CN103529839A - Two-wheeled microcomputer rat fast continuous rotation sprint servo system based on ARM9 - Google Patents
Two-wheeled microcomputer rat fast continuous rotation sprint servo system based on ARM9 Download PDFInfo
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Abstract
The invention discloses a two-wheeled microcomputer rat fast continuous rotation sprint servo system based on ARM9. The system comprises a battery detecting module, a press key information module, a full-digital minimum hardware servo unit, left and right motor driving units, left and right gyroscopes and left and right control motors, wherein the battery detecting module, the press key information module, the full-digital minimum hardware servo unit and the left and right motor driving units are electrically connected with the left and right control motors, the left and right gyroscopes are connected with the full-digital minimum hardware servo unit, and an automatic searching module and an information invoking module are arranged in the press key information module. Through the adoption of the mode, the system disclosed by the invention has the advantages that the simple combination of single left rotation and right rotation is eliminated, a continuous rotation fast sprint practical full-digital servo control system is provided for a microcomputer rat by a front navigation sensor through decomposing a movement curve, and the microcomputer rat can more flexibly and fast move.
Description
Technical field
The present invention relates to a kind of micro computer mouse servo-drive system, particularly relate to and a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system.
Background technology
Micro computer mouse is a kind of Intelligent walking robot that uses embedded microcontroller, sensor and electromechanical movement parts to form, micro computer mouse can be in different " labyrinths " automatic Memory and selecting paths, adopt corresponding algorithm, arrive rapidly the destination setting.The match of micro computer mouse has had the history of more than 30 years abroad, all will hold in the world every year now up to a hundred similarly micro computer mouse contests.
The contest of micro computer mouse adopts working time, labyrinth time and touches this three parameters, from three aspects of reliability of speed, the efficiency that solves labyrinth and computer mouse, mark, different countries adopts different standards of grading, has four national standards of representative to be most:
The U.S.: the international micro computer mouse of IEEE APEC robot competition, exploration time, spurt time and the fixing deduction of points that contacts, all charge to overall scores, score=exploration time/30+spurt time+fixing contact deduction of points;
Japan: the international micro computer mouse robot conference (expert's level) in all Japan, overall scores only calculates the spurt time, score=best spurt time;
Britain: the challenge match of micro computer mouse robot, overall scores is all charged in exploration time, spurt time and the variable deduction of points that contacts, score=exploration time/30+spurt time+change contact deduction of points;
Singapore: robot contest, exploration time, spurt time are charged to overall scores; Each robot that contacts once attempts chance by minimizing, score=exploration time/30+spurt time.
From international standard above, the success or failure of spurt Time dependent whole micro computer mouse, because the unit of this robot of domestic research and development is less, R & D Level is relatively backward relatively, the micro computer mouse structure of research and development is as Fig. 1, and long-play is found to exist a lot of safety problems, that is:
(1) what as the eyes of micro computer mouse, adopt is ultrasound wave or general infrared sensor, and sensor arrange wrong, make micro computer mouse to the judgement in labyrinth around, have certain erroneous judgement when making a spurt fast, make micro computer when making a spurt fast, easily knock the barricade in the place ahead.
(2) what as the topworks of micro computer mouse, adopt is stepper motor, and the problem that often can run into pulse-losing occurs, causes the memory of spurt position to occur mistake, can not find sometimes the terminal of spurt.
(3) owing to adopting stepper motor, make organism fever more serious, be unfavorable for spurt fast in large complicated labyrinth.
(4) owing to adopting more rudimentary algorithm, make the calculating in best labyrinth and the calculating in spurt path have certain problem, the micro computer mouse of research and development can repeatedly not accelerate spurt substantially automatically, spurt in the middle of general labyrinth generally all will spend the time of 15 ~ 30 seconds, and this makes cannot win victory in real international complex maze contest.
(5) because micro computer mouse is needing brake frequently and start in spurt process fast, increased the weight of the workload of single-chip microcomputer, Signal Processors cannot meet the requirement of spurt fast of micro computer mouse.
(6) what relatively adopt is all that the plug-in components that some volume ratios are larger makes the volume and weight of micro computer mouse huger, and center of gravity is higher, cannot meet the requirement of quick spurt.
(7) owing to disturbed by surrounding environment labile factor, the particularly interference of some light around, singlechip controller often there will be extremely, causes that micro computer mouse is out of control, and antijamming capability is poor.
(8) for the micro computer mouse of differential control, it is synchronous that the control signal of two motor of General Requirements is wanted, but be difficult to accomplish for single single-chip microcomputer, make micro computer mouse can be in the middle of labyrinth when sound lunge rocking tendency larger, often occur that the phenomenon of hitting wall occurs, and causes making a spurt unsuccessfully.
