CN202795058U - Intelligent model vehicle walking maze based on embedded ARM7 - Google Patents
Intelligent model vehicle walking maze based on embedded ARM7 Download PDFInfo
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- CN202795058U CN202795058U CN 201220504100 CN201220504100U CN202795058U CN 202795058 U CN202795058 U CN 202795058U CN 201220504100 CN201220504100 CN 201220504100 CN 201220504100 U CN201220504100 U CN 201220504100U CN 202795058 U CN202795058 U CN 202795058U
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Abstract
The utility model provides an intelligent model vehicle capable of walking a maze based on an embedded ARM7, and relates to the intelligent model vehicle capable of walking the maze. An objective of the utility model is to solve a problem of poor capacity of walking the maze of an existing intelligent model vehicle capable of walking a maze. A control portion comprises vehicle body right-direction infrared detection circuit, a vehicle body right-front-direction infrared detection circuit, a vehicle body left-front-direction infrared detection circuit, and a vehicle body left-direction infrared detection circuit, respectively used for detecting maze baffle information on a right direction, a right front direction, a front direction, a left front direction, and a left direction of the vehicle body. An ARM microprocessor with a built-in optimal path selection module performs optimal path selection according to the information, thereby enabling the vehicle to walk in the maze. The intelligent model vehicle is suitable to be used as a model vehicle for electronic competitions.
Description
Technical field
The utility model relates to a kind of labyrinth model of mind car of walking.
Background technology
The model of mind car walk the labyrinth contest from 1979 since the U.S. holds, just bud out into popularity at world wide rapidly, now model of mind car match development is fine.The model of mind car has accurate station-keeping ability, fast locomotor activity and the outstanding characteristics such as the barrier ability of keeping away.Can be applied in many occasions after the model of mind car upgraded.Model of mind driving skills art can be applied in industrial robot and the specialized robot design, and the intelligent vehicle technology can be said that each subject knowledge that relates to is applied in respectively each association area.
Along with the develop rapidly of automatic electronic technology, the participant who walks the design competition in labyrinth based on the intelligent vehicle of ARM also gets more and more, but at present, the routing ability of walking labyrinth model of mind car is relatively poor, walks the labyrinth ability and also has very large room for promotion.
The utility model content
The utility model is in order to solve the problem of walking the labyrinth ability of existing labyrinth model of mind car, walks labyrinth model of mind car thereby provide a kind of based on embedded-type ARM 7.
Walk labyrinth model of mind car based on embedded-type ARM 7, it comprises car body, it also comprises control section, and described control section comprises that ARM microprocessor 10, car body dextrad infrared circuit 1, car body are right front left front to infrared circuit 4, car body left-hand infrared circuit 5 and stepper motor driving circuit 6 to infrared circuit 2, car body forward direction infrared circuit 3, car body;
ARM microprocessor 10 is the ARM microprocessors that are built-in with the optimal route selection module;
Car body dextrad infrared circuit 1 is for detection of the labyrinth baffle plate information of car body dextrad; The dextrad infrared detection signal output terminal of described car body dextrad infrared circuit 1 is connected with the dextrad infrared detection signal input end of ARM microprocessor 10; The dextrad infrared detection control signal output terminal of ARM microprocessor 10 is connected with the control signal input end of car body dextrad infrared circuit 1;
Car body right front to infrared circuit 2 for detection of car body right front to labyrinth baffle plate information; Described car body is right front to be connected to the infrared detection signal input end with the right front of ARM microprocessor 10 to the infrared detection signal output terminal to the right front of infrared circuit 2; The right front of ARM microprocessor 10 is connected to the right front control signal input end to infrared circuit 2 of infrared detection control signal output terminal and car body;
Car body forward direction infrared circuit 3 is for detection of the labyrinth baffle plate information of car body forward direction; The forward direction infrared detection signal output terminal of described car body forward direction infrared circuit 1 is connected with the forward direction infrared detection signal input end of ARM microprocessor 10; The forward direction infrared detection control signal output terminal of ARM microprocessor 10 is connected with the control signal input end of car body forward direction infrared circuit 3;
Car body left front to infrared circuit 4 for detection of car body left front to labyrinth baffle plate information; Described car body is left front to be connected to the infrared detection signal input end with the left front of ARM microprocessor 10 to the infrared detection signal output terminal to the left front of infrared circuit 1; The left front of ARM microprocessor 10 is connected to the left front control signal input end to infrared circuit 4 of infrared detection control signal output terminal and car body;
Car body left-hand infrared circuit 5 is for detection of the labyrinth baffle plate information of car body left-hand; The left-hand infrared detection signal output terminal of described car body left-hand infrared circuit 1 is connected with the left-hand infrared detection signal input end of ARM microprocessor 10; The left-hand infrared detection control signal output terminal of ARM microprocessor 10 is connected with the control signal input end of car body left-hand infrared circuit 5;
The stepper motor of ARM microprocessor 10 drives signal output part and is connected with the driving signal input of stepper motor driving circuit 6;
Stepper motor driving circuit 6 is used for Driving Stepping Motor work, and described stepper motor drives body movement.
