CN105487540B - A kind of OMAP platform datas Interface Expanding circuit and its trolley intelligence control system - Google Patents
A kind of OMAP platform datas Interface Expanding circuit and its trolley intelligence control system Download PDFInfo
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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Abstract
A kind of OMAP platform datas Interface Expanding circuit and its trolley intelligence control system, the invention belongs to intelligent vehicle OMAP platform automatic control technology fields, purpose is to solve the technical issues of requirement and the system complex of practical application is not achieved in vehicle vision-based navigation technology existing for existing intelligent vehicle, a kind of OMAP platform datas Interface Expanding circuit, it includes the first controller circuitry, second controller circuit, serial communication circuit, ultrasonic sensor control circuit, remote controler receiving circuit, trolley control circuit, power circuit, reset circuit and program download circuit；A kind of trolley intelligence control system based on OMAP platforms using the OMAP platform datas Interface Expanding circuit, it includes OMAP platforms, ultrasonic sensor, remote-control receiver, motor, steering engine, gyroscope, camera and OMAP platform data Interface Expanding circuits；The present invention is based on OMAP platform control systems are simple in structure, system responds rapid advantage.
Description
Technical field
The invention belongs to intelligent vehicle OMAP platform automatic control technology fields, and in particular to a kind of OMAP platform datas connect
Port expansion circuit and its trolley intelligence control system.
Background technology
Intelligent carriage is an integrated system for integrating the functions such as environment sensing, programmed decision-making, automatic running, it collects
Computer, sensing, information, communication, the technologies such as navigate and automatically control have been used middlely, are typical new and high technology synthesis.
Intelligent carriage is mainly used in military surveillance and excludes, the impaired assessment of safety detection, manufactures with environment detection, danger souding and dangerous situation
The fields such as industry, intelligent transportation.But the stage of practical application is also not achieved in existing intelligent vehicle vision guided navigation technology, and it is existing
The vehicular platform of intelligent vehicle is based on industrial personal computer, system complex.
Invention content
Present invention aim to address vehicle vision-based navigation technologies existing for existing intelligent vehicle, and practical application is not achieved
Requirement and the technical issues of system complex, a kind of OMAP platform datas Interface Expanding circuit and its trolley intelligent control system are provided
System.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of OMAP platform datas Interface Expanding circuit, wherein：It includes the first controller circuitry, second controller electricity
Road, ultrasonic sensor control circuit, remote controler receiving circuit, trolley control circuit, power circuit, is answered at serial communication circuit
Position circuit and program download circuit；
First controller circuitry is by first microprocessor chip, first crystal oscillator and two decoupling capacitor groups
At the VCC pin of first microprocessor chip meets the+5V of power circuit, and the GND pin of first microprocessor chip meets GND；The
The XTAL1 pins of one microprocessor chip are connect with the anode of No. 3 pins of first crystal oscillator and the first decoupling capacitor,
The XTAL2 pins of first microprocessor chip are connect with the anode of No. 1 pin of first crystal oscillator and the second decoupling capacitor,
The cathode of the cathode of first decoupling capacitor and the second decoupling capacitor meets GND, 9 feet of first microprocessor chip and reset circuit
The ends Net_RST connect, and the external storage of first microprocessor chip enables pin EA/VPP and connect with power circuit+5V, and first
The RxD serial ports pin of microprocessor chip is connect with No. 1 pin of the first download interface of program download circuit, the first microprocessor
The TxD serial ports pin of device chip is connect with No. 2 pins of the first download interface of program download circuit, first microprocessor chip
General purpose I/O port P0 connect with the first ultrasonic sensor control interface of ultrasonic sensor control circuit；First micro- place
General purpose I/O port P1 of reason device chip is connect with the second ultrasonic sensor control interface of ultrasonic sensor control circuit,
The general purpose I of first microprocessor chip/O port P2 is connect with the remote controller interface of remote controler receiving circuit；
The second controller circuit is made of the second microprocessor chip, the second crystal oscillator, two decoupling capacitors；
