CN106054706A - Robot automatic control system based on microprocessor visible light communication technology - Google Patents
Robot automatic control system based on microprocessor visible light communication technology Download PDFInfo
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- CN106054706A CN106054706A CN201610419682.9A CN201610419682A CN106054706A CN 106054706 A CN106054706 A CN 106054706A CN 201610419682 A CN201610419682 A CN 201610419682A CN 106054706 A CN106054706 A CN 106054706A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/23—Pc programming
- G05B2219/23004—Build up program so that safety conditions are met, select most stable states
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Abstract
The invention discloses a robot automatic control system based on microprocessor visible light communication technology. The system comprises a central processor, a field programmable gate array circuit, a photoelectric detection circuit, a light-operated lock module, a light key module and a white light LED. The central processor is connected with the field programmable gate array circuit; the field programmable gate array circuit is connected with the light-operated lock module; the white light LED is connected with the field programmable gate array circuit; the field programmable gate array circuit is connected with the light key module; and the photoelectric detection circuit is connected with the field programmable gate array circuit. The photoelectric detection circuit is internally provided with a photosensitive element receiver, a reflector, a light source, a modulation waveform generator, a modulation waveform processor and a modulation amplifier. Through center control technology with the microcontroller and a field-programmable gate array being combined, processing performance and processing efficiency of the whole system are improved, the whole system is allowed to operate more stably and failure rate is reduced effectively.
Description
Technical field
The present invention relates to technical field of automatic control, specifically, be a kind of based on microprocessor visible light communication skill
The robot automatic control system of art.
Background technology
Based Intelligent Control (intelligent controls) can independently drive intelligent machine in the case of unmanned the intervention
Realize controlling the automatic control technology of target.Control theory is developed so far the history of existing more than 100 year, experienced by " classical control
Theoretical " and the developmental stage of " modern control theory ", have been enter into " theory of large scale system " and " Intelligent Control Theory " stage.Intelligence control
Research and application that system is theoretical are modern control theory expansions in the degree of depth and range.Since the eighties in 20th century, information skill
Art, the fast development of computing technique and the development of other related disciplines and interpenetrate, also promoted Control Science and Engineering to grind
That studies carefully deepens continuously, and control system has become a kind of trend to the development of intelligence control system.
Automatization (Automation) refers to that machinery equipment, system or process (produce, management process) are nobody or relatively
Under the directly participation of few people, according to the requirement of people, judge through detection automatically, information processing, analysis, handle control, it is achieved be pre-
The process of the target of phase.Automatic technology be widely used in industry, agricultural, military affairs, scientific research, transportation, business, medical treatment,
The aspects such as service and family.Use automatic technology be possible not only to people from heavy physical work, part mental work and
Badly, dangerous working environment frees, and the organ dysfunction of people can be extended, be greatly enhanced labor productivity, increase
The ability that strong man's class is understood the world and changed it.WIFI is easily by electromagnetic interference, and the direction of transmission is uncontrollable, password easily quilt
Intercept and capture.But visible light communication is a kind of point-to-point transmission mode, the advantage with good confidentiality.Therefore, it can visible
Optical communication technique combines with gate inhibition's technology, has wide utilization prospect.Along with the progress of society, intelligence intelligent mobile terminal
Having obtained a large amount of universal, intelligent mobile terminal becomes in people's daily life with the raw article carried.
Summary of the invention
It is an object of the invention to design a kind of robot based on microprocessor visible light communication technology automatically control
System, meets robot and automatically controls required, control skill by automatic technology, intelligent control technology and microprocessor
Art combines and carries out system control so that robot in use can efficiently accomplish set workflow, uses
The center control technology that microcontroller combines with field programmable gate array, improves the process performance of whole system and processes effect
Rate so that whole system is run more stable, and effectively reduces fault rate.
