CN106873603A - Computer mouse intelligence vehicle control and control method based on Zynq platforms - Google Patents
Computer mouse intelligence vehicle control and control method based on Zynq platforms Download PDFInfo
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0242—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using non-visible light signals, e.g. IR or UV signals
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
- G05D1/0253—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means extracting relative motion information from a plurality of images taken successively, e.g. visual odometry, optical flow
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0287—Control of position or course in two dimensions specially adapted to land vehicles involving a plurality of land vehicles, e.g. fleet or convoy travelling
- G05D1/0291—Fleet control
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Abstract
The invention discloses a kind of computer mouse intelligence vehicle control based on Zynq platforms and control method, including：Six axle MMEMS inertial sensors, infrared transmitting tube, infrared receiving tube, camera, coding disk, master controller, full bridge driving circuit, micromachine, wireless data transfer module, human-computer interface module；The connection of the six axles MMEMS inertial sensors, infrared transmitting tube, infrared receiving tube, camera, coding disk, wireless data transfer module, human-computer interface module and master controller；Master controller connects full bridge driving circuit, full bridge driving circuit connection micromachine, micromachine connection coding disk.The present invention, as system control core, can improve the performance of computer mouse using advanced Zynq FPGA；Computer mouse intelligent vehicle control method based on Zynq platforms includes the searching algorithm to unknown labyrinth, the algorithm according to the labyrinth information solution optimal path for having obtained.
Description
Technical field
The invention belongs to intelligent robot technology field, more particularly to a kind of computer mouse intelligent vehicle control based on Zynq platforms
System processed and control method.
Background technology
Father's Shannon of information theory not only take the lead in artificial intelligence apply to computer play chess aspect, and invented an energy from
" computer mouse " the dynamic electronics mouse for passing through labyrinth, i.e., prove that computer can be with intelligence learning with this.Computer mouse is declined by insertion
A kind of minitype wheeled robot with artificial intelligence of processor, sensor and motor composition." computer mouse " is considered as one
The individual small intelligent vehicle control for integrating multinomial engineering discipline knowledge, need to consider electronics, electric, machinery, calculate during design
The everyways such as the problem of each side such as method and computer, weight, speed, power consumption, sensing technology, center of gravity and algorithm are to set
The factor for considering is needed in meter.According to the computer mouse labyrinth contest rule that International Power and electronic engineering association (IEEE) formulate
Then, computer mouse need in unknown labyrinth be made up of the cell of 16 × 16 18.5cm × 18.5cm sizes voluntarily walk,
Search for labyrinth internal information and find the path of labyrinth origin-to-destination, reach the terminal in labyrinth from starting point with most fast speed.
Computer mouse needs to complete the solution of maze path in contest, specifically includes the search in unknown labyrinth and the solution two of shortest path
Individual task.In current computer mouse contest, generally using infrared distance measurement scheme detection wall, easily disturbed by external environment；Generally
The Flood-Fill maze-searching algorithms taken are while carry out, often into a grid by labyrinth search with optimal path solution
It is accomplished by re-executing a Flood-Fill algorithm, is required for recalculating simultaneously 256 labyrinth grid distance values each time
Update.It is clear that especially in the case of labyrinth detection initial stage, information is not complete, a large amount of insignificant calculating can be carried out and operated
And data-moving, waste system resource.
In sum, there is problems with prior art：External environment is easily received when searching in current computer mouse intelligent vehicle labyrinth
Disturb, there are problems that hardware system resource consumption is more, time-consuming and is easily trapped into for solving the shortest path.
The content of the invention
It is an object of the invention to provide a kind of computer mouse intelligence vehicle control based on Zynq platforms and control method,
When aiming to solve the problem that current computer mouse intelligent vehicle labyrinth is searched for easily by external environmental interference, exist hardware system resource consumption it is more,
Time-consuming and the problems such as be easily trapped into locally optimal solution for solving the shortest path.
