CN106406158A - Artificial intelligence control automatic curtain based on microprocessor - Google Patents
Artificial intelligence control automatic curtain based on microprocessor Download PDFInfo
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- CN106406158A CN106406158A CN201610440723.2A CN201610440723A CN106406158A CN 106406158 A CN106406158 A CN 106406158A CN 201610440723 A CN201610440723 A CN 201610440723A CN 106406158 A CN106406158 A CN 106406158A
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- programmable gate
- gate array
- field programmable
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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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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47H—FURNISHINGS FOR WINDOWS OR DOORS
- A47H5/00—Devices for drawing draperies, curtains, or the like
- A47H5/02—Devices for opening and closing curtains
-
- 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
- G05B2219/26—Pc applications
- G05B2219/2628—Door, window
Abstract
The present invention discloses an artificial intelligence control automatic curtain based on a microprocessor. The curtain 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; the photoelectric detection circuit is connected with the field programmable gate array circuit; and 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 adoption of the centralized control technology of the combination of the microcontroller and the field programmable gate array, the artificial intelligence control automatic curtain based on the microprocessor improves the processing performance and the processing efficiency of the whole system to allow the whole system to more steadily run and effectively reduce the fault rate.
Description
Technical field
The present invention relates to technical field of automatic control, specifically, it is a kind of based on microprocessor visible light communication skill
The robot automatic control system of art.
Background technology
Based Intelligent Control（intelligent controls）Intelligent machine can independently be driven in the case of unmanned the intervention
Realize the automatic control technology of control targe.Control theory is developed so far the history of existing more than 100 year, experienced " classical control
Theory " and the developmental stage of " modern control theory ", have been enter into " theory of large scale system " and " Intelligent Control Theory " stage.Intelligence is controlled
The theoretical research of system and application are expansions in depth and range for the modern control theory.Since the eighties in 20th century, information skill
The development of art, the fast development of computing technique and other related disciplines and interpenetrating, has 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）Refer to machinery equipment, system or process（Produce, manage process）In nobody or relatively
Under the direct participation of few people, according to the requirement of people, judge, manipulate control through automatic detection, information processing, analysis, realize pre-
The process of the target of phase.Automatic technology be widely used in industry, agricultural, military affairs, scientific research, transportation, commercially, medical treatment,
The aspect such as service and family.Using automatic technology not only can people from heavy physical work, part mental work and
Badly, free in dangerous working environment, 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., easily by electromagnetic interference, the direction of transmission is uncontrollable for WIFI, password easily quilt
Intercept and capture.But visible light communication is a kind of point-to-point transmission mode, has the advantages that good confidentiality.Therefore, it can will be seen that
Optical communication technique is combined with gate inhibition's technology, has wide utilization prospect.With social progress, intelligent intelligent mobile terminal
A large amount of popularizations are obtained, intelligent mobile terminal becomes the article carrying in people's daily life with life.