Routing ability of the present utility model is strong, walks the labyrinth ability and is greatly improved.
Description of drawings
Fig. 1 is structural representation of the present utility model; Fig. 2 is the circuit connection diagram of the power circuit described in the concrete mode four; Fig. 3 is the circuit connection diagram of the 5V booster circuit described in the concrete mode four; Fig. 4 is the circuit connection diagram of jtag interface circuit in the concrete mode two; Fig. 5 is the circuit connection diagram of the key circuit described in the concrete mode three; Fig. 6 is the circuit connection diagram of the car body dextrad infrared circuit in the embodiment one; Fig. 7 is the schematic flow sheet of optimal path algorithm in the embodiment one, wherein mark " Y " expression "Yes"; Mark " N " expression "No".
Embodiment
Embodiment one, in conjunction with Fig. 1 this embodiment is described, walk labyrinth model of mind car based on embedded-type ARM 7, it comprises car body, it also comprises control section, and described control section comprises that ARM microprocessor 10, car body dextrad infrared circuit 1, car body are right front left front to infrared circuit 4, car body left-hand infrared circuit 5 and stepper motor driving circuit 6 to infrared circuit 2, car body forward direction infrared circuit 3, car body;
ARM microprocessor 10 is the ARM microprocessors that are built-in with the optimal route selection module;
Car body dextrad infrared circuit 1 is for detection of the labyrinth baffle plate information of car body dextrad; The dextrad infrared detection signal output terminal of described car body dextrad infrared circuit 1 is connected with the dextrad infrared detection signal input end of ARM microprocessor 10; The dextrad infrared detection control signal output terminal of ARM microprocessor 10 is connected with the control signal input end of car body dextrad infrared circuit 1;
Car body right front to infrared circuit 2 for detection of car body right front to labyrinth baffle plate information; Described car body is right front to be connected to the infrared detection signal input end with the right front of ARM microprocessor 10 to the infrared detection signal output terminal to the right front of infrared circuit 2; The right front of ARM microprocessor 10 is connected to the right front control signal input end to infrared circuit 2 of infrared detection control signal output terminal and car body;
Car body forward direction infrared circuit 3 is for detection of the labyrinth baffle plate information of car body forward direction; The forward direction infrared detection signal output terminal of described car body forward direction infrared circuit 1 is connected with the forward direction infrared detection signal input end of ARM microprocessor 10; The forward direction infrared detection control signal output terminal of ARM microprocessor 10 is connected with the control signal input end of car body forward direction infrared circuit 3;
Car body left front to infrared circuit 4 for detection of car body left front to labyrinth baffle plate information; Described car body is left front to be connected to the infrared detection signal input end with the left front of ARM microprocessor 10 to the infrared detection signal output terminal to the left front of infrared circuit 1; The left front of ARM microprocessor 10 is connected to the left front control signal input end to infrared circuit 4 of infrared detection control signal output terminal and car body;
Car body left-hand infrared circuit 5 is for detection of the labyrinth baffle plate information of car body left-hand; The left-hand infrared detection signal output terminal of described car body left-hand infrared circuit 1 is connected with the left-hand infrared detection signal input end of ARM microprocessor 10; The left-hand infrared detection control signal output terminal of ARM microprocessor 10 is connected with the control signal input end of car body left-hand infrared circuit 5;
The stepper motor of ARM microprocessor 10 drives signal output part and is connected with the driving signal input of stepper motor driving circuit 6;
Stepper motor driving circuit 6 is used for Driving Stepping Motor work, and described stepper motor drives body movement.
The infrared circuit of present embodiment is the detection for the labyrinth baffle plate, is divided into left, left front, the place ahead, right front, right-hand five directions, and the sensor circuit principle of five directions is identical, and the testing circuit of one of them direction as shown in Figure 6.
U1 is integral type infrared receiver sensor, and its model is IRM8061S.The inner integrated automatic gain control circuit of this Receiver, bandwidth-limited circuit, decoding circuit and output driving circuit.This Receiver is that the infrared signal of 38KHz is the most responsive to carrier frequency, output low level when it detects effective infrared signal, otherwise output high level.
