the place ahead has under Z lattice rectilinear coordinates and do not have barricade to enter the range of movement in the place ahead before Y-axis in spurt process in the information of labyrinth, micro computer mouse is by its present coordinate (X of storage, Y), system enters spurt subroutine 1, ARM9 (S3C2440A) calculates speed parameter and acceleration parameter command value the location parameter of the Z lattice that travel forward according to the difference of spurt condition, then in conjunction with the feedback of photoelectric encoder and current sensor according to interior location, speed, acceleration program generates the PWM ripple forming under precondition, then ARM9 (S3C2440A) is by adjusting L298N pin OUT1, OUT3, OUT2, OUT4 is level, left motor 1 and the right motor 2 of controlling left and right wheels travel forward.When arriving target setting, to upgrade its coordinate is (X, Y+Z), for spurt need to fast, when its process that travels forward arrives set objective, under the prerequisite of Y+Z<15, judge that its coordinate is (7,7), (7,8), (8,7), (8,8) one of them, if not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path;
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, micro computer mouse is by its present coordinate (X of storage, Y), system enters spurt subroutine 1, ARM9 (S3C2440A) calculates speed parameter and acceleration parameter command value the location parameter of the Z lattice that travel forward according to the difference of spurt condition, then in conjunction with the feedback of photoelectric encoder and current sensor according to interior location, speed, acceleration program generates the PWM ripple forming under precondition, then ARM9 (S3C2440A) is by adjusting L298N pin OUT1, OUT3, OUT2, OUT4 is level, left motor 1 and the right motor 2 of controlling left and right wheels travel forward, when arriving target setting, to upgrade its coordinate is (X, Y-Z), when its process that travels forward arrives set objective, determining under the prerequisite of Y-Z>0, 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 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) is first converted into speed parameter and acceleration parameter command value the very short distance D ashTurn_R90_Leading of walking straight line according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels with identical acceleration and speed straight ahead, 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, starting to adjust right motor 2 speed of the left motor 1 of direct current and direct current is 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 DashTurn_R90_Arc1, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels turns 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 DashTurn_R90_Arc2, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and turn 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 D ashTurn_R90_Passing of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels advances with identical acceleration and speed, when arriving the geometric locus that completes whole right-hand bend by four sections of different tracks after set objective, move.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.
If have 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. 8, when left spurt is turned, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance D ashTurn_L90_Leading of walking straight line according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, sensor reference value L90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, starting to adjust right motor 2 speed of the left motor 1 of direct current and direct current is 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 DashTurn_L90_Arc1, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels 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 DashTurn_L90_Arc2, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance 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 D ashTurn_L90_Passing of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels advances with identical acceleration and speed, when arriving the geometric locus that completes whole left-hand bend by four sections of different tracks after set objective, move.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 the diagonal motion track shown in Figure 11, at coordinate, be (X, Y) time, ARM9 (S3C2440A) controls the left motor 1 of direct current and the right motor 2 of direct current at the uniform velocity advances with identical speed, sensor S2 in the process of advancing, S3 and S4, S5 acting in conjunction, when guaranteeing the spurt of micro computer mouse, necessarily along labyrinth center line, travel, being about to go out coordinate is (X, Y) during the grid of labyrinth, micro computer mouse upfront sensor S1 and S6 are by work, when reading preset value, the front portion that micro computer mouse is described has entered coordinate (X+1, Y), then micro computer mouse sensor S1 position is transferred to ARM9 (S3C2440A) to the distance SX of motor center, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance SX of walking straight line according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, labyrinth coordinate renew now, be (X+1, Y),
It is that attitude adjustment is done in 45 degree diagonal line spurt that micro computer mouse starts, 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_45, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with constant ratio; After arriving set objective, adjust immediately the speed of micro computer mouse left and right wheels, controller is converted into speed parameter and acceleration parameter command value curvilinear motion track L_Arc2_45 according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with constant ratio; Under gyrostatic control, the slope that guarantees arrival curve L_Arc2_45 when arriving set objective A point is 45 degree, then controller is converted into speed parameter and acceleration parameter command value the very short distance P assing1 of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with identical acceleration and speed.After arriving set objective, the geometric locus that completes whole left-hand bend 45 degree directions changes by three sections of different tracks moves.Micro computer mouse enters the diagonal line sprint stage, and now upfront sensor S1 and S6 start working; ARM9 (S3C2440A) is first walking air line distance
