CN203759543U - STM32 control based double-direct-current motor micromouse system - Google Patents
STM32 control based double-direct-current motor micromouse system Download PDFInfo
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- CN203759543U CN203759543U CN201420152702.7U CN201420152702U CN203759543U CN 203759543 U CN203759543 U CN 203759543U CN 201420152702 U CN201420152702 U CN 201420152702U CN 203759543 U CN203759543 U CN 203759543U
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Abstract
The utility model relates to an STM32 control based double-direct-current motor micromouse system and belongs to the field of micro-robots. The system comprises a main control chip, detection modules, an H-bridge drive module, a direct-current micromotor, a magnetic encoder, a UART (universal asynchronous receiver/transmitter) interface, a gyroscope, a human-computer interface, a power module, a PCB (printed circuit board) and the like. The detection modules are six groups of infrared sensors and used for detecting wall distance and labyrinth wall information. The gyroscope is used for correcting postures of a micromouse during turning. The H-bridge drive module realizes clockwise and anticlockwise rotation and acceleration and deceleration of the direct-current motor. The magnetic encoder on the direct-current micromotor acquires and feeds back rotational speed and positioning information of the motor. The UART interface can be externally connected with a universal serial bus or Bluetooth module. The human-computer interface displays different working modes. The system has the advantages that the main control chip provides powerful peripheral resources, and the direct-current micromotor serves as a driving unit to increase running speed of the system; the system is small in size and lightweight, time for the micromouse to finish a task is reduced, and running stability of the micromouse high in practicality is improved.
Description
Technical field
The utility model relates to a kind of computer mouse system, be particularly related to a kind of two direct current generator computer mouse systems of controlling based on STM32, more particularly, it relates to a kind of that control based on STM32, two direct current generators as the miniature wheeled searching machine robot system of driver element.
Background technology
computer mouse is a kind of Intelligent walking robot that embedded microcontroller, sensor and electromechanical movement parts form, it can be in unknown labyrinth automatic search path find terminal, and find out the shortest path of labyrinth from origin-to-destination according to the wall information recording in search procedure, then with the fastest speed from the starting point terminal of making a spurt.
At present, the main control chip that domestic computer mouse adopts is arm processor---the LM3S615 that Luminary company produces Cortex-M3 kernel, five groups of infrared sensors, and motor is stepper motor, controls easily.But make a general survey of international computer mouse and walk labyrinth contest, the computer mouse of stepper motor is because volume is large, Heavy Weight, travelling speed is slow, be eliminated gradually, in the LM3S615 main control chip performance of equal price also not as STM32.
Summary of the invention
The purpose of this utility model is to provide a kind of two direct current generator computer mouse systems of controlling based on STM32, the problems referred to above that prior art exists are solved, reduce the time that computer mouse is finished the work, improved the operation stability of computer mouse, thereby promoted to a certain extent the development of computer mouse.
Above-mentioned purpose of the present utility model is achieved through the following technical solutions:
Two direct current generator computer mouse systems of controlling based on STM32, pcb board 9 is as the car body of system, and space is left in middle both sides, is used for installing wheel, and left and right wheel is coaxially arranged, and structure is identical; Wheel hub 23 engages by gear with direct current micromotor 3 rotation axiss, direct current micromotor 3 is fixed in back up pad 28, and back up pad 28 is fixed on pcb board 9, and motor drive ic is arranged near direct current micromotor 3, module 2 is found out in pcb board 9 front end settings, and afterbody is power module 8; Gyroscope 6 is arranged in pcb board 9 centre positions, and man-machine interface 7 is arranged in pcb board 9 rear ends; Main control chip 1 is arranged on pcb board 9, and magnetic encoder 4 is connected on direct current micromotor 3.