(9) owing to being subject to single-chip microcomputer capacity and algorithm affects, micro computer mouse is to the not storage of the information in labyrinth, and information all when running into power-down conditions will disappear, and this cannot complete whole spurt process.
(10) owing to not having the auxiliary of angular-rate sensor to turn, often occur that the too small or excessive phenomenon of angle of turn occurs, then rely on the sensor of navigation to compensate, in the labyrinth that causes turning in continuous several times, occur that the phenomenon of hitting wall occurs, and causes and makes a spurt unsuccessfully.
(11) adopt single-sensor to find out the barricade in labyrinth, the place ahead, very easily receive external interference, cause the upfront sensor misguidance micro computer mouse of spurt fast, cause micro computer mouse in labyrinth, make a spurt not in place or hit wall, cause and make a spurt unsuccessfully.
Therefore, need to based on monolithic processor controlled micro computer mouse controller, redesign existing.
Summary of the invention
The technical matters that the present invention mainly solves is to provide and a kind ofly based on ARM9 two-wheeled micro computer mouse, connects fast and turn spurt servo-drive system, can provide one based on connecting fast of two-wheeled, to turn spurt system for micro computer mouse, utilize the effect of fast driving controller L298N, be conducive to micro computer mouse and get good grades in play.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: provide a kind of and connect fast and turn spurt servo-drive system based on ARM9 two-wheeled micro computer mouse, comprise: battery detecting module, key information module, digital minimal hardware servo unit, left electric-motor drive unit, right electric-motor drive unit, left gyroscope, right gyroscope, left control motor and right control motor, described battery detecting module, key information module, digital minimal hardware servo unit, left electric-motor drive unit, right electric-motor drive unit is electrically connected at left control motor and controls right motor, described left gyroscope and right gyroscope are electrically connected at described digital minimal hardware servo unit, in described battery detecting module, be provided with electric charge display unit, between described electric charge display unit and key information module, be electrically connected, in described key information module, be provided with automatic search module and gathering information module, described automatic search module is connected with key information module with gathering information module, according to key information servo-drive system, can realize choosing of automatic search module and gathering information module, described key information module electrically and servo control unit electric connection.
In a preferred embodiment of the present invention, in described digital minimal hardware servo unit, be provided with spurt and select module and spurt motion module, signal selects module to transmit after screening rear flow direction spurt motion module by making a spurt.
In a preferred embodiment of the present invention, described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, in described spurt motion module, further include environment judging unit, start spurt unit and spurt unit, in described spurt motion module, be provided with infrared sensor, photoelectric encoder and current sensor, between described infrared sensor and environment judging unit, interconnect, in described spurt motion module, further include: coordinate memory module, the motion controller ARM9 conversion unit that signal is controlled, direct current generator is driven to the fast driving controller L298N controlling, left control motor and the right motor of control are controlled and the motor movement module driving, described coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, fast driving controller L298N, between pwm signal module and motor movement module, be electrically connected.
In a preferred embodiment of the present invention, in described environment judging unit, further include interrupt request module, the signal that infrared sensor sends receives reverse controller ARM9 conversion unit by receiver and sends interrupt request after barricade reflection, and motion controller ARM9 conversion unit receives described interrupt request singal and makes corresponding response; Between described interrupt request module and motion controller ARM9 conversion unit, be connected, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, between L298N and motor movement module, be electrically connected.
In a preferred embodiment of the present invention, described startup spurt further includes information receiving module in unit, apart from generation module, described information receiving module and motion controller ARM9 conversion unit, apart from interconnecting between generation module, fast driving controller L298N and motor movement module; The PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, between described sensor assembly, fast driving controller L298N and motor movement module, is electrically connected.
In a preferred embodiment of the present invention, in described spurt unit, further include speed plus-minus module, apart from generation module and spurt module, described speed is added and subtracted module, apart from generation module, spurt module, is electrically connected to coordinate memory module, and described spurt module also further includes straight dash unit, turns to spurt unit and curve spurt unit.
In a preferred embodiment of the present invention, described straight dash further includes straight dash module in unit, described straight dash module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, fast driving controller L298N and motor movement module are electrically connected successively, and described photoelectric encoder and current sensor and described motion controller ARM9 conversion unit and fast driving controller L298N are electrically connected.
In a preferred embodiment of the present invention, described turning in spurt unit further includes and turns to spurt module, curvilinear motion control module, error compensation module and gyroscope rotary module, the described spurt module that turns to, curvilinear motion control module, error compensation module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, and interconnect between parameter conversion module, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, described gyro module, between motion controller ARM9 conversion unit and fast driving controller L298N, be electrically connected.
