CN202838071U - Automatic control system for quick search of a microcomputer mouse - Google Patents
Automatic control system for quick search of a microcomputer mouse Download PDFInfo
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- CN202838071U CN202838071U CN 201220485123 CN201220485123U CN202838071U CN 202838071 U CN202838071 U CN 202838071U CN 201220485123 CN201220485123 CN 201220485123 CN 201220485123 U CN201220485123 U CN 201220485123U CN 202838071 U CN202838071 U CN 202838071U
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Abstract
The utility model discloses an automatic control system for quick search of a microcomputer mouse. The automatic control system comprises an upper computer system and a motion control system, wherein the upper computer system and the motion control system are controlled by a processor unit, the processor unit is a dual-core processor and composed of a single chip microcomputer and an FPGA processor; the upper computer system comprises a labyrinth storage module, a coordinate orientation module and an on-line output module; the motion control system comprises a servo control module, a data storage module and an I/O control module; the labyrinth storage module, the coordinate orientation module, the on-line output module, the data storage module, and the I/O control module are controlled by the single chip microcomputer, the servo control module is controlled by the FPGA processor, and moreover the real-time data exchange and call is performed between the single chip microcomputer and the FPGA processor. The dual-core processor based on the single chip microcomputer and the FPGA is formed to make the single chip microcomputer free out from the heavy workload, and the anti-interference ability is greatly enhanced.
Description
Technical field
The utility model relates to the technical field of microrobot, and particularly explores fast automatic control system relevant for the micro computer mouse.
Background technology
The micro computer mouse is a kind of Intelligent walking robot that uses embedded microcontroller, sensor and electromechanical movement parts to consist of, abroad contest nearly 30 years, can be converted into the industrial robot of multiple reality by its principle, just introduce in recent years domesticly, and become gradually an emerging sports.The micro computer mouse can be in different " labyrinths " automatic Memory and selecting paths, adopt corresponding algorithm, rapidly the destination that sets of arrival.An outstanding micro computer mouse must possess good perception, and good locomotor activity is arranged, outstanding intelligent algorithm, and a complete micro computer mouse is being divided into following components substantially:
1) sensor: sensor is the eyes of micro computer mouse, is the foundation of micro computer mouse Obtaining Accurate external environmental information, then external information is transported to microprocessor and carries out various condition judgment.
2) motor: actuating motor is the power source of micro computer mouse, and it carries out the relevant action of micro computer mouse when walking according to the instruction of microprocessor in the labyrinth.
3) algorithm: algorithm is the soul of micro computer mouse.The micro computer mouse must adopt certain intelligent algorithm just can find terminal point, just can find a path the shortest, reaches home within the shortest time.
4) microprocessor: microprocessor is the core of micro computer mouse, is the brain of micro computer mouse.The information that the micro computer mouse is all comprises wall information, positional information, and angle information and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.
The micro computer mouse combines multi-subject knowledge, and for the manipulative ability, team collaboration's ability and the innovation ability that promote students, the digestion of promotion student classroom knowledge and the scope of one's knowledge of expansion student are all very helpful.The computer mouse walks the labyrinth and has interest in addition, easily obtains student's approval and participation, and can well excite interest and hobby with the guiding student this respect.It is carried out must promote the entrant in technical merit and the application power of association area, for technological innovation provides platform.The talent of large quantities of association areas be can cultivate, and then technical development and the industrialization process of association area promoted.