Content of the invention
It is an object of the invention to designing one kind to be based on microprocessor artificial intelligence control automatic curtain, meet robot
Automatically control required, combine and be by automatic technology, intelligent control technology and microprocessor control technology
System controls so that robot can efficiently accomplish set workflow in use, can using microcontroller and scene
The programming center control technology that combines of gate array, improves the process performance of whole system and treatment effeciency so that whole system
Run more stable, and effectively reduce 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-operated lock module, optical key mould
Block, automatic curtain, signal processing circuit, power circuit, white light LEDs；
Described automatic curtain includes microprocessor, power control circuit, circuitry for signal measurement, power-switching circuit, light-receiving mould
Block, described microprocessor receives the control instruction that described Optical Receivers obtains, and according to described control instruction, control circuit is realized
The energising of automatic curtain and power-off；Described power control circuit includes relay, and described microprocessor sends control signal, controls
The folding of relay is higher than the peak power of load, described relay changing the power supply of load, the capacity of described relay
Loop also includes diode and capacitor element, for absorbing reverse current and the high pressure of folding moment；Described circuitry for signal measurement
It is connected with power control circuit, obtain the voltage of automatic curtain, electric current forceful electric power signal first passes through divider resistance, copper-manganese piece is converted to
Weak electric signal, then input to special computation chip, complete plurality of voltages current effective value, power etc. and calculate, the data of generation
It is transported to microprocessor；The alternating voltage of 220V is carried out AC-DC conversion by described power-switching circuit, in output circuit system
The DC voltage needing.；
Described signal modulation equipment is responsible for modulating the original signal of telecommunication of generation；Described LED lamp is monochromatic LED；Described light is visited
Surveying device is that visible light wave range responds preferable CCD electrooptical device；Described automatic curtain is the optical lens of variable multiple；
Described signal processing circuit and photo-detector are adapted, for the process of video electrical signal, and determine light spot received shape,
Size and average received power；It is atmospheric channel between described searchlight and described automatic curtain, the light that light source sends passes through
Atmospheric channel is transmitted；
Described remote visible light communication system equipment mainly includes transmitting terminal and receiving terminal；Transmitting terminal can use OOK, PPM
Etc. modulation system, the optical signal modulating is launched by light source with the rule of high speed, light and shade change, using high-power low beam spreading
Angle array LED, as light source, because modulation rate is in 100 bit magnitudes, can coordinate C++ software programming using single-chip microcomputer
Carry out the design of hardware and software of transmitting terminal, realize the transmission of character string；Receiving terminal, using CCD as photo-detector, hardware device
Using high more than frame frequency 100fps, high sensitivity, high-responsivity CCD camera；Camera is clapped with frame frequency identical with light source
Take the photograph, and design software carries out collection and the process of data to CCD camera, the rule of modulated signal is presented, obtains phase
The gray value answered, thus completing the transmittance process of information, realizes the reception of character string；Described charging socket is arranged at door close
Side；
Described field programmable gate array connects modulation waveform generator, and described modulation waveform generator connects light source, institute
State light source and connect reflecting mirror, described reflecting mirror connects light-sensitive element receptor, described light-sensitive element receptor connects modulation and amplifies
Device, described modulated amplifier connects modulation waveform processor, and described modulation waveform processor connects field programmable gate array electricity
Road.
Further, to better implement the present invention, be provided with described light-operated 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 include parameter storage, described parameter storage connects centre
Reason device；It is provided with intelligent mobile terminal, based on intelligent mobile terminal operating system, design is based on virtual in described optical key module
The key of serial ports sends the software module of intelligent mobile terminal, sends out key letter by the software module of intelligent mobile terminal
Breath, key information is exported by the min-USB mouth of intelligent mobile terminal；The key information being 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 power circuit, described power circuit connects 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 include 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 adopts SRAM and/or dynamic
Random access memory.
Further, to better implement the present invention, described central processing unit adopts TMS570LS1114 microcontroller.
Further, to better implement the present invention, described field programmable gate array master chip adopts Cyclone
III.
The present invention compared with prior art, has advantages below and beneficial effect：
（1）The present invention meet robot automatically control required, by automatic technology, intelligent control technology and microprocessor
Device control technology combines and carries out system control so that robot can efficiently accomplish set workflow in use
Journey, the center control technology being combined with field programmable gate array using microcontroller, improves the process performance of whole system
And treatment effeciency is so that whole system operation is more stable, and effectively reduce fault rate.Described automatic curtain includes core processing
Device module, LED light receiving circuit, memory module, key-press module, power protection and level switch module, relay module；
Described relay module includes relay circuit and travel switch, and wherein said travel switch is located on automatic curtain rail, leads to
Cross wire to be connected with the described relay circuit within controller；Core processor realizes power supply by the break-make of control relay
The selection of wiring point, described relay module includes 2 relays, is just realizing motor by connecting or disconnecting of relay
Turn and invert, thus realizing the opening and closing of curtain；Described 2 relay circuits are also normally closed with 2 travel switches respectively
Contact series；When curtain has fully opened or closes, power supply can be disconnected by system automatically, the generation of pre- anticollision, and
Position signalling can be sent to controller by the normally opened contact of travel switch；Described LED light receiving circuit receives LED illumination lamp group
LED communication signal and be converted into control instruction and be transported to core processor；Described power protection and level switch module include
Power protection part and level converting section, 220 V alternating voltages are turned by described level converting section to daily electric main
It is changed to 5 V direct voltage outputs；Described power protection part is an electric fuse connected with power input；Described button
Module includes a free-standing button, is used for realizing system reboot and recovers initial setting up.WIFI, easily by electromagnetic interference, passes
Defeated direction is uncontrollable, and password is easily trapped.But visible light communication is a kind of point-to-point transmission mode, has confidentiality
Good advantage.Therefore, it can, it will be seen that optical communication technique combines, there is wide utilization prospect.With social progress, intelligence
Intelligent mobile terminal has obtained a large amount of popularizations, and intelligent mobile terminal becomes the article carrying in people's daily life with life.
