CN203535482U - Exploring controller of four-wheel micro-mouse based on ARM9 controller - Google Patents

Abstract

The utility model discloses an exploring controller of a four-wheel micro-mouse based on an ARM9 controller. The exploring controller comprises a battery, wires, a sensor, a gyroscope, the ARM9 controller, L298N chips, motors and wheels, wherein the battery is located in the four-wheel micro-mouse and connected with the sensor, the gyroscope, the ARM9 controller, the L298N chips and the motors through wires, the sensor is located on the upper portion of the four-wheel micro-mouse, the gyroscope is connected with the ARM9 controller, the ARM9 controller and the L298N chips are welded together, the L298N chips are connected with the four motors, and the four motors are connected with the four wheels and correspond to the wheels one to one. By means of the method, the probe controller based on the ARM9 four-wheeled microcomputer mouse achieves the effects that the two L298N chips control interrupt responses of the four motors and achieve data communication and real-time signal storage, and that the ARM9 controller communicates with the two L298N chips to exchange and call data in real time.

Description

Based on ARM9 four-wheel micro computer mouse, explore controller

Technical field

The utility model relates to microrobot field, particularly relates to a kind of based on ARM9 four-wheel micro computer mouse exploration controller.

Background technology

Micro computer mouse is a kind of being commonly called as of intelligent walking device that embedded microcontroller, sensor and electromechanical movement parts form of using, it can be in labyrinth automatic Memory and selecting paths, find outlet, the final destination setting that arrives.Generally, in the match of labyrinth, micro computer mouse is placed on to starting point, after pressing start key, micro computer mouse is decided in its sole discretion and searches rule and in labyrinth, realize functions such as advancing, turn, remember labyrinth wall data, calculating shortest path, search terminal.Micro computer mouse carries out labyrinth contest and combines many-sided science and technology such as machinery, motor, electronics, control, optics, program design and artificial intelligence.

As shown in Figure 1, long-play finds that the safety problem existing has to the micro computer mouse structure of current domestic research and development:

(1) what the topworks of micro computer mouse adopted is stepper motor, often can run into the problem of pulse-losing, causes the memory of position to occur mistake, and stepper motor makes organism fever more serious, is unfavorable in large complicated labyrinth, exploring and spurt.

(2) owing to adopting more rudimentary algorithm, the exploration in the middle of labyrinth generally all will spend the time of 4 ~ 5 minutes, and this cannot win victory micro computer mouse in real contest.

(3) because micro computer mouse will be braked frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer cannot meet the requirement that micro computer mouse starts fast and stops.

(4) what relatively adopt is all the plug-in components that some volume ratios are larger, makes the volume ratio of micro computer mouse huger, cannot meet the requirement of quick exploration.

(5) owing to disturbed by surrounding environment labile factor, singlechip controller often there will be extremely, causes that micro computer mouse is out of control, and antijamming capability is poor.

(6) for the micro computer mouse of differential control, it is synchronous that the control signal of two motor of General Requirements is wanted, but for single single-chip microcomputer, be difficult to again accomplish, compensation that will be back and forth when micro computer mouse is travelled on straight way, and sometimes in the middle of labyrinth rocking tendency larger, when exploring fast, performance is especially obvious.

(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 will restart whole heuristic process.

(10) owing to being subject to single-chip microcomputer capacity impact, existing micro computer mouse all only has two power drive wheels substantially, adopt two-wheeled differential mode to travel, system is had relatively high expectations to the servo of diaxon, particularly during line navigation, requirement speed and acceleration are pursued strict consistent, otherwise line navigation will be failed, causes micro computer mouse to occur hitting the phenomenon of wall.

(11) two-wheeled micro computer mouse system is moved after due to center of gravity when accelerating, and makes mouse front portion light, even micro computer mouse also can be skidded on good road surface, likely causes the phenomenon of hitting wall to occur, is unfavorable for the development of high speed micro computer mouse.