+ 5V the connections of the VCC pin and power circuit of second microprocessor chip, the GND pin of the second microprocessor chip meet GND,
The XTAL1 pins of second microprocessor chip are connect with the anode of No. 3 pins of the second crystal oscillator and third decoupling capacitor,
The XTAL2 pins of second microprocessor chip are connect with the anode of No. 1 pin of the second crystal oscillator and the 4th decoupling capacitor,
The cathode of the cathode of third decoupling capacitor and the 4th decoupling capacitor meets GND, 9 foot of reset pin of the second microprocessor chip with it is multiple
The Net_RST of position circuit connects, and the external storage of the second microprocessor chip enables pin EA/VPP and connect with power circuit+5,
The RxD serial ports pin of second microprocessor chip is connect with No. 1 pin of the second download interface of program download circuit, and second is micro-
The TxD serial ports pin of processor chips is connect with No. 2 pins of the second download interface of program download circuit, the second microprocessor
Chip general purpose I/O port P0 is connect with the trolley control interface of trolley control circuit；
The serial communication circuit is made of one group of communication interface and the 1st resistance, No. 4 pins of communication interface and
The RxD pins of two microprocessor chips connect, and No. 5 pins of communication interface are connect with the TxD pins of first microprocessor chip,
No. 1 pin of communication interface is connect through the 1st resistance with power circuit+5V, and No. 6 pins of communication interface meet GND；
The ultrasonic sensor control circuit is made of two groups of ultrasonic sensor control interfaces and 16 pull-up resistors,
8 pins of the first ultrasonic sensor control interface are connect by 8 pull-up resistors with power circuit+5V respectively, the second are surpassed
8 pins of sonic sensor control interface are connect by 8 pull-up resistors with power circuit+5V respectively；
The remote controler receiving circuit is made of one group of remote controller interface and 8 pull-up resistors, and 8 of remote controller interface draw
Foot is connect by 8 pull-up resistors with power circuit+5V respectively；
The trolley control circuit includes trolley control interface and 8 pull-up resistor compositions, and 8 of trolley control interface draw
Foot is connect by 8 pull-up resistors with power circuit+5V respectively；
The power circuit is by two voltage stabilizing chips, two diodes, four capacitances, a switch chip ,+5V an electricity
Source interface, a receiver of remote-control sytem power interface, a GND interface, an externally fed interface and power interface composition, switch
No. 3 pins of chip are connect with power supply VCC, and No. 6 pins of switch chip connect GND, No. 2 pins and externally fed of switch chip
No. 4 of interface are connected with No. 5 pins, and No. 5 pins of switch chip are connect with No. 1 of externally fed interface and No. 2 pins, and first
The anode of diode and the anode of the second diode are connect with power supply VCC, the IN pins and the first diode of the first voltage stabilizing chip
Cathode and the first capacitance anode connection, the anode and power circuit+5V of the OUT pins of the first voltage stabilizing chip and third capacitance
Connection, the cathode of the GND pin of the first voltage stabilizing chip, the cathode of the first capacitance and third capacitance meet GND, the second voltage stabilizing chip
IN pins are connect with the anode of the cathode of the second diode and the second capacitance, the OUT pins and the 4th capacitance of the second voltage stabilizing chip
Anode connected with No. 3 pins with No. 2 of power interface, the GND pin of the second voltage stabilizing chip, the cathode of the second capacitance and the 4th
The cathode of capacitance meets GND, and No. 2 pins of receiver of remote-control sytem power interface are connect with power circuit+5V, and receiver of remote-control sytem power supply connects
No. 1 pin of mouth meets GND, and the pin of+5V power interfaces is all connect with power circuit+5V, and the pin of GND interfaces all meets GND, distant
Receiver power supply interface ,+5V power interfaces, GND interfaces, externally fed interface and power interface is controlled to be used to supply external equipment
Electricity；
The reset circuit is made of a key switch, the 34th resistance, and one end of key switch and power circuit+
5 connections, the other end of key switch are the ends Net_RST of reset circuit, and the other end of key switch meets GND through the 34th resistance；
Described program download circuit is made of two groups of download interfaces, and No. 4 pins of the first download interface and the second download connect
No. 4 pins of mouthful J12 are connect with power circuit+5V respectively, No. 3 pins of the first download interface and No. 3 of the second download interface
Pin meets GND respectively.