The present invention is achieved through the following technical solutions: a kind of robot based on microprocessor visible light communication technology is automatic
Control system, including central processing unit, field programmable gate array, photoelectric detective circuit, light-dependent control lock module, optical key mould
Block, white light LEDs, described central processing unit connects field programmable gate array, and described field programmable gate array is even
Connecing light-dependent control lock module, described white light LEDs connects field programmable gate array, and described field programmable gate array connects
Optical key module, described photoelectric detective circuit connects field programmable gate array；It is provided with in described photoelectric detective circuit
Light-sensitive element receptor, reflecting mirror, light source, modulation waveform generator, modulation waveform processor and modulated amplifier, described scene
Programmable gate array circuit connects modulation waveform generator, and described modulation waveform generator connects light source, and described light source connects anti-
Penetrating mirror, described reflecting mirror connects light-sensitive element receptor, and described light-sensitive element receptor connects modulated amplifier, and described modulation is put
Big device connects modulation waveform processor, and described modulation waveform processor connects field programmable gate array.
Further, to better implement the present invention, be provided with in described light-dependent control lock module encoder, motion controller,
PWM power amplifier, DC servo motor, described field programmable gate array connects encoder, and described encoder connects motion control
Device processed, described motion controller connects PWM power amplifier, and described PWM power amplifier connects DC servo motor, and described DC servo motor is even
Connect encoder.
Further, to better implement the present invention, also including parameter storage, described parameter storage connects centre
Reason device；Being provided with intelligent mobile terminal in described optical key module, based on intelligent mobile terminal operating system, design is based on virtual
The key of serial ports sends the software module of intelligent mobile terminal, sends out key by the software module of intelligent mobile terminal and believes
Breath, key information is exported by the min-USB mouth of intelligent mobile terminal；The key information exported, based on intelligent mobile terminal
OTG function, in external drive module loading to LED, completes the transmission of key information by LED.
Further, to better implement the present invention, also include that power circuit, described power circuit connect centre respectively
Reason device and field programmable gate array.
Further, to better implement the present invention, described power circuit includes solar panel, controller, power supply
Circuit, described solar panel connects controller, and described controller connects power supply circuits, during described power supply circuits connect respectively
Central processor and field programmable gate array.
Further, to better implement the present invention, described power circuit also includes accumulator, and described accumulator connects control
Device processed.
Further, to better implement the present invention, also including random access memory, described random access memory connects scene can
Programming gate-array circuit.
Further, to better implement the present invention, described random access memory uses SRAM and/or dynamically
Random access memory.
Further, to better implement the present invention, described central processing unit uses TMS570LS1114 microcontroller.
Further, to better implement the present invention, described field programmable gate array master chip uses Cyclone
III。
The present invention compared with prior art, has the following advantages and beneficial effect:
(1) present invention meets robot and automatically controls required, by automatic technology, intelligent control technology and micro-process
Device controls technology and combines and carry out system control so that robot in use can efficiently accomplish set workflow
Journey, uses the center control technology that microcontroller combines with field programmable gate array, improves the process performance of whole system
And treatment effeciency so that whole system is run more stable, and effectively reduces fault rate.WIFI is easily by electromagnetic interference, transmission
Direction uncontrollable, password is easily trapped.But visible light communication is a kind of point-to-point transmission mode, has good confidentiality
Advantage.Therefore, it can combine visible light communication technology with gate inhibition's technology, there is wide utilization prospect.Along with society
Progress, intelligence intelligent mobile terminal has obtained a large amount of universal, and intelligent mobile terminal becomes in people's daily life to be taken with raw
The article of band.
Optical key and intelligent mobile terminal combine, and utilize the intelligent mobile terminal should be for the unlatching realized.Can be fine
Utilization android system exploitation mobile phone A AP light key software, android system is the behaviour increased income based on Linux
Make system, be mainly used in mobile terminal (mobile phone and flat board).Android system is compared with other system platform, has
The biggest advantage.The topmost opening being embodied in it of its advantage.Android system is the system increased income completely, all
Fan and manufacturer can participate in the exploitation of Android system, this just development for Android system beat
Descend fine basis.Android system has had become as the system that global installation amount first is big.Another of Android system
Big advantage is namely based on the platform of Google, the service product such as the map of Google, search, mailbox, it is possible to seamless should
Use in Andriod system.
(2) random access memory of the present invention can further by the process performance of field programmable gate array,
During operation, static memory is made cache memory (Cache) and is used, and dynamic memory makees main storage and uses.
(3) robot is effectively ensured in photoelectric detective circuit of the present invention to move in operation area, without
Occur because of the generation carrying out motion generation accident beyond operation area.