In a preferred embodiment of the present invention, described curve spurt further includes curve spurt module in unit, curvilinear motion control module, coordinate renew module, error compensation module, gyroscope rotary module, described curve spurt module, curvilinear motion control module, coordinate renew module, error compensation module and described coordinate memory module, parameter instruction module, between motion controller ARM9 conversion unit, interconnect, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, described gyro module, motion controller ARM9 conversion unit and fast driving controller L298N are electrically connected.
The invention has the beneficial effects as follows: the invention provides a kind of can be used in and realize micro computer mouse and connect fast the servo-drive system that turns spurt, utilize the interaction between modules, micro computer mouse is connected as a whole.Utilize Full Digitized Servo Control System and gyrostatic turning effort, can make micro computer mouse in play more flexibly, fast.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also according to these accompanying drawings, obtain other accompanying drawing, wherein:
Fig. 1 is a kind of structural representation that turns one preferred embodiment of spurt servo-drive system that connects fast based on ARM9 two-wheeled micro computer mouse of the present invention;
Fig. 2 is a kind of digital minimal hardware servo unit block diagram that turns spurt servo-drive system that connects fast based on ARM9 two-wheeled micro computer mouse of the present invention;
Fig. 3 is a kind of spurt module frame chart that turns one preferred embodiment of spurt servo-drive system that connects fast based on ARM9 two-wheeled micro computer mouse of the present invention;
Fig. 4 is a kind of micro computer mouse labyrinth schematic diagram that turns one preferred embodiment of spurt servo-drive system that connects fast based on ARM9 two-wheeled micro computer mouse of the present invention;
Fig. 5 is a kind of micro computer mouse two-dimensional representation that turns one preferred embodiment of spurt servo-drive system that connects fast based on ARM9 two-wheeled micro computer mouse of the present invention;
Fig. 6 is that a kind of based on ARM9 two-wheeled micro computer mouse, to connect fast what turn spurt servo-drive system one preferred embodiment be micro computer mouse speed curve diagram in the present invention;
To be that the present invention is a kind of connect the micro computer mouse that the turns spurt servo-drive system one preferred embodiment program schematic diagram of automatically making a spurt based on ARM9 two-wheeled micro computer mouse to Fig. 7 fast;
Fig. 8 is that a kind of based on ARM9 two-wheeled micro computer mouse, to connect fast what turn spurt servo-drive system one preferred embodiment be the micro computer mouse schematic diagram of making a spurt of turning right in the present invention;
Fig. 9 is a kind of micro computer mouse left-hand rotation spurt schematic diagram that turns one preferred embodiment of spurt servo-drive system that connects fast based on ARM9 two-wheeled micro computer mouse of the present invention;
To be that the present invention is a kind of connect based on ARM9 two-wheeled micro computer mouse the company that turns spurt servo-drive system one preferred embodiment and turn stair labyrinth Figure 10 fast;
To be that the present invention is a kind of connect based on ARM9 two-wheeled micro computer mouse the company that turns spurt servo-drive system one preferred embodiment and turn stair schematic diagram Figure 11 fast;
To be that the present invention is a kind of connect based on ARM9 two-wheeled micro computer mouse the company that turns spurt servo-drive system one preferred embodiment and turn stair parameter schematic diagram Figure 12 fast;
To be that the present invention is a kind of connect based on ARM9 two-wheeled micro computer mouse the company that turns spurt servo-drive system one preferred embodiment and turn U-shaped labyrinth Figure 13 fast;
To be that the present invention is a kind of connect based on ARM9 two-wheeled micro computer mouse the company that turns spurt servo-drive system one preferred embodiment and turn U-shaped schematic diagram Figure 14 fast;
To be that the present invention is a kind of connect based on ARM9 two-wheeled micro computer mouse the company that turns spurt servo-drive system one preferred embodiment and turn U-shaped labyrinth parameter schematic diagram Figure 15 fast.
In accompanying drawing, the mark of each parts is as follows: 1, left control motor; 2, right control motor; 3, infrared sensor.
Embodiment
Below the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
Refer to Fig. 1, Fig. 2 and Fig. 3, the embodiment of the present invention provides following technical scheme.
In one embodiment, a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, comprise: battery detecting module, key information module, digital minimal hardware servo unit, left electric-motor drive unit, right electric-motor drive unit, left gyroscope, right gyroscope, left control motor and right control motor, described battery detecting module, key information module, digital minimal hardware servo unit, left electric-motor drive unit, right electric-motor drive unit are electrically connected at left control motor and control right motor; Described left gyroscope and right gyroscope are electrically connected at described digital minimal hardware servo unit; In described battery detecting module, be provided with electric charge display unit, between described electric charge display unit and key information module, be electrically connected, in described key information module, be provided with automatic search module and gathering information module, described automatic search module is connected with key information module with gathering information module, according to key information servo-drive system, can realize choosing of automatic search module and gathering information module, described key information module electrically and servo control unit electric connection.