Because the unit of this robot of domestic research and development is less, lower to the international rule read level, relative level is relatively backward, and micro computer mouse of the prior art is explored fast automatic control system system and comprises a single-chip microcomputer.Long-play is found to exist a lot of safety problems, comprising:
What (1) adopt as the eyes of micro computer mouse is ultrasound wave or general infrared sensor, so that there is certain erroneous judgement in the micro computer mouse to the judgement in labyrinth on every side when quick spurt;
What (2) adopt as the topworks of micro computer mouse is stepper motor, and the problem that often can run into pulse-losing occurs, and causes mistake is appearred in the memory of spurt position;
(3) owing to adopting stepper motor, so that organism fever is more serious, be unfavorable for fast spurt in large complicated labyrinth;
(4) owing to adopting more rudimentary algorithm, the spurt in the middle of the labyrinth generally all will spend 15 ~ 30 seconds time, and this is so that can't win victory in real contest;
(5) because the micro computer mouse will braking frequently and start in the spurt process fast, has been increased the weight of the workload of single-chip microcomputer, Signal Processors can't satisfy the fast requirement of spurt of micro computer mouse;
(6) relatively adopt all be the larger plug-in components of some volume ratios so that the volume ratio of micro computer mouse is huger, can't satisfy the requirement of quick spurt;
(7) owing to disturbed by the surrounding environment labile factor, particularly around the interference of some light, singlechip controller often can occur unusually causing that the micro computer mouse is out of control, antijamming capability is relatively poor;
(8) for the micro computer mouse of differential control, the control signal of two motor of General Requirements is wanted synchronously, but for single single-chip microcomputer, be difficult to again accomplish, so that the micro computer mouse will be back and forth when straight way travels compensation, during particularly for sound lunge, the micro computer mouse sometimes in the middle of the labyrinth rocking tendency larger;
(9) owing to being subjected to single-chip microcomputer capacity and algorithm affects, the micro computer mouse is to the not storage of information in labyrinth, and information all when running into power-down conditions will disappear, this so that whole spurt process can't finish.
Therefore, need to explore fast automatic control system based on monolithic processor controlled micro computer mouse and redesign existing.
The utility model content
For the problems referred to above, the purpose of this utility model provides a kind of micro computer mouse and explores fast automatic control system, has solved the problem of poor anti jamming capability in the prior art.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: provide a kind of micro computer mouse to explore fast automatic control system, comprise master system and kinetic control system, described master system and kinetic control system are controlled by processor unit, described processor unit is a dual core processor, comprise the SCM﹠FPGA processor, described master system comprises the labyrinth memory module, coordinate setting module and online output module, described kinetic control system comprises the servocontrol module, data memory module and I/O control module, wherein, described labyrinth memory module, the coordinate setting module, online output module, data memory module and I/O control module are by Single-chip Controlling, described servocontrol module is controlled by the FPGA processor, and carries out in real time exchanges data between the SCM﹠FPGA processor and call.
In preferred embodiment of the utility model, described micro computer mouse is explored fast automatic control system and also comprises the first controller, second controller, the first high-speed DC brushless electric machine, the second high-speed DC brushless electric machine and micro computer mouse, described processor unit sends and controls signal to described the first controller and second controller, control respectively the second high-speed DC brushless electric machine and the first high-speed DC brushless electric machine by described the first controller, after synthetic through signal processor by the driving signal of the first high-speed DC brushless electric machine and the second high-speed DC brushless electric machine, by the speed of described the first high-speed DC brushless electric machine control micro computer mouse, the direction of described the second high-speed DC brushless electric machine control micro computer mouse.
In preferred embodiment of the utility model, described quick spurt automatic control system also comprises battery, and described battery is lithium ion battery.
In preferred embodiment of the utility model, described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
Whether in preferred embodiment of the utility model, described servocontrol module also comprises coder module, and described coder module judges whether to meet rate request for detection of micro computer mouse actual speed, too fast or excessively slow, and sends control signal.
In preferred embodiment of the utility model, described servocontrol module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that the micro computer mouse needs.
In preferred embodiment of the utility model, described servocontrol module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection micro computer mouse actual speed, the speed module is regulated micro computer mouse actual speed according to the result that coder module detects.
In preferred embodiment of the utility model, described servocontrol module also comprises the coordinate module, described coordinate module is for detection of the coordinate position of micro computer mouse, receive the spurt order that controller sends after, can begin to make a spurt toward the tape fast along starting point.
Micro computer mouse of the present utility model is explored automatic control system fast, in order to improve arithmetic speed, assurance micro computer mouse is explored stability and the reliability of automatic control system fast, the utility model is introduced the FPGA processor in the single-chip microcomputer of processor unit, formation is based on the dual core processor of single-chip microcomputer+FPGA, this processor unit takes into full account battery in the effect of this system, the micro computer mouse is explored fast the diaxon servo-drive system of workload maximum in the automatic control system and given the processing of FPGA processor, give full play to faster characteristics of FPGA processor data processing speed, and the labyrinth memory module, the coordinate setting module, online output module, data memory module and I/O control module are given Single-chip Controlling, so just realized the division of labor of single-chip microcomputer and FPGA processor, single-chip microcomputer is freed from the hard work amount, and antijamming capability strengthens greatly.
