CN201058236Y - Football robot low layer control system - Google Patents

Football robot low layer control system Download PDF

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Publication number
CN201058236Y
CN201058236Y CNU200720011968XU CN200720011968U CN201058236Y CN 201058236 Y CN201058236 Y CN 201058236Y CN U200720011968X U CNU200720011968X U CN U200720011968XU CN 200720011968 U CN200720011968 U CN 200720011968U CN 201058236 Y CN201058236 Y CN 201058236Y
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CN
China
Prior art keywords
chip
wheels
control
unit
low layer
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Fee Related
Application number
CNU200720011968XU
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Chinese (zh)
Inventor
马英庆
程福
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Liaoning Mechatronics College
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Liaoning Mechatronics College
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Priority to CNU200720011968XU priority Critical patent/CN201058236Y/en
Application granted granted Critical
Publication of CN201058236Y publication Critical patent/CN201058236Y/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

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Abstract

In order to solve the technical problems existing in low-level control system of the football robot such as complex design of inner programs, poor response ability, low sensitivity and so on, the utility model provides a low-level control system for the football robot, which comprises a LPC2132 microprocessor and the ID encoding unit, a wireless receiving unit and an operation control unit of the low-level left and right wheels which includes a left and right movement controller LM629 and a motor drive for the two operation wheels. The ARM chip of the 32-digit microprocessor is so powerful in function, and with the movement control chip being equipped, the intelligent PID self-adaptation control is achieved, then the software design is simplified and the bottleneck problem of the complex operation algorithm is solved. The utility model has the technical advantages of rapid response speed, small overshoot, good real-time performance, excellent dynamic quality and so on.

Description

Soccer robot low layer control system
Technical field
The utility model relates to the low layer control system of Soccer robot.
Background technology
Soccer robot is a kind of typical intelligent robot system, and its basic task is the wireless transmission motion control instruction that receives master control system, drives the left and right wheel of dolly and presses the path planning operation, realizes its match task.The low layer control system of existing Soccer robot adopts be 8 single-chip microcomputers or 16 single-chip microcomputers as microcontroller, its Intelligent PID Control is finished by software programming.The technical problem underlying that this prior art exists is: the program composition difficulty, there is the software bottleneck problem of complicated operation algorithm, and influenced the quick-reaction capability of system, the sensitivity of system is low, and system upgrade difficulty comparatively.
The utility model content
Goal of the invention of the present utility model is that thereby bearing the intelligent PID Self Adaptive Control by hardware simplifies the software design, provides the Soccer robot low layer that a kind of system response time is fast, dynamic quality is good control system.Soccer robot low layer control system of the present utility model includes the operation actuation unit of little processing central control unit, ID coding unit and radio receiving unit and low layer left and right wheels, and operation actuation unit wherein includes the motor driver of left and right wheels motion controller, two operation wheels; Its little processing central control unit is made of little process chip LPC2132; Left and right wheels two operation controllers are made of the able to programme digital motion control chip LM629 of internal PID algorithm, and its data port line and instruction reception/transmission mouthful line is connected with one group of data port line and instruction mouth line of microprocessor respectively; Its motor driver drives chip by constant pressure and flow dual H-bridge formula and constitutes, its two-way motor output pin respectively with about the operation turbin generator is connected, the two-way pulsewidth frequency modulation output of every road operation controller is connected with the two-way input pin of constant pressure and flow dual H-bridge formula driving chip respectively.
Soccer robot low layer control system technical scheme disclosed in the utility model, adopted the kernel control chip of powerful 32-bit microprocessor ARM chip as Soccer robot, and be equipped with motion control chip, realize its intelligent PID Self Adaptive Control, thereby simplify its software design, solved the bottleneck problem of complicated operation algorithm, satisfied that system response time is fast, overshoot is little, good, the good dynamic quality of real-time, high performance demands that reliability is high, and have the high advantage of hardware integrated level.
Description of drawings
Fig. 1 is the circuit composition frame chart of the utility model Soccer robot low layer control system
Fig. 2 is the circuit diagram that one road operation controller is connected with microprocessor
Fig. 3 is microprocessor and the circuit structure schematic diagram that moves actuation unit
Fig. 4 is radio receiving unit and microprocessor circuit connection layout.
The specific embodiment
The circuit of Soccer robot low layer control system of the present utility model constitutes as shown in the figure, this Soccer robot low layer control system includes the operation actuation unit of operation wheel about little processing central control unit, ID coding unit, radio receiving unit and control low layer, and the operation actuation unit of operation wheel is made of the two-way motion controller of control left and right wheels operation, the motor driver and the speed detector of control drive motors about its low layer.That little processing central control unit wherein and its motion controller are selected for use respectively is microprocessor chip LPC2132 and digital motion controller chip LM629 able to programme, digital motion controller chip LM629 able to programme of two-way wherein (R) and LM629 (L) are respectively as the motion controller core of controlling the low layer left and right wheels, internal PID algorithm among the digital motion controller chip LM629 able to programme, communicate to connect with microprocessor chip LPC2132 and to cooperate, carry out Intelligent PID Control.The data port line DATA of each motion controller chip LM629 is connected with one group of data port line of microprocessor chip LPC2132, its instruction mouthful line: sheet selects CS, reading and writing data WR.RD, information output HI etc. to be connected with the instruction pin of microprocessor chip; Motor driver drives chip L298 by constant pressure and flow dual H-bridge formula 2A and constitutes, its two-way motor output end OUT1, OUT2 and OUT3, OUT4 connects left and right wheels DC servo drive motors M1 respectively, M2, be used for a control left side, right wheel just, counter-rotating or stall, it enables control end ENA, the controlled two instructions mouthful line P0.28 that is connected in microprocessor chip of ENB, P0.29, its current feedback pin SENSEA, SENSEB is connected two motion controller chip LM629 (R) with its ground connection mouth line while ground connection, the pulse width modulation controlled mouth line PWM (S) of LM629 (L), PWM (M) output is connected to the two-way input port line IN1 of chip L298, IN2 and IN3, IN4; Quadruple signal port line A, the B of two motion controller chips are connected on the speed measuring coder of DC servo motor M1, M2 inside, constitute described speed detection unit.Radio receiving unit in the present embodiment is made of low-power consumption hyperfrequency data reception chip block BIM433 or BIM418 and peripheral circuit thereof, its volume is little, only connect a little peripheral circuit and get final product work, this chip is connected with microprocessor chip serial data mouth line RXD1, its emission allows mouthful line 15 pin to put height, it is low that its reception allows a mouthful line 16 to put, and is set to receiving function, and its carrier test mouth line 11 is controlled by an I/O mouth line P 1.16 of microprocessor.
After microprocessor chip receives the wireless transmission information of master control system by radio receiving unit, carrying out data handles, be sent to motion controller LM629 (R), LM629 (L) by data port bundle of lines deal with data then, through the computing of its inner ladder diagram generator and PID adjuster, output pulse width modulation signal and direction signal are by two-way PWM (S), PWM (M) the control left and right wheels motor operation of motion controller.