A kind of trolley intelligence control system based on OMAP platforms using the OMAP platform datas Interface Expanding circuit,
Wherein：It includes OMAP platforms, ultrasonic sensor, remote-control receiver, motor, steering engine, gyroscope, camera and OMAP platforms
Data-interface expanded circuit；The screen data that the OMAP platforms pass through Ethernet interface acquisition camera；OMAP platforms pass through
First UART interface is connect with gyro module, acquires the information of gyro module, obtains vehicle attitude；OMAP platforms pass through
Two UART interfaces are connect with the communication interface of serial communication circuit in OMAP platform data Interface Expanding circuits, obtain the first control
The ultrasonic sensor information and remote information that device is captured, and control information is sent to second controller；Supersonic sensing
One connecting pin of device is connect with the first ultrasonic sensor control interface of OMAP platform data Interface Expanding circuits, and ultrasonic wave passes
Another connecting pin of sensor is connect with the second ultrasonic sensor control interface of OMAP platform data Interface Expanding circuits；Remote control
The data terminal of receiver is connect with OMAP platform data Interface Expanding circuit remote controller interfaces, and the power end of remote-control receiver with
OMAP platform data Interface Expanding circuit receiver of remote-control sytem power interfaces connect；The control terminal of motor and OMAP platform data interfaces
No. 1 pin of expanded circuit trolley control interface connects；Servos control end and OMAP platform data Interface Expanding circuit trolley controls
No. 2 pins of interface processed connect.
Due to present invention employs above-mentioned technical proposal, solving vehicle vision-based navigation skill existing for existing intelligent vehicle
The requirement of practical application is not achieved in art, and the vehicular platform of existing intelligent vehicle, based on industrial personal computer, the technology of system complex is asked
Topic, compared with the background art, the present invention have can collection vehicle forward image in real time, after image procossing and intellectual analysis
The optimal movement scheme of vehicle, vehicle control system are obtained to identifiable information of road surface and road conditions, and according to control strategy
System completes the motion control to intelligent carriage according to optimal movement scheme, and the present invention is based on the structure letters of OMAP platform control systems
Single, system responds rapid advantage.
Description of the drawings
Fig. 1 is the structure diagram of OMAP platform trolley intelligence control systems；
Fig. 2 is the elementary diagram of first microprocessor chip；
Fig. 3 is the elementary diagram of the second microprocessor chip；
Fig. 4 is the elementary diagram of communication interface；
Fig. 5 is the elementary diagram of the first ultrasonic sensor control interface；
Fig. 6 is the elementary diagram of the second ultrasonic sensor control interface；
Fig. 7 is the elementary diagram of receiver of remote-control sytem interface；
Fig. 8 is the elementary diagram of trolley control interface；
Fig. 9 is the elementary diagram of the first voltage stabilizing chip；
Figure 10 is the elementary diagram of the second voltage stabilizing chip；
Figure 11 is the elementary diagram of switch；
Figure 12 is the elementary diagram of receiver of remote-control sytem power interface；
Figure 13 is the elementary diagram of externally fed interface；
Figure 14 is the elementary diagram of power interface；
Figure 15 is the elementary diagram of+5V power interfaces；
Figure 16 is the elementary diagram of GND interfaces；
Figure 17 is the elementary diagram of reset circuit；
Figure 18 is the elementary diagram of the first download interface；
Figure 19 is the elementary diagram of the second download interface；
Figure 20 is upstream data format protocol schematic diagram；
Figure 21 is downstream data format protocol theory figure.