according to different spurt condition time requirement, be converted into speed parameter and acceleration parameter command value, then in conjunction with the photoelectric encoder feedback on left motor 1 and right motor 2, feedback and sensor S1 and the detection of S6 to the place ahead pillar of current sensor, through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels with identical acceleration and speed straight ahead; When arriving set objective, micro computer pindone becomes at coordinate (X+1, Y+1) makes a spurt to the diagonal line under coordinate (X+2, Y+1), and micro computer pindone becomes the spurt in a lattice stair labyrinth, labyrinth coordinate renew now, is (X+2, Y+2).The like, micro computer pindone becomes the spurt in Z lattice stair labyrinth, renewal labyrinth is (X+Z+1, Y+Z+1), micro computer mouse starts to produce action, this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc3_45, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with constant ratio, after arriving set objective, adjust immediately the speed of micro computer mouse left and right wheels, controller is converted into speed parameter and acceleration parameter command value curvilinear motion track R_Arc4_45 according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with constant ratio, under gyrostatic control, the slope that guarantees arrival curve R_Arc4_45 when arriving set objective B point is 0 degree, then controller is converted into speed parameter and acceleration parameter command value the very short distance P assing2 of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels advances with identical acceleration and speed, after arriving set objective, by three sections of different tracks, complete at coordinate (X+Z+1, Y+Z+1) lower whole right-hand bend 45 motion of line tracking of writing music, micro computer pindone becomes forthright track after becoming diagonal line to make a spurt changes, micro computer mouse enters the straight dash stage, upfront sensor S2 now, S3, S4 and S5 start working, enter line navigation, and upgrade current coordinate for (X+Z+2, Y+Z+1) is under the prerequisite of X+Z+2<15 and Y+Z+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.
Micro computer mouse along X-axis, if there is the U-shaped labyrinth retaining wall of similar Figure 12 to enter the range of movement in the place ahead before Y-axis in motion process, micro computer mouse will be stored now coordinate (X, Y), system enters spurt subroutine 5, then enter Figure 13, curvilinear motion track shown in Figure 14, when once left 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 in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, labyrinth coordinate renew now, be (X+1, Y), sensor reference value L90_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 L_Arc1, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn 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 L_Arc2, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn with constant ratio, after arriving set objective, micro computer mouse under gyroscope is controlled a left 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 in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels 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), micro computer mouse continues to advance with current speed and acceleration, when arriving set objective, sensor reference value L90_FrontWallRef starts working, prevent that external interference from starting to do error compensation.After error compensation finishes, micro computer mouse continues to turn left, 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 in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn 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 L_Arc2, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn 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 of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left motor 1 and right motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels advances 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.
In order to realize the micro computer mouse coordinate computing function accurately of making a spurt fast, 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 to leave 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 left motor 1 axle of High-speed DC and Y-axis, because precision is higher, make the coordinate calculating of micro computer mouse there will not be mistake, guaranteed make a spurt fast the asking property of standard of labyrinth information of micro computer mouse.
When micro computer mouse enters labyrinth return exploration, sensor S1, the S2 of its navigation, S3, S4, S5, S6 are by work, and give ARM9 (S3C2440A) the photosignal reflecting, after ARM9 (S3C2440A) computing, determine present position, present labyrinth, then by ARM9 (S3C2440A), according to current labyrinth, generate PWM ripple and send control signal to L298N: if enter the region of having searched for, will strengthen the dutycycle of PWM ripple, micro computer mouse is advanced fast, reduce the time of labyrinth search; 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 micro computer mouse motion process, if interference has appearred in system, ARM9 (S3C2440A) can be compensated electric current according to current state, the pid parameter of rapid adjustment electric current loop, the system fast and stable of making gets off, and disturbs the impact on system while preventing sound lunge.