Optical key and intelligent mobile terminal combine, and apply the unlatching to realize using intelligent mobile terminal.Can be fine
Utilization android system exploitation mobile phone A AP light key software, android system is the behaviour increasing income based on Linux
Make system, be mainly used in mobile terminal（Mobile phone and flat board）In.Android system is compared with other system platforms, has
Very big advantage.The topmost opening being embodied in it of its advantage.Android system is the system increased income completely, owns
Fan and manufacturer can participate in the exploitation of Android system, this is just that the development of Android system is beaten
Descend fine basis.Android system has had become as the big system of global installation amount first.Android system another
Big advantage is namely based on the platform of Google, the service product such as the map of Google, search, mailbox, can be seamless answer
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；At a distance
Visible light communication system, employs OOK modulation system in transmitting terminal, and OOK bandwidth demand is low, and hardware is realized the most simply,
Only need to the method by direct detection when decoding, to be determined 0 or 1 during the information receiving by judging the presence or absence of light；
Make transmitting terminal cost reasonable；In receiving terminal, using CCD as photo-detector, hardware device uses high frame frequency（100fps
More than）, high sensitivity, high-responsivity CCD camera；Camera is shot with frame frequency identical with light source, and design software pair
CCD camera carries out collection and the process of data, and the rule of modulated signal is presented, and obtains corresponding gray value, thus complete
The transmittance process of one-tenth information, realizes the reception of character string.Select CCD as photo-detector, its sensitivity and responsiveness ratio pass
The PIN photodiode of system is much higher.In contrast to conventional photodiode, the position of light source can be made using CCD camera
Can clearly indicating out in the picture, so, as long as can interpolate that out the position of signal, multiple light can be used in the future
Source, within the ability to accept of receiving terminal, increases exponentially transfer rate.And CCD can also be as photo-detector simultaneously
In the middle of APT communication system.
（3）Machine is effectively ensured in photoelectric detective circuit of the present invention to be moved in operation area, without going out
Now because carrying out the generation of motion generation accident beyond operation area.
（4）The present invention, using solar powered, be easy to reduce the loss of non-renewable resources, and be disclosure satisfy that severe sky
Still normal work under gas.
（5）Accumulator of the present invention disclosure satisfy that illuminance so that solar energy is generated electricity or when night according to
So meet and whole system is powered.
（6）The present invention to complete motor using PWM modulation signal and the velocity modulation of steering wheel, direction are modulated so as to run
More stablize safety.
Brief description
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to use required in embodiment
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, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the circuit theory diagrams of the present invention；
Fig. 2 is power circuit principle figure of the present invention.
Specific embodiment
With reference to specific embodiment, the present invention is described in further detail, but embodiments of the present invention are not limited to
This.