The present invention is achieved in that a kind of computer mouse intelligence vehicle control based on Zynq platforms, described to be based on
The computer mouse intelligence vehicle control of Zynq platforms includes：
Camera, for gathering labyrinth image；Master controller based on Zynq FPGA platforms is used for the labyrinth figure to gathering
As carrying out image procossing to identify all of wall locations in labyrinth, and by the improved optimal road of Flood-Fill Algorithm for Solving
Footpath, walks against time according to the optimal path control micromachine for solving and labyrinth and makes a spurt；
Coding disk, by gathering the micromachine shaft end anglec of rotation and feeding back to master controller with precise control micromachine
Rotating speed and direction；
Infrared transmitting tube and infrared receiving tube, for positioning correcting to prevent computer mouse intelligent vehicle from wandering off, while being used as wall
Wall detects to prevent from encountering wall；
Six axle MMEMS inertial sensors, for feeding back accurate athletic posture information to master controller, to control computer mouse
Intelligent vehicle is kept upright；
Human-computer interface module and wireless data transfer module, for the debugging of computer mouse intelligent vehicle, wireless data transfer module
Can be the working condition of computer mouse intelligent vehicle, various by Wi-Fi and bluetooth two ways and main frame or mobile terminal wireless connection
The information of sensor can real-time radio be transferred to main frame or mobile terminal, main frame or mobile terminal can also real-time control computer mouse
Intelligent vehicle.
The six axles MMEMS inertial sensors, infrared transmitting tube, infrared receiving tube, camera, coding disk, wireless data
The connection of transport module, human-computer interface module and master controller；
Master controller connects full bridge driving circuit, full bridge driving circuit connection micromachine, micromachine connection coding disk.
Another object of the present invention is to provide a kind of computer mouse intelligence vehicle control based on Zynq platforms
Computer mouse intelligent vehicle control method based on Zynq platforms, the computer mouse intelligent vehicle control method based on Zynq platforms includes
Searching algorithm to unknown labyrinth, the algorithm according to the labyrinth information solution optimal path for having obtained；
The searching algorithm in the unknown labyrinth：Camera collection coloured image is first passed through, is then entered in HSV color spaces
Column hisgram is balanced, and carries out color separated and binaryzation according to the color of labyrinth wall, laggard by morphological operation denoising
Row contour detecting, then according to wall be rule quadrangle this signature search candidate mark, and sequence counter-clockwise store
These mark points；After the labyrinth image rectification of the distortion for camera being collected finally by perspective transform, count each small
The number of the non-zero pixel of square, by judging whether the blockage is to be all non-zero pixel, extracts wall information；
The optimal path derivation algorithm：Be first according to unknown labyrinth searching algorithm (obtain labyrinth wall information, and
The wall information is saved as the array of 16 × 16；16 × 16 maze lattice is each other in storage of array labyrinth figure
Connection situation；Then create a queue, and with the coordinate position of the target grid in labyrinth as the queue initial value；Again
The array of one 16 × 16 is created, the distance between each maze lattice and target grid is preserved with the array or is encoded radio,
The array all elements are initially 255, and target grid corresponding element in array is entered as 0；Then target grid is entered
Queue, accesses the adjacent grid for being not filled by and connecting, and is filled with an encoded radio than front grid encoded radio big 1, and will
Its coordinate position enqueue；Hereafter the also adjacent grid for being not filled by and connecting is judged whether again, if any then into next repeating query
Ring.Traversal each position obtains distance value coding schedule with a distance from target grid by this method；Finally, by grid encoded radio
Sort in descending order, you can obtain from starting point grid to the optimal path of target grid.
System is controlled another object of the present invention is to provide the computer mouse intelligent vehicle based on Zynq platforms described in a kind of installation
The pilotless automobile of system.
System is controlled another object of the present invention is to provide the computer mouse intelligent vehicle based on Zynq platforms described in a kind of installation
The industrial intelligent control system of system.
