CN206960960U - A kind of Mobile Robot Control System based on AVR single chip - Google Patents
A kind of Mobile Robot Control System based on AVR single chip Download PDFInfo
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- CN206960960U CN206960960U CN201720762737.6U CN201720762737U CN206960960U CN 206960960 U CN206960960 U CN 206960960U CN 201720762737 U CN201720762737 U CN 201720762737U CN 206960960 U CN206960960 U CN 206960960U
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- circuit
- mobile robot
- controller
- single chip
- sensor
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Abstract
The utility model provides a kind of Mobile Robot Control System based on AVR single chip, including：Controller, serial communication circuit, artificial circuit interface are connected with the controller, the controller is connected to steering wheel and sensor drive driving circuit by serial communication circuit, artificial circuit interface, the steering wheel and sensor drive driving circuit are connected with mobile robot steering wheel, sensor group, the controller includes single-chip microcomputer, described include is connected with clock circuit, reset circuit, I/O port expansion circuits on single-chip microcomputer, power-supplying circuit is connected with the controller.The power-supplying circuit includes 12V batteries, voltage-regulation voltage-stabilization circuit, and 12V batteries are connected on controller by voltage-regulation voltage-stabilization circuit.The utility model is designed reasonably, novelty, it is overall to control small power consumption, it is quick on the draw, the performance accuracy of mobile robot can be greatly improved.
Description
Technical field
It the utility model is related to mobile robot control technical field, specially a kind of moving machine based on AVR single chip
Device people's control system.
Background technology
It is mobile with the rapid development of the technologies such as computer, network, mechano-electronic, information, automation and artificial intelligence
The research of robot enters a brand-new stage.Meanwhile the development and utilization of space resources, marine resources is mobile machine
Man-based development provides wide space.At present, the research in the field such as intelligent mobile robot, unmanned Autonomous Vehicles enters application
Stage, with going deep into for research, to the independent navigation ability of mobile robot, dynamic obstacle avoidance strategy, obstacle time etc.
Propose higher requirement.Ground intelligent robot path planning, it is that traveling is complete from main frame in complicated dynamic natural environment
The important step of device people's system, and the research of the full proprietary technology in the full region of ground intelligent robot, it is the outer academia of Now Domestic
Facing challenges sex chromosome mosaicism.
Mobile robot is that one kind can be by sensor senses environment and oneself state, the real environment now with barrier
In object-oriented autokinetic movement, so as to complete the robot system of certain function.Preferable autonomous mobile robot can be not required to
Assignment of mission is independently completed in the intervention of people in various environment, has higher level of intelligence, but complete autonomous moving machine at present
Device people is also mostly at the experimental stage, and what it is into practicality is mostly autonomous mobile robot, by the intervention of people in specific environment
Various tasks are performed, and remote-controlled robot then be unable to do without the intervention of people completely.
Intelligent mobile robot is that one kind can be real now with barrier by sensor, perception environment and oneself state
Environment in object-oriented autokinetic movement, so as to complete the robot system of certain function.Mobile robot technology comprehensive study
The technologies such as path planning, navigator fix, path trace and motion control.It is related to including distance measurement, video acquisition, humiture
And a variety of external sensors such as acousto-optic, the input information as mobile robot.The motion control of mobile robot is mainly
Complete the motion platform of mobile robot, there is provided a kind of control mode of mobile robot.Mobile robot fortune of good performance
Autocontrol system is the basis of mobile robot operation, can serve the universal developing platform of mobile robot research.
Development with mobile robot technology and its extensive use in the fields such as industrial military affairs, relevant mobile machine
The Theoretical Design manufacture of people and the new technology-oriented discipline of application --- robotics, gradually form, and increasingly caused people
Extensive concern.Robotics is a comprehensive very strong subject, and it is related to modern control technology, sensor technology, meter
The multi-door subject such as calculation machine system and artificial intelligence but it have the systemic and professional of itself again.Content is extremely abundant, wide
It is general, stronger there are robot dynamics and kinematics, robot trajectory planning and motion control, robot wherein professional
Sensing technology, the programming language of robot, the intelligence of robot and mission planning etc..The motion control of wherein robot is to realize
The key of robot flight tracking control.