Embodiment 1：
One kind is based on microprocessor artificial intelligence control automatic curtain, as shown in figure 1, including central processing unit, field-programmable
Gate-array circuit, photoelectric detective circuit, light-operated lock module, optical key module, automatic curtain, signal processing circuit, power circuit,
White light LEDs；
Described automatic curtain includes microprocessor, power control circuit, circuitry for signal measurement, power-switching circuit, light-receiving mould
Block, described microprocessor receives the control instruction that described Optical Receivers obtains, and according to described control instruction, control circuit is realized
The energising of automatic curtain and power-off；Described power control circuit includes relay, and described microprocessor sends control signal, controls
The folding of relay is higher than the peak power of load, described relay changing the power supply of load, the capacity of described relay
Loop also includes diode and capacitor element, for absorbing reverse current and the high pressure of folding moment；Described circuitry for signal measurement
It is connected with power control circuit, obtain the voltage of automatic curtain, electric current forceful electric power signal first passes through divider resistance, copper-manganese piece is converted to
Weak electric signal, then input to special computation chip, complete plurality of voltages current effective value, power etc. and calculate, the data of generation
It is transported to microprocessor；The alternating voltage of 220V is carried out AC-DC conversion by described power-switching circuit, in output circuit system
The DC voltage needing.；
Described signal modulation equipment is responsible for modulating the original signal of telecommunication of generation；Described LED lamp is monochromatic LED；Described light is visited
Surveying device is that visible light wave range responds preferable CCD electrooptical device；Described automatic curtain is the optical lens of variable multiple；
Described signal processing circuit and photo-detector are adapted, for the process of video electrical signal, and determine light spot received shape,
Size and average received power；It is atmospheric channel between described searchlight and described automatic curtain, the light that light source sends passes through
Atmospheric channel is transmitted；
Described remote visible light communication system equipment mainly includes transmitting terminal and receiving terminal；Transmitting terminal can use OOK, PPM
Etc. modulation system, the optical signal modulating is launched by light source with the rule of high speed, light and shade change, using high-power low beam spreading
Angle array LED, as light source, because modulation rate is in 100 bit magnitudes, can coordinate C++ software programming using single-chip microcomputer
Carry out the design of hardware and software of transmitting terminal, realize the transmission of character string；Receiving terminal, using CCD as photo-detector, hardware device
Using high more than frame frequency 100fps, high sensitivity, high-responsivity CCD camera；Camera is clapped with frame frequency identical with light source
Take the photograph, and design software carries out collection and the process of data to CCD camera, the rule of modulated signal is presented, obtains phase
The gray value answered, thus completing the transmittance process of information, realizes the reception of character string；Described charging socket is arranged at door close
Side；
Described field programmable gate array connects modulation waveform generator, and described modulation waveform generator connects light source, institute
State light source and connect reflecting mirror, described reflecting mirror connects light-sensitive element receptor, described light-sensitive element receptor connects modulation and amplifies
Device, described modulated amplifier connects modulation waveform processor, and described modulation waveform processor connects field programmable gate array electricity
Road.It is provided with intelligent mobile terminal, based on intelligent mobile terminal operating system, design is based on virtual string in described optical key module
The key of mouth sends the software module of intelligent mobile terminal, sends out key information by the software module of intelligent mobile terminal,
Key information is exported by the min-USB mouth of intelligent mobile terminal；The key information being exported, based on intelligent mobile terminal OTG
Function, in external drive module loading to LED, completes the transmission of key information 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, extend out on the basis of central processing unit control process field programmable gate array to carry out all
Such 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, employs logical cell array LCA（Logic Cell Array）Such a
Concept, internal inclusion configurable logic blocks CLB（Configurable Logic Block）, input/output module IOB
（Input Output Block）And interconnector（Interconnect）Three parts；Field programmable gate array（FPGA）It is
Programming device, with conventional logic circuit and gate array（As PAL, GAL and CPLD device）Compare, FPGA has different knots
Structure.FPGA utilizes small-sized look-up table（16×1RAM）To realize combination logic, each look-up table is connected to the defeated of a d type flip flop