The intelligence vehicle control of the computer mouse based on Zynq platforms and control method that the present invention is provided, using advanced
ZYNQ can improve the performance of computer mouse as system control core；Classical Flood-Fill optimum route of maze algorithm is put down
Computing 899557 times is required to, and optimum route of maze algorithm proposed by the present invention averagely only needs computing 788 times, the present invention is more
The solution efficiency of fast optimum route of maze algorithm has and significantly increases, and reduces more than 99% operation times, drops significantly
Computer mouse system resources consumption in low solution procedure, effectively shorten algorithm execution time, it was demonstrated that set forth herein more
The superiority of fast optimum route of maze algorithm.The present invention uses Zynq platforms, takes full advantage of the efficient real-time processings of FPGA
And parallel processing capability.
When being searched for for current computer mouse intelligent vehicle labyrinth easily by external environmental interference, exist hardware system resource consumption compared with
Time-consuming and is easily trapped into locally optimal solution deficiency for many, solving the shortest path, and the present invention proposes a kind of using camera collection fan
Palace image, labyrinth search is carried out using image processing method, using based on improved Flood-Fill optimal paths derivation algorithm
Calculate the control system and control method of optimal path.Labyrinth is searched for be solved with optimal path and separated by the control method, controls
System gathers labyrinth image first with camera, then obtains labyrinth by the way of specific algorithm is by image procossing
Wall information, replaces searching for labyrinth so as to obtain the traditional approach of labyrinth wall information by infrared acquisition with this.It is confused obtaining
After palace wall wall information, optimal path is asked for using improved Flood-Fill optimal paths derivation algorithm.This is improved
Flood-Fill optimal paths derivation algorithm assumes that target grid (Target cell) place in labyrinth has " water source ", with labyrinth
In " flood " flowing, wavefront is since target grid to external expansion.By to forward position grid (Front cell) and target side
The calculating of lattice distance, from the close-by examples to those far off distance value add 1 successively, cyclic pac king labyrinth.When wavefront eventually arrives at the starting point grid in labyrinth
When, just complete the filling algorithm that once floods.It is exactly based on forward position grid and ceaselessly moves renewal with distance value, it is final to obtain
From target grid to the distance value coding schedule in neighbouring grid.According to this table, by grid numerical value descending sort, you can obtain from
Optimal path of the starting point grid to target grid.
Brief description of the drawings
Fig. 1 is the computer mouse intelligent vehicle control system architecture schematic diagram based on Zynq platforms provided in an embodiment of the present invention；
In figure：1st, six axle MMEMS inertial sensors；2nd, infrared transmitting tube；3rd, infrared receiving tube；4th, camera；5th, encode
Disk；6th, master controller；7th, full bridge driving circuit；8th, micromachine；9th, wireless data transfer module；10th, human-computer interface module.
Fig. 2 and Fig. 3 are the computer mouse intelligent vehicle control method flow charts based on Zynq platforms provided in an embodiment of the present invention；
Wherein Fig. 2 is unknown maze-searching algorithm flow chart, and Fig. 3 is optimal path derivation algorithm flow chart.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
Application principle of the invention is explained in detail below in conjunction with the accompanying drawings.
As shown in figure 1, the computer mouse intelligence vehicle control based on Zynq platforms provided in an embodiment of the present invention includes：Six
Axle MMEMS inertial sensors 1, infrared transmitting tube 2, infrared receiving tube 3, camera 4, coding disk 5, master controller 6, full-bridge drive
Circuit 7, micromachine 8, wireless data transfer module 9, human-computer interface module 10.