Utility model content
The technical problem that the utility model solves is to provide a kind of mobile robot control system based on AVR single chip
System, to solve the problems mentioned in the above background technology.
The technical problem that the utility model solves is realized using following technical scheme：It is a kind of based on AVR single chip
Mobile Robot Control System, including：Controller, serial communication circuit, artificial circuit interface, institute are connected with the controller
State controller and steering wheel and sensor drive driving circuit, the steering wheel and biography are connected to by serial communication circuit, artificial circuit interface
Sensor drive circuit is connected with mobile robot steering wheel, sensor group, and the controller includes single-chip microcomputer, connected on the single-chip microcomputer
Clock circuit, reset circuit, I/O port expansion circuits are connected to, power-supplying circuit is connected with the controller.
The sensor group infrared distance sensor, torque sensor, IR remote controller, sound detection sensor, luminosity
Detection sensor, temperature detecting sensor and buzzer.
The power-supplying circuit includes 12V batteries, voltage-regulation voltage-stabilization circuit, and 12V batteries pass through voltage-regulation voltage-stabilization
Circuit is connected on controller.
The single-chip microcomputer is AVR single chip, and AVR single chip operating voltage is wide, between 1.8~6V.
The clock circuit is used to provide clock source for system, the external 16M external crystal-controlled oscillation of clock circuit, that is, exists
The anti-phase amplification amplifier in XTAL 1 of ATmega128 piece internal oscillators and the both ends of output end XTAL2 and external crystal-controlled oscillation
It is connected, crystal oscillator both ends are required to connect 22pF or so electric capacity.
The serial communication circuit has two serial ports:USARTO and USARTI, wherein serial ports 0 are used for the half-duplex with steering wheel
Communication；Serial ports 1 is used for the asynchronous serial communication with PC.
Compared with prior art, the beneficial effects of the utility model are：The utility model is designed reasonably, novelty, overall control
Small power consumption processed, is quick on the draw, and can greatly improve the performance accuracy of mobile robot.
Brief description of the drawings
Fig. 1 is structure principle chart of the present utility model.
Fig. 2 is single chip circuit schematic diagram of the present utility model.
Fig. 3 is artificial circuit interface circuit schematic diagram of the present utility model.
Fig. 4 is serial communication circuit circuit theory diagrams of the present utility model.
Fig. 5 is steering wheel of the present utility model and sensor drive driving circuit circuit theory diagrams.
Fig. 6 is voltage-regulation voltage-stabilization circuit schematic diagram of the present utility model.
Embodiment
In order that implement technical means of the present utility model, creation characteristic, reached purpose and effect are easy to understand, under
Face combines and is specifically illustrating, and the utility model is expanded on further.
As shown in figs. 1 to 6, a kind of Mobile Robot Control System based on AVR single chip, including：Controller, the control
Serial communication circuit, artificial circuit interface are connected with device processed, the controller passes through serial communication circuit, artificial circuit interface
Steering wheel and sensor drive driving circuit are connected to, the steering wheel and sensor drive driving circuit are connected with mobile robot steering wheel, sensing
Device group, the controller include single-chip microcomputer, and clock circuit, reset circuit, I/O ports-Extendings electricity are connected with the single-chip microcomputer
Road, power-supplying circuit is connected with the controller.
The sensor group infrared distance sensor, torque sensor, IR remote controller, sound detection sensor, luminosity
Detection sensor, temperature detecting sensor and buzzer.
The power-supplying circuit includes 12V batteries, voltage-regulation voltage-stabilization circuit, and 12V batteries pass through voltage-regulation voltage-stabilization
Circuit is connected on controller.