(4) present invention uses solar powered, it is simple to reduces the loss of non-renewable resources, and disclosure satisfy that severe sky
The most normally work under gas.
(5) accumulator of the present invention disclosure satisfy that and makes solar energy carry out generating electricity not in illuminance or depend on when night
So meet and whole system is powered.
(6) present invention uses PWM modulation signal to complete the velocity modulation of motor and steering wheel, direction modulation so that it is run
More stablize safety.
Accompanying drawing explanation
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below by embodiment required use attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, and it is right to be therefore not construed as
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, it is also possible to according to this
A little accompanying drawings obtain other relevant accompanying drawings.
Fig. 1 is the circuit theory diagrams of the present invention；
Fig. 2 is power circuit principle figure of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to
This.
Embodiment 1:
A kind of robot automatic control system based on microprocessor visible light communication technology, as it is shown in figure 1, include central authorities' process
Device, field programmable gate array, photoelectric detective circuit, light-dependent control lock module, optical key module, white light LEDs, described centre
Reason device connects field programmable gate array, and described field programmable gate array connects light-dependent control lock module, described white light
LED connects field programmable gate array, and described field programmable gate array connects optical key module, described smooth electric-examination
Slowdown monitoring circuit connects field programmable gate array；Be provided with in described photoelectric detective circuit light-sensitive element receptor, reflecting mirror,
Light source, modulation waveform generator, modulation waveform processor and modulated amplifier, described field programmable gate array connects to be adjusted
Waveform generator processed, described modulation waveform generator connects light source, and described light source connects reflecting mirror, and described reflecting mirror connects photosensitive
Element receptacles, described light-sensitive element receptor connects modulated amplifier, and described modulated amplifier connects modulation waveform processor,
Described modulation waveform processor connects field programmable gate array.Intelligent mobile it is provided with eventually in described optical key module
End, based on intelligent mobile terminal operating system, designs key based on virtual serial port and sends the software module of intelligent mobile terminal,
Sending out key information by the software module of intelligent mobile terminal, key information is by the min-USB mouth of intelligent mobile terminal
Output；The key information exported, based on intelligent mobile terminal OTG function, in external drive module loading to LED,
The transmission of key information is completed by LED
Operationally, whole system needs to control multiple motor and travel switch, and carries out Photoelectric Detection, for improving treatability
Can, speed up processing, on the basis of central processing unit control processes, extend out field programmable gate array all to carry out
As Photoelectric Detection, motor drive detection, servo driving detection, switching value, to improve the process performance of whole system.Its
In, field programmable gate array (FPGA) circuit, have employed logical cell array LCA(Logic Cell Array) such a
Concept, inside includes configurable logic blocks CLB(Configurable Logic Block), input/output module IOB
(Input Output Block) and three parts of interconnector (Interconnect)；Field programmable gate array (FPGA) is
Programming device, compares with conventional logic circuit and gate array (such as PAL, GAL and CPLD device), and FPGA has different knots
Structure.FPGA utilizes small-sized look-up table (16 × 1RAM) to realize combination logic, and each look-up table is connected to the defeated of a d type flip flop
Entering end, trigger drives other logic circuits again or drives I/O, thus constitutes and not only can realize combination logic function but also can be real
The basic logic unit module of current sequence logic function, these intermodules utilize metal connecting line interconnect or be connected to I/O mould
Block.The logic of FPGA loads programming data by internally static storage cell and realizes, and storage is in a memory cell
Value determine the connecting mode between logic function and each module of logical block or between module and I/O, and finally determine
Function achieved by FPGA, FPGA allows unlimited number of programming.