(12) if two-wheeled micro computer mouse system when normally travelling, design improper cause center of gravity before partially, the normal pressure that causes bearing on driving wheel is reduced, at this moment micro computer mouse system is more prone to skid, and also more easily wanders off, and causes navigating unsuccessfully.

(13) if two-wheeled micro computer mouse system designs the improper center of gravity lateral deviation that causes when normally travelling, the normal pressure that causes two driving wheels to bear is different, when starting fast, two-wheeled skid level is inconsistent, moment is with regard to off-track, during turning, the wheel that wherein normal pressure is little may skid, and causes the difficulty of turning.

(14) owing to adopting two power wheels to drive, in order to meet acceleration and the deceleration of exploring under complex maze, make the power of single drive motor larger, the space not only taking is larger, and sometimes under the lower state of some relative energy demand, cause the phenomenon of " low load with strong power " to occur, be unfavorable for the saving of the microminiaturized development of micro computer mouse body and the micro computer mouse system energy.

Utility model content

The technical matters that the utility model mainly solves is to provide a kind of based on ARM9 four-wheel micro computer mouse exploration controller, and it is fast that this micro computer mouse is explored controller processing speed, moves smooth and easy.

For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of four-wheel micro computer mouse based on ARM9 controller is provided, comprise lithium ion battery, electric wire, sensor, gyroscope, ARM9 controller, two L298N chips, four motors and four wheels, described lithium ion battery be positioned at described four-wheel micro computer mouse inner and with described sensor, described gyroscope, described ARM9 controller, described L298N chip is connected by described electric wire with described motor, described sensor is positioned at the top of described four-wheel micro computer mouse, described gyroscope is connected with described ARM9 controller, described ARM9 controller is together with described two L298N chips welding, described L298N chip is connected with described four motors, described four motors and described four wheels connect one to one.

In preferred embodiment of the utility model, described sensor is 6, and described 6 sensors are positioned at the position of front and back up and down on described four-wheel micro computer mouse top.

In preferred embodiment of the utility model, described ARM9 controller is S3C2440A controller.

In preferred embodiment of the utility model, described four motors are permanent magnet DC motor.

The beneficial effects of the utility model are: of the present utility model based on ARM9 four-wheel micro computer mouse exploration controller, realized the real-time processing of the digital signal of four axle direct current generator synchronous servo systems, and realize the interrupt response of four motors of two L298N chip controls, realize data communication and storage live signal, four axle servo-drive systems, man-machine interface, the labyrinth of workload maximum in control system find out, the function such as output, data storage, I/O control is given ARM9 and is completed online, and with two L298N communications, carry out in real time exchanges data and calling.

Accompanying drawing explanation

In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, 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 the schematic diagram of monolithic processor controlled micro computer mouse in background technology of the present utility model;

Fig. 2 explores the schematic diagram of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

Fig. 3 explores the system chart of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

Fig. 4 explores the flow chart of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

Fig. 5 explores the 16*16 labyrinth schematic diagram of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

Fig. 6 is the structural representation of the mouse of micro computer described in the utility model one preferred embodiment;

Fig. 7 explores the schematic diagram that advances of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

Fig. 8 explores the schematic diagram that retreats of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

Fig. 9 is that in the utility model, schematic diagram is entered on the right side based on one preferred embodiment of ARM9 four-wheel micro computer mouse exploration controller;

Figure 10 is that in the utility model, schematic diagram is moved back on the left side based on one preferred embodiment of ARM9 four-wheel micro computer mouse exploration controller;

Figure 11 explores accelerating velocity-time motion diagram of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

Figure 12 explores geard-down speed-time motion diagram of controller one preferred embodiment based on ARM9 four-wheel micro computer mouse in the utility model;

In accompanying drawing, the mark of each parts is as follows: 1, shell, 2, wheel, 3, sensor, 4, sensor S7,5, photoelectric sensor.