Camera 4, for gathering labyrinth image；Master controller based on Zynq FPGA platforms is used for the labyrinth to gathering
Image carries out image procossing to identify all of wall locations in labyrinth, and optimal by improved Flood-Fill Algorithm for Solving
Path, walks against time according to the optimal path control micromachine for solving and labyrinth and makes a spurt；
Coding disk 5, by gathering the micromachine shaft end anglec of rotation and feeding back to master controller with precise control micro electric
The rotating speed of machine and direction；
Infrared transmitting tube 2 and infrared receiving tube 3, for positioning correcting to prevent computer mouse intelligent vehicle from wandering off, while being used as
Wall detects to prevent from encountering wall；
Six axle MMEMS inertial sensors 1, for feeding back accurate athletic posture information to master controller, to control computer
Mouse intelligent vehicle is kept upright；
Human-computer interface module 10 and wireless data transfer module 9, for the debugging of computer mouse intelligent vehicle, Wireless Data Transmission mould
Block can be the working condition of computer mouse intelligent vehicle, each by Wi-Fi and bluetooth two ways and main frame or mobile terminal wireless connection
The information of kind of sensor can real-time radio be transferred to main frame or mobile terminal, main frame or mobile terminal can also real-time control computers
Mouse intelligent vehicle.
Six axle MMEMS inertial sensors 1, infrared transmitting tube 2, infrared receiving tube 3, camera 4, coding disk 5, wireless data
Transport module 9, human-computer interface module 10 are connected with master controller 6.
Master controller 6 connects full bridge driving circuit 7, and the connection micromachine 8 of full bridge driving circuit 7, the connection of micromachine 8 is compiled
Code-disc 5.
Computer mouse intelligence vehicle control maximum speed based on Zynq platforms provided in an embodiment of the present invention：4m/s；If
Meter highest acceleration：10m/s^2；SoC chip XC7Z020 using Xilinx Zynq-7000 series makees master control, possesses：Work
In the double-core ARM Cortex-A9 processors of 667MHz, the performance better than 1667DMIPS；It is equivalent to Artix-7 Series FPGAs
FPGA, can provide powerful flexible peripheral hardware for processor, or even build soft-core processor, have 28K logic units and
RAM and DSP unit on a large amount of pieces；The QSPI Flash ROM of the DDR3SDRAM and 32MB of onboard 128MB, run as program
And memory space；Expansible Wi-Fi module (apolegamy) or bluetooth wireless serial module (standard configuration), for debugging during data pass
It is defeated；Using two Faulhaber 1717T-006SR micromachines, coordinate IE2-512 coding disks, there is provided accurate athletic posture
Feedback；Using 4 pairs of highly sensitive infrared transmitting tubes and reception pipe, as wall detection and positioning correcting；Using the axles (three of LSM330 six
Axle acceleration and three axis angular rates) MEMS inertial sensor, there is provided accurate athletic posture feedback；Using 4 Japanese capital business
Min-Z racing model tire for vehicles, four-wheel drive, without driven pulley, more without friction fulcrum, improves stability and operational efficiency；Adopt
With the lithium polymer battery of high-discharge-rate, two section series connection, common 7.4V, 100mAh, continuously-running 20 minutes.
Motor control module：Zynq platforms by exporting PWM ripples come the rotating speed of controlled motor, while also can by change
The polarity of PWM ripples changes the rotation direction of motor.
Speed measuring module：The transient speed that rotating speed in the short time of motor approximately regards motor as is measured using coding disk, is used
PID control changes PWM ripples dutycycle to reach the purpose of closed-loop drive, prevents the situation run faster and faster or run slower and slower
Occur.
Camera module：Using camera collection image information, and intelligent vehicle is set to be capable of identify that fan by certain algorithm
Palace, auto-steering, automatic Pilot.
Attitude transducer module：Using a piece of six axles MMEMS inertial sensors, comprising 1 three-axis gyroscope and 1 three axle
Accelerometer.Collection gyroscope, accelerometer data first carries out attitude parsing, then using Kalman filtering algorithm by gyro
The data of instrument and accelerometer are merged, and more true and stabilization attitude information is obtained with this, finally use cascade PID control
Computer mouse intelligent vehicle processed is kept upright.The cas PID control system uses computer mouse intelligent vehicle speed as most outer shroud, body corner
Used as middle ring, using vehicle body angular speed as innermost ring, not only parameter is easily adjusted such control algolithm degree, final reality
Border effect also can more stablize, precisely.