In signal processing, for ease of making robot run in the region of regulation, it particularly is provided with Photoelectric Detection
Circuit, operationally, field programmable gate array will send Photoelectric Detection and instruct to modulation waveform generator, modulating wave
The waveform modulated of shape generator uses frequency modulating method, due to detecting system modulating frequency tens to hundreds of kHz model
In enclosing, for meeting requirement, it is considered preferred to (fast response time, its operating frequency is up to several MHz or tens to use Light-Emitting Diode
MHz) generation of modulation waveform is completed；Being provided with light source in light source to drive and light source, light source drives main being responsible for modulating wave
Shape is amplified to enough power and removes to drive light source luminescent, and light source uses transmitting and the work being suitable for the waveform side of being wave modulation light
The infrarede emitting diode that working frequency is higher, after utilizing infraluminescence diode to be launched by modulation light, this is adjusted by reflecting mirror
Luminous reflectance processed is on light-sensitive element receptor, and light-sensitive element receptor uses light sensitive diode to receive modulation light, and is believed by light
Number it is changed into the signal of telecommunication, owing to this signal of telecommunication is more weak, therefore needs to be filtered further and processing and amplifying, therefore by light sensitive diode
The signal of telecommunication after conversion carries out signal amplification in being first loaded onto modulated amplifier, and the amplification of this modulated signal uses exchange to amplify
Form, moreover it is possible to make modulation optical signal separate with background light signal, provide convenient for signal processing.After amplified, separating treatment
Modulation optical signal modulation waveform processor will be utilized to be filtered further and signal identifying processing, being then loaded onto scene can
In programming gate-array circuit, adjusting the operation area of robot as reference, its essence of photoelectric detective circuit is " to hand over
Stream ", useful modulation optical signal separates from " direct current ", useless background light signal, thus reaches jamproof
Purpose.
Operationally, the signal controlling steering wheel motion that field programmable gate array is formed will be loaded onto optical key
The servos control of direction controlling classes such as such as turning to is completed in module, when controlling, the letter of the PWM generated in optical key module
Number just can quickly regulate the corner of steering wheel, thus realize the direction controlling of robot；White light LEDs has been used for Circuits System fortune
Switching value data detection during row.
The present invention meets robot and automatically controls required, by automatic technology, intelligent control technology and micro-process
Device controls technology and combines and carry out system control so that robot in use can efficiently accomplish set workflow
Journey, uses the center control technology that microcontroller combines with field programmable gate array, improves the process performance of whole system
And treatment effeciency so that whole system is run more stable, and effectively reduces fault rate.
Embodiment 2:
The present embodiment is to optimize further on the basis of above-described embodiment, further, to better implement the present invention, and can profit
By PWM control mode, motor is carried out speed governing and control, as it is shown in figure 1, particularly be provided with following structure: described light-dependent control lock module
Inside being provided with encoder, motion controller, PWM power amplifier, DC servo motor, described field programmable gate array connects to be compiled
Code device, described encoder connects motion controller, and described motion controller connects PWM power amplifier, and described PWM power amplifier connects direct current and watches
Taking motor, described DC servo motor connects encoder.
For controlling the running orbit of robot and action, field programmable gate array by the running orbit of robot and
Action data is loaded onto in light-dependent control lock module, optical key module and white light LEDs after passing through corresponding conversion, the actuator of robot
Mainly motor and steering wheel, all uses PWM to carry out speed governing and control, according to the feedback letter of encoder (preferred pulse encoder)
Number, the kinestate of robot is controlled in real time, when controlling, encoder is treated control action signal and is encoded, and
After be sent in motion controller be formed corresponding control signal, and control direct current again after PWM power amplifier is carried out signal amplification and watch
Take motor to move accordingly.
Embodiment 3:
The present embodiment is to optimize further on the basis of any of the above-described embodiment, further, to better implement the present invention,
For ease of improving process performance, and more storage robot running orbit and action, as it is shown in figure 1, particularly be provided with following
Structure: also include parameter storage, described parameter storage connects central processing unit, contains robot at parameter storage internal memory
Running orbit data and action data, central processing unit is loaded onto field programmable gate array electricity after will be read by these type of data
In road, for controlling running orbit and the action of robot.
Embodiment 4:
The present embodiment is to optimize further on the basis of embodiment 1 or 2, further, to better implement the present invention, can be
Whole system provides reliable source of power so that it is work, as it is shown in figure 1, particularly be provided with following structure: also include power circuit, institute
Stating power circuit and connect central processing unit and field programmable gate array respectively, power circuit is field programmable gate array
Circuit and central processing unit provide running voltage.