RF1 is infrared emission head, and W1 is the current limliting adjustable resistance, is used for regulating the ultrared intensity of emission.
Optimal route selection module in the utility model can adopt existing conventional means to realize, for example: can realize according to existing optimal route selection arithmetic programming commonly used.Present embodiment provides a kind of concrete grammar that can realize:
Optimal route selection algorithm: the unit information that at first will obtain by scanning method whole labyrinth.
Utilize left, to the right or rule of mutual attraction search out the model in labyrinth, given labyrinth figure G=(V, A), V={v1 wherein, v2 ..., the some set of vn} presentation graphs G, n is the node number of figure G, arc (limit) set of A figure G.The length of d (vi, vj) expression arc (vi, vj).(vi → vj) expression flows to the current of vj to S from vi.According to the description of above diffusion physical phenomenon, algorithm is made following rational hypothesis:
(1) water source of starting point is unlimited, and what the assurance diffusion process can continue goes on, until water flow energy is diffused into terminal point.
(2) speed of dispersion of flow at any time, any path is all identical and be a fixed value.
(3) diffusion process is continuous, and at any time, all carry out simultaneously on any path.
(4) length of every section arc is the weights in this highway section.
(5) after current arrive some nodes, be a new diffuse source depending on this node.
(6) in a single day certain node has become the diffusion point, and it can only consider the expansion that node is outside, and refuses all backflows;
Algorithm flow as shown in Figure 7.
Embodiment two, this embodiment and embodiment one are described walks labyrinth model of mind car based on embedded-type ARM 7, it is characterized in that control section also comprises jtag interface circuit 7, the jtag interface signal of described jtag interface circuit 7 inputs or outputs end and is connected with the output of jtag interface signal or the input end of ARM microprocessor 10.
The utility model adopts the jtag interface of 10 pin, and its pin definitions as shown in Figure 4.This interface and H-JTAG are compatible, and H-JTAG is parallel port JTAG debugger, and it is used for debugging and the download of multiple single-chip microcomputer and ARM chip program.Can use the JTAG card extender, the JTAG of 10 pin is converted to the standard 20 pin JTAG artificial debugging interfaces use that ARM company proposes, make things convenient for debugging and the download of H-JTAG.
Embodiment three, this embodiment and embodiment one or two are describedly walked labyrinth model of mind car based on embedded-type ARM 7, it is characterized in that control section also comprises key circuit 8, the push button signalling output terminal of described key circuit 8 is connected with the push button signalling input end of ARM microprocessor 10.
The key circuit that is provided with of the present utility model, its circuit diagram as shown in Figure 5.Capacitor C 19 is used for eliminating the burr undesired signal that key jitter produces.
Embodiment four, this embodiment and embodiment three are described walks labyrinth model of mind car based on embedded-type ARM 7, it is characterized in that it also comprises power circuit 9, described power circuit 9 be used for to car body dextrad infrared circuit 1, car body right front to infrared circuit 2, car body forward direction infrared circuit 3, car body is left front provides working power to infrared circuit 4, car body left-hand infrared circuit 5 and stepper motor driving circuit 6.
The utility model is taked external connection battery power supply, and for whole system provides three kinds of different voltages, is used for respectively drive motor, sensor power supply and micro controller system power supply.The input voltage of battery should be controlled in the scope of 5～9V.
1. motor drive ic power supply
The utility model is equipped with two p-m step motors, directly the output voltage of battery is connected on the driving chip of motor in the system.
2. system power supply
The LPC2138 microcontroller needs 3.3V power supply, circuit diagram as shown in Figure 2, by CON2 joint input external power supply, diode D1 is in order to prevent that power positive cathode from connecing instead, to pass through C25, C15 filtering, then by AMS1117-3.3 with the power supply voltage stabilizing to 3.3V.
AMS1117-3.3 is a kind of LDO chip, is characterized in that output current is large, and the output voltage precision is high, and stability is high.Its input voltage range be 4.7V to 12V, output current can reach 800mA.C6, C26 at its output terminal are used for improving transient response and stability.POW is power light, should be lit after system powers on.
R12 and R15 form a bleeder circuit, and ADC is connected to the AD1.7 port on the LPC2138, can be used for detecting cell voltage.
3. sensor power supply
The operating voltage of the infrared sensor that the utility model uses is 5V, output voltage that in the ordinary course of things can battery through the LDO voltage stabilizing to 5V.If but cell voltage is lower or moment when being dragged down, system just can not be for sensor provides stable power supply, and this will have a strong impact on the sensitivity of sensor.