As shown in Figure 2 and Figure 3, the computer mouse intelligent vehicle control method bag based on Zynq platforms provided in an embodiment of the present invention
Include following steps：
Computer mouse intelligent vehicle control method based on Zynq platforms provided in an embodiment of the present invention is included to unknown labyrinth
Searching algorithm, the algorithm that optimal path is solved according to the labyrinth information for having obtained.
As shown in Fig. 2 the searching algorithm in unknown labyrinth：Camera collection coloured image is first passed through, it is then empty in HSV colors
It is interior to carry out histogram equalization, and color separated and binaryzation are carried out according to the color of labyrinth wall, gone by morphological operation
Contour detecting is carried out after making an uproar, then according to wall be rule quadrangle this signature search candidate mark, and counterclockwise it is suitable
Sequence stores these mark points.After the labyrinth image rectification of the distortion for collecting camera finally by perspective transform, statistics
The number of the non-zero pixel of each blockage, by judging whether the blockage is to be all non-zero pixel, so as to extract wall letter
Breath.
Optimal path derivation algorithm, it is proposed by the present invention to be confused based on improved Flood-Fill optimal paths derivation algorithm
Palace is searched for be solved with optimal path and is separated, and specific steps are as shown in Figure 3：It is first according to the searching algorithm (Fig. 2 in above-mentioned unknown labyrinth
It is shown) mode obtain the wall information in labyrinth, and the wall information is saved as the array of 16 × 16.The storage of array
The connection situation (i.e. wall information) each other of 16 × 16 maze lattice in the figure of labyrinth；Then a queue is created, and
With the coordinate position of the target grid in labyrinth as the queue initial value.The array of one 16 × 16 is created again, uses the array
The distance between each maze lattice and target grid (or being encoded radio) is preserved, the array all elements are initially 255, and
Target grid corresponding element in array is entered as 0；Then by target grid enqueue, access and adjacent be not filled by (i.e. encoded radio
For 255) and connection grid, be filled with an encoded radio than front grid encoded radio big 1, and its coordinate bit is inserted
Queue；Hereafter judge whether the also adjacent grid for being not filled by and connecting again, circulated if any next round is then entered.By this side
Method travels through each position with a distance from target grid, obtains distance value coding schedule；Finally, grid encoded radio is sorted in descending order, i.e.,
The optimal path from starting point grid to target grid can be obtained.
Present invention also offers computer mouse monitoring, control, functional simulation one comprehensive tool software, it is following to realize
Function：
The function of 1 development monitoring computer mouse running state data
Wifi module serial ports is reserved on " computer mouse " hardware, the critical data that computer mouse is run, such as infrared distance measurement, top
Spiral shell instrument data, motor encoder data, image etc. of camera collection, in uploading to upper computer software, and then analysis computer mouse
With labyrinth wall range information, computer mouse operation attitude etc..Can be to computer mouse by the real-time monitoring run to computer mouse
Related arrange parameter is adjusted.
2 functions of being used to control computer mouse running status
Instruction is sent by wifi serial ports with upper computer software at PC ends, intelligentized manipulation computer mouse operation is realized.Example
The manipulation computer mouse that such as gives an order advances, retreats, left and right turnings, stopping immediately, return to origin, start spurt basic function.
3 functions of being used to verify computer mouse algorithm
Traditional method of testing needs constantly to carry out chip burning program, and actual motion verifies its function accuracy.
But Zynq program compilation speeds are slow, configuration speed slow, Linux embedded systems start slowly, if using traditional test side
Method inefficiency, and loss computer mouse life-span.In order to improve debugging efficiency, it is not necessary to because the minor modifications of computer mouse program,
Just programming program repeatedly, repeatedly actual experiment.We can be embedded in the algorithm of computer mouse, figure in the upper computer software write
Change the actual effect of analogue computer mouse configuration processor.After result satisfaction, reburn and write into chip, carry out actual test.