Be different from prior art, in one embodiment, be provided with spurt and select module and spurt motion module in described digital minimal hardware servo unit, signal selects module to transmit after screening rear flow direction spurt motion module by making a spurt.
Described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, in described spurt motion module, further include environment judging unit, start spurt unit and spurt unit, in described spurt motion module, be provided with infrared sensor, photoelectric encoder and current sensor, between described infrared sensor and environment judging unit, interconnect, in described spurt motion module, further include: coordinate memory module, the motion controller ARM9 conversion unit that signal is controlled, direct current generator is driven to the fast driving controller L298N controlling, left control motor and the right motor of control are controlled and the motor movement module driving, described coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, fast driving controller L298N, between motor movement module, be electrically connected.
In described environment judging unit, further include interrupt request module, the signal that infrared sensor sends receives reverse controller ARM9 conversion unit by receiver and sends interrupt request after barricade reflection, and motion controller ARM9 conversion unit receives described interrupt request singal and makes corresponding response; Between described interrupt request module and motion controller ARM9 conversion unit, be connected, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, between L298N and motor movement module, be electrically connected.
Described startup spurt further includes information receiving module in unit, apart from generation module, described information receiving module and motion controller ARM9 conversion unit, apart from generation module, pwm signal module, fast driving controller L298N and the electric connection of motor movement module; Describedly apart from generation module and described photoelectric encoder and current sensor, be electrically connected to pwm signal module.
In described spurt unit, further include speed plus-minus module, apart from generation module and spurt module, described speed is added and subtracted module, apart from generation module, spurt module, is electrically connected to coordinate memory module, and described spurt module also further includes straight dash unit, turns to spurt unit and curve spurt unit.
Described straight dash further includes straight dash module in unit, described straight dash module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, fast driving controller L298N and motor movement module are electrically connected successively, and described photoelectric encoder and current sensor and described motion controller ARM9 conversion unit and fast driving controller L298N are electrically connected.
Described turning in spurt unit further includes and turns to spurt module, curvilinear motion control module, error compensation module and gyroscope rotary module, described turn to spurt module, curvilinear motion control module, error compensation module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, and parameter conversion module between interconnect, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, between described gyro module, motion controller ARM9 conversion unit and fast driving controller L298N, is electrically connected.
Described curve spurt further includes curve spurt module in unit, curvilinear motion control module, coordinate renew module, error compensation module, gyroscope rotary module, described curve spurt module, curvilinear motion control module, coordinate renew module, error compensation module and described coordinate memory module, parameter instruction module, between motion controller ARM9 conversion unit, interconnect, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, described gyro module, motion controller ARM9 conversion unit and fast driving controller L298N are electrically connected.
In order to make to turn the motion that spurt servo-drive system more obviously acts on micro computer mouse connecting fast of micro computer mouse, refer to Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Figure 10, Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15.
Open micro computer mouse power supply moment, system will complete spurt according to the mode of Fig. 7.First system will complete initialization, then waits for key information, and before not receiving key information order, micro computer mouse waits at starting point coordinate (0,0) the spurt order that controller sends.According to key information, the present invention has following three kinds of spurt methods: (1) is pressed START(and started) key, system is abandoned former labyrinth information, advanced line search, searched for the spurt labyrinth information that rear generation is optimized, micro computer mouse enters automatically the repeatedly sprint stage; (2) pressing RESET(resets)+STRAT(startup) key, the optimum labyrinth after system recalls and explores, then starts fast to terminal (7,7), (7,8), (8,7), (8,8) spurt along starting point; (3) pressing RESET(resets)+STRAT(startup)+SPEED(speed) key, the optimum labyrinth after system recalls and explores, then starts fast to terminal (7 with the dash speed of setting along starting point, 7), (7,8), (8,7), (8,8) spurt.
Micro computer mouse is received after task at starting point coordinate (0,0), and in order to prevent from misplacing spurt direction, infrared sensor S1, the S6 in its place ahead judge the environment in the place ahead, define and do not have barricade to enter range of movement.(1) while there is barricade, to ARM9 (S3C2440A), send interrupt request, ARM9 (S3C2440A) can be to interrupting doing very first time response, then forbid Enable Pin ENA and the ENB work of L298N, block the left control motor 1 of micro computer mouse and the PWM of right control motor 2 driving signal, make it be still in original place, then the place ahead information is determined in secondary judgement labyrinth, prevents information erroneous judgement; (2) if do not have barricade to enter the range of movement in the place ahead, micro computer mouse will be made a spurt normally.
