CN206848810U - A kind of computer mouse intelligent vehicle based on Zynq platforms - Google Patents
A kind of computer mouse intelligent vehicle based on Zynq platforms Download PDFInfo
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- CN206848810U CN206848810U CN201720400777.6U CN201720400777U CN206848810U CN 206848810 U CN206848810 U CN 206848810U CN 201720400777 U CN201720400777 U CN 201720400777U CN 206848810 U CN206848810 U CN 206848810U
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- China
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- computer mouse
- intelligent vehicle
- vehicle based
- master controller
- zynq platforms
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Abstract
A kind of computer mouse intelligent vehicle based on Zynq platforms is the utility model is related to, including：Master controller；Master controller is connected with the axle MEMS inertial sensors of LSM330 six, infrared transmitting tube, infrared receiving tube, camera, coding disk, full bridge driving circuit, wireless data transfer module；Micromachine is connected by full bridge driving circuit with master controller；Micromachine is connected with coding disk.Computer mouse of the present utility model not only possess it is traditional walk labyrinth function, but also there is the functions such as path planning, ADAS, automatic cruising；It is unmanned that automobile can be applied transformations to, ADAS (Advanced DriverAssistant System), industrial intelligent control etc. field, be with a wide range of applications.The utility model is using more compact, stable computer mouse mechanical structure.
Description
Technical field
The utility model belongs to field of artificial intelligence, more particularly to a kind of computer mouse intelligence based on Zynq platforms
Car.
Background technology
At present, summer in 1956, Da Temosi conference on artificial intelligence call together at Dartmouth University of the U.S. (Dartmouth)
Open, meeting first proposed " artificial intelligence " (Artificial Intelligence) this term, indicate artificial intelligence
(AI) formally it is born as a new branch of science.Shannon (father of information theory) participates in having initiated Dartmouth conference on artificial intelligence,
One of first person to do as this new disciplines.He not only take the lead in artificial intelligence apply to computer play chess aspect, and invent
One electronics mouse that can pass through labyrinth automatically, i.e. " computer mouse ", with this prove that computer can be with intelligence learning." computer
Mouse ", English name MicroMouse, a kind of small automatic being made up of embedded microprocessor, sensor and motor are wheeled
Intelligent robot.IEEE (Institute of Electrical and Electric Engineers) will hold once international " computer mouse " every year, and to walk labyrinth competing
Match." computer mouse " labyrinth contest was held in 1979 in New York for the first time.Since 1980, the U.S., Japan, Singapore, Korea Spro
All hold international computer mouse contest every year in the area such as state and Hong Kong and TaiWan, China.Such as the APEC computer mouse in the U.S. are big
Match, Britain international standard micro computer mouse contest.2007, Science and Technology Commission, Shanghai city education board and Shanghai in Shanghai City
Under the guidance of Science and Technology Association of city, " computer mouse " technology is introduced China by Shanghai computer association, and pedagogical big in Shanghai
Held Yangtze River Delta Region ieee standard " computer mouse " and walked labyrinth invitational tournament, and You30Duo Suo universities and colleges participate in, and repercussion is strong.
" 2009 national ' computer mouse walks labyrinth ' contest " was sponsored by embedded system Professional Committee of Chinese Computer Federation in 2009,
140 teams participating in competition of the shared whole nation 9 playing areas, 54 colleges and universities are participated, and wherein delegation of Shaanxi Tech Univ was taken by force with 15.7 seconds
Obtain contest champion.This time the curtain of Chinese computer mouse contest has been pulled open in match, and almost there is national computer in or so annual April afterwards
Mouse contest.And computer mouse also begins to develop towards multifunction, each colleges and universities start to abandon Zhou Ligong master vehicle body, oneself research and development
Computer mouse airframe structure is designed, changes main control chip and the function such as increase video sensing, thermal sensation detection.At present, have every year
" the computer mouse " of various ranks walks labyrinth contest and carried out in the whole nation.Enthusiastically, many universities also open up the major colleges and universities' competition in the whole nation
" computer mouse " principle and making elective.