Specific implementation mode
It elaborates with reference to the accompanying drawings and examples to the present invention：
As shown in Fig. 2~Figure 19, the OMAP platform data Interface Expanding circuits in the present embodiment, it includes the first controller
Circuit, second controller circuit, serial communication circuit, ultrasonic sensor control circuit, remote controler receiving circuit, trolley control
Circuit, power circuit, reset circuit and program download circuit；
First controller circuitry is by first microprocessor chip (STC89C516RD+) U1, first crystal oscillator Y1
With two decoupling capacitor C1, C2 compositions, the VCC pin of first microprocessor chip U1 connects the+5V of power circuit, the first microprocessor
The GND pin of device chip U1 meets GND；No. 3 of the XTAL1 pins of first microprocessor chip U1 and first crystal oscillator Y1 are drawn
The anode connection of foot and the first decoupling capacitor C1, XTAL2 pins and the first crystal oscillator Y1 of first microprocessor chip U1
No. 1 pin and the second decoupling capacitor C2 anode connection, the cathode of the first decoupling capacitor C1 and the second decoupling capacitor C2's is negative
Pole meets GND, and 9 feet of first microprocessor chip U1 and the ends Net_RST of reset circuit connect, first microprocessor chip U1's
External storage enables pin EA/VPP and is connect with power circuit+5V, the RxD serial ports pin and program of first microprocessor chip U1
No. 1 pin of first download interface J11 of download circuit connects, the TxD serial ports pin and program of first microprocessor chip U1
No. 2 pins of first download interface J11 of download circuit connect, general purpose I/O port P0 of first microprocessor chip U1 with it is super
First ultrasonic sensor control interface J2 connections of sonic sensor control circuit；The general purpose I of first microprocessor chip U1/
O port P1 is connect with the second ultrasonic sensor control interface J3 of ultrasonic sensor control circuit, first microprocessor core
The general purpose I of piece U1/O port P2 is connect with the remote controller interface J4 of remote controler receiving circuit；
The second controller circuit is by the second microprocessor chip (STC89C516RD+) U2, the second crystal oscillator
Y2, two decoupling capacitor C3, C4 compositions；+ 5V the connections of the VCC pin and power circuit of second microprocessor chip U2, second
The GND pin of microprocessor chip U2 meets GND, the XTAL1 pins of the second microprocessor chip U2 and the second crystal oscillator Y2
No. 3 pins and third decoupling capacitor C3 anode connection, XTAL2 pins and the second crystal of the second microprocessor chip U2 shake
Swing the anode connection of No. 1 pin and the 4th decoupling capacitor C4 of device Y2, the cathode and the 4th decoupling capacitor of third decoupling capacitor C3
The cathode of C4 meets GND, and 9 foot of reset pin of the second microprocessor chip U2 connects with the Net_RST of reset circuit, second micro- place
The external storage of reason device chip U2 enables pin EA/VPP and is connect with power circuit+5, the RxD strings of the second microprocessor chip U2
Mouth pin is connect with No. 1 pin of the second download interface J12 of program download circuit, the TxD strings of the second microprocessor chip U2
Mouth pin is connect with No. 2 pins of the second download interface J12 of program download circuit, the second microprocessor chip U2 general purpose Is/O
Port P0 is connect with the trolley control interface J5 of trolley control circuit；
The serial communication circuit is made of J1 and the 1st resistance R1 of one group of communication interface (HEADER 6), and communication connects
No. 4 pins of mouth J1 are connect with the RxD pins of the second microprocessor chip U2, No. 5 pins of communication interface J1 and first micro- place
The TxD pins connection of device chip U1 is managed, No. 1 pin of communication interface J1 connect with power circuit+5V through the 1st resistance R1, communicates
No. 6 pins of interface J1 meet GND；
The ultrasonic sensor control circuit is by two groups of ultrasonic sensor control interface (HEADER 8) J2, J3 and 16
A pull-up resistor R2~R17 compositions, 8 pins of the first ultrasonic sensor control interface J2 pass through 8 pull-up resistors respectively
R2~R9 is connect with power circuit+5V, and 8 pins of the second ultrasonic sensor control interface J3 pass through 8 pull-up electricity respectively
Resistance R10~R17 is connect with power circuit+5V；
The remote controler receiving circuit is by J4 and 8 pull-up resistor R18~R25 group of one group of remote controller interface (HEADER 8)
At 8 pins of remote controller interface J4 are connect by 8 pull-up resistor R18~R25 with power circuit+5V respectively；
The trolley control circuit includes J5 and 8 pull-up resistor R26~R33 group of trolley control interface (HEADER 8)
At 8 pins of trolley control interface J5 are connect by 8 pull-up resistor R26~R33 with power circuit+5V respectively；
The power circuit is by two voltage stabilizing chip (REG1117-5) U3, U4, two diode (1N4007) V1, V2, four
It is a capacitance C5, C6, C7, C8, switch chip (SW DIP-3) U5 ,+5V power interfaces (HEADER 8) J9, one distant