At micro computer, start the moment of making a spurt, sensor S1, S2, S3, S4, S5, six infrared lights that independently infrared transmitting tube OPE5594A sends of S6(are converted into the information in labyrinth around after receiver TSL262 accepts) judge environment around and give ARM9(S3C2440A), then by ARM9(S3C2440A) according to the instruction set-point of ladder diagram formation speed-time motion diagram of spurt labyrinth Information generation Fig. 6, the area that this graphics package contains is exactly the distance S that the left control motor 1 of micro computer mouse, right control motor 2 will move.Then the feedback in conjunction with photoelectric coded disk and current sensor generates PWM ripple and the direction that drives diaxon direct current generator.PWM ripple, through two individual motor of L298N rear drive, completes whole accelerator until reach spurt setting speed, and deal with data communication to ARM9(S3C2440A), by ARM9(S3C2440A) continue to process follow-up running status.
The present invention has given up traditional single speed spurt pattern, controls acceleration and the deceleration of micro computer mouse according to the speed of Fig. 6 and time curve, and the area that ladder diagram comprises is the distance of micro computer mouse motion Z lattice.If along showing fast that the place ahead has under Z lattice rectilinear coordinates and do not have barricade to enter the range of movement in the place ahead before Y-axis in spurt process in the information of labyrinth, system enters spurt subroutine 1 micro computer mouse.Micro computer mouse is by its present coordinate (X of storage, Y), ARM9 (S3C2440A) calculates speed parameter and acceleration parameter command value the location parameter of the Z lattice that travel forward according to the difference of spurt condition, and then the feedback in conjunction with photoelectric encoder and current sensor generates the Velocity-time ladder diagram forming under precondition through interior location, speed and Acceleration Control program.Because speed and the voltage of direct current generator are in direct ratio, according to this ladder diagram figure, just can generate the PWM ripple of controlling left and right wheels direct current generator, then ARM9 (S3C2440A) is high level by adjusting L298N pin OUT1, OUT3, OUT2, OUT4 are low level, and left control motor 1 and the right control motor 2 of controlling left and right wheels travel forward.When arriving target setting, to upgrade its coordinate is (X, Y+Z), when its process that travels forward arrives set objective, under the prerequisite of Y+Z < 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 target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, and the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
If oppositely show forward that along Y-axis the place ahead has under Z lattice rectilinear coordinates and do not have barricade to enter the range of movement in the place ahead micro computer mouse in spurt process fast in the information of labyrinth, system enters spurt subroutine 1.Micro computer mouse is stored its present coordinate (X, Y), and ARM9 (S3C2440A) calculates speed parameter and acceleration parameter command value the location parameter of the Z lattice that travel forward according to the difference of spurt condition.Then the feedback in conjunction with photoelectric encoder and current sensor generates the Velocity-time ladder diagram forming under precondition through interior location, speed and Acceleration Control program.Because speed and the voltage of direct current generator are in direct ratio, according to this ladder diagram figure, just can generate the PWM ripple of controlling left and right wheels direct current generator, then ARM9 (S3C2440A) is high level by adjusting L298N pin OUT1, OUT3, OUT2, OUT4 are low level, and left control motor 1 and the right control motor 2 of controlling left and right wheels travel forward.System enters spurt subroutine 1, when arriving target setting, will upgrade its coordinate for (X, Y-Z).When its process that travels forward arrives set objective, determining Y-Z > under 0 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 target of having made a spurt, then putting makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
If along there being in motion process before Y-axis barricade to enter the range of movement in the place ahead, and when now left has barricade in the information of labyrinth, system enters spurt subroutine 2 micro computer mouse.Micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Fig. 8.When right spurt is turned, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance D ashTurn_R90_Leading of walking straight line according to different spurt condition time requirement.Then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate control left and right wheels PWM ripple to L298N.Then control left and right wheels with identical acceleration and speed straight ahead.When arriving set objective, sensor reference value R90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, starting to adjust right control motor 2 speed of the left control motor 1 of direct current and direct current is DashTurn_R90_VelX1 and DashTurn_R90_VelY1, and this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track DashTurn_R90_Arc1.Then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate control left and right wheels PWM ripple to L298N.Then controlling left and right wheels turns with constant ratio C 1.After arriving set objective, adjusting immediately micro computer mouse speed is DashTurn_R90_VelX2 and DashTurn_R90_VelY2, and this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track DashTurn_R90_Arc2.Then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and turn with constant ratio C 2.After arriving set objective, gyroscope guarantee micro computer mouse under it is controlled the right side turn 90 degrees, controller is converted into speed parameter and acceleration parameter command value the very short distance D ashTurn_R90_Passing of straight line moving according to different spurt condition time requirement.Then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with identical acceleration and speed.After arriving set objective, the geometric locus that completes whole right-hand bend by four sections of different tracks moves.Now will upgrade its coordinate for (X+1, Y), under the prerequisite of X+1 < 15, 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 target of having made a spurt, then putting makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