Embodiment 5:
The present embodiment is to optimize further on the basis of above-described embodiment, further, to better implement the present invention, it is simple to
Reduce the loss of non-renewable resources, and disclosure satisfy that and the most normally work under vile weather, as shown in Figure 1 and Figure 2, especially
It is provided with following structure: described power circuit includes solar panel, controller, power supply circuits, described solar panel
Connecting controller, described controller connects power supply circuits, and described power supply circuits connect central processing unit and field-programmable respectively
Gate-array circuit.
Solar panel converts solar energy into direct current energy, then will be carried out surely by the mu balanced circuit in controller
Pressure, the DC source after voltage stabilizing will be delivered in power supply circuits by the output circuit in controller, then by power supply electricity
Central processing unit and field programmable gate array are powered by road so that it is normally work.
Embodiment 6:
The present embodiment is to optimize further on the basis of above-described embodiment, further, to better implement the present invention, it is possible to
Make solar energy carry out generating electricity not or still meet when night whole system is powered in illuminance, institute as shown in Figure 1, Figure 2
Showing, particularly being provided with following structure: described power circuit also includes accumulator, described accumulator connects controller.
In use, unnecessary electric energy will be stored in accumulator, and occur that solar illuminating is not or rainy weather
Or during night, accumulator will carry out releasing electricity, and is delivered in power supply circuits by the output circuit of controller, to central processing unit
And field programmable gate array is powered, whole system is made to reach round-the-clock work in 24 hours.
Embodiment 7:
The present embodiment is to optimize further on the basis of embodiment 1 or 2, further, to better implement the present invention, improves
The process performance of field programmable gate array, as it is shown in figure 1, particularly be provided with following structure: also include random access memory,
Described random access memory connects field programmable gate array.
Embodiment 8:
The present embodiment is to optimize further on the basis of above-described embodiment, further, to better implement the present invention, described
Random access memory uses SRAM and/or dynamic RAM, and the feature of static memory (SRAM) is work
Speed is fast, as long as power supply is not removed, the information of write SRAM would not disappear, it is not necessary to refreshes circuit, read when not simultaneously
Destroying the information originally deposited, can repeatedly read once write, but integrated level is relatively low, power consumption is relatively big, makees in the present invention at a high speed
Buffer storage (Cache) uses.DRAM is dynamic RAM (Dynamic Random Access Memory), and it is
Utilize the grid of field effect transistor to the distribution capacity between its substrate to preserve information, with store electric charge number, i.e. capacitance terminal electricity
The height of pressure represents " 1 " and " 0 ", uses as main storage in the present invention.
Embodiment 9:
The present embodiment is to optimize further on the basis of embodiment 1 or 2 or 5 or 6 or 8, further, for preferably realizing this
Invention, described central processing unit uses TMS570LS1114 microcontroller.
TMS570LS1114 device is a high-performing car level security system microcontroller series.This security architecture bag
Include: the double-core CPU, CPU that run with lock-step mode and memory built-in self-inspection (BIST) logic, on flash memory and data SRAM
ECC, the even-odd check of peripheral memory, the return circuit on peripheral hardware I/O.
TMS570LS1114 device is integrated with ARM Cortex-R4F floating-point CPU, this CPU and provides one efficient 1.66
DMIPS/MHz, and there is the configuration that can run with up to 180MHz, thus up to 298DMIPS is provided.This device is supported
Constant big end sequence [BE32] form of word.
TMS570LS1114 device has 1MB integrated flash memory and 128KB data RAM, this configuration have the error correction of single position and
Dibit error correction.Flash memories on this device be one by 64 bit wide data bus interfaces realize non-volatile,
Electric erasable and programmable memory.In order to realize all readings, programming and erasing operation, this flash memory operates in one
The input of 3.3V power supply is upper (with the level as I/O power supply).When being in pipelined mode, flash memory can be at up to 180MHz
Run under system clock frequency.SRAM supports byte, half son, word and the monocycle of double word pattern in the frequency range of whole support
Read and write-access.
TMS570LS1114 device is peculiar for based on the peripheral hardware controlled in real time, including 2 high-end timings of the next generation
Device (N2HET) sequential coprocessor, this coprocessor has up to 44 I/O terminals, 7 increasings supporting up to 14 outputs
Strong type pulse width modulator (ePWM) module, 6 enhancement mode catch (eCAP) module, 2 orthogonal encoder pulses of enhancement mode
(eQEP) module, and 2 12 analog-digital converters (ADC) supporting up to 24 inputs.