The technical scheme and defect of existing computer mouse, 1. use common general single chip to exist as control core
Arithmetic speed is low, in computer mouse high-speed motion, when speed reaches more than 2.5m/s, can not control the motion shape of computer mouse in real time
State, easily cause computer mouse uncontrolled movements；When carrying out optimum path planning, it is necessary to spend more than 1s time to obtain result.
2. mechanical structure is unreasonable, center of gravity is too high, apart from ground in more than 4cm, directly results in computer mouse and easily breaks away.
The content of the invention
The utility model is deposited to solve the common general single chip of computer mouse present in known technology as control core
It is low in arithmetic speed, in computer mouse high-speed motion, when speed reaches more than 2.5m/s, the motion of computer mouse can not be controlled in real time
State, easily cause computer mouse uncontrolled movements；When carrying out optimum path planning, it is necessary to spend more than 1s time to be tied
Fruit.2. mechanical structure is unreasonable, center of gravity is too high, apart from ground in more than 4cm, directly results in computer mouse and sideslip technology easily occurs
Problem and provide it is a kind of it is simple in construction, easy to install, improve operating efficiency the computer mouse intelligent vehicle based on Zynq platforms.
The utility model is adopted the technical scheme that to solve technical problem present in known technology：
Computer mouse intelligent vehicle provided by the utility model based on Zynq platforms, the computer mouse based on Zynq platforms
Intelligent vehicle includes：There is master controller, the axles of LSM330 six of field programmable gate array and general single chip function simultaneously
It is MEMS inertial sensor, infrared transmitting tube, infrared receiving tube, camera, coding disk, full bridge driving circuit, micromachine, wireless
Data transmission module；
There is field programmable gate array and the master controller of general single chip function and the axles of LSM330 six simultaneously
MEMS inertial sensor, infrared transmitting tube, infrared receiving tube, camera, coding disk, full bridge driving circuit, wireless data transmission
Module wired connection；Micromachine passes through full bridge driving circuit and master controller wired connection；Micromachine passes through with coding disk
Wired mode connects.
Camera is fixed on the front end of computer mouse vehicle body by support；4 infrared transmitting tubes and 4 infrared receiving tube peaces
Mounted in the head position of computer mouse vehicle body；2 micromachines are fixed on computer mouse vehicle body center；Coding disk uses and micromachine
Co-axially fixed mode；The axle MEMS inertial sensors of LSM330 six are fixed on the right rear portion of computer mouse vehicle body；Wireless data transmission
Module is fixed on the rear portion of computer mouse vehicle body.
Further, it is provided with expansible Wi-Fi module or bluetooth the wireless serial mould for the data transfer during debugging
Block.
Further, the micromachine for being provided with accurate athletic posture feedback is set.
Further, infrared transmitting tube and infrared receiving tube as wall detection and positioning correcting are provided with.
Further, the use axle MEMS inertial sensors of LSM330 six for being provided with accurate athletic posture feedback are set.
Another object of the present utility model is to provide a kind of computer mouse intelligent vehicle for being provided be set forth in Zynq platforms
Pilotless automobile.The specific centre for being arranged on automobile, is connected with central control system.
Another object of the present utility model is to provide a kind of computer mouse intelligent vehicle for being provided be set forth in Zynq platforms
Industrial intelligent control system.The motion control function provided by the master controller of computer mouse, it is the accurate position of industrial equipment
Put control device and instruction is provided.
The utility model has the advantages and positive effects of：Computer mouse of the present utility model not only possess it is traditional walk fan
Palace function, but also there is the functions such as path planning, ADAS, automatic cruising；It is unmanned that automobile can be applied transformations to, ADAS
The field such as (Advanced Driver Assistant System), industrial intelligent control, is with a wide range of applications.This reality
With more compact, the stable computer mouse mechanical structure of new design, compact property：The volume of computer mouse is the 1/4 to 1/3 big of maze lattice
It is small, so as to ensure that computer mouse various walking postures in labyrinth have the activity space of abundance；Stability：Overall architecture be laid out,
Choice of electrical machine, Model Selection of Wheels, PCB, which are laid out, to set about, and by largely calculating the checking with realistic model, searches out optimal
Chassis profile and gravity centre distribution, ensure " computer mouse " during whole high-speed cruising, all-the-time stable is reliable.
