CN105589457A - Intelligent trolley control system based on short messages - Google Patents
Intelligent trolley control system based on short messages Download PDFInfo
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- CN105589457A CN105589457A CN201410565589.XA CN201410565589A CN105589457A CN 105589457 A CN105589457 A CN 105589457A CN 201410565589 A CN201410565589 A CN 201410565589A CN 105589457 A CN105589457 A CN 105589457A
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- intelligent carriage
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Abstract
Provided is an intelligent trolley control system based on short messages. The system is of high road adaptability and reliability. Moreover, the system can send positioning data back to a target mobile phone under the control of short messages, and complete straight driving, set-angle turning and other functions under the control of short messages. The system comprises an FPGA development board, an SIM908 module, a motor driver module and a photoelectric detection circuit. The FPGA development board comprises a clock circuit, an NIOSII soft core and a driver circuit. The SIM908 module comprises a GPS and a GSM. The output end of the driver circuit is connected with the input end of the motor driver module, the output end of the motor driver module is connected with a motor, and the motor is connected with the input end of the photoelectric detection circuit. The output end of the photoelectric detection circuit is connected with the driver circuit.
Description
Technical field
The invention belongs to automatic Pilot field, relate to particularly a kind of intelligent carriage control system based on note.
Background technology
Intelligent carriage is the one of intelligent robot, and the functions such as environment sensing, automatic Pilot and programmed decision-making that it is integrated, in one, are concentrated and used the technology such as communication, artificial intelligence and navigation, are the synthesis of multiple technologies. It can replace the mankind to complete the task that some are present in the hazardous areas such as war, chemical contamination and nuclear pollution. It is little that it has volume, low in energy consumption, good reliability, and the feature such as simple to operate, can realize specific function by it is carried out to special design.
Intelligent carriage can be realized the various functions such as automatic obstacle, infrared ray tracking at present, but less at the automatic Pilot area research with note control; Therefore will expand its range of application, exploitation is research direction with a kind of intelligent carriage system of new control mode.
Summary of the invention
The present invention is exactly for the problems referred to above, has proposed a kind of intelligent carriage control system based on note; The present invention has stronger road worthiness and reliability; And can realize and under the control of note, return to target mobile phones locator data, and accomplish linear travels and the function such as set angle turning under the control of note.
For realizing above-mentioned purpose of the present invention, the present invention adopts following technical scheme.
A kind of intelligent carriage control system based on note of the present invention, described system composition comprises FPGA development board, SIM908 module, motor drive module, photoelectric detective circuit, wherein said FPGA development board comprises clock circuit, the soft core of NIOSII, drive circuit, and described SIM908 module comprises GPS and GSM two parts; Described drive circuit output connects motor drive module input, and motor drive module output connects motor, and motor connects the input of photoelectric detective circuit; Described photoelectric detective circuit output connects drive circuit.
As a preferred embodiment of the present invention, the present invention adopts pwm pulse generation module generation pulse to come to drive circuit signal.
As another kind of preferred version of the present invention, described pwm pulse generation module comprises original clock, adjusting module, frequency division module, counter, comparator; Described original clock connects frequency division module, frequency division module linkage counter, and counter output connects comparator again; Described adjusting module output is also connected to comparator.
As another kind of preferred version of the present invention, described NIOSII is soft, and core comprises NIOSIICPU, timer, Flash memory, Sdram memory, IO mouth, serial ports, download interface.
Further, IO mouth output of the present invention connects adjusting module and comparison module, and serial ports output connects GPS and GSM two parts.
The invention has the beneficial effects as follows.
The present invention proposes and has realized a kind of intelligent carriage system based on fpga chip and SIM908 module. The NIOS processor of structure using CPU, memory, timer, Avalon bus, GPS and GSM serial ports as core is as the control module of whole system in SOPCBuilder for the present invention's design, and SIM908 module realizes GPS location and the communication function of intelligent carriage. Motor drive module of the present invention is supported PWM speed governing, adopts pwm pulse generation module to produce pulse and comes to drive circuit signal, and described Photoelectric Detection equipment is responsible for inspection vehicle wheel speed. Intelligent carriage of the present invention can be realized and under the control of short breath, return to target mobile phones locator data, and can be under the control of note accomplish linear travel and the function such as set angle turning.
The present invention builds the core of the soft core of NIOSII as whole kinematic system in FPGA, realizes the control to dolly by NIOSII external circuits. This intelligent carriage can return to console positional information by receiving SMS, and completes given travel path.
Brief description of the drawings
Fig. 1 is the whole design and framework figure of a kind of intelligent carriage control system based on note of the present invention.
Fig. 2 is the NIOSII processor structure figure of a kind of intelligent carriage control system based on note of the present invention.
Fig. 3 is the pwm pulse generation module circuit diagram of a kind of intelligent carriage control system based on note of the present invention.