Enter end, trigger to drive other logic circuits again or to drive I/O, thus constitute and not only can achieve combination logic function but also can be real
The basic logic unit module of current sequence logic function, these intermodules are interconnected using metal connecting line or are 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 connecting mode between the logic function of logical block and each module 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 adopts frequency modulating method, due to detecting system modulating frequency tens to hundreds of kHz model
In enclosing, require it is considered preferred to adopt Light-Emitting Diode for meeting（Fast response time, its operating frequency is up to several MHz or more than ten
MHz）To complete the generation of modulation waveform；It is provided with light source in light source to drive and light source, light source drives mainly to be responsible for modulating wave
Shape is amplified to enough power and goes to drive light source luminescent, and light source is using the transmitting of the suitable waveform side of being wave modulation light and work
The higher infrarede emitting diode of working frequency, after being launched modulation light using infraluminescence diode, this is adjusted by reflecting mirror
Light processed reflexes on light-sensitive element receptor, and light-sensitive element receptor adopts light sensitive diode to receive modulation light, and light is believed
Number it is changed into the signal of telecommunication, because this signal of telecommunication is weaker, therefore need to be filtered further and processing and amplifying, therefore by light sensitive diode
The signal of telecommunication after conversion is loaded onto first in modulated amplifier and carries out signal amplification, and the amplification of this modulated signal is amplified using exchange
Form moreover it is possible to make modulated optical signal separate with background light signal, be signal processing provides convenient.After amplified, separating treatment
Modulated optical signal will be filtered further using modulation waveform processor and signal identification process, being then loaded onto scene can
In programming gate-array circuit, adjust the operation area of robot as reference, its essence of photoelectric detective circuit is " to hand over
Stream ", useful modulated optical signal separates, thus reaching jamproof from " direct current ", useless background light signal
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 class, when controlling, the letter of the PWM being generated in optical key module such as complete to turn in module
Number just it is capable of the corner of quick regulation steering wheel, thus realizing the direction controlling of robot；White light LEDs are used for completing Circuits System fortune
Switching value data detection during row.Described remote visible light communication system specifically includes：
Manipulator, needs modulates baseband signals to light carrier for visible light communication transmitting terminal, the effect of manipulator is exactly
Will be according to different modulation systems, such as OOK modulation, PPM modulation etc., information is first modulated into the signal of telecommunication.On manipulator hardware
In order to reach the requirement of higher speed and precision, can also select FPGA using 51 conventional single-chip microcomputer series
Deng.
LED drives, and is used for converting electrical signals to optical signal.LED drive module is used for completing the drive to LED light source
The signal of telecommunication being adjusted to is converted into optical signal simultaneously and is loaded on LED light source by dynamic function.As 51 single-chip microcomputers, its triggering
Mode is TTL triggering, completes LED light source is driven.
LED, is the discharger of visible light communication system, in order to meet the demand of communication system, should select work(as far as possible
Rate is big, beam divergence angle is little, white light LEDs light source.Additionally, selecting array format LED light source can increase luminous power, and to beam spreading
Angle commonly reaches 4 degree.
LED controller, for controlling the equipment of light source and camera, completes miscellaneous function.
Atmospheric channel, the flashlight being adjusted to is launched by light source, is transmitted by atmospheric channel, will be subject in transmitting procedure
Impact to atmospheric channel.
Camera lens, camera lens are automatic curtain, mainly complete the seizure receive capabilities of optical signal, and camera lens can enter
Row zoom, changes field of view of receiver angle, can zoom in or out target.For the ease of cooperating with CCD camera, it is configured with
Motorized zoom lenses and encoder, it is possible to achieve computer controls autozoom.
CCD camera, CCD is sensitive component, mainly converts optical signal into signal of telecommunication reimaging.
CCD camera needs to mate the speed of light source, and CCD camera can complete high frame frequency collection.CCD camera passes through
Gigabit Ethernet is connected on computer, and completes collection and the process of view data by program.
Imaging process, for carrying out receiving imaging the modulated optical signal receiving, analyzes its gray scale light intensity, solution
Recall raw information, the information that completes receives.