Description of drawings
Fig. 1 is the block scheme that the micro computer mouse of the utility model preferred embodiment is explored automatic control system fast;
Fig. 2 is the block diagram that the micro computer mouse of the utility model preferred embodiment is explored automatic control system fast;
Fig. 3 is the micro computer mouse labyrinth schematic diagram of the utility model preferred embodiment;
Fig. 4 is the micro computer mouse schematic diagram that advances;
Fig. 5 is that the micro computer mouse retreats schematic diagram;
Fig. 6 is that meaning figure is advanced on the micro computer mouse right side;
Fig. 7 is that schematic diagram is moved back on a micro computer mouse left side.
Embodiment
Below in conjunction with accompanying drawing preferred embodiment of the present utility model is described in detail, thereby so that advantage of the present utility model and feature can be easier to be it will be appreciated by those skilled in the art that protection domain of the present utility model is made more explicit defining.
Single-chip microcomputer was born so far from late 1970s, had experienced one chip microcomputer SCM, microcontroller and three megastages of SOC (system on a chip) SoC, and the first two stage is respectively take MCS-51 and 80C51 as representative.Along with performance and the functional requirement to single-chip microcomputer in built-in field is more and more higher, single-chip microcomputer in the past is that the many-sides such as travelling speed or level of integrated system all can not satisfy new design needs, at this moment Silicon Labs company has released the C8051F series monolithic, becomes the Typical Representative of SoC.C8051F has upper quick-moving (complete compatible 8051 instruction set), (developing instrument is easy-to-use soon in research and development, can shorten the R﹠D cycle) and the characteristics of instant effect (debugging method is flexible), its performance advantage imbody is in the following areas: based on the CIP-51 kernel that strengthens, its instruction set and MCS-51 are fully compatible, organizational structure with standard 8051,803x/805x assembler and compiler that can Application standard carry out software development.CIP-51 adopts pipeline organization, 70% instruction time be 1 or 2 system clock cycle, be 12 times of standard 8051 instruction execution speeds; Its peak value execution speed can reach 100MIPS (C8051F120 etc.), is present fastest 8 single-chip microcomputers in the world; Increased interrupt source.8051 of standard only have 7 the interrupt source Silicon Labs C8051F of company series monolithics to expand to interrupt process this for the time real multitask system processing be that the interrupt system of very important expansion provides 22 interrupt sources to allow one of a large amount of analog-and digital-peripheral interrupt to interrupt processing to need less CPU to intervene to CIP-51 higher execution efficient is but arranged; Integrated abundant simulation resource, the C8051F series monolithic of the overwhelming majority is all integrated single or two ADC can realize the Collect conversion to multichannel analog signals under the effect of analog switch in sheet; The sampling precision of ADC reaches as high as 24bit in the sheet, sampling rate reaches as high as 500ksps, the part model is also integrated single or two high resolving power DAC independently can satisfy the application of most mixed-signal systems and the seamless interfacing of realization and simulation electronic system; Temperature sensor rapidly and accurate monitoring of environmental temperature and make respective handling by program has then improved system's reliability of operation in the sheet.Select C8051F120 can satisfy the needs of system fully as the central processing unit of native system.
Hardware Implementation based on field programmable gate array (FPGA) and modern electronic design robotization (EDA) technology is recent years to have occurred a kind of brand-new design philosophy.Although FPGA itself is the cell array of standard just, the function that does not have general integrated circuit to have, but the user can be according to the design needs of oneself, by specific placement-and-routing instrument its inside is reconfigured connection, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because the design philosophy of FPGA processor adopting software implementation realizes the design of hardware circuit, so just so that have good reusable and the property revised based on FPGA processor designed system.This brand-new design philosophy has been applied in gradually high performance interchange and has driven in the control, and fast-developing.
As shown in Figure 1, explore fast the block scheme of automatic control system for the micro computer mouse of the utility model preferred embodiment.In the present embodiment, the micro computer mouse is explored fast automatic control system and comprises master system and kinetic control system, described master system and kinetic control system are controlled by processor unit, described processor unit is a dual core processor, comprise the SCM﹠FPGA processor, described master system comprises the labyrinth memory module, coordinate setting module and online output module, described kinetic control system comprises the servocontrol module, data memory module and I/O control module, wherein, described labyrinth memory module, the coordinate setting module, online output module, data memory module and I/O control module are by Single-chip Controlling, described servocontrol module is controlled by the FPGA processor, and carries out in real time exchanges data between the SCM﹠FPGA processor and call.