The present invention compared with traditional scheme, with following four aspect advantage：
First：Using advanced ZYNQ as system control core
Zynq is the FPGA isomery framework cores of a built-in couple of ARM Coretex-A9MP Core that Xilinx companies release
Piece.The powerful performance of Zynq chips is especially suitable for " computer mouse " and walks labyrinthine system design with the flexibility of Hardware/Software Collaborative Design
It is actually needed.Traditional FPGA is a kind of programmable semi-custom circuit；ARM is a kind of strong RISC treatment of low in energy consumption, function
Device.And the isomery framework of this FPGA+ARM of Zynq preferably can simultaneously utilize FPGA and ARM resources.Zynq isomery frameworks pair
Treatment carried out it is abstract, by control logic and treatment logical separation.Control logic part is using SOC (Processing in piece
System ARM kernels in other words) realize；Treatment logic (the strong point real-time processing of particularly FPGA and parallel processing) is partly placed on
PL (Programmable Logic) is realized part, connected by AXI STD bus between them, and is easy to standardize IP
CORE is encapsulated and used.
Second：The quality of faster optimum route of maze algorithm proposed by the present invention, using Microsoft Visual
Studio 2015 has designed and developed optimum route of maze search emulation platform.Two kinds of algorithms are calculated respectively by emulation platform to exist
Once solve required operation times during optimal path.Labyrinth contest is walked with multiple international and national computer mouse in recent years
The labyrinth map of use to the test statisticses as shown by data of each labyrinth figure, completes asking for optimal path as test sample
Solution, classical Flood-Fill optimum route of maze algorithm averagely needs computing 899557 times, and optimum route of maze faster
Algorithm averagely only needs computing 788 times, and the solution efficiency of faster optimum route of maze algorithm has and significantly increases, and reduces
More than 99% operation times, greatly reduce the computer mouse system resources consumption in solution procedure, effectively shorten algorithm and hold
The row time, it was demonstrated that the superiority of faster optimum route of maze algorithm proposed by the present invention.
3rd：Increase camera collection, fused images treatment
The method processed using camera collection image obtains labyrinth information, it is only necessary to the space of very little, while avoiding
The interference of external environment, perfectly solves the shortcoming of infrared distance measurement scheme.Traditional computer mouse is not using the original of image procossing
Because being to need substantial amounts of computing, arm processor when the cyclopean image data message in complete 16*16 labyrinth is processed
It is unable to do what one wishes.And we use Zynq platforms, using the efficient real-time processings of FPGA and parallel processing capability, completely may not be used
With the problem for worrying to calculate.
4th：Design is more compact, stabilization computer mouse mechanical structure
Compact property：The volume of computer mouse must be controlled in the range of a certain size.One of computer mouse ieee standard match
Maze lattice size is 18.5cm × 18.5cm, therefore we will not only ensure its positive normal open when computer mouse volume size is designed
OK, also to ensure that it can be when in face of continuous turning, it is possible to achieve 45 degree of walkings of diagonal, the corner wall without encountering labyrinth
Wall.Activity space is very narrow during computer mouse diagonal, so volume is the smaller the better.The Design of Mechanical Structure that we pursue is labyrinth
1/4 to 1/3 size of lattice, so as to ensure that computer mouse various walking postures in labyrinth have the activity space of abundance.