Described wheel hub 23 is magnalium material, and right-hand member outside is provided with round flange, and round flange outside is provided with gear, engages with the gear on direct current micromotor 3 rotation axiss, and ratio of gear is 55:11, and the moment of torsion of motor has expanded 5 times; In the middle of wheel hub 23, there is through hole, high-speed bearing 25 is installed in through hole, high-speed bearing 25 inner rings are installed back shaft 26, and back shaft 26 is stainless steel, and outside lock-screw 24 is threaded with back shaft 26, high-speed bearing 25 inner rings are respectively by left side lock-screw 24 nut end faces and back shaft boss axial restraint, high-speed bearing 25 outer rings coordinate by wheel hub through hole slight interference, and there is annular flange flange in wheel hub 23 outsides, are set in together with tire 22, tire 22 materials are silicon rubber, grab ground ability strong; Back shaft 26 right sides are threaded with inner side lock-screw 27, right side raised head face by inner side lock-screw 27 nut end faces and back shaft 26 is by back up pad 28 axial restraints, back up pad 28 is bolted and is fixed on pcb board 9, direct current micromotor 3 is connected by screw and is fixed in back up pad 28, and left and right wheel is coaxially arranged in pcb board 9 centre positions, both sides.
The described module 2 of finding out is six groups of infrared ray sensors, at three groups of infrared ray sensors of the each layout of pcb board 9 front end arranged on left and right sides, the wherein vertical layout of the most left infrared emitting sensor, the most left infrared receiver sensor 14,15 and the rightest infrared emitting sensor, the rightest infrared receiver sensor 20,21, to find out wall information in labyrinth, front, being placed in both sides is because computer mouse, in moving diagonally, can judge whether according to the detection of this two sensors the danger of collision; Left infrared emitting sensor, left infrared receiver sensor 12,13 and right infrared emitting sensor, right infrared receiver sensor 18,19 Oblique 45 Degrees are arranged, be mainly the direction for proofreading and correct car body, guarantee that computer mouse walks the middle in labyrinth in the process of operation; Left front infrared emitting sensor, left front infrared receiver sensor 10,11 and right front infrared emitting sensor, right front infrared receiver sensor 16,17 are horizontally disposed, are used for detecting computer mouse both sides and have or not wall information, are used for detecting crossing, labyrinth.
Described PCB9 adopts doubling plate, the horizontal cabling of top layer, and the longitudinal cabling of bottom, afterbody is power module 7, anterior for finding out module 2, so as far as possible separated to simulating signal and digital signal; Because voltage stabilizing chip, main control chip 1 and motor drive ic heating are serious, so all cover copper 1 time at power module 8, motor drive ic and main control chip.
PA0 on described main control chip 1 and PA1 are as input port and the right motor-drive circuit 5 of H driver module, 6 mouthfuls of connections, PA6 on main control chip 1 and PA7 are as input port and the left motor-drive circuit 5 of H driver module, 6 mouthfuls of connections, PA9 on main control chip 1 is connected with 4 mouthfuls of download and debug circuits as delivery outlet, PA10 on main control chip 1 is connected with 5 mouthfuls of download and debug circuits as input port, PA11 on main control chip 1 and PA12 are as input port and man-machine interface circuit key2, key3 connects, PB6 on main control chip 1 and PB7 are as delivery outlet and the right motor-drive circuit 2 of H driver module, 4 mouthfuls of connections, PB8 on main control chip 1 and PB9 are as delivery outlet and the left motor-drive circuit 2 of H driver module, 4 mouthfuls of connections, PB10 on main control chip 1 to PB15 as delivery outlet and man-machine interface circuit R1, R2, R3, R4, R5 is connected with R29 mouth, PC0 on main control chip 1 is connected with receipts sensor respectively as input interface to PC5, PC6 on main control chip 1 is connected to in4 respectively at sensor emission circuit in1 as output interface to PC9.
Course of work process of the present utility model is: computer mouse system is put into initial position, press home key, now computer mouse system starts initialization, then direct current micromotor 3 and find out module 2 collaborative works, find out module 2 (oneself is set) run-down wall information at set intervals, scanning information is fed back to main control chip 1, gyroscope 6 is proofreaied and correct the attitude of computer mouse system in the time turning, two groups of H bridge driving circuits coordinate pwm signal control, magnetic encoder 4 on direct current micromotor 3 obtains and feeds back motor speed and locating information, revise track route, while running into crossing and obstacle, routine call maze-searching algorithm is made a response, until complete then return to origin of labyrinth of computer mouse systematic search, do labyrinth spurt from starting point.Main control chip 1 of the present utility model is STM32, has powerful storage, arithmetic capability, and antijamming capability is strong, can finish the work fast and accurately, ensures stability and the reliability of computer mouse system.The utility model adopts direct current micromotor 3 as driver element, and volume is little, lightweight.