Claims (2)

1. Soccer robot low layer control system, include the operation actuation unit of little processing central control unit, ID coding unit and radio receiving unit and low layer left and right wheels, it is characterized in that operation actuation unit wherein includes left and right wheels motion controller, two motor drivers that operation is taken turns; Its little processing central control unit is made of little process chip LPC2132; Left and right wheels two operation controllers are made of the able to programme digital motion control chip LM629 of internal PID algorithm, and its data port line and instruction reception/transmission mouthful line is connected with one group of data port line and instruction mouth line of microprocessor respectively; Its motor driver drives chip by constant pressure and flow dual H-bridge formula and constitutes, its two-way motor output pin respectively with about the operation turbin generator is connected, the two-way pulsewidth frequency modulation output of every road operation controller is connected with the two-way input pin of constant pressure and flow dual H-bridge formula driving chip respectively.
2. Soccer robot low layer control system according to claim 1, it is characterized in that wherein also comprising the motor speed detecting unit, it is connected on the inner speed measuring coder of left and right wheels drive motors (M1, M2) by the quadruple signal port line (A, B) of two motion controller chips and constitutes.
CNU200720011968XU 2007-04-28 2007-04-28 Football robot low layer control system Expired - Fee Related CN201058236Y (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CNU200720011968XU CN201058236Y (en) 2007-04-28 2007-04-28 Football robot low layer control system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CNU200720011968XU CN201058236Y (en) 2007-04-28 2007-04-28 Football robot low layer control system

Publications (1)

Publication Number Publication Date
CN201058236Y true CN201058236Y (en) 2008-05-14

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Family Applications (1)

Application Number Title Priority Date Filing Date
CNU200720011968XU Expired - Fee Related CN201058236Y (en) 2007-04-28 2007-04-28 Football robot low layer control system

Country Status (1)

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CN (1) CN201058236Y (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102837310A (en) * 2012-09-26 2012-12-26 苏州工业园区职业技术学院 Single-axis medium-low speed full-automatic dispensing robot servo controller
CN103970134A (en) * 2014-04-16 2014-08-06 江苏科技大学 Multi-mobile-robot system collaborative experimental platform and visual segmentation and positioning method thereof

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102837310A (en) * 2012-09-26 2012-12-26 苏州工业园区职业技术学院 Single-axis medium-low speed full-automatic dispensing robot servo controller
CN103970134A (en) * 2014-04-16 2014-08-06 江苏科技大学 Multi-mobile-robot system collaborative experimental platform and visual segmentation and positioning method thereof
CN103970134B (en) * 2014-04-16 2017-01-18 江苏科技大学 Multi-mobile-robot system collaborative experimental platform and visual segmentation and positioning method thereof

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Granted publication date: 20080514