It is compared with the prior art tables of data (with rectangular co-ordinate referential)
Computer mouse has merged multi-subject knowledge, for lifting thinking ability, manipulative ability, team collaboration's ability and innovation energy
Power, promote the digestion of classroom knowledge and to extend the scope of one's knowledge of itself all very helpful；For electronic information, control theory, people
The research of work intelligent Theory is also significant.In addition, the cooperation between team is completed, knowledge, Er Qiejia have not only been acquired
Exchange between strong classmate, communicative competence and ability of language expression etc. are also taken exercise and lifted；" computer mouse " walks labyrinth
The great interest of contest, the approval and participation of student are readily obtained, and the interest with guiding student this respect can be excited well
And hobby, provide good condition to continue to take part in game and studying in depth.
Brief description of the drawings
Fig. 1 is the computer mouse intelligent vehicle structural representation based on Zynq platforms that the utility model embodiment provides；
Fig. 2 is the computer mouse intelligent vehicle internal structure schematic diagram based on Zynq platforms that the utility model embodiment provides；
Fig. 3 is the schematic diagram for the full bridge driving circuit that the utility model embodiment provides；
In figure：1st, master controller；2nd, camera；3rd, the axle MEMS inertial sensors of LSM330 six；4th, infrared transmitting tube；5th, it is red
Outer reception pipe；6th, wireless data transfer module；7th, coding disk；8th, full bridge driving circuit；9th, micromachine.
Embodiment
For invention, features and effects of the present utility model can be further appreciated that, following examples are hereby enumerated, and coordinate
Accompanying drawing describes in detail as follows.
Structure of the present utility model is explained in detail below in conjunction with the accompanying drawings.
As shown in Figure 1 to Figure 3, the computer mouse intelligent vehicle based on Zynq platforms that the utility model embodiment provides includes：
Master controller, the axle MEMS inertial sensors of LSM330 six, infrared transmitting tube, infrared receiving tube, camera, coding disk, full-bridge drive
Dynamic circuit, micromachine, wireless data transfer module.
Master controller and the axle MEMS inertial sensors of LSM330 six, infrared transmitting tube, infrared receiving tube, camera, coding
Disk, full bridge driving circuit, wireless data transfer module connection；Micromachine is connected by full bridge driving circuit with master controller.
The computer mouse intelligent vehicle size based on Zynq platforms that the utility model embodiment provides： 90.5mm*72*mm*
25mm；Quality：100g；Wheel footpath：24mm；Design maximum speed： 4m/s；Design highest acceleration：10m/s^2；Using
The SoC chips XC7Z010 of Xillinx Zync7000 series makees master control, possesses：It is operated in 667MHz double-core ARM
Cortex-A9 processors, the performance better than 1667DMIPS；The FPGA of Artix-7 Series FPGAs is equivalent to, can be place
Manage device and powerful flexible peripheral hardware is provided, or even build soft-core processor, share RAM and DSP on 28K logic units and a large amount of pieces
Unit；Onboard 128MB DDR3 SDRAM and 32MB QSPI Flash ROM, as program operation and memory space；It can expand
Wi-Fi module (apolegamy) or bluetooth wireless serial module (standard configuration) are opened up, for the data transfer during debugging；Using two
Faulhaber 1717T-006SR micromachines, coordinate IE2-512 coding disks, there is provided accurate athletic posture feedback；Using 4
To highly sensitive infrared transmitting tube and reception pipe, as wall detection and positioning correcting；Using the axles of LSM330 six (3-axis acceleration and
Three axis angular rates) MEMS inertial sensor, there is provided accurate athletic posture feedback；Using 4 Min-Z racing model vehicle wheels
Tire, four-wheel drive, no driven pulley, more without friction fulcrum, improve stability and operational efficiency；It is polymerize using the lithium of high-discharge-rate
Thing battery, two section series connection, common 7.4V, 100mAh, continuously-running 20 minutes.
Application prospect of the present utility model is explained in detail with reference to feasibility analysis.
First, feasibility analysis
1. application field/Analysis of The Practicability
The research of pilotless automobile, 3 aspects can be summarized as:Highway environment, urban environment and particular surroundings
Under Unmanned Systems.For specific research contents, 3 aspects are overlapped, and simply the emphasis of technology is different.