The beneficial effects of the utility model are:
1, the main control chip of two direct current generator computer mouse systems of controlling based on STM32 described in the utility model has powerful storage, arithmetic capability, and antijamming capability is strong, can finish the work fast and accurately, ensures stability and the reliability of computer mouse system.Fast operation, has reduced working time.
2, two direct current generator computer mouse systems of controlling based on STM32 described in the utility model adopt direct current micromotor as driver element, and volume is little, lightweight.
Brief description of the drawings
Accompanying drawing described herein is used to provide further understanding of the present utility model, forms the application's a part, and illustrative example of the present utility model and explanation thereof are used for explaining the utility model, do not form improper restriction of the present utility model.
Fig. 1 is one-piece construction schematic diagram of the present utility model;
Fig. 2 is system control schematic diagram of the present utility model;
Fig. 3 is main control chip minimum system arrangement plan of the present utility model;
Fig. 4 is infrared emitting sensor circuit figure of the present utility model;
Fig. 5 is infrared receiver sensor circuit figure of the present utility model;
Fig. 6 is the right motor-drive circuit figure of H driver module of the present utility model;
Fig. 7 is the left motor-drive circuit figure of H driver module of the present utility model;
Fig. 8 is download of the present utility model and debug circuit figure;
Fig. 9 is power module circuitry figure of the present utility model;
Figure 10 is man-machine interface circuit diagram of the present utility model;
Figure 11 is PCB dimensional drawing of the present utility model;
Figure 12 is partial structurtes schematic diagram of the present utility model;
Figure 13 is the cut-open view of Figure 12;
Figure 14 is infrared ray sensor arrangement mode schematic diagram of the present utility model.
In figure: 1. main control chip, 2. find out module, 3. direct current micromotor, 4. magnetic encoder, 5.UART interface, 6. gyroscope, 7. man-machine interface, 8. power module, 9.PCB plate, 10. left front infrared emitting sensor, 11. left front infrared receiver sensors, 12. left infrared emitting sensors, 13. left infrared receiver sensors, 14. the most left infrared emitting sensors, 15. the most left infrared receiver sensors, 16. right front infrared emitting sensors, 17. right front infrared receiver sensors, 18. right infrared emitting sensors, 19. right infrared receiver sensors, 20. the rightest infrared emitting sensors, 21. the rightest infrared receiver sensors, 22. tires, 23. wheel hubs, 24. outside lock-screws, 25. high-speed bearings, 26. back shafts, 27. inner side lock-screws, 28. back up pads.
Embodiment
Further illustrate detailed content of the present utility model and embodiment thereof below in conjunction with accompanying drawing.
Referring to Fig. 1, two direct current generator computer mouse systems of controlling based on STM32 of the present utility model, comprise main control chip 1, find out module 2, H bridge driver module, direct current micromotor 3, magnetic encoder 4, UART interface 5, gyroscope 6, man-machine interface 7, power module 8, pcb board 9, wheel, back shaft 26, back up pad 28, described pcb board 9 is as the car body of system, space is left in middle both sides, be used for installing wheel, left, right wheel is coaxially arranged, structure is identical, wheel hub 23 engages by gear with direct current micromotor 3 rotation axiss, direct current micromotor 3 is fixed in back up pad 28, back up pad 28 is fixed on pcb board 9, motor drive ic is arranged near direct current micromotor 3, pcb board 9 front ends are each side arranged 3 groups of infrared ray sensors, gyroscope 6 is arranged in pcb board 9 centre positions, man-machine interface 7 is arranged in pcb board 9 rear ends.