N2HET1 is a high-grade intelligent intervalometer, and this intervalometer can provide the clocking capability of precision for application in real time.
This intervalometer is software-controlled, uses a reduced instruction set computer, and has a special intervalometer micromachine and a company
The I/O port connect.N2HET can be used for pulsewidth modulation output, catches or compare input, or general purpose I/O.N2HET is special
It is not suitable for those application needing multiple sensors information, and those require have the complicated and driving of correct time pulse
The application of actuator.One high-end intervalometer transmission unit (HTU) is able to carry out DMA type of process and to pass between main storage
Defeated N2HET data.One internal memory protected location (MPU) is built in HTU.
EPWM module can generate complicated pulsewidth waveform with minimum CPU overhead or intervention.EPWM is easy of use, and
Support that high side and downside PWM and dead band generate.By means of the protection of integration trigger district and carry the synchronization of MibADC, ePWM mould with sheet
Block is very suitable for digital motor control application.
ECAP module is requisite in the accurate timing highly important system of seizure of external event.Not by with
In time catching application, eCAP may be additionally used for monitoring ePWM output or generating for simple PWM.
EQEP module carries out being directly connected to from a high-performance motion for or rotation incremental encoder linear with one
With acquisition position, direction and velocity information in the machinery rotated in position control system.
This device has 212 bit resolution MibADC, and each MibADC has 24 passages and altogether by 64 word parity schools
Test the buffer RAM of protection.MibADC passage can be by independent translation or can for order conversion sequence by software in groups.16
Input can share between 2 MibADC.There are three independent groups.Can be changed once when being triggered, or be passed through for each group
Configuration is to perform continuous translative mode.MibADC1 also supports the use of external analog multiplexer.
This device has multiple communication interface: 3 MibSPI, 2 SPI, 1 LIN1 SCI, 3 DCAN, and 1 I2C.
SPI is that the high-speed communication between similar shift register type device provides a kind of convenient method.LIN supports this locality interconnection mark
Standard 2.0 is also used as a full-duplex mode UART using standard NRZ (NRZ) form.DCAN supports CAN 2.0
(A and B) consensus standard also uses a serial, many Master Communications agreement, this agreement sane durable communication speed of up to 1Mbps
Rate effectively supports distributed real-time control.System that DCAN is especially suitable for working in noisy and adverse circumstances (such as: automobile and
Industrial circle), this type of application needs reliable serial communication or multiplexing wiring.
I2C module is Master Communications module more than, and this module passes through I2C universal serial bus at microcontroller and an I2C
One interface is provided between compatible device.This I2C supports the speed of 100Kbps and 400Kbps.
One FM PLL (FMPLL) clock module is used to higher by use inside foreign frequency benchmark and one
Frequency multiplication.The available mapping between clock source and device clock territory of this global clock module (GCM) management.
This device also has external clock prescalar (ECP) module, and when activated, this module is at ECLK terminal
One continuous external clock of upper output.ECLK frequency is the user-programmable ratio of Peripheral Interface clock (VCLK) frequency.
This can be exported the indicator as this device running frequency by the low frequency of exterior monitoring.
Direct memory access (DMA) controller has 16 passages, and 32 control packet and the even-odd check to its internal memory
Protection.MPU is built in the dma, to protect internal memory not affected by erroneous transmissions.
Mistake signalling module (ESM) monitors all device mistakes and determines it is in triggering one when a fault being detected
Disconnected still one external error pin/ball-like pins of triggering.Can be as a microcontroller from the nERROR terminal of exterior monitoring
The indicator of fault condition in device.
External memory interface (EMIF) provides asynchronous and synchronous internal memory or other is from the memory expansion of device.
One parameters distribution module (POM) is used to improve the calibration function of application code.Flash memory can be accessed weight by POM
Newly route to internal storage or EMIF, thus avoid the reprogramming step needed for flash memory intrinsic parameter updates.
Embodiment 10:
The present embodiment is to optimize further on the basis of embodiment 1 or 2 or 5 or 6 or 8, further, for preferably realizing this
Invention, described field programmable gate array master chip uses Cyclone III.
