CN105045264A - Micromouse capable of searching shortest path of maze - Google Patents
Micromouse capable of searching shortest path of maze Download PDFInfo
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- CN105045264A CN105045264A CN201510456181.3A CN201510456181A CN105045264A CN 105045264 A CN105045264 A CN 105045264A CN 201510456181 A CN201510456181 A CN 201510456181A CN 105045264 A CN105045264 A CN 105045264A
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Abstract
The invention discloses a micromouse capable of searching the shortest path of a maze. The micromouse comprises a power supply module. The power supply module is connected with a power supply filter circuit; the power supply filter circuit is connected with a sensor module, a control module and a motor driving module; the sensor module, the control module and the motor driving module are connected in sequence; and the control module is also connected with an external memory and a man-machine exchange module. The micromouse can search automatically in an unknown maze, memorize the map of the maze, carry out intelligent analysis to select the shortest path from the starting point to the terminal point, and select the considered shortest path to sprint.
Description
Technical field
The invention belongs to intelligent robot technology field, relate to a kind of can the computer mouse in automatic searching shortest path in maze footpath.
Background technology
The mankind, in the development history of science and technology, are attempt always and are wanting to create the intelligent robot that has limbs, sense organ, the comprehensive one such as mental.Computer mouse is exactly enough basic example annotating limbs, sense organ and mental synthetic operation of being good at, and it combines many-sided Sci-tech Knowledges such as machinery, motor, electronics, control, optics, program design and artificial intelligence.A computer mouse is the basic framework with dynamo-electric Knowledge Integration, similarly is inherently an intelligent robot.
Traditional intelligent carriage comprehensively can simulate people in perception, the intelligent mechanisms such as identification, reasoning, study and planning can be had, perception and intellectuality can be combined, can work under unspecific environment, the aspect such as detection, lifesaving such as to play a role at the feature in the presence of a harsh environment.But existing intelligent carriage does not possess automatic identification path in labyrinth and finds the function that shortest path passes through labyrinth.
Summary of the invention
The object of this invention is to provide a kind of can the computer mouse in automatic searching shortest path in maze footpath, can in the labyrinth of the unknown automatic search, memory labyrinth map, intellectual analysis selects the shortest path from origin-to-destination, selects the shortest path identified oneself and makes a spurt.
The technical solution adopted in the present invention is, a kind of can the computer mouse in automatic searching shortest path in maze footpath, comprise power module, power module is connected with electric source filter circuit, electric source filter circuit is connecting sensor module, control module, motor drive module respectively, sensor assembly, control module, motor drive module also connect successively, and control module also connects external memory storage, human-machine exchange module.
Further, described power module comprises supplying cell and voltage regulator circuit, supplying cell is the chargeable lithium cell of 7.4V, by passing through a diode IN5819 after a switch S 3, the other end of diode IN5819 is by electric capacity C29, while C28 is connected to GND, be directly connected to the input end of integrated circuit SPX1117M-ADJ chip, input end is connected to GND by resistance R26 and R28 simultaneously, the output terminal of integrated circuit SPX1117M-ADJ chip through ceramic condenser C26 and tantalum electric capacity C27 filtering to GND, make output voltage stabilization at 5V, simultaneously by resistance R24 and pipe diode D8 a to GND.
Further, electric source filter circuit is included in ceramic disc capacitor C20, C21 that electrochemical capacitor C18, C19 of two 100 μ F in parallel between power supply with ground and two capacitances are 104.
Further, described sensor assembly comprises 5 infrared receiving terminals equally infrared transmitting tube the same with 5, and infrared transmitting tube is that infrared emission is to pipe IRM8601S; Infrared receiving terminal adopts HS0038.
Further, described control module adopts model to be the microcontroller chip of STM32F103RBT6.
Further, described motor drive module employing model is the motor drive ic of BA6845FS model.
Further, described human-machine exchange module comprises 12 buttons and 8 Digital sum pipes and HD7279 chip composition.
The invention has the beneficial effects as follows:
1) basic demand that computer mouse identifies path in labyrinth is reached.
2) labyrinth can be passed through with the shortest path automatic search.
3) can sprint for the line with the fastest speed.
4) there is memory function.
Accompanying drawing explanation
Fig. 1 is the theory diagram of computer mouse of the present invention.
Fig. 2 is the circuit diagram of power module.
Fig. 3 is the structural drawing of electric source filter circuit.
Fig. 4 is the part-structure circuit diagram of sensor assembly.