If along there being in motion process before Y-axis barricade to enter the range of movement in the place ahead, and when now left has barricade in the information of labyrinth, system enters spurt subroutine 3 micro computer mouse.Micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Fig. 9.When left spurt is turned, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance D ashTurn_L90_Leading of walking straight line according to different spurt condition time requirement.Then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate control left and right wheels PWM ripple to L298N.Then control left and right wheels with identical acceleration and speed straight ahead.When arriving set objective, sensor reference value R90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, starting to adjust right control motor 2 speed of the left control motor 1 of direct current and direct current is DashTurn_L90_VelX1 and DashTurn_L90_VelY1, and this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track DashTurn_L90_Arc1.Then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and turn with constant ratio C 3.After arriving set objective, adjusting immediately micro computer mouse speed is DashTurn_L90_VelX2 and DashTurn_L90_VelY2.This Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track DashTurn_L90_Arc2, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and turn with constant ratio C 4.After arriving set objective, gyroscope guarantee micro computer mouse under it is controlled a left side turn 90 degrees, controller is converted into speed parameter and acceleration parameter command value the very short distance D ashTurn_L90_Passing of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate control left and right wheels PWM ripple to L298N.Then control left and right wheels and advance with identical acceleration and speed, when arriving the geometric locus that completes whole left-hand bend by four sections of different tracks after set objective, move.Now will upgrade its coordinate for (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 target of having made a spurt, then putting the exploration of making a return voyage and being masked as 1, spurt is masked as 0, and the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
If enter the range of movement in the place ahead along the staircase-type labyrinth retaining wall that has similar Figure 10 in motion process before X-axis, Y-axis micro computer mouse, system enters spurt subroutine 4.Micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Figure 11, Figure 12.When once left spurt is turned, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance L eading1 of walking straight line according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels with identical acceleration and speed straight ahead.When arriving set objective, labyrinth coordinate renew now, be (X+1, Y), sensor reference value L90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, starting to adjust right control motor 2 speed of the left control motor 1 of direct current and direct current is DashTurn_L90_VelX1 and DashTurn_L90_VelY1, and this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track L_Arc1.Then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn with constant ratio.After arriving set objective, adjusting immediately micro computer mouse speed is DashTurn_L90_VelX2 and DashTurn_L90_VelY2, this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track L_Arc2, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn with constant ratio.After arriving set objective, gyroscope guarantee micro computer mouse under it is controlled a left side turn 90 degrees, controller is the very short distance P assing1+Leading2 of straight line moving, according to different spurt condition time requirement, be converted into speed parameter and acceleration parameter command value, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels advances with identical acceleration and speed, when the value generation of sensor S5 has high level to arrive low level transition, upgrading micro computer mouse coordinate is (X+1, Y+1), micro computer mouse continues to advance with current speed and acceleration.When arriving set objective, sensor reference value R90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, starting to adjust right control motor 2 speed of the left control motor 1 of direct current and direct current is DashTurn_R90_VelX1 and DashTurn_R90_VelY1, this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc1, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then controlling left and right wheels speed turns with constant ratio.After arriving set objective, adjusting immediately micro computer mouse speed is DashTurn_R90_VelX2 and DashTurn_R90_VelY2, this Time Controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc2, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate control left and right wheels PWM ripple to L298N.Then controlling left and right wheels speed turns with constant ratio; After arriving set objective, gyroscope guarantees that micro computer mouse turn 90 degrees in its control bottom right, controller is converted into speed parameter and acceleration parameter command value the very short distance P assing2+Leading3 of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate control left and right wheels PWM ripple to L298N.Then control left and right wheels and advance with identical acceleration and speed, when the value generation of sensor S2 has high level to arrive low level transition, micro computer pindone becomes the spurt of stair, and upgrading micro computer mouse coordinate is (X+2, Y+1).The rest may be inferred, when micro computer pindone becomes Z lattice stair labyrinth when spurt, at the coordinate of Z lattice, be (X+Z, Y+Z), the coordinate of going out Z lattice stair labyrinth is (X+Z+1, Y+Z), under the prerequisite of X+Z+1 < 15 and Y+Z < 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 target of having made a spurt, then putting makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path;