Detailed description of the invention
As shown in Figure 1, be the whole design and framework figure of a kind of intelligent carriage control system based on note of the present invention. System composition comprises that FPGA development board, SIM908 module, motor drive module, photoelectric detective circuit, wherein said FPGA development board comprise clock circuit, the soft core of NIOSII, drive circuit, and described SIM908 module comprises GPS and GSM two parts; Described drive circuit output connects motor drive module input, and motor drive module output connects motor, and motor connects the input of photoelectric detective circuit; Described photoelectric detective circuit output connects drive circuit.
The soft core of NIOSII of the present invention is the core of whole system, and the note that the locator data that its parsing GPS module receives and gsm module receive, controls moving of car after treatment. Described SIM908 module comprises GPS and GSM two parts, completion system location and communication function. Described motor drive module is supported PWM speed governing. Described Photoelectric Detection equipment is responsible for inspection vehicle wheel speed.
The present invention is divided into the control of intelligent carriage: send note and obtain the current positional information of vehicle; Send the mode of travelling of note control vehicle; Wherein the mode of travelling is divided into craspedodrome, turns left and turns right. Intelligent carriage is tricycle structure, and front two-wheeled is arranged side by side and is driving wheel, and last is taken turns as driven pulley. Wheel could turn round under the driving of pwm pulse, calculates pwm pulse desired parameters and obtains from note. The messaging format sending when craspedodrome is SLQ, and wherein alphabetical S represents craspedodrome state, and alphabetical L represents the distance of travelling, and Q represents vehicle wheel rotational speed. The messaging format sending while turning in left and right is (Z) Y α rQ, and wherein (Z) Y representative (left-hand rotation) is turned right, the angle of turn that α is given front nearside wheel, and r is given front nearside wheel radius of turn, Q is given front nearside wheel rotating speed. When craspedodrome, calculate running time according to short breath content, when turning, calculate turning time and front outboard wheel rotating speed according to short message content, the computational process realization of programming in NIOS.
As shown in Figure 2, be the NIOSII processor structure figure of a kind of intelligent carriage control system based on note of the present invention. Wherein said NIOSII processor comprises NIOSIICPU, timer, Flash memory, Sdram memory, IO mouth, serial ports, download interface; Described IO mouth output connects adjusting module and comparison module, and serial ports output connects GPS and GSM two parts.
As shown in Figure 3, be the pwm pulse generation module circuit diagram of a kind of intelligent carriage control system based on note of the present invention. Wherein said pwm pulse generation module comprises original clock, adjusting module, frequency division module, counter, comparator; Described original clock connects frequency division module, frequency division module linkage counter, and counter output connects comparator again; Described adjusting module output is also connected to comparator. In figure, the input of adjusting module connects NIOSI/O output module, and comparator is output as pwm pulse module.
Claims (5)
1. the intelligent carriage control system based on note, it is characterized in that: described system composition comprises FPGA development board, SIM908 module, motor drive module, photoelectric detective circuit, wherein said FPGA development board comprises clock circuit, the soft core of NIOSII, drive circuit, and described SIM908 module comprises GPS and GSM two parts; Described drive circuit output connects motor drive module input, and motor drive module output connects motor, and motor connects the input of photoelectric detective circuit; Described photoelectric detective circuit output connects drive circuit.
2. a kind of intelligent carriage control system based on note according to claim 1, is characterized in that: the present invention adopts pwm pulse generation module generation pulse to come to drive circuit signal.
3. a kind of intelligent carriage control system based on note according to claim 2, is characterized in that: described pwm pulse generation module comprises original clock, adjusting module, frequency division module, counter, comparator; Described original clock connects frequency division module, frequency division module linkage counter, and counter output connects comparator again; Described adjusting module output is also connected to comparator.
4. a kind of intelligent carriage control system based on note according to claim 1, is characterized in that: described NIOSII is soft, and core comprises NIOSIICPU timer, Flash memory, Sdram memory, IO mouth, serial ports, download interface.
5. a kind of intelligent carriage control system based on note according to claim 4, is characterized in that: described IO mouth output connects adjusting module and comparison module, and serial ports output connects GPS and GSM two parts.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410565589.XA CN105589457A (en) | 2014-10-22 | 2014-10-22 | Intelligent trolley control system based on short messages |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410565589.XA CN105589457A (en) | 2014-10-22 | 2014-10-22 | Intelligent trolley control system based on short messages |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105589457A true CN105589457A (en) | 2016-05-18 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410565589.XA Pending CN105589457A (en) | 2014-10-22 | 2014-10-22 | Intelligent trolley control system based on short messages |
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| CN (1) | CN105589457A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109361381A (en) * | 2018-12-10 | 2019-02-19 | 珠海市微半导体有限公司 | A kind of PWM generative circuit, processing circuit and chip |
-
2014
- 2014-10-22 CN CN201410565589.XA patent/CN105589457A/en active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109361381A (en) * | 2018-12-10 | 2019-02-19 | 珠海市微半导体有限公司 | A kind of PWM generative circuit, processing circuit and chip |
| CN109361381B (en) * | 2018-12-10 | 2024-05-03 | 珠海一微半导体股份有限公司 | PWM generating circuit, processing circuit and chip |
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Application publication date: 20160518 |