The present invention meet robot automatically control required, by automatic technology, intelligent control technology and microprocessor
Device control technology combines and carries out system control so that robot can efficiently accomplish set workflow in use
Journey, the center control technology being combined with field programmable gate array using microcontroller, improves the process performance of whole system
And treatment effeciency is so that whole system operation is more stable, and effectively reduce 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, can profit
With PWM control mode, speed governing and control are carried out to motor, as shown in figure 1, particularly being provided with following structures：Described light-operated lock module
Inside it is 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
Take 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-operated lock module, optical key module and white light LEDs after corresponding conversion, the actuator of robot
Mainly motor and steering wheel, all carry out speed governing and control using PWM, according to encoder（Preferred pulse encoder）Feedback letter
Number, real-time control is carried out to the kinestate of robot, when controlling, encoder is treated control action signal and encoded, and
After be sent in motion controller and form corresponding control signal, and PWM power amplifier is carried out controlling direct current to watch after signal amplification again
Take motor to be moved 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 shown in figure 1, particularly being provided with following
Structure：Also include parameter storage, described parameter storage connects central processing unit, has robot in parameter storage memory storage
Running orbit data and action data, central processing unit is loaded onto field programmable gate array electricity after will be read by such 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 as to work, as shown in figure 1, particularly being provided with following structures：Also include power circuit, institute
State 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, is easy to
Reduce the loss of non-renewable resources, and disclosure satisfy that under vile weather still normal work, as shown in Figure 1 and Figure 2, especially
It is provided with following structures：Described power circuit includes solar panel, controller, power supply circuits, described solar panel
Connect 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 passes through power supply electricity
Central processing unit and field programmable gate array are powered on road so as to normal work.
Embodiment 6：
The present embodiment is to optimize further on the basis of above-described embodiment, further, to better implement the present invention, can
Not make solar energy be generated electricity or still meet when night whole system is powered in illuminance, institute as shown in Figure 1, Figure 2
Show, particularly be provided with following structures：Described power circuit also includes accumulator, and described accumulator connects controller.
When using, unnecessary electric energy will be stored in accumulator, and solar illuminating 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 shown in figure 1, particularly be provided with following structures：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 adopts SRAM and/or dynamic RAM, static memory（SRAM）Feature be 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 refresh circuit, read when not simultaneously
Destroy the information originally deposited, can repeatedly read once write, but integrated level is relatively low, power consumption is larger, make at a high speed in the present invention
Buffer storage (Cache) uses.DRAM is dynamic RAM (Dynamic Random Access Memory), and it is
Distribution capacity between its substrate for the grid using field effect transistor preserves information, with store electric charge number, i.e. capacitance terminal electricity
The height of pressure, to represent " 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, realizes this for more preferable
Invention, described central processing unit adopts TMS570LS1114 microcontroller.
TMS570LS1114 device is a high-performing car level security system microcontroller series.This security architecture bag
Include：Double-core CPU, CPU and memory built-in self-inspection (BIST) logic run with lock-step mode, in flash memory 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, and this CPU provides one efficient 1.66
DMIPS/MHz, and have can be up to 180MHz operation configuration, thus provide be up to 298DMIPS.This device is supported
Word constant big end sequence [BE32] form.
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
In 3.3V power input（With the level as I/O power supply）.When being in pipelined mode, flash memory in up to 180MHz can be
Run under system clock frequency.SRAM supports the monocycle of byte, half son, word and double word pattern in the whole frequency range supported
Read and write-access.
TMS570LS1114 device peculiar for the peripheral hardware based on real-time control, including the high-end timing of 2 next generations
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) modules, the orthogonal encoder pulse of 2 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 accurate clocking capability for real-time application.
This intervalometer is software-controlled, using a reduced instruction set computer, and has a special intervalometer micromachine and a company
The I/O port connecing.N2HET can be used for non-inverting input, catches or compares input, or general purpose I/O.N2HET is special
It is not suitable for the application that those need multiple sensors information, and those requirements have complicated and correct time pulse driving
The application of actuator.One high-end intervalometer transmission unit (HTU) is able to carry out DMA type of process to pass and main storage between
Defeated N2HET data.One internal memory protection location (MPU) is built in HTU.
EPWM module can generate complicated pulsewidth waveform with minimum CPU overhead or intervention.EPWM is easy to use, and
Support that high side and downside PWM and dead band generate.Carry the synchronization of MibADC, ePWM mould by means of the protection of integration trigger area and with piece
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
When catching application, eCAP may be additionally used for monitoring ePWM output or generates for simple PWM.