In figure, 1. electric source filter circuit, 2. sensor assembly, 3. control module, 4. motor drive module, 5. external memory storage, 6. human-machine exchange module, 7. power module.
Embodiment
Below in conjunction with the drawings and specific embodiments, the present invention is described in detail.
A kind of can the computer mouse in automatic searching shortest path in maze footpath, based on embedded microcontroller, sensor and electromechanical movement part design, structure as shown in Figure 1, comprise power module 7, power module 7 is connected with electric source filter circuit 1, electric source filter circuit 1 is connecting sensor module 2, control module 3, motor drive module 4 respectively, and sensor assembly 2, control module 3, motor drive module 4 also connect successively, and control module 3 also connects external memory storage 5, human-machine exchange module 6.
The structure of power module 7, as shown in Figure 2, comprise supplying cell and voltage regulator circuit, supplying cell is the chargeable lithium cell of 7.4V, by passing through a diode IN5819 after a switch S 3, the effect of diode IN5819 prevents from flowing backwards, whole circuit device is shielded, the other end of diode IN5819 is by electric capacity C29, while C28 is connected to GND, be directly connected to the input end of integrated circuit SPX1117M-ADJ chip, input end is connected to GND by resistance R26 and R28 simultaneously, dividing potential drop is carried out to input voltage, thus make output voltage reach our demand.The output terminal of integrated circuit SPX1117M-ADJ chip to GND, makes output voltage stabilization at 5V through ceramic condenser C26 and tantalum electric capacity C27 filtering, simultaneously by resistance R24 with send out pipe diode D8 a to GND, plays the effect that a power supply indicates.Voltage stabilizing circuit is the SPX1117M-3.3 chip that Exar company produces, the infrared sensor voltage that computer mouse uses is 5V, the SP6641A that voltage-regulation chip adopts Exar company to produce, comparatively stable 3.3V voltage is raised to 5V, this chip is compared with general linear voltage stabilization chip, have output current large, output voltage precision is high, stability high.
The structure of electric source filter circuit 1, as shown in Figure 3, is included in ceramic disc capacitor C20, C21 that electrochemical capacitor C18, C19 of two 100 μ F in parallel between power supply with ground and two capacitances are 104.Like this ensure that the stability of power supply, for the normal work of MCU and the normal operation of motor drive ic provide reliable condition.
The structure of sensor assembly 2, part-structure as shown in Figure 4, the infrared transmitting tube the same with 5 by 5 the same infrared receiving terminals and some other discrete component form infrared circuit (describing two in figure), while the resistance pull-up by 10K of FPDP 1 pin one end of U2 receiving sensor, the data acquisition port PC4 being directly connected to microprocessor STM32F103RBT6 carries out data acquisition, U2 receiving sensor positive supply port 3 pin be connected to GND by ceramic condenser C7 and tantalum electric capacity C6, enhance antijamming capability.Simultaneously, the FPDP PB5 that D1 transmission sensor is connected to microprocessor by adjustable resistance R8 carries out data acquisition, this part circuit is the important component part of way circuit, because infrared light is easy to be subject to extraneous interference in the process propagated, the type selecting of components and parts is also the very important factor of of considering thus, so the infrared transmitting tube selected is that infrared emission that antijamming capability is very strong is to pipe IRM8601S, the centre frequency of work is 38KHZ, best effort wavelength 940nm, can by arranging different frequencies to realize the function completing the detection of far and near distance with an infrared sensor.Infrared receiving terminal adopts HS0038, and receiving infrared signal frequency is 38kHz, cycle about 26 μ s.The coded signal that it amplifies signal simultaneously, detection, shaping obtain Transistor-Transistor Logic level, then give single-chip microcomputer, decoding through single-chip microcomputer and perform controls related object.
Control module 3 adopts model to be the microcontroller chip of STM32F103RBT6, and this chip meets the requirement of design, and the speed of this chip process data very quick, meets the needs of computer mouse real-time processing data in the operational process in labyrinth completely.The I/O mouth of this chip is a lot, and it is also a lot of that I/O mouth exports input pattern, output mode recommends output, pull-up exports, drop-down output, opens and Lou exports etc., input mode has analog input, pull-up inputs, drop-down input, floating input etc., satisfy the demand completely, for the collection of potential circuit, select analog input, for the control of pilot lamp, output is recommended in employing, for the reading of button, adopt pull-up input etc., the input and output mode of this chip is varied can be selected flexibly.It is the chip of a high-performance, low cost, low-power consumption.