The single-chip microcomputer is AVR single chip, and AVR single chip operating voltage range is wide, and operating voltage is wide, 1.8~6V it
Ask, the strong antijamming capability of power supply；Low-power consumption, AVR single chip have 6 kinds of sleep modes:Idle pulley, ADC noise suppression modules
Formula, battery saving mode, power-down mode, Standby patterns and the Standby patterns of extension, and can be from low-power consumption mode
It is rapid to wake up.
The clock circuit is used to for system provide clock source, although ATmega128 built-in RC oscillator circuits, can with
1M is produced, 2M, 4M, 8M clock signal is as system clock source.But, built-in is RC vibrations after all, some requirements compared with
High occasion, for example to be communicated with RS232 when needing more accurate baud rate, it is proposed that use the circuitry of crystal oscillator of outside.Therefore,
External 16M external crystal-controlled oscillation, the i.e. anti-phase amplification amplifier in XTAL 1 in ATmega128 piece internal oscillators
It is connected with output end XTAL2 with the both ends of external crystal-controlled oscillation, crystal oscillator both ends are required to connect 22pF or so electric capacity.
It is system reset that reset circuit, which is used for, the built-in electrification reset designs of ATmega128, and in fuse in fact
In position, extra time during reset can be controlled, therefore the reset circuit outside AVR can be designed to very simple when upper electric:Directly
Connect and draw 10K resistance can (R1) to VCC.In order to reliable, along with a 0.1uF electric capacity (C15) with eliminate interference,
Clutter.D1 (1N4148) effect has two:When the ceiling voltage for resetting input is clamped in VCC+0.5V or so, another
During thing system cut-off, by R1 (10K) resistive short, C15 repid discharges are allowed, allow when sending a telegram here next time, can produce effective reset.
In addition, working as AVR at work, when pressing S1 switches, resetting pin becomes low level, triggers AVR chip resets.
The serial communication circuit has two serial ports:USARTO and USARTI, two serial ports can realize half-duplex or
Full-duplex communication.Wherein serial ports 0 is used for the half-duplex operation with steering wheel；Serial ports 1 is used for the asynchronous serial communication with PC.RS-
232 be most widely used a kind of serial line interface during PC communicates with slave computer.RS-232 is defined as one kind in low rate string
Increase the single-ended standard of communication distance in row communication.RS-232 level is EIA level, and using negative logic, i.e. -3~15V is represented
Logical one ,+3~+15V represent logical zero.And it is Transistor-Transistor Logic level on ATmega128 TXD, RXD pin, it is therefore necessary to pass through
Interface conversion chip, Transistor-Transistor Logic level is converted to the level of PC serial ports matching.Wherein J1 is 9 needle serial port heads, its each pin work(
Can for carrier wave detection, receive data, send data DTE is ready to, signal ground, DCE are ready to, request is sent, clearly transmission with
And ring instruction, but in practical operation, it is general only to need three lines, i.e., the 2nd, 3,5 pin is connected on corresponding signal.
T1IN and R1OUT ends are Transistor-Transistor Logic level end, are connected respectively with the TXD1 and RXD1 of single-chip microcomputer, T1OUT and R1IN ends connect for RS-232
Mouth end, connects DB9 2,3 pin, ground wire is connect one piece of can altogether respectively.
The infrared distance sensor is using infrared ray as medium, and obstacle distance is carried out using infrared reflection principle
Detection feedback.It is made up of a pair of infrared signal transmitting tubes and reception pipe, and transmitting tube launches the infrared signal of specific frequency, is received
The infrared signal of this frequency, when there is barrier in detection direction, the infrared signal reflected is received by reception pipe, by place
After reason, with regard to the range data of energy acquired disturbance thing.Infrared sensor has and not influenceed by visible ray, and day and night is measurable
Advantage, and angle sensitivity is high, simple in construction, price is relatively inexpensive.
The torque sensor is that torque is converted into torsional stress or torsion angle using turning round axle, reconvert into torque into one
Determine the sensor of the electric signal of relation.The form for turning round axle has solid shafting, hollow shaft, rectangular shaft etc..It is different according to action principle, turn round
Stress-type torque sensor can be divided into two kinds of resistance-strain type and piezomagnetic；Reverse angie type torque sensor can be divided into type vibration wire,
Three kinds of photo-electric and phase-difference type.