See also Fig. 2, the micro computer mouse is explored fast automatic control system and also comprises battery, the first controller, second controller, the first high-speed DC brushless electric machine, the second high-speed DC brushless electric machine and micro computer mouse in the utility model.Wherein, described battery is lithium ion battery, is a kind of electric supply installation, for the work of whole system provides operating voltage.The built-in control system of described processor unit, described processor unit sends and controls signal to described the first controller and second controller, control respectively the second high-speed DC brushless electric machine and the first high-speed DC brushless electric machine by described the first controller, after synthetic through signal processor by the driving signal of the first high-speed DC brushless electric machine and the second high-speed DC brushless electric machine, by the speed of described the first high-speed DC brushless electric machine control micro computer mouse, the direction of described the second high-speed DC brushless electric machine control micro computer mouse.
The utility model is to overcome single single-chip microcomputer can not satisfy the requirement that the micro computer mouse is explored stability and the rapidity of automatic control system fast, given up the micro computer mouse and explored fast the mode of operation that automatic control system adopts single single-chip microcomputer, the brand-new control model based on single-chip microcomputer+FPGA processor is provided.Processor unit is take the FPGA processor as processing core, realize the real-time processing of digital signal, single-chip microcomputer is freed in the middle of the work of complexity, realize the signal processing algorithm of part and the steering logic of FPGA processor, and realization data communication and storage live signal are interrupted in response.
Master system comprises labyrinth memory module, coordinate setting module and online output module.The labyrinth memory module is with the storage of advancing of labyrinth map; The coordinate setting mould is used for the position of prompting micro computer mouse and location parameter and arranges etc.; Online output module is used for the duty of prompting micro computer mouse.
Kinetic control system comprises servocontrol module, data memory module and I/O control module.Wherein, data memory module is a storer; The I/O control module comprises RS-232 serial line interface, ICE port etc.The servocontrol module further comprises modular converter, coder module, current module, speed module and coordinate module.
Wherein, described modular converter comprises analog-digital converter (ADC, Analog to Digital Converter) and digital analog converter (DAC, Digital to Analog Converter); Whether described coder module judges whether to meet rate request for detection of micro computer mouse actual speed, too fast or excessively slow, and sends control signal.
Described current module and battery are connected modular converter and are connected with controller.Modular converter is judged operating power according to the electric current of battery and controller, and power condition is fed back to battery, and the output power that current module is used for the adjustment battery reaches the scope that the micro computer mouse needs.
Described speed module is connected with the coder module communication, and too fast or excessively slow when coder module detection micro computer mouse actual speed, the speed module is regulated micro computer mouse actual speed according to the result that coder module detects.
Described coordinate module is for detection of the coordinate position of micro computer mouse, receive the spurt order that controller sends after, can begin to make a spurt toward the tape fast along starting point.
Be a dual core processor for processor unit, under the power supply opening state, the micro computer mouse is introduced into self-locking state, then the micro computer mouse is placed on the labyrinth starting point, the micro computer mouse on the front, the left and right side keep in obscurity sensor according to actual navigational environment transformation parameter to the single-chip microcomputer in the processor unit, single-chip microcomputer is processed rear and the communication of FPGA processor, then processed the servocontrol of two individual motor by the FPGA processor, and the deal with data communication to single-chip microcomputer, continue to process follow-up running status by single-chip microcomputer.
In conjunction with above description, master system comprises labyrinth memory module, coordinate setting module, online output module; Kinetic control system comprises servocontrol module, data memory module, I/O control module.Wherein, the servocontrol module of workload maximum is given the control of FPGA processor, remaining comprises that whole modules of master system give Single-chip Controlling, so just realized the division of labor of single-chip microcomputer and FPGA processor, also can carry out communication between the two simultaneously, carry out in real time exchanges data and call.