Control receiver power supply interface (HEADER 2) J6, GND interfaces (HEADER 8) J10, an externally fed interface (HEADER
5) J7 and power interface (HEADER 4) J8 compositions, No. 3 pins of switch chip U5 are connect with power supply VCC, and the 6 of switch chip U5
Number pin meets GND, and No. 2 pins of switch chip U5 are connect with No. 4 of externally fed interface J7 and No. 5 pins, switch chip U5
No. 5 pins connect with No. 1 of externally fed interface J7 and No. 2 pins, the first diode V1 anode and the second diode V2
Anode connect with power supply VCC, the cathode and the first capacitance C5 of the IN pins of the first voltage stabilizing chip U3 and the first diode V1
Anode connection, the OUT pins of the first voltage stabilizing chip U3 and the anode of third capacitance C6 are connect with power circuit+5V, the first voltage stabilizing
The cathode of the GND pin of chip U3, the cathode of the first capacitance C5 and third capacitance C6 meets GND, and the IN of the second voltage stabilizing chip U4 draws
Foot is connect with the anode of the cathode of the second diode V2 and the second capacitance C7, the OUT pins of the second voltage stabilizing chip U4 and the 4th electricity
The anode for holding C8 connects with No. 2 of power interface J8 with No. 3 pins, the GND pin of the second voltage stabilizing chip U4, the second capacitance C7
The cathode of cathode and the 4th capacitance C8 meet GND, and No. 2 pins of receiver of remote-control sytem power interface J6 are connect with power circuit+5V, distant
No. 1 pin of control receiver power supply interface J6 meets GND, and the pin of+5V power interfaces (J9) is all connect with power circuit+5V, GND
The pin of interface J10 all connects GND, receiver of remote-control sytem power interface J6 ,+5V power interfaces (J9), GND interfaces J10, externally fed
Interface J7 and power interface J8 is used to power to external equipment；
The reset circuit is made of a key switch K, the 34th resistance R34, one end of key switch K and power supply
Circuit+5 connects, and the other end of key switch K is the ends Net_RST of reset circuit, and the other end of key switch K is through the 34th resistance
R34 meets GND；
Described program download circuit is made of two groups of download interfaces (HEADER 4) J11, J12, the first download interface J11
No. 4 pins and No. 4 pins of the second download interface J12 connect respectively with power circuit+5V, No. 3 of the first download interface J11
No. 3 pins of pin and the second download interface J12 meet GND respectively.
As shown in Figure 1, the trolley intelligence control system based on OMAP platforms in the present embodiment is using in above-described embodiment
OMAP platform data Interface Expanding circuits, wherein：It include OMAP platforms (SBC8140), ultrasonic sensor (WFR07S),
Remote-control receiver (HC-SR04), three phase electric machine, steering engine (MG996R), gyroscope (MIN-900-2), camera (BFLY-PGE-
09S2C-CS) and OMAP platform data Interface Expanding circuits；OMAP platforms the regarding by Ethernet interface acquisition camera
Shield data；OMAP platforms are connect by the first UART interface with gyro module, and the information of gyro module is acquired, and obtain vehicle
Posture；OMAP platforms are connect by the second UART interface and the communication of serial communication circuit in OMAP platform data Interface Expanding circuits
Mouth J1 connections obtain ultrasonic sensor information and remote information that the first controller is captured, and control information are sent to
Second controller；First ultrasonic sensor of one connecting pin of ultrasonic sensor and OMAP platform data Interface Expanding circuits
Control interface J2 connections, second ultrasonic wave of another connecting pin of ultrasonic sensor and OMAP platform data Interface Expanding circuits
Sensor control interface J3 connections；The data terminal of remote-control receiver and OMAP platform data Interface Expanding circuit remote controller interfaces J4
Connection, and the power end of remote-control receiver is connect with OMAP platform data Interface Expanding circuit receiver of remote-control sytem power interfaces J6；
The control terminal of motor is connect with No. 1 pin of OMAP platform data Interface Expanding circuit trolley control interfaces J5；Servos control end
It is connect with No. 2 pins of OMAP platform data Interface Expanding circuit trolley control interfaces J5.
The operation principle of the trolley intelligence control system based on OMAP platforms in the present embodiment is briefly described below：
The design and realization of first controller circuitry collector：
The first microprocessor chip of first controller circuitry uses STC89C516RD+ microcontrollers, most multipair 8 tunnel ultrasound
Wave sensor synchronizes control, obtains each road sensor ultrasonic reflections time Δ t, passes through formula
Vehicle periphery obstacle distance S wherein v=340m/s are calculated, while acquiring 8 road steering engines of remote control receiver
Signal, and by the UART interfaces of OMAP development boards is uploaded to after collected information processing according to agreement.