Shown in Figure 2, the main control chip 1 arranging on pcb board 9 is STM32F103RET6; Find out module 2 and have six groups of infrared ray sensors, be used for finding out wall distance and labyrinth wall information, and proofread and correct position in computer mouse operational process and the deviation of direction; Gyroscope 6 is used for proofreading and correct the attitude of computer mouse in the time turning; Two groups of H bridge driving circuits coordinate pwm signal control, can realize rotating and the acceleration and deceleration of direct current generator; Magnetic encoder 4 on direct current micromotor 3 obtains and feeds back motor speed and locating information; Reserved UART interface 5 can turn serial ports or external bluetooth module by external RS232, when needs data transmission is during to computing machine, can transmit by this interface; The man-machine interface 7 of computer mouse is made up of two buttons and six LED lamps, can be used to show different mode of operations and the wall information of finding out, and is convenient to on-the-spot real-time debug.
Referring to shown in Fig. 3 to Figure 10, the model of main control chip 1 is STM32F103RET6, the ARM 32-bit Cortex-M3 kernel controller that Ta Shi ST company releases, the flash memory (Flash) of 512K, the static store (SRAM) of 64K, 8 timers (2 senior timers, 4 general purpose timers, 2 basic timers), 3 SPI, 5 USART, 1 USB, 1 CAN, 51 GPIO mouths, 3 tunnel 16 passages (Channel) 12-bit ADC, 2 tunnel 2 passage 12-bit DAC, CPU operation frequency maximum can reach 72MHz, supply voltage 2.0-3.6V.What need most attention is exactly the setting problem of BOOT0 and BOO1, in the time that BOOT0 is 0, no matter BOOT1 is 0 or 1, after resetting, main flash is pointed in promoter region, system starts race program, when BOOT1 is 0, BOOT0 is 1 o'clock, promoter region pointing system storer after resetting, because the design selects serial ports burning program, so need this pattern when the program of main control chip is downloaded, so need the combination of BOOT1 and BOOT0, wherein BOOT1 is directly set low, BOOT0 is configured to switching mode, so just can descend respectively program and reset race program.
Infrared ray sensor is used for finding out labyrinth wall information, and infrared emitting sensor is used for surveying labyrinth wall information and proofreaies and correct operation attitude.The infrared emitting sensor model number of selecting is SFH4511, its wavelength 950nm, consumed power 165mW, forward current 100mA, pulsed electric current 1A, emissive porwer 150mW/sr (when forward current 100mA), if use impulse ejection, emissive porwer can reach 1200mW/sr (pulse current 1A pulse length 100us), reverse bias 5V, forward conduction voltage drop 1.3V., be convenient to like this to utilize the mode of pulse allow infrared ray sensor work, and can select larger pulse current as switch with Darlington transistor ULN2003, make the instantaneous power of infrared emitting sensor become large, to survey farther distance.
Infrared receiver sensor model number is TEFT4300, TEFT4300 is NPN type phototransistor, it can be converted into current signal by the infrared energy receiving, and relation in direct ratio, the output terminal of phototransistor is connected with resistance, current value is converted into magnitude of voltage and exports to the ADC of microcontroller.
Before metal-oxide-semiconductor, add MAX4427 driven MOS pipe, metal-oxide-semiconductor provides input voltage 7.4V, output current is up to 1.5A, stray capacitance is carried out to momentary charge, improve the switching characteristic of metal-oxide-semiconductor, the PWM output pin of STM32 drives MAX4427 so that a large electric current to be provided, and then drive full-bridge circuit to control the operation of motor, full-bridge circuit chip is selected ZXMHC3A01T8, thereby the conducting order of controlling metal-oxide-semiconductor just can be controlled the forward and reverse of motor, coordinating main control chip 1 to implement PWM to direct current micromotor 3 regulates again, just can control rotating speed and the position of direct current micromotor 3.
Power module 8 is selected lithium polymer battery, because it is high that lithium polymer battery has density, miniaturization, ultrathin and light-weighted advantage, the battery specification of selecting is: voltage 3.7V, capacity 200mAh, discharge coefficient is 17C, so an ability of putting for this battery is about: 200mA × 17=3.4 A.Because the microcontroller in system etc. is 3.3V power supply, infrared emitting sensor is 5V power supply, so the supply voltage that battery need to be supplied does the action of voltage stabilizing, so adopt LM1117-5, with LM1117-3.3, supply voltage is first surely become to 5V, and then be that 3.3V supplies with microcontroller and NPN phototransistor by 5V voltage stabilizing.Ground in system is divided into three ranks, is respectively MGND, GND and AGND.Each independently between by 0 Ω resistance single-point be connected.Because motor can form very large interference to the ground of whole system in operational process, severe jamming the stability of phototransistor, but after two stage filter, on just very little of the impact digitally of phototransistor, just can ensure the stable operation of infrared sensor in analog.In order to ensure stability digitally, filter some burrs, the inductor filter through a 100uH again after 3.3V voltage stabilizing output, AVCC and the power supply of NPN phototransistor of then giving microcontroller.The internal system that ensures sensor and controller is disturbed minimum.