Motor drive module 4 adopts model to be the motor drive ic of BA6845FS model, Driving Stepping Motor is carried out by this driving chip, driving force is strong, the maximum current exported can reach 1A, and also can make system worked well when supply voltage is not very large, improve the stability of system greatly.It can have three kinds of numeral inputs: namely advance, retreat, keep, be motor-driven special chip, it is compared with other motor drive ics, and it has lower output saturation voltage, it can when low service voltage drive motor, motor is normally worked.
Human-machine exchange module 6 comprises 12 buttons and 8 Digital sum pipes and HD7279 chip and forms, pass through charactron, real-time monitoring can be carried out to the information of computer mouse in labyrinth, real-time for the coordinate information of computer mouse is shown in charactron, the value that computer mouse carries out AD collection can also be comprised the cell voltage of computer mouse, and the wall message reflection of infrared sensor is returned, thus real-time observation computer mouse is dynamic, also can, by the adjustment of these robotizations, computer mouse be made really to reach the object of intelligence.
Compared with traditional dolly, it can in specific labyrinth, starting point is had to set out, voluntarily search terminal that is specific or that specify, and grasp the position of self at any time, obtain wall information accurately and note down, then according to the storage information in MCU, select the shortest path identified oneself to make a spurt, and then complete match with the fastest speed.Computer mouse automatic search in the labyrinth of the unknown can be controlled, memory labyrinth map, intellectual analysis and the shortest path selected from origin-to-destination by embedded micro control system.
Claims (7)
1. one kind can the computer mouse in automatic searching shortest path in maze footpath, it is characterized in that, comprise power module (7), power module (7) is connected with electric source filter circuit (1), electric source filter circuit (1) is connecting sensor module (2), control module (3), motor drive module (4) respectively, sensor assembly (2), control module (3), motor drive module (4) also connect successively, and control module (3) also connects external memory storage (5), human-machine exchange module (6).
2. according to claim 1 a kind of can the computer mouse in automatic searching shortest path in maze footpath, it is characterized in that, described power module (7) comprises supplying cell and voltage regulator circuit, supplying cell is the chargeable lithium cell of 7.4V, by passing through a diode IN5819 after a switch S 3, the other end of diode IN5819 is by electric capacity C29, while C28 is connected to GND, be directly connected to the input end of integrated circuit SPX1117M-ADJ chip, input end is connected to GND by resistance R26 and R28 simultaneously, the output terminal of integrated circuit SPX1117M-ADJ chip through ceramic condenser C26 and tantalum electric capacity C27 filtering to GND, make output voltage stabilization at 5V, simultaneously by resistance R24 and pipe diode D8 a to GND.
3. according to claim 1 a kind of can the computer mouse in automatic searching shortest path in maze footpath, it is characterized in that, electric source filter circuit (1) is included in ceramic disc capacitor C20, C21 that electrochemical capacitor C18, C19 of two 100 μ F in parallel between power supply with ground and two capacitances are 104.
4. according to claim 1 a kind of can the computer mouse in automatic searching shortest path in maze footpath, it is characterized in that, described sensor assembly (2) comprises 5 infrared receiving terminals equally infrared transmitting tube the same with 5, and infrared transmitting tube is that infrared emission is to pipe IRM8601S; Infrared receiving terminal adopts HS0038.
5. according to claim 1 a kind of can the computer mouse in automatic searching shortest path in maze footpath, it is characterized in that, described control module (3) adopts model to be the microcontroller chip of STM32F103RBT6.
6. according to claim 1 a kind of can the computer mouse in automatic searching shortest path in maze footpath, it is characterized in that, described motor drive module (4) adopts model to be the motor drive ic of BA6845FS model.
7. according to claim 1 a kind of can the computer mouse in automatic searching shortest path in maze footpath, it is characterized in that, described human-machine exchange module (6) comprises 12 buttons and 8 Digital sum pipes and HD7279 chip composition.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105717925A (en) * | 2016-03-21 | 2016-06-29 | 柳州职业技术学院 | Computer mouse robot control system based on wireless sensor network and cloud computing |
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| CN1888995A (en) * | 2006-07-10 | 2007-01-03 | 北京工业大学 | Intelligent maze robot |
| CN101239466A (en) * | 2007-12-28 | 2008-08-13 | 北京工业大学 | Minisize maze robot |
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Application publication date: 20151111 |