Every group of data of protocol requirement, upload include three bytes, and first character section indicates sensor number or remote controler
Channel number, second byte are that data are six low, and third byte is that data are six high, as shown in figure 20.
Upstream data format protocol
The design and realization of second controller circuit controller
Second microprocessor chip of second controller circuit uses STC89C516RD+ microcontrollers, receives OMAP development boards
The data that UART interface transmits obtain control signal after data parsing, convert control signal to servos control signal, output is extremely
The motor and steering engine of vehicle realize the control to vehicle.
Protocol requirement, the every group of data received include two bytes, and first character section is channel number, and second byte is
Signal is controlled, as shown in figure 21.
Downstream data format agreement
It signal ct will be controlled is converted into the formula of steering engine signal high level time th and be：
Th=3.635 ((ct＆0x7f)) ＜ ＜ 1
20ms servos control signals are exported by above-mentioned formula, realize the control to vehicle.
Power circuit is the second microprocessor chip and first microprocessor core using 7.2V batteries and ASM1117 chips
Piece provides 5V or 3.3V power supplies.
Signal acquisition part：First microprocessor chip P2 interfaces connect with remote control receiver signal wire, cooperation pull-up
Resistance obtains remote controller signal；First microprocessor chip P0 and P1 interfaces send and receive line phase with ultrasonic wave module respectively
It connects, cooperation pull-up resistor realizes control and signal acquisition to ultrasonic wave module.
Segment signal output：Second microprocessor chip P0 Interference fit pull-up resistors output control signal, is realized to vehicle
Control.
UART is communicated：The Tx interfaces of first microprocessor chip are connected with OMAP development board UART1-Rx interfaces, and second is micro-
The Rx interface of processor chips is connected with OMAP development board UART1-Tx interfaces, realizes uplink and downlink serial communication.
Other circuits：Including other circuits such as filter circuit, reset circuit.
Operating system and programming：
OMAP selects WinCE6.0 operating systems, software to be developed using VC++2005.
First microprocessor chip is developed with the second microprocessor chip program using C language, and is directed to the project
Feature does depth optimization.
Other：
Gyro module uses numeral output, directly communicate and can obtain with OMAP development board UARTRS-232 interfaces
Vehicle inertia posture；
Camera module uses standard driver, is communicated with OMAP development boards by USB interface, operating system can
Obtain the video information of camera acquisition.
Claims (2)
1. a kind of OMAP platform datas Interface Expanding circuit, it is characterised in that：It includes the first controller circuitry, second controller
Circuit, serial communication circuit, ultrasonic sensor control circuit, remote controler receiving circuit, trolley control circuit, power circuit,
Reset circuit and program download circuit；
First controller circuitry by first microprocessor chip STC89C516RD+ (U1), first crystal oscillator (Y1) and
Two decoupling capacitor (C1, C2) compositions, the VCC pin of first microprocessor chip (U1) meet+5V of power circuit, first micro- place
The GND pin of reason device chip (U1) meets GND；The XTAL1 pins of first microprocessor chip (U1) and first crystal oscillator
(Y1) the anode connection of No. 3 pins and the first decoupling capacitor (C1), the XTAL2 pins of first microprocessor chip (U1) and the
The anode connection of No. 1 pin and the second decoupling capacitor (C2) of one crystal oscillator (Y1), the cathode of the first decoupling capacitor (C1)
GND, 9 feet of first microprocessor chip (U1) and the ends Net_RST of reset circuit are connect with the cathode of the second decoupling capacitor (C2)
Connection, the external storage of first microprocessor chip (U1) enable pin EA/VPP and are connect with power circuit+5V, the first microprocessor
The RxD serial ports pin of device chip (U1) is connect with No. 1 pin of the first download interface (J11) of program download circuit, and first is micro-
The TxD serial ports pin of processor chips (U1) is connect with No. 2 pins of the first download interface (J11) of program download circuit, the
The general purpose I of one microprocessor chip (U1)/O port P0 and the first ultrasonic sensor of ultrasonic sensor control circuit control