With microcontroller UART interface 5 as computer mouse the data transmission in debug phase and computer end, use USB to turn serial port module and bluetooth module is realized wireless or wired data transmission.Man-machine interface 7 comprises two groups of buttons and six LED lamps.In operational process, computer mouse may according to circumstances be selected different mode operations, wherein button is used for selecting the model selection of computer mouse in the time of operation, LED lamp can be used for showing the state of sensor, or the running status of computer mouse, this can be configured and be selected LED why to indicate function by program.
PA0 on main control chip 1 and PA1 are as input port and the right motor-drive circuit 5 of H driver module, 6 mouthfuls of connections, PA6 on main control chip 1 and PA7 are as input port and the left motor-drive circuit 5 of H driver module, 6 mouthfuls of connections, PA9 on main control chip 1 is connected with 4 mouthfuls of download and debug circuits as delivery outlet, PA10 on main control chip 1 is connected with 5 mouthfuls of download and debug circuits as input port, PA11 on main control chip 1 and PA12 are as input port and man-machine interface circuit key2, key3 connects, PB6 on main control chip 1 and PB7 are as delivery outlet and the right motor-drive circuit 2 of H driver module, 4 mouthfuls of connections, PB8 on main control chip 1 and PB9 are as delivery outlet and the left motor-drive circuit 2 of H driver module, 4 mouthfuls of connections, PB10 on main control chip 1 to PB15 as delivery outlet and man-machine interface circuit R1, R2, R3, R4, R5 is connected with R29 mouth, PC0 on main control chip 1 is connected with sensor receiving sensor respectively as input interface to PC5, PC6 on main control chip 1 is connected to in4 respectively at sensor emission circuit in1 as output interface to PC9.
Shown in Figure 11, PCB9 adopts doubling plate, because signal wire is intensive, take the horizontal cabling of top layer, the principle of the longitudinal cabling of bottom, in designing printed circuit board, afterbody is power module 7, anterior for finding out module 2, so as far as possible separated to simulating signal and digital signal.Due to voltage stabilizing chip, main control chip 1 and motor drive ic heating more serious, so all cover copper 1 time at power module 8, motor drive ic and main control chip, be beneficial to heat radiation, ensure the normal work that is in operation of each chip.
Referring to shown in Figure 12 to Figure 13, the mechanical mechanism of system is by tire 22, wheel hub 23, outside lock-screw 24, high-speed bearing 25, back shaft 26, inner side lock-screw 27, back up pad 28 forms, and wheel hub 23 is the magnalium that hardness is higher, than other metal light, there is round flange in right-hand member outside, and there is gear in round flange outside, engages with the gear on direct current micromotor 3 rotation axiss, ratio of gear is 55:11, and the moment of torsion of motor has expanded 5 times; In the middle of wheel hub 23, there is through hole, high-speed bearing 25 is installed in through hole, high-speed bearing 25 inner rings are installed back shaft 26, back shaft 26 is stainless steel, inner ring has M2 screw thread, outside lock-screw 24 specifications are M2, by being threaded with back shaft 26, high-speed bearing 25 inner rings are respectively by left side lock-screw 24 nut end faces and back shaft boss axial restraint, high-speed bearing 25 outer rings coordinate by wheel hub through hole slight interference, and there is annular flange flange in wheel hub 23 outsides, are set in together with tire 22, tire 22 materials are silicon rubber, grab ground ability strong.Back shaft 26 right sides are threaded with inner side lock-screw 27, right side raised head face by inner side lock-screw 27 nut end faces and back shaft 26 is by back up pad 28 axial restraints, back up pad 28 is bolted and is fixed on pcb board 9, direct current micromotor 3 is connected by screw and is fixed in back up pad 28, and left and right wheel is coaxially arranged in pcb board 9 centre positions, both sides.