Through above consideration, determine in the system comparatively stable 3.3V voltage be raised to 5V.The chip that boosts adopts low quiescent current, the high efficiency chip SP6641B that boosts of Exar company, and booster circuit as shown in Figure 3.
Claims (4)
1. walk labyrinth model of mind car based on embedded-type ARM 7, it comprises car body, it is characterized in that: further comprising control section, described control section comprises that ARM microprocessor (10), car body dextrad infrared circuit (1), car body are right front left front to infrared circuit (4), car body left-hand infrared circuit (5) and stepper motor driving circuit (6) to infrared circuit (2), car body forward direction infrared circuit (3), car body;
ARM microprocessor (10) is the ARM microprocessor that is built-in with the optimal route selection module;
Car body dextrad infrared circuit (1) is for detection of the labyrinth baffle plate information of car body dextrad; The dextrad infrared detection signal output terminal of described car body dextrad infrared circuit (1) is connected with the dextrad infrared detection signal input end of ARM microprocessor (10); The dextrad infrared detection control signal output terminal of ARM microprocessor (10) is connected with the control signal input end of car body dextrad infrared circuit (1);
Car body right front to infrared circuit (2) for detection of car body right front to labyrinth baffle plate information; Described car body is right front to be connected to the infrared detection signal input end with the right front of ARM microprocessor (10) to the infrared detection signal output terminal to the right front of infrared circuit (2); The right front of ARM microprocessor (10) is connected to the right front control signal input end to infrared circuit (2) of infrared detection control signal output terminal and car body;
Car body forward direction infrared circuit (3) is for detection of the labyrinth baffle plate information of car body forward direction; The forward direction infrared detection signal output terminal of described car body forward direction infrared circuit (1) is connected with the forward direction infrared detection signal input end of ARM microprocessor (10); The forward direction infrared detection control signal output terminal of ARM microprocessor (10) is connected with the control signal input end of car body forward direction infrared circuit (3);
Car body left front to infrared circuit (4) for detection of car body left front to labyrinth baffle plate information; Described car body is left front to be connected to the infrared detection signal input end with the left front of ARM microprocessor (10) to the infrared detection signal output terminal to the left front of infrared circuit (1); The left front of ARM microprocessor (10) is connected to the left front control signal input end to infrared circuit (4) of infrared detection control signal output terminal and car body;
Car body left-hand infrared circuit (5) is for detection of the labyrinth baffle plate information of car body left-hand; The left-hand infrared detection signal output terminal of described car body left-hand infrared circuit (1) is connected with the left-hand infrared detection signal input end of ARM microprocessor (10); The left-hand infrared detection control signal output terminal of ARM microprocessor (10) is connected with the control signal input end of car body left-hand infrared circuit (5);
The stepper motor of ARM microprocessor (10) drives signal output part and is connected with the driving signal input of stepper motor driving circuit (6);
Stepper motor driving circuit (6) is used for Driving Stepping Motor work, and described stepper motor drives body movement.
2. according to claim 1ly walk labyrinth model of mind car based on embedded-type ARM 7, it is characterized in that control section also comprises jtag interface circuit (7), the jtag interface signal of described jtag interface circuit (7) inputs or outputs end and is connected with the output of jtag interface signal or the input end of ARM microprocessor (10).
3. according to claim 1 and 2ly walk labyrinth model of mind car based on embedded-type ARM 7, it is characterized in that control section also comprises key circuit (8), the push button signalling output terminal of described key circuit (8) is connected with the push button signalling input end of ARM microprocessor (10).
4. according to claim 3ly walk labyrinth model of mind car based on embedded-type ARM 7, it is characterized in that it also comprises power circuit (9), described power circuit (9) be used for to car body dextrad infrared circuit (1), car body right front to infrared circuit (2), car body forward direction infrared circuit (3), car body is left front provides working power to infrared circuit (4), car body left-hand infrared circuit (5) and stepper motor driving circuit (6).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220504100 CN202795058U (en) | 2012-09-27 | 2012-09-27 | Intelligent model vehicle walking maze based on embedded ARM7 |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220504100 CN202795058U (en) | 2012-09-27 | 2012-09-27 | Intelligent model vehicle walking maze based on embedded ARM7 |
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| CN202795058U true CN202795058U (en) | 2013-03-13 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045264A (en) * | 2015-07-29 | 2015-11-11 | 长沙理工大学 | Micromouse capable of searching shortest path of maze |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105045264A (en) * | 2015-07-29 | 2015-11-11 | 长沙理工大学 | Micromouse capable of searching shortest path of maze |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130313 Termination date: 20130927 |