Interface (J2) connects；The general purpose I of first microprocessor chip (U1)/O port P1 and the second of ultrasonic sensor control circuit
Ultrasonic sensor control interface (J3) connects, and general purpose I/O port P2 and the remote controler of first microprocessor chip (U1) receive
The remote controller interface (J4) of circuit connects；
The second controller circuit by the second microprocessor chip STC89C516RD+ (U2), the second crystal oscillator (Y2),
Two decoupling capacitor (C3, C4) compositions；+ 5V the connections of the VCC pin and power circuit of second microprocessor chip (U2), second
The GND pin of microprocessor chip (U2) connects GND, the XTAL1 pins and the second crystal oscillation of the second microprocessor chip (U2)
The anode connection of No. 3 pins of device (Y2) and third decoupling capacitor (C3), the XTAL2 pins of the second microprocessor chip (U2) with
The anode connection of No. 1 pin and the 4th decoupling capacitor (C4) of second crystal oscillator (Y2), third decoupling capacitor (C3) are born
The cathode of pole and the 4th decoupling capacitor (C4) meets GND, 9 foot of reset pin of the second microprocessor chip (U2) and reset circuit
Net_RST connects, and the external storage of the second microprocessor chip (U2) enables pin EA/VPP and connect with power circuit+5, and second
The RxD serial ports pin of microprocessor chip (U2) is connect with No. 1 pin of the second download interface (J12) of program download circuit,
The TxD serial ports pin of second microprocessor chip (U2) and No. 2 pins of the second download interface (J12) of program download circuit connect
It connects, the second microprocessor chip (U2) general purpose I/O port P0 is connect with the trolley control interface (J5) of trolley control circuit；
The serial communication circuit is made of one group of communication interface (J1) and the 1st resistance (R1), No. 4 of communication interface (J1)
Pin is connect with the RxD pins of the second microprocessor chip (U2), No. 5 pins and the first microprocessor core of communication interface (J1)
The TxD pins of piece (U1) connect, and No. 1 pin of communication interface (J1) is connect through the 1st resistance (R1) with power circuit+5V, communicate
No. 6 pins of interface (J1) meet GND；
The ultrasonic sensor control circuit is by two groups of ultrasonic sensor control interfaces (J2, J3) and 16 pull-up resistors
(R2~R17) is formed, 8 pins of the first ultrasonic sensor control interface (J2) respectively by 8 pull-up resistors (R2~
R9 it) is connect with power circuit+5V, 8 pins of the second ultrasonic sensor control interface (J3) pass through 8 pull-up resistors respectively
(R10~R17) is connect with power circuit+5V；
The remote controler receiving circuit is made of one group of remote controller interface (J4) and 8 pull-up resistors (R18~R25), remote controler
8 pins of interface (J4) are connect by 8 pull-up resistors (R18~R25) with power circuit+5V respectively；
The trolley control circuit includes trolley control interface (J5) and 8 pull-up resistor (R26~R33) compositions, trolley control
8 pins of interface (J5) are connect by 8 pull-up resistors (R26~R33) with power circuit+5V respectively；
The power circuit by two voltage stabilizing chip REG1117-5 (U3, U4), two diodes (V1, V2), four capacitances (C5,
C6, C7, C8), a switch chip (U5) ,+5V a power interface (J9), receiver of remote-control sytem power interface (J6), one
A GND interfaces (J10), an externally fed interface (J7) and power interface (J8) composition, No. 3 pins of switch chip (U5) with
No. 6 pins of power supply VCC connections, switch chip (U5) connect GND, No. 2 pins and the externally fed interface of switch chip (U5)
(J7) No. 4 are connected with No. 5 pins, No. 5 pins of switch chip (U5) and No. 1 of externally fed interface (J7) and No. 2 pins
Connection, the anode of the first diode (V1) and the anode of the second diode (V2) are connect with power supply VCC, the first voltage stabilizing chip (U3)
IN pins and the cathode of the first diode (V1) and the anode of the first capacitance (C5) connect, the OUT of the first voltage stabilizing chip (U3)
The anode of pin and third capacitance (C6) is connect with power circuit+5V, GND pin, the first capacitance of the first voltage stabilizing chip (U3)
(C5) cathode of cathode and third capacitance (C6) connects GND, the IN pins and the second diode (V2) of the second voltage stabilizing chip (U4)
Cathode and the second capacitance (C7) anode connection, the anode of the OUT pins of the second voltage stabilizing chip (U4) and the 4th capacitance (C8)