See also Fig. 3 to Fig. 7, the concrete function of the utility model is achieved as follows:
1) before the micro computer mouse is not received the exploration order, as shown in Figure 3, its generally can wait for the exploration order that controller sends at starting point coordinate (0,0), in case after receiving task, can begin to terminal point (7,7), (7 along starting point, 8), (8,7), (8,8) are explored;
2) the micro computer mouse is placed on starting point coordinate (0,0), receive sensor S1, the S6 in its place ahead after the task and can judge the environment in the place ahead, defining does not have barricade to enter range of movement, as exists barricade to send interrupt request to single-chip microcomputer, and single-chip microcomputer can be to interrupting doing very first time response, if the interrupt response of single-chip microcomputer does not have enough time to process, the first motor of micro computer mouse and the second motor are with the original place self-locking, and then the place ahead information is determined in secondary judgement labyrinth, prevent the information erroneous judgement;
3) there is not barricade to enter the range of movement in the place ahead if move before the Y-axis the micro computer mouse, the micro computer mouse will be stored its coordinate (X, Y), in it travels forward process, every through a grid, will upgrade its coordinate and be (X, Y+1), under the prerequisite of Y+1＜15, judge that its coordinate is (7,7), (7,8), (8,7), (8,8) one of them, if not will continuing to upgrade its coordinate, if the words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, the micro computer mouse is prepared return and explores;
4) if having barricade to enter the range of movement in the place ahead in the motion process the micro computer mouse before the Y-axis, and the sensor S2 about this moment, S3, S4, when about S5 judges barricade being arranged, the micro computer mouse will be stored coordinate (X this moment, Y), then turnback is transferred in the original place, then along the Y-axis counter motion, in its Y-axis counter motion process, every through a grid, to upgrade its coordinate is (X, Y-1), determining Y-1〉under 0 the prerequisite, judge its coordinate whether (7,7), (7,8), (8,7), (8,8) one of them, if not continuing to upgrade its coordinate, if the words notification controller searched target, then putting makes a return voyage explores and to be masked as 1, the micro computer mouse is prepared return and explores;
5) if having barricade to enter the range of movement in the place ahead in the motion process the micro computer mouse before the Y-axis, and the sensor S2 about this moment, S3, S4, S5 judges when left has barricade, the micro computer mouse will be stored coordinate (X this moment, Y), then the original place is transferred to the right and is turn 90 degrees, then along the X-axis positive movement, in X-axis positive movement process, every through a grid at it, to upgrade its coordinate is (X+1, Y), under the prerequisite of X+1＜15, judge that its coordinate is (7,7), (7,8), (8,7), (8,8) one of them, if not continuing to upgrade its coordinate, if the words notification controller searched target, then putting makes a return voyage explores and to be masked as 1, the micro computer mouse is prepared return and explores;
6) if having barricade to enter the range of movement in the place ahead in the motion process the micro computer mouse before the Y-axis, and the sensor S2 about this moment, S3, S4, S5 judges right-hand when barricade is arranged, the micro computer mouse will be stored coordinate (X this moment, Y), then the original place is transferred left and is turn 90 degrees, then along the X-axis counter motion, in X-axis counter motion process, every through a grid at it, to upgrade its coordinate is (X-1, Y), determining X-1〉under 0 the prerequisite, judge its coordinate whether (7,7), (7,8), (8,7), (8,8) one of them, if not continuing to upgrade its coordinate, if the words notification controller searched target, then putting makes a return voyage explores and to be masked as 1, the micro computer mouse is prepared return and explores;
7) when the arrival of micro computer mouse (7,7), (7,8), (8,7), when (8,8) are prepared return and are explored, controller can access its labyrinth of having stored, then calculate the optimal path that may exist, then return begins to enter one that wherein thinks optimum.
8) entering the labyrinth the micro computer mouse normally makes a return voyage when operation, and the sensor S1 of its navigation, S2, S3, S4, S5, S6 will work, and a photosignal that reflects is given single-chip microcomputer, after judging, single-chip microcomputer gives the FPGA processor, by carrying out communication with single-chip microcomputer after the FPGA processor calculating, then send first high-speed DC brushless electric machine of control signal to navigation by controller, the second high-speed DC brushless electric machine is determined: will advance fast if enter the zone of having searched for, if unknown return area then adopts the normal speed search, and constantly upgrade its coordinate (X, Y), and judge that its coordinate is (0,0), if words put to make a return voyage to explore and be masked as 0, the micro computer mouse enters the sprint stage, the juxtaposition spurt is masked as 1;
9) in order to realize accurately coordinate Calculation function of micro computer mouse, the utility model has added the optical code disk of 512 lines at the first high-speed DC brushless electric machine, the second high-speed DC brushless electric machine, the moment calculates the distance of trolley travelling and with pillar the different characteristics of sensor feedback information has been introduced compensation according to labyrinth retaining wall, so that the coordinate Calculation of micro computer mouse mistake can not occur.