If enter the range of movement in the place ahead along the U-shaped labyrinth retaining wall that has similar Figure 13 in motion process before X-axis, Y-axis micro computer mouse, system enters spurt subroutine 5.Micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Figure 14, Figure 15.When once left spurt is turned, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance L eading1 of walking straight line according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate control left and right wheels PWM ripple to L298N.Then control left and right wheels with identical acceleration and speed straight ahead; When arriving set objective, labyrinth coordinate renew now, be (X+1, Y), sensor reference value L90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track L_Arc1, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn with constant ratio.After arriving set objective, adjust immediately the speed of micro computer mouse, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track L_Arc2, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn with constant ratio.After arriving set objective, controller is the very short distance P assing1+Leading2 of straight line moving, according to different spurt condition time requirement, be converted into speed parameter and acceleration parameter command value, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with identical acceleration and speed.When the value generation of sensor S2 has high level to arrive low level transition, upgrading micro computer mouse coordinate is (X+1, Y+1), micro computer mouse continues to advance with current speed and acceleration, when arriving set objective, sensor reference value L90_FrontWallRef starts working, and prevents that external interference from starting to do error compensation.After error compensation finishes, micro computer mouse continues to turn left, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track L_Arc1, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn with constant ratio.After arriving set objective, adjust immediately the speed of micro computer mouse, controller can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track L_Arc2, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control the speed of left and right wheels and turn with constant ratio.After arriving set objective, controller is converted into speed parameter and acceleration parameter command value the very short distance P assing2 of straight line moving according to different spurt condition time requirement, then in conjunction with the feedback of the photoelectric encoder on left control motor 1 and right control motor 2 and current sensor through interior location, speed and Acceleration Control program, generate the PWM ripple of control left and right wheels to L298N, then control left and right wheels and advance with identical acceleration and speed.Arrive after set objective, micro computer pindone becomes the spurt in a U-shaped labyrinth, and upgrading micro computer mouse coordinate be (X, Y+1), and judge its coordinate be (7,7), (7,8), (8,7), (8,8) one of them.If not continuing to upgrade its coordinate, if the words notification controller target of having made a spurt, then putting makes a return voyage explores and is masked as 1, spurt is masked as 0, the secondary return that micro computer mouse is prepared after spurt is explored, and removes to search more excellent maze path.
When the spurt of micro computer mouse arrives (7,7), (7,8), (8,7), (8,8) return that can prepare after after spurt is explored to search more excellent path, controller can recall its labyrinth information of having stored, and then calculates other optimal path that may exist, and then return starts to enter one that wherein thinks optimum.
In specific embodiments of the invention, in order to realize the micro computer mouse coordinate computing function accurately of making a spurt fast, sensor S2, the S3 of micro computer mouse left and right and S4, S5 can survey labyrinth retaining wall and pillar around constantly.If S2, S3 or S4, S5 find that transition has occurred sensor signal, illustrate that micro computer mouse has entered the interface point of labyrinth retaining wall and pillar, now side sensor S2 or S5 can accurately survey this constantly.When again there is transition, illustrate that mouse has started to leave current labyrinth grid, ARM9(S3C2440A) can calculate also according to sensor feedback information is compensated according to the distance of the current operation of micro computer mouse.The present invention has added the optical code disk of 512 lines in the X-axis of the left control motor 1 of High-speed DC and Y-axis, because precision is higher, the coordinate of micro computer mouse is calculated and there will not be mistake, has guaranteed make a spurt fast the asking property of standard of labyrinth information of micro computer mouse.
When micro computer mouse enters labyrinth return exploration, sensor S1, the S2 of its navigation, S3, S4, S5, S6 are by work, and give ARM9 (S3C2440A) the photosignal reflecting, after ARM9 (S3C2440A) computing, determine present position, present labyrinth.Then by ARM9 (S3C2440A), according to current labyrinth, generate PWM ripple and send control signal to L298N: if enter the region searched for by strengthening the dutycycle of PWM ripple, micro computer mouse is advanced fast, reduce the time of labyrinth search; If unknown return area adopts normal speed search, and constantly upgrade its coordinate (X, Y), and judge that its coordinate is (0,0), if put to make a return voyage to explore, be masked as 0, spurt is masked as 1, and micro computer mouse enters the sprint stage.
Preferably, in micro computer mouse motion process, if interference has appearred in system, ARM9 (S3C2440A) can be compensated electric current according to current state, the pid parameter of rapid adjustment electric current loop, the system fast and stable of making gets off, and disturbs the impact on system while preventing sound lunge; In order to reduce the interference of light source to the spurt of micro computer mouse, the present invention has added photoelectric sensor S7, this sensor can read abnormal light source around in the micro computer mouse sprint stage, and automatically gave controller and do real-Time Compensation, had eliminated the interference of external light source to spurt.
In micro computer mouse spurt process fast; the instantaneous power that battery provides is certain; under the certain condition of dash speed; when acceleration is larger; the moment needing is just larger, and the electric current that now needs battery to provide is just larger, in order to protect battery; the present invention has added current sensor, the injury to battery while having stopped to accelerate.