Cyclone III, the Cyclone III FPGA of low cost are the third generation products of Altera Cyclone series.
Cyclone III FPGA series is like never before simultaneously achieved low-power consumption, low cost and high-performance, further expands
FPGA application in cost sensitivity high-volume field.Taiwan Semiconductor is used to produce the 65-nm low-power consumption of company (TSMC)
(LP) Technology.Cyclone III capacity between 5K to 120K logical block (LE), most 534 user's I/O pins.
Cyclone III device has 4-Mbit in-line memory, 288 embedded 18*18 multipliers, special external memorizeies connect
Mouth circuit, phaselocked loop (PLL) and high-speed-differential I/O etc..
The present invention meets robot and automatically controls required, by automatic technology, intelligent control technology and micro-process
Device controls technology and combines and carry out system control so that robot in use can efficiently accomplish set workflow
Journey, uses the center control technology that microcontroller combines with field programmable gate array, improves the process performance of whole system
And treatment effeciency so that whole system is run more stable, and effectively reduces fault rate.
The foregoing is only the preferred embodiments of the present invention, be not limited to the present invention, for the skill of this area
For art personnel, the present invention can have various modifications and variations.All within the spirit and principles in the present invention, that is made any repaiies
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. an automatic control system based on microprocessor visible light communication technology, it is characterised in that: include central processing unit,
Field programmable gate array, photoelectric detective circuit, light-dependent control lock module, optical key module, white light LEDs, described central authorities process
Device connects field programmable gate array, and described field programmable gate array connects light-dependent control lock module, described white light LEDs
Connecting field programmable gate array, described field programmable gate array connects optical key module, described Photoelectric Detection
Circuit connects field programmable gate array；Light-sensitive element receptor, reflecting mirror, light it is provided with in described photoelectric detective circuit
Source, modulation waveform generator, modulation waveform processor and modulated amplifier, described field programmable gate array connects modulation
Waveform generator, described modulation waveform generator connects light source, and described light source connects reflecting mirror, and described reflecting mirror connects photosensitive unit
Part receptor, described light-sensitive element receptor connects modulated amplifier, and described modulated amplifier connects modulation waveform processor, institute
State modulation waveform processor and connect field programmable gate array.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 1,
It is characterized in that: in described light-dependent control lock module, be provided with encoder, motion controller, PWM power amplifier, DC servo motor, described
Field programmable gate array connects encoder, and described encoder connects motion controller, and described motion controller connects PWM
Power amplifier, described PWM power amplifier connects DC servo motor, and described DC servo motor connects encoder.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 1,
It is characterized in that: also include parameter storage, described parameter storage connects central processing unit；Arrange in described optical key module
There is intelligent mobile terminal, based on intelligent mobile terminal operating system, design key based on virtual serial port and send intelligent mobile eventually
The software module of end, sends out key information by the software module of intelligent mobile terminal, and key information is by intelligent mobile terminal
Min-USB mouth output；The key information exported, based on intelligent mobile terminal OTG function, through external drive module
It is loaded in LED, is completed the transmission of key information by LED.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 1,
It is characterized in that: also include that power circuit, described power circuit connect central processing unit and field programmable gate array electricity respectively
Road.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 4,
It is characterized in that: described power circuit includes solar panel, controller, power supply circuits, described solar panel connects
Controller, described controller connects power supply circuits, and described power supply circuits connect central processing unit and field-programmable gate array respectively
Column circuits.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 4,
It is characterized in that: described power circuit also includes accumulator, described accumulator connects controller.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 1,
It is characterized in that: also include random access memory, described random access memory connects field programmable gate array.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 7,
It is characterized in that: described random access memory uses SRAM and/or dynamic RAM.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 1,
It is characterized in that: described central processing unit uses TMS570LS1114 microcontroller.
A kind of robot automatic control system based on microprocessor visible light communication technology the most according to claim 1,
It is characterized in that: described field programmable gate array master chip uses Cyclone III.
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| CN114241639A (en) * | 2021-12-22 | 2022-03-25 | 北京罗克维尔斯科技有限公司 | Bluetooth key test method, device, robot, equipment and medium |
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