Wherein, system by FPGA control generally is according to position signalling, in conjunction with some sensor signals, and the information of optical code disk, and current of electric, generate the pwm control signal of motor, its servocontrol process is to be finished by FPGA, and whole process does not need single-chip microcomputer or DSP to participate in, and can export simultaneously PWM modulation signal and direction signal by FPGA like this, by the driving circuit direct-driving motor, not only alleviate the burden of DSP, simplified interface circuit, and saved DSP internal composition position, the speed control program, and the trouble of various pid algorithms, so that the debugging of system is simple; In the inner servocontrol of FPGA, integrated multiple PID regulates pattern, can automatically adjust its inner pid parameter according to the peripheral ruuning situation of robot, easily realizes segmentation P, PD, PID control and nonlinear PID controller; Owing in the inner integrated PWM output of multichannel control motor of FPGA, can realize multi-axial Simultaneous control at a very little chip like this; Owing to do not have single-chip microcomputer to participate in this its servocontrol, and the logical circuit of FPGA inside all being to be realized by hardware circuit, institute is so that its motion process speed is multiplex in High Speed System.
In sum, the micro computer mouse that the utility model discloses is explored automatic control system fast, in order to improve arithmetic speed, assurance micro computer mouse is explored stability and the reliability of automatic control system fast, the utility model is introduced the FPGA processor in the single-chip microcomputer of processor unit, formation is based on the dual core processor of single-chip microcomputer+FPGA, this processor unit takes into full account battery in the effect of this system, the micro computer mouse is explored fast the diaxon servo-drive system of workload maximum in the automatic control system and given the processing of FPGA processor, give full play to faster characteristics of FPGA processor data processing speed, and the labyrinth memory module, the coordinate setting module, online output module, data memory module and I/O control module are given Single-chip Controlling, so just realized the division of labor of single-chip microcomputer and FPGA processor, single-chip microcomputer is freed from the hard work amount, and antijamming capability strengthens greatly.
The utility model micro computer mouse is explored the beneficial effect that automatic control system has fast:
1: in motion process, taken into full account the effect of battery in this system, constantly all the running status of micro computer mouse is being monitored and computing based on single-chip microcomputer+FPGA processor, avoided the generation of large electric current, so fundamentally solved large electric current to the impact of lithium ion battery, avoided the generation of the lithium ion battery overaging phenomenon that causes owing to heavy-current discharge;
2: processed the independent servocontrol of two motors of micro computer mouse by the FPGA processor, so that control fairly simplely, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle short, and the program transportability ability is strong;
3: substantially realize full SMD components material, realized veneer control, not only saved control panel and taken up room, but also realized the independent control of velocity magnitude and the direction of micro computer mouse, be conducive to improve stability and the dynamic property of micro computer mouse;
4: in order to improve arithmetic speed and precision, this micro computer mouse has been adopted and has used in the world maximum infrared sensor OPE5594A, so that operational precision improves greatly;
5: because this controller adopts the FPGA processor to process a large amount of data and algorithm, and has taken into full account interference source on every side, and single-chip microcomputer is freed from the hard work amount, antijamming capability strengthens greatly;
6: in order better to protect battery, when system runs into low pressure in heuristic process, low pressure alarming sensor on the micro computer mouse can be opened automatically, and restriction discharge current, guarantee that the micro computer mouse can finish whole exploration, finish when getting back to starting point in exploration, can be automatically locked in current location, and record labyrinth information, battery is changed in prompting;
7: in micro computer mouse operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of motor, has reduced the impact that the motor torque shake is explored fast on the micro computer mouse;
8: because speed and the direction of micro computer mouse independently control, so that the micro computer mouse more easily realizes advancing, fall back, turn left and the motion of right-hand rotation all directions;
9: owing to having a memory function, this is so that can transfer easily the labyrinth information of having explored after the power down of micro computer mouse, and time and path that secondary is explored reduce greatly;
10: because the single-chip microcomputer that adopts is the C8051F120 of technical grade, when satisfying practicality, its kernel is exactly traditional 8051 kernel, so that programmer can well secondary development.