Preferably, when micro computer completes whole spurt process, arrive (7,7), (7,8), (8,7), (8,8), micro computer mouse can be put to explore and is masked as 1, and micro computer mouse return is explored and got back to starting point (0,0).ARM9(S3C2440A) control L298N is made micro computer starting point central point stop, then readjust the level of OUT1, OUT2, OUT3 and the OUT4 of L298N, make left control motor 1 and right control motor 2 with contrary direction motion, and under gyrostatic control, original place Rotate 180 degree, then stop 1 second, secondary is transferred labyrinth information.Then according to algorithm, calculate the optimum spurt path of optimizing after the information of labyrinth, then put spurt and be masked as 1, system enters the quick sprint stage of secondary.Then according to spurt,---exploration---spurt, completes spurt repeatedly, to reach the object of quick spurt.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes instructions of the present invention and accompanying drawing content to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (9)
1. one kind connects fast and turns spurt servo-drive system based on ARM9 two-wheeled micro computer mouse, it is characterized in that: comprising: battery detecting module, key information module, digital minimal hardware servo unit, left electric-motor drive unit, right electric-motor drive unit, left gyroscope, right gyroscope, left control motor and right control motor, described battery detecting module, key information module, digital minimal hardware servo unit, left electric-motor drive unit, right electric-motor drive unit are electrically connected at left control motor and control right motor; Described left gyroscope and right gyroscope are electrically connected at described digital minimal hardware servo unit; In described battery detecting module, be provided with electric charge display unit, between described electric charge display unit and key information module, be electrically connected, in described key information module, be provided with automatic search module and gathering information module, described automatic search module is connected with key information module with gathering information module, according to key information servo-drive system, can realize choosing of automatic search module and gathering information module, described key information module electrically and servo control unit electric connection.
2. according to claim 1ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: in described digital minimal hardware servo unit, be provided with spurt and select module and spurt motion module, described signal selects module to transmit after screening rear flow direction spurt motion module by making a spurt.
3. according to claim 2ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: described spurt selects module further to include automatic spurt module, make a spurt module and setting speed spurt module fast, in described spurt motion module, further include environment judging unit, start spurt unit and spurt unit, in described spurt motion module, be provided with infrared sensor, photoelectric encoder and current sensor, between described infrared sensor and environment judging unit, interconnect, in described spurt motion module, further include: coordinate memory module, the motion controller ARM9 conversion unit that signal is controlled, direct current generator is driven to the fast driving controller L298N controlling, left control motor and the right motor of control are controlled and the motor movement module driving, described coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, fast driving controller L298N, between pwm signal module and motor movement module, be electrically connected.
4. according to claim 3ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: in described environment judging unit, further include interrupt request module, the signal that infrared sensor sends receives reverse controller ARM9 conversion unit by receiver and sends interrupt request after barricade reflection, and motion controller ARM9 conversion unit receives described interrupt request singal and makes corresponding response; Between described interrupt request module and motion controller ARM9 conversion unit, be connected, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, between L298N and motor movement module, be electrically connected.
5. according to claim 3ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: described startup spurt further includes information receiving module in unit, apart from generation module described information receiving module and motion controller ARM9 conversion unit, apart from interconnecting between generation module, fast driving controller L298N and motor movement module; The PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, between described sensor assembly, fast driving controller L298N and motor movement module, is electrically connected.
6. according to claim 3ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: in described spurt unit, further include speed plus-minus module, apart from generation module and spurt module, described speed is added and subtracted module, apart from generation module, spurt module, is electrically connected to coordinate memory module, and described spurt module also further includes straight dash unit, turns to spurt unit and curve spurt unit.
7. according to claim 6ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: described straight dash further includes straight dash module in unit, described straight dash module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, fast driving controller L298N and motor movement module are electrically connected successively, and described photoelectric encoder and current sensor and described motion controller ARM9 conversion unit and fast driving controller L298N are electrically connected.
8. according to claim 6ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: described in turn to spurt further to include in unit to turn to spurt module, curvilinear motion control module, error compensation module and gyroscope rotary module, the described spurt module that turns to, curvilinear motion control module, error compensation module and coordinate memory module, parameter instruction module, motion controller ARM9 conversion unit, and interconnect between parameter conversion module, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, described gyro module, between motion controller ARM9 conversion unit and fast driving controller L298N, be electrically connected.
9. according to claim 6ly a kind ofly based on ARM9 two-wheeled micro computer mouse, connect fast and turn spurt servo-drive system, it is characterized in that: described curve spurt further includes curve spurt module in unit, curvilinear motion control module, coordinate renew module, error compensation module, gyroscope rotary module, described curve spurt module, curvilinear motion control module, coordinate renew module, error compensation module and described coordinate memory module, parameter instruction module, between motion controller ARM9 conversion unit, interconnect, the PWM ripple of exporting is delivered to motor movement module through fast driving controller L298N, described gyro module, motion controller ARM9 conversion unit and fast driving controller L298N are electrically connected.
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| CN105137991A (en) * | 2015-08-24 | 2015-12-09 | 铜陵学院 | Single-core low-speed two-wheel mini mouse exploration controller |
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Application publication date: 20140122 |