In micro computer mouse spurt process fast; the instantaneous power that battery provides is certain; under the certain condition of dash speed; when acceleration is larger; the moment needing is just larger, and the electric current that now needs battery to provide is just larger, in order to protect battery; the present invention has added current sensor, the injury to battery while having stopped to accelerate.
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 L298N is made micro computer starting point central point stop, then readjust the OUT1 of L298N, OUT2, the level of OUT3 and OUT4, make left motor 1 and right 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. based on the quick diagonal line spurt of an ARM9 two-wheeled micro computer mouse system, it is characterized in that: comprising: cell apparatus, key device, sensor, the digital minimal hardware servo unit of monokaryon, left and right electric-motor drive unit, gyroscope, left and right motor; Described cell apparatus, key device, sensor device, the digital minimal hardware servo unit of monokaryon and left and right motor drive between single and left and right motor and are electrically connected; Between the digital minimal hardware servo unit of described gyroscope and described monokaryon, be electrically connected; In the digital minimal hardware servo unit of described monokaryon, be further provided with motion controller ARM9, PWM controller, fast driving controller L298N and be positioned at photoelectric encoder and the current sensor on the motor of left and right, described motion controller ARM9 realizes parameter conversion module, multiaxis PWM ripple generates, and and fast driving controller L298N, photoelectric encoder, current sensor between be electrically connected, thereby institute's pwm signal flows to driving governor L298N after being generated in conjunction with various feedbacks by motion controller ARM9.
2. according to claim 1 a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, it is characterized in that: in the digital minimal hardware servo unit of described monokaryon, further include a plurality of spurt and select module, described spurt selects module to be connected with described key device; Described spurt selects further to include in module automatic spurt module, make a spurt module and setting speed spurt module fast, according to key device, realizes spurt module automatically, make a spurt the choosing of module and setting speed spurt module fast.
3. according to claim 2 a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, it is characterized in that: in the digital minimal hardware servo unit of described monokaryon, also further include spurt motion module, in described spurt motion module, further include the unit of preparing to make a spurt, start spurt unit and spurt unit, between described preparation spurt unit, startup spurt unit and spurt unit, connect successively in order.
4. according to claim 3 a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, it is characterized in that: in described startup spurt unit, further include interrupt request module and normal spurt module, described interrupt request module and normal spurt module interconnect with starting spurt unit, thereby described signal flows to respectively disconnected request module or the module of normally making a spurt.
5. according to claim 4 a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, it is characterized in that: described spurt unit further includes straight dash unit, turn to spurt unit, diagonal line spurt unit and U-shaped spurt unit, described straight dash unit, turn to spurt unit, diagonal line spurt unit to be connected with the motion controller ARM9 in described servo-control system with U-shaped spurt unit.
6. according to claim 5 a kind of based on the quick diagonal line of ARM9 two-wheeled micro computer mouse spurt system, it is characterized in that: described straight dash unit, turn in spurt unit, diagonal line spurt unit and U-shaped spurt unit and include coordinate memory module, subroutine control module.
7. according to claim 6 a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, it is characterized in that: described in turn in spurt unit, diagonal line spurt unit and U-shaped spurt unit and further include curvilinear motion track module, error compensation module, object module, speed adjusting module, described curvilinear motion track module is connected with coordinate memory module, thereby described signal flows to coordinate memory module and curvilinear motion track module by subroutine control module; Described error compensation module, speed adjusting module, gyroscope are connected with object module respectively, thereby described signal flows to error compensation module, speed adjusting module or gyroscope by object module.
8. according to claim 7 a kind of based on the quick diagonal line spurt of ARM9 two-wheeled micro computer mouse system, it is characterized in that: described diagonal line spurt unit also further includes diagonal motion module and spacing module, and described diagonal motion module and coordinate memory module have been controlled by motion controller ARM9.
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