Above-described only is embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model instructions and accompanying drawing content to do; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (8)
1. a micro computer mouse is explored automatic control system fast, it is characterized in that, comprise master system and kinetic control system, described master system and kinetic control system are controlled by processor unit, described processor unit is a dual core processor, comprise the SCM﹠FPGA processor, described master system comprises the labyrinth memory module, coordinate setting module and online output module, described kinetic control system comprises the servocontrol module, data memory module and I/O control module, wherein, described labyrinth memory module, the coordinate setting module, online output module, data memory module and I/O control module are by Single-chip Controlling, described servocontrol module is controlled by the FPGA processor, and carries out in real time exchanges data between the SCM﹠FPGA processor and call.
2. micro computer mouse according to claim 1 is explored automatic control system fast, it is characterized in that, described micro computer mouse is explored fast automatic control system and also comprises the first controller, second controller, the first high-speed DC brushless electric machine, the second high-speed DC brushless electric machine and micro computer mouse, described processor unit sends and controls signal to described the first controller and second controller, control respectively the second high-speed DC brushless electric machine and the first high-speed DC brushless electric machine by described the first controller, after synthetic through signal processor by the driving signal of the first high-speed DC brushless electric machine and the second high-speed DC brushless electric machine, by the speed of described the first high-speed DC brushless electric machine control micro computer mouse, the direction of described the second high-speed DC brushless electric machine control micro computer mouse.
3. micro computer mouse according to claim 1 is explored automatic control system fast, it is characterized in that, described quick spurt automatic control system also comprises battery, and described battery is lithium ion battery.
4. micro computer mouse according to claim 2 is explored automatic control system fast, it is characterized in that, described servocontrol module also comprises modular converter, and described modular converter comprises analog-digital converter and digital analog converter.
5. micro computer mouse according to claim 2 is explored automatic control system fast, it is characterized in that, described servocontrol module also comprises coder module, described coder module is for detection of micro computer mouse actual speed, judge whether to meet rate request, whether too fast or excessively slow, and send control signal.
6. micro computer mouse according to claim 3 is explored automatic control system fast, it is characterized in that, described servocontrol module also comprises current module, and the output power that described current module is used for the adjustment battery reaches the scope that the micro computer mouse needs.
7. micro computer mouse according to claim 5 is explored automatic control system fast, it is characterized in that, described servocontrol module also comprises the speed module, described speed module is connected with the coder module communication, too fast or excessively slow when coder module detection micro computer mouse actual speed, the speed module is regulated micro computer mouse actual speed according to the result that coder module detects.
8. micro computer mouse according to claim 2 is explored automatic control system fast, it is characterized in that, described servocontrol module also comprises the coordinate module, described coordinate module is for detection of the coordinate position of micro computer mouse, after receiving the spurt order that controller sends, can begin to make a spurt toward the tape fast along starting point.
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| CN 201220485123 CN202838071U (en) | 2012-09-21 | 2012-09-21 | Automatic control system for quick search of a microcomputer mouse |
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| CN 201220485123 CN202838071U (en) | 2012-09-21 | 2012-09-21 | Automatic control system for quick search of a microcomputer mouse |
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| Application Number | Title | Priority Date | Filing Date |
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| CN 201220485123 Expired - Fee Related CN202838071U (en) | 2012-09-21 | 2012-09-21 | Automatic control system for quick search of a microcomputer mouse |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202838071U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102841621A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Micro-mouse quick sprint automatic control system |
| CN102841619A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Rapid exploration automatic control system for micro-mouse |
| CN103472830A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors |
| CN105717925A (en) * | 2016-03-21 | 2016-06-29 | 柳州职业技术学院 | Computer mouse robot control system based on wireless sensor network and cloud computing |
-
2012
- 2012-09-21 CN CN 201220485123 patent/CN202838071U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102841621A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Micro-mouse quick sprint automatic control system |
| CN102841619A (en) * | 2012-09-21 | 2012-12-26 | 苏州工业园区职业技术学院 | Rapid exploration automatic control system for micro-mouse |
| CN102841619B (en) * | 2012-09-21 | 2014-10-29 | 苏州工业园区职业技术学院 | Rapid exploration automatic control system for micro-mouse |
| CN102841621B (en) * | 2012-09-21 | 2014-12-17 | 苏州工业园区职业技术学院 | Micro-mouse quick sprint automatic control system |
| CN103472830A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors |
| CN105717925A (en) * | 2016-03-21 | 2016-06-29 | 柳州职业技术学院 | Computer mouse robot control system based on wireless sensor network and cloud computing |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130327 Termination date: 20130921 |