It is connected with No. 3 pins with No. 2 of power interface (J8), the GND pin of the second voltage stabilizing chip (U4), the cathode of the second capacitance (C7)
GND is met with the cathode of the 4th capacitance (C8), No. 2 pins of receiver of remote-control sytem power interface (J6) are connect with power circuit+5V, distant
No. 1 pin of control receiver power supply interface (J6) meets GND, and the pin of+5V power interfaces (J9) is all connect with power circuit+5V,
The pin of GND interfaces (J10) all connects GND, receiver of remote-control sytem power interface (J6) ,+5V power interfaces (J9), GND interfaces
(J10), externally fed interface (J7) and power interface (J8) are used to power to external equipment；
The reset circuit is made of a key switch (K), the 34th resistance (R34), one end and the electricity of key switch (K)
Source circuit+5 connects, and the other end of key switch (K) is the ends Net_RST of reset circuit, and the other end of key switch (K) is through the
34 resistance (R34) meet GND；
Described program download circuit is made of two groups of download interfaces (J11, J12), No. 4 pins of the first download interface (J11) and
No. 4 pins of the second download interface (J12) are connect with power circuit+5V respectively, No. 3 pins of the first download interface (J11) and
No. 3 pins of the second download interface (J12) meet GND respectively.
2. a kind of trolley based on OMAP platforms using OMAP platform datas Interface Expanding circuit described in claim 1 is intelligently controlled
System processed, it is characterised in that：It include OMAP platforms SBC8140, ultrasonic sensor WFR07S, remote-control receiver HC-SR04,
Motor, steering engine MG996R, gyroscope MIN-900-2, camera BFLY-PGE-09S2C-CS and OMAP platform data Interface Expanding
Circuit；The screen data that the OMAP platforms pass through Ethernet interface acquisition camera；OMAP platforms pass through the first UART interface
It is connect with gyro module, acquires the information of gyro module, obtain vehicle attitude；OMAP platforms by the second UART interface with
Communication interface (J1) connection of serial communication circuit, obtains the first controller and is captured in OMAP platform data Interface Expanding circuits
Ultrasonic sensor information and remote information, and by control information be sent to second controller；One company of ultrasonic sensor
It connects end to connect with the first ultrasonic sensor control interface (J2) of OMAP platform data Interface Expanding circuits, ultrasonic sensor
Another connecting pin is connect with the second ultrasonic sensor control interface (J3) of OMAP platform data Interface Expanding circuits；Remote control
The data terminal of receiver is connect with OMAP platform data Interface Expanding circuit remote controller interfaces (J4), and the power supply of remote-control receiver
End is connect with OMAP platform data Interface Expanding circuit receiver of remote-control sytem power interfaces (J6)；The control terminal of motor and OMAP platforms
No. 1 pin of data-interface expanded circuit trolley control interface (J5) connects；Servos control end is expanded with OMAP platform data interfaces
Open up No. 2 pins connection of circuit trolley control interface (J5).
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| CN102799127A (en) * | 2012-06-22 | 2012-11-28 | 西北工业大学 | Embedded controller of underwater movement observation platform based on advanced reduced instruction set computer (RISC) machine (ARM) |
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| CN104035443A (en) * | 2014-05-30 | 2014-09-10 | 杭州电子科技大学 | Circuit for navigating aquatic robot based on GPS and GMS technologies |
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| WO2005039142A1 (en) * | 2003-10-17 | 2005-04-28 | Siemens Aktiengesellschaft | A basic message service for redundant devices |
| JP5970819B2 (en) * | 2012-01-10 | 2016-08-17 | 株式会社リコー | Network controller |
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| CN102799127A (en) * | 2012-06-22 | 2012-11-28 | 西北工业大学 | Embedded controller of underwater movement observation platform based on advanced reduced instruction set computer (RISC) machine (ARM) |
| CN103323006A (en) * | 2013-05-29 | 2013-09-25 | 哈尔滨工程大学 | Navigation computer of optical fiber gyro strapdown system based on OMAP |
| CN104035443A (en) * | 2014-05-30 | 2014-09-10 | 杭州电子科技大学 | Circuit for navigating aquatic robot based on GPS and GMS technologies |
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