Shown in Figure 14,3 groups of infrared ray sensors of the each layout of pcb board 9 front end arranged on left and right sides, the vertical layout of the most left infrared emitting sensor, the most left infrared receiver sensor 14,15 and the rightest infrared emitting sensor, the rightest infrared receiver sensor 20,21, to find out wall information in labyrinth, front, being placed in both sides is because computer mouse, in moving diagonally, can judge whether according to the detection of this two sensors the danger of collision; Left infrared emitting sensor, left infrared receiver sensor 12,13 and right infrared emitting sensor, right infrared receiver sensor 18,19 Oblique 45 Degrees are arranged, be mainly the direction for proofreading and correct car body, guarantee that computer mouse walks the middle in labyrinth in the process of operation; Left front infrared emitting sensor, left front infrared receiver sensor 10,11 and right front infrared emitting sensor, right front infrared receiver sensor 16,17 are horizontally disposed, are used for detecting computer mouse both sides and have or not wall information, are used for detecting crossing, labyrinth.
Illustrate two direct current generator computer mouse system work process processes of controlling based on STM32 below: computer mouse system is put into initial position, press home key, now computer mouse system starts initialization, then direct current micromotor 3 and find out module 2 collaborative works, find out module 2 (oneself is set) run-down wall information at set intervals, scanning information is fed back to main control chip 1, gyroscope 6 is proofreaied and correct the attitude of computer mouse system in the time turning, two groups of H bridge driving circuits coordinate pwm signal control, magnetic encoder 4 on direct current micromotor 3 obtains and feeds back motor speed and locating information, revise track route, while running into crossing and obstacle, routine call maze-searching algorithm is made a response, until complete then return to origin of labyrinth of computer mouse systematic search, do labyrinth spurt from starting point.Main control chip 1 of the present utility model is STM32, has powerful storage, arithmetic capability, and antijamming capability is strong, can finish the work fast and accurately, ensures stability and the reliability of computer mouse system.The utility model adopts direct current micromotor 3 as driver element, and volume is little, lightweight.
The foregoing is only preferred embodiment of the present utility model, be not limited to the utility model, for a person skilled in the art, the utility model can have various modifications and variations.All any amendments that the utility model is done, be equal to replacement, improvement etc., within all should being included in protection domain of the present utility model.
Claims (6)
1. two direct current generator computer mouse systems of controlling based on STM32, is characterized in that: pcb board (9) is as the car body of system, and space is left in middle both sides, are used for installing wheel, and left and right wheel is coaxially arranged, and structure is identical; Wheel hub (23) engages by gear with direct current micromotor (3) rotation axis, direct current micromotor (3) is fixed in back up pad (28), back up pad (28) is fixed on pcb board (9), motor drive ic is arranged near direct current micromotor (3), module (2) is found out in pcb board (9) front end setting, and afterbody is power module (8); Gyroscope (6) is arranged in pcb board (9) centre position, and man-machine interface (7) is arranged in pcb board (9) rear end; It is upper that main control chip (1) is arranged on pcb board (9), and magnetic encoder (4) is connected on direct current micromotor (3).
2. two direct current generator computer mouse systems of controlling based on STM32 according to claim 1, it is characterized in that: described wheel hub (23) right-hand member outside is provided with round flange, round flange outside is provided with gear, engage with the gear on direct current micromotor (3) rotation axis, ratio of gear is 55:11, and the moment of torsion of motor has expanded 5 times; In the middle of wheel hub (23), there is through hole, high-speed bearing (25) is installed in through hole, high-speed bearing (25) inner ring is installed back shaft (26), outside lock-screw (24) is threaded with back shaft (26), high-speed bearing (25) inner ring is respectively by left side lock-screw (24) nut end face and back shaft boss axial restraint, high-speed bearing (25) outer ring coordinates by wheel hub through hole slight interference, and there is annular flange flange in wheel hub (23) outside, is set in together with tire (22); Back shaft (26) right side is marked closely (27) and is threaded with inside lock, right side raised head face by inner side lock-screw (27) nut end face and back shaft (26) is by back up pad (28) axial restraint, back up pad (28) is bolted and is fixed on pcb board (9), direct current micromotor (3) is connected by screw and is fixed on back up pad (28) above, and left and right wheel is coaxially arranged in pcb board (9) centre position, both sides.