EQEP module is directly connected to for or rotation incremental encoder linear with one to move from a high-performance
With acquisition position, direction and velocity information in the machinery rotating in position control system.
This device has 212 bit resolution MibADC, and each MibADC altogether has 24 passages and is subject to 64 word parity schools
Test the buffer RAM of protection.MibADC passage by independent translation or can be directed to order conversion sequence by software in groups.16
Input can share between 2 MibADC.There are three independent groups.Each group can be changed once when being triggered, or passes through
Configuration is to execute continuous translative mode.MibADC1 also supports the use of external analog multiplexer.
This device has multiple communication interfaces：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 local interconnection mark
Standard 2.0 is simultaneously used as a full-duplex mode UART using standard NRZ (NRZ) form.DCAN supports CAN 2.0
（A and B）Consensus standard simultaneously uses serial, many Master Communications agreement, this agreement steadily and surely durable communication speed of up to 1Mbps
Rate effectively supports distributed real-time control.DCAN is especially suitable for working in the system in noisy and adverse circumstances（For example：Automobile and
Industrial circle）, such 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 in 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 be used to by internal with one for foreign frequency benchmark use higher
Frequency multiplication.The available mapping between clock source and device clock domain of this global clock module (GCM) management.
This device also has external clock prescalar (ECP) module, and when activated, this module is in 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, 32 control data bags 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 is detected
Disconnected still one external error pin/ball-like pins of triggering.Can be used 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 memory expansion from 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 avoiding flash memory intrinsic parameter to update required reprogramming step.
Embodiment 10：
The present embodiment is to optimize further on the basis of embodiment 1 or 2 or 5 or 6 or 8, further, realizes this for more preferable
Invention, described field programmable gate array master chip adopts 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 simultaneously achieved low-power consumption, low cost and high-performance like never before, further expands
Application in cost sensitivity high-volume field for the FPGA.Produce the 65-nm low-power consumption of company (TSMC) using Taiwan Semiconductor
(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 meet robot automatically control required, by automatic technology, intelligent control technology and microprocessor
Device control technology combines and carries out system control so that robot can efficiently accomplish set workflow in use
Journey, the center control technology being combined with field programmable gate array using microcontroller, improves the process performance of whole system
And treatment effeciency is so that whole system operation is more stable, and effectively reduce 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, made any repair
Change, equivalent, improvement etc., should be included within the scope of the present invention.
Claims (10)
1. a kind of based on microprocessor artificial intelligence control automatic curtain it is characterised in that：Process including automatic curtain, central authorities
Device, field programmable gate array, photoelectric detective circuit, light-operated lock module, optical key module by signal process circuit, power supply electricity
Road, white light LEDs；
Described signal modulation equipment is responsible for modulating the original signal of telecommunication of generation；Described LED lamp is monochromatic LED；Described light is visited
Surveying device is that visible light wave range responds preferable CCD electrooptical device；Described automatic curtain is the optical lens of variable multiple；
Described signal processing circuit and photo-detector are adapted, for the process of video electrical signal, and determine light spot received shape,
Size and average received power；It is atmospheric channel between described searchlight and described automatic curtain, the light that light source sends passes through
Atmospheric channel is transmitted；Described automatic curtain includes microcontroller, socket switch and Optical Receivers, described light-receiving mould
Block receives LED communication signal from LED light group, obtains control instruction to after described LED communication signal processing, and by described control
Instruction is transported to microcontroller, and described microcontroller generates the execute instruction of socket switch according to described control instruction, described slotting
Seat switch is electromagnetic relay, and described electromagnetic relay is connected with the damping device of socket；
Described automatic curtain includes microprocessor, power control circuit, circuitry for signal measurement, power-switching circuit, light-receiving mould
Block, described microprocessor receives the control instruction that described Optical Receivers obtains, and according to described control instruction, control circuit is realized
The energising of automatic curtain and power-off；Described power control circuit includes relay, and described microprocessor sends control signal, controls
The folding of relay is higher than the peak power of load, described relay changing the power supply of load, the capacity of described relay
Loop also includes diode and capacitor element, for absorbing reverse current and the high pressure of folding moment；Described circuitry for signal measurement
It is connected with power control circuit, obtain the voltage of automatic curtain, electric current forceful electric power signal first passes through divider resistance, copper-manganese piece is converted to
Weak electric signal, then input to special computation chip, complete plurality of voltages current effective value, power etc. and calculate, the data of generation
It is transported to microprocessor；The alternating voltage of 220V is carried out AC-DC conversion by described power-switching circuit, in output circuit system
The DC voltage needing；
Described remote visible light communication system equipment mainly includes transmitting terminal and receiving terminal；Transmitting terminal can use OOK, PPM etc.