Unmanned Systems under 1.1 highway environments
Be used in it is environmentally defined on the structuring highway with good sign, it is main complete road mark line with
The functions such as track, vehicle identification；Realize the full-automatic driving entered after highway.
Unmanned Systems under 1.2 urban environments
It is unmanned because speed is slower under urban environment compared with high velocity environment is studied, therefore safety and reliability, should
It is more preferable with prospect.In a short time, can solve urban area as one kind supplement of city Large Copacity public transport (such as subway)
Traffic problems, such as large-scale activity place, park, campus, industry park, airport etc..
Unmanned Systems under 1.3 particular surroundings
The emphasis applied on performance requirement under military and some other specific condition is different；For example, vehicle
Reliability, be the matter of utmost importance considered in particular circumstances to the adaptability of adverse circumstances, and will in following popularization and application
Key problems-solving.
Described above is only to preferred embodiment of the present utility model, not the utility model is made any formal
Limitation, it is every according to the technical essence of the utility model to any simple modification made for any of the above embodiments, equivalent variations with
Modification, is belonged in the range of technical solutions of the utility model.
Claims (7)
- A kind of 1. computer mouse intelligent vehicle based on Zynq platforms, it is characterised in that the computer mouse intelligence based on Zynq platforms Car includes：Master controller, the axle MEMS inertial sensors of LSM330 six, infrared transmitting tube, infrared receiving tube, camera, coding disk, Full bridge driving circuit, micromachine, wireless data transfer module；It is master controller and the axle MEMS inertial sensors of LSM330 six, infrared transmitting tube, infrared receiving tube, camera, coding disk, complete Bridge drive circuit, wireless data transfer module connection；Micromachine is connected by full bridge driving circuit with master controller；Micro electric Machine is connected with coding disk.
- 2. the computer mouse intelligent vehicle based on Zynq platforms as claimed in claim 1, it is characterised in that be provided with for limber up period Between data transfer expansible Wi-Fi module or bluetooth wireless serial module.
- 3. the computer mouse intelligent vehicle based on Zynq platforms as claimed in claim 1, it is characterised in that setting is provided with accurate The micromachine of athletic posture feedback.
- 4. the computer mouse intelligent vehicle based on Zynq platforms as claimed in claim 1, it is characterised in that be provided with and examined as wall Survey the infrared transmitting tube and infrared receiving tube with positioning correcting.
- 5. the computer mouse intelligent vehicle based on Zynq platforms as claimed in claim 1, it is characterised in that setting is provided with accurately Athletic posture feedback uses the axle MEMS inertial sensors of LSM330 six.
- 6. a kind of Claims 1 to 5 any one being provided with is set forth in the unmanned of the computer mouse intelligent vehicle of Zynq platforms Automobile.
- 7. a kind of Claims 1 to 5 any one being provided with is set forth in the industrial intelligent of the computer mouse intelligent vehicle of Zynq platforms Control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720400777.6U CN206848810U (en) | 2017-04-17 | 2017-04-17 | A kind of computer mouse intelligent vehicle based on Zynq platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720400777.6U CN206848810U (en) | 2017-04-17 | 2017-04-17 | A kind of computer mouse intelligent vehicle based on Zynq platforms |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206848810U true CN206848810U (en) | 2018-01-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720400777.6U Expired - Fee Related CN206848810U (en) | 2017-04-17 | 2017-04-17 | A kind of computer mouse intelligent vehicle based on Zynq platforms |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459606A (en) * | 2018-03-29 | 2018-08-28 | 哈尔滨理工大学 | A kind of Intelligent tracing racing balance car based on neural network |
| CN113359739A (en) * | 2021-06-17 | 2021-09-07 | 天津中德应用技术大学 | Intelligent movement device based on energy substitution technology and movement control method thereof |
-
2017
- 2017-04-17 CN CN201720400777.6U patent/CN206848810U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108459606A (en) * | 2018-03-29 | 2018-08-28 | 哈尔滨理工大学 | A kind of Intelligent tracing racing balance car based on neural network |
| CN113359739A (en) * | 2021-06-17 | 2021-09-07 | 天津中德应用技术大学 | Intelligent movement device based on energy substitution technology and movement control method thereof |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180105 Termination date: 20190417 |