3. two direct current generator computer mouse systems of controlling based on STM32 according to claim 1, is characterized in that: described wheel hub (23) is magnalium material, and back shaft (26) is stainless steel, and tire (22) is silicon rubber material.
4. two direct current generator computer mouse systems of controlling based on STM32 according to claim 1, it is characterized in that: the described module (2) of finding out is six groups of infrared ray sensors, on pcb board (9) front end left side, three groups of infrared ray sensors of the each layout in right both sides, wherein the most left infrared emitting sensor, the most left infrared receiver sensor (14, 15) and the rightest infrared emitting sensor, the rightest infrared receiver sensor (20, 21) vertical layout, to find out wall information in labyrinth, front, be placed in both sides and be because computer mouse in moving diagonally, can judge whether according to the detection of this two sensors the danger of collision, left infrared emitting sensor, left infrared receiver sensor (12,13) and right infrared emitting sensor, right infrared receiver sensor (18,19) Oblique 45 Degree are arranged, be mainly the direction for proofreading and correct car body, guarantee that computer mouse walks the middle in labyrinth in the process of operation, left front infrared emitting sensor, left front infrared receiver sensor (10,11) and right front infrared emitting sensor, right front infrared receiver sensor (16,17) are horizontally disposed, be used for detecting computer mouse both sides and have or not wall information, be used for detecting crossing, labyrinth.
5. two direct current generator computer mouse systems of controlling based on STM32 according to claim 1, it is characterized in that: described PCB(9) employing doubling plate, the horizontal cabling of top layer, the longitudinal cabling of bottom, afterbody is power module (7), anterior for finding out module (2), so as far as possible separated to simulating signal and digital signal; Because voltage stabilizing chip, main control chip (1) and motor drive ic heating are serious, so all cover copper under power module (8), motor drive ic and main control chip (1).
6. two direct current generator computer mouse systems of controlling based on STM32 according to claim 1, it is characterized in that: the PA0 on described main control chip (1) and PA1 are as input port and the right motor-drive circuit 5 of H driver module, 6 mouthfuls of connections, PA6 on main control chip (1) and PA7 are as input port and the left motor-drive circuit 5 of H driver module, 6 mouthfuls of connections, PA9 on main control chip (1) is connected with 4 mouthfuls of download and debug circuits as delivery outlet, PA10 on main control chip (1) is connected with 5 mouthfuls of download and debug circuits as input port, PA11 on main control chip (1) and PA12 are as input port and man-machine interface circuit key2, key3 connects, PB6 on main control chip (1) and PB7 are as delivery outlet and the right motor-drive circuit 2 of H driver module, 4 mouthfuls of connections, PB8 on main control chip (1) and PB9 are as delivery outlet and the left motor-drive circuit 2 of H driver module, 4 mouthfuls of connections, PB10 on main control chip (1) to PB15 as delivery outlet and man-machine interface circuit R1, R2, R3, R4, R5 is connected with R29 mouth, PC0 on main control chip (1) is connected with receipts sensor respectively as input interface to PC5, PC6 on main control chip (1) is connected to in4 respectively at sensor emission circuit in1 as output interface to PC9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420152702.7U CN203759543U (en) | 2014-04-01 | 2014-04-01 | STM32 control based double-direct-current motor micromouse system |
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| CN201420152702.7U CN203759543U (en) | 2014-04-01 | 2014-04-01 | STM32 control based double-direct-current motor micromouse system |
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| CN203759543U true CN203759543U (en) | 2014-08-06 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869816A (en) * | 2014-04-01 | 2014-06-18 | 吉林大学 | Dual-direct-current motor micromouse system based on STM32 control |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103869816A (en) * | 2014-04-01 | 2014-06-18 | 吉林大学 | Dual-direct-current motor micromouse system based on STM32 control |
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