Modulation system, the optical signal modulating is launched by light source with the rule of high speed, light and shade change, using high-power low beam divergence angle
Array LED, as light source, because modulation rate is in 100 bit magnitudes, can be entered using single-chip microcomputer cooperation C++ software programming
The design of hardware and software of row transmitting terminal, realizes the transmission of character string；Receiving terminal, using CCD as photo-detector, hardware device makes
With high more than frame frequency 100fps, high sensitivity, high-responsivity CCD camera；Camera is shot with frame frequency identical with light source,
And design software carries out collection and the process of data to CCD camera, and the rule of modulated signal is presented, obtain corresponding
Gray value, thus completing the transmittance process of information, realize the reception of character string；Described charging socket is arranged at the side of door close
End；
Described central processing unit connects field programmable gate array, and described field programmable gate array connects light-dependent control lock
Module, described white light LEDs connect field programmable gate array, and described field programmable gate array connects optical key mould
Block, described photoelectric detective circuit connects field programmable gate array；It is provided with light-sensitive element in described photoelectric detective circuit
Receptor, reflecting mirror, light source, modulation waveform generator, modulation waveform processor and modulated amplifier, described field programmable gate
Array circuit connects modulation waveform generator, and described modulation waveform generator connects light source, and described light source connects reflecting mirror, described
Reflecting mirror connects light-sensitive element receptor, and 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.
2. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 1,
It is characterized in that：It is provided with encoder, motion controller, PWM power amplifier, DC servo motor in described light-operated lock module, 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.
3. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 1,
It is characterized in that：Also include parameter storage, described parameter storage connects central processing unit；Setting in described optical key module
There is intelligent mobile terminal, based on intelligent mobile terminal operating system, the key based on virtual serial port for the design sends intelligent mobile eventually
The software module at end, sends out key information by the software module of intelligent mobile terminal, key information is by intelligent mobile terminal
Min-USB mouth output；The key information being exported, based on intelligent mobile terminal OTG function, through external drive module
It is loaded in LED, complete the transmission of key information by LED.
4. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 1,
It is characterized in that：Also include power circuit, described power circuit connects central processing unit and field programmable gate array electricity respectively
Road.
5. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 4,
It is characterized in that：Described power circuit includes solar panel, controller, power supply circuits, and 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.
6. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 4,
It is characterized in that：Described power circuit also includes accumulator, and described accumulator connects controller.
7. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 1,
It is characterized in that：Also include random access memory, described random access memory connects field programmable gate array.
8. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 7,
It is characterized in that：Described random access memory adopts SRAM and/or dynamic RAM.
9. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 1,
It is characterized in that：Described central processing unit adopts TMS570LS1114 microcontroller.
10. a kind of robot automatic control system based on microprocessor visible light communication technology according to claim 1,
It is characterized in that：Described field programmable gate array master chip adopts Cyclone III.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610440723.2A CN106406158A (en) | 2016-06-20 | 2016-06-20 | Artificial intelligence control automatic curtain based on microprocessor |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610440723.2A CN106406158A (en) | 2016-06-20 | 2016-06-20 | Artificial intelligence control automatic curtain based on microprocessor |
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| CN201401121Y (en) * | 2009-03-09 | 2010-02-10 | 方超 | System capable of intelligently controlling opening and closing of curtain |
| CN103840328A (en) * | 2014-03-27 | 2014-06-04 | 贵州大学 | Intelligent socket control system based on WSN and wireless communication |
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