Stability：The stability of computer mouse structure directly determines its straight line moving speed and maximum turning speed.Such as
The center of gravity of fruit computer mouse overall architecture is too high, or position selection is bad, can cause when taking the air line or turning that speed all can not be too
Hurry up, directly influence computer mouse search labyrinth and the time for making a spurt toward the tape.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (4)
1. it is a kind of based on Zynq platforms computer mouse intelligence vehicle control, it is characterised in that the electricity based on Zynq platforms
Brain mouse intelligence vehicle control includes：
Camera, for gathering labyrinth image；Master controller based on Zynq FPGA platforms is used to enter the labyrinth image for gathering
Row image procossing to identify all of wall locations in labyrinth, and by improved Flood-Fill Algorithm for Solving optimal path,
Optimal path control micromachine according to solving walks against time and labyrinth and makes a spurt；
Coding disk, by gathering the micromachine shaft end anglec of rotation and feeding back to master controller turning with precise control micromachine
Speed and direction；
Infrared transmitting tube and infrared receiving tube, for positioning correcting to prevent computer mouse intelligent vehicle from wandering off, while as wall inspection
Survey to prevent from encountering wall；
Six axle MMEMS inertial sensors, for feeding back accurate athletic posture information to master controller, to control computer mouse intelligence
Car is kept upright；
Human-computer interface module and wireless data transfer module, for the debugging of computer mouse intelligent vehicle, wireless data transfer module can lead to
Cross Wi-Fi and bluetooth two ways and main frame or mobile terminal wireless connection, the working condition of computer mouse intelligent vehicle, various sensings
The information of device can real-time radio be transferred to main frame or mobile terminal, main frame or mobile terminal can also real-time control computer mouse intelligence
Car；
The six axles MMEMS inertial sensors, infrared transmitting tube, infrared receiving tube, camera, coding disk, Wireless Data Transmission
The connection of module, human-computer interface module and master controller；
Master controller connects full bridge driving circuit, full bridge driving circuit connection micromachine, micromachine connection coding disk.
2. it is a kind of as claimed in claim 1 based on Zynq platforms computer mouse intelligence vehicle control the electricity based on Zynq platforms
Brain mouse intelligent vehicle control method, it is characterised in that the computer mouse intelligent vehicle control method based on Zynq platforms is included to not
The searching algorithm in labyrinth is known, solving the algorithm of optimal path according to the labyrinth information for having obtained；
The searching algorithm in the unknown labyrinth：Camera collection coloured image is first passed through, is then carried out in HSV color spaces straight
Side's figure is balanced, and carries out color separated and binaryzation according to the color of labyrinth wall, by the laggard road wheel of morphological operation denoising
Exterior feature detection, is then the mark of quadrangle this signature search candidate of rule according to wall, and sequence counter-clockwise stores these
Mark point；After the labyrinth image rectification of the distortion for camera being collected finally by perspective transform, count each blockage
The number of non-zero pixel, by judging whether the blockage is to be all non-zero pixel, extracts wall information；
The optimal path derivation algorithm：Be first according to unknown labyrinth searching algorithm (obtain the wall information in labyrinth, and should
Wall information saves as the array of 16 × 16；The company each other of 16 × 16 maze lattice in storage of array labyrinth figure
Understanding and considerate condition；Then create a queue, and with the coordinate position of the target grid in labyrinth as the queue initial value；Create again
The array of one 16 × 16, preserves the distance between each maze lattice and target grid or is encoded radio with the array, by this
Array all elements are initially 255, and target grid corresponding element in array is entered as into 0；Then by target grid enqueue,
The adjacent grid for being not filled by and connecting is accessed, an encoded radio than front grid encoded radio big 1 is filled with, and by its coordinate
Position enqueue；Hereafter judge whether the also adjacent grid for being not filled by and connecting again, circulated if any next round is then entered.Pass through
This method travels through each position with a distance from target grid, obtains distance value coding schedule；Finally, grid encoded radio is arranged in descending order
Sequence, you can obtain from starting point grid to the optimal path of target grid.
3. the pilotless automobile of the computer mouse intelligence vehicle control of Zynq platforms is based on described in a kind of installation claim 1.
4. a kind of industrial intelligent for installing the computer mouse intelligence vehicle control based on Zynq platforms described in claim 1 controls system
System.
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