Outer sensor necessary to the sound detection sensor is robot another kind, its principle are that sound source is passed through into sky
Sound wave caused by gas vibration is converted into electric signal and measured.AX-S1 detects sound with 3800Hz frequency, not only can detect
The size of sound, moreover it is possible to detect the number of sound, and data are stored in corresponding register address.
The advantages of general principle and principal character of the present utility model and the utility model has been shown and described above.One's own profession
The technical staff of industry is it should be appreciated that the utility model is not restricted to the described embodiments, described in above-described embodiment and specification
Simply illustrate principle of the present utility model, on the premise of the spirit and scope of the utility model is not departed from, the utility model is also
Various changes and modifications are had, these changes and improvements are both fallen within claimed the scope of the utility model.The utility model
Claimed scope by appended claims and its equivalent thereof.
Claims (6)
1. a kind of Mobile Robot Control System based on AVR single chip, including：Controller, it is characterised in that：The controller
On be connected with serial communication circuit, artificial circuit interface, the controller passes through serial communication circuit, artificial circuit interface connects
In steering wheel and sensor drive driving circuit, the steering wheel and sensor drive driving circuit are connected with mobile robot steering wheel, sensor group,
The controller includes single-chip microcomputer, and clock circuit, reset circuit, I/O port expansion circuits are connected with the single-chip microcomputer, described
Power-supplying circuit is connected with controller.
A kind of 2. Mobile Robot Control System based on AVR single chip according to claim 1, it is characterised in that：Institute
State sensor group infrared distance sensor, torque sensor, IR remote controller, sound detection sensor, photometric detection sensor,
Temperature detecting sensor and buzzer.
A kind of 3. Mobile Robot Control System based on AVR single chip according to claim 1, it is characterised in that：Institute
Stating power-supplying circuit includes 12V batteries, voltage-regulation voltage-stabilization circuit, and 12V batteries are connected to by voltage-regulation voltage-stabilization circuit
On controller.
A kind of 4. Mobile Robot Control System based on AVR single chip according to claim 1, it is characterised in that：Institute
It is AVR single chip to state single-chip microcomputer, and AVR single chip operating voltage is wide, between 1.8~6V.
A kind of 5. Mobile Robot Control System based on AVR single chip according to claim 1, it is characterised in that：Institute
State clock circuit to be used to provide clock source for system, the external 16M external crystal-controlled oscillation of clock circuit, i.e., in ATmega128
The anti-phase amplification amplifier in XTAL 1 and output end XTAL2 of piece internal oscillator is connected with the both ends of external crystal-controlled oscillation, crystal oscillator
Both ends are required to connect 22pF electric capacity.
A kind of 6. Mobile Robot Control System based on AVR single chip according to claim 1, it is characterised in that：Institute
Stating serial communication circuit has two serial ports:USARTO and USARTI, wherein serial ports 0 are used for the half-duplex operation with steering wheel；Serial ports 1
For the asynchronous serial communication with PC.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720762737.6U CN206960960U (en) | 2017-06-28 | 2017-06-28 | A kind of Mobile Robot Control System based on AVR single chip |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720762737.6U CN206960960U (en) | 2017-06-28 | 2017-06-28 | A kind of Mobile Robot Control System based on AVR single chip |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206960960U true CN206960960U (en) | 2018-02-02 |
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ID=61385338
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720762737.6U Expired - Fee Related CN206960960U (en) | 2017-06-28 | 2017-06-28 | A kind of Mobile Robot Control System based on AVR single chip |
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| CN (1) | CN206960960U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113710437A (en) * | 2019-04-19 | 2021-11-26 | 三菱电机株式会社 | Robot |
-
2017
- 2017-06-28 CN CN201720762737.6U patent/CN206960960U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113710437A (en) * | 2019-04-19 | 2021-11-26 | 三菱电机株式会社 | Robot |
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| GR01 | Patent grant | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180202 Termination date: 20180628 |