Embodiment

Below the technical scheme in the utility model embodiment is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present utility model, rather than whole embodiment.Embodiment based in the utility model, those of ordinary skills are not making all other embodiment that obtain under creative work prerequisite, all belong to the scope of the utility model protection.

Refer to Fig. 2,3,4,6, the utility model provides a kind of and explores controller based on ARM9 four-wheel micro computer mouse, comprises lithium ion battery, electric wire, sensor, gyroscope, ARM9 controller, two L298N chips, four motors and four wheels.Described lithium ion battery is positioned at described four-wheel micro computer mouse inside and by described electric wire, is connected with described motor with described sensor, described gyroscope, described ARM9 controller, described L298N chip, described sensor is positioned at the top of described four-wheel micro computer mouse, described gyroscope is connected with described ARM9 controller, described ARM9 controller is together with described two L298N chips welding, described L298N chip is connected with described four motors, and described four motors and described four wheels connect one to one.

ARM9 chip adopts RISC(Reduce Instruction Computer, Reduced Instruction Set Computer) structure, the feature such as have that register is many, addressing mode simple, bulk transfer data, use address automatically increase or decrease.The ARM9 processor of a new generation, by brand-new design, has adopted more transistor, can reach twice above in the processing power of ARM7 processor.The raising of this processing power is by increasing clock frequency and reducing instruction execution cycle and realize.

S3C2440A adopts ARM920T kernel, and its principal feature has: (1) 1.2V kernel, 1.8V/2.5V/3.3V reservoir, 3.3V expansion I/O, 16KB Instruction Cache (I-Cache)/16KB Data Cache (D-Cache); (2) 3 road URAT; (3) 4 PWM timer/1 road, road timer internal/WatchDog Timers; (4) 8 10, tunnel ADC and touch screen interfaces; (5) 130 general purpose I/O, 24 exterior interrupt; (6) 32 bit fixed point risc processors, modified ARM/Thumb code interweaves, and enhancement Multiplier Design is supported (real-time) debugging in real time; (7) chip instruction and data SRAM, and the memory span of instruction and data is adjustable; (8) chip instruction and data high-speed impact damper (cache) capacity are from 4K byte to 1M byte; (9) protected location (protection unit) is set, is applicable to very much, in Embedded Application, storer is carried out to segmentation and protection; (10) adopt AMBA ahb bus interface, for peripheral hardware provides unified address and data bus; (11) support external coprocessor, instruction and data bus has the signaling support of simply shaking hands; (12) support standard basic logic unit scan testing methods to learn, and support BIST(built-in-self-test); (13) support Embedded Trace macroelement, support real-time follow-up instruction and data.The signal that this feature makes S3C2440A be particularly suitable for micro computer mouse Multi-asis servo system is processed.

The product of L298N chip ShiSGS company, more commonly 20 pin PowerSO20 encapsulation, inside comprises 4 channel logic driving circuits, can drive easily two direct current generators, output voltage reaches as high as 50V, can directly by power supply, carry out regulation output voltage.The 6 pin VS of L298N connect supply voltage, and VS voltage range is+2.5～46 V, and output current can reach 2.5 A, can drive inductive load.The emitter of 2 pin and 19 underfooting pipes is drawn separately respectively to access current sampling resistor, forms current sensing signal.Wherein 8 pin of a slice L298N and 14 pin EnA, EnB enable control end, control respectively the stall of motor X and motor Y.7,9,13,15 pin of L298N meet ARM9(S3C2440A) output pin, by ARM9(S3C2440A) control the level of OUT1, OUT2 and OUT3, OUT4, control the rotating of motor X and motor Y; 8 pin of a slice L298N and 14 pin EnA, EnB control respectively the stall of motor Z and motor R in addition.7,9,13,15 pin of L298N meet ARM9(S3C2440A) output pin, by ARM9(S3C2440A) control OUT1, OUT2 and OUT3, the level of OUT4, controls the rotating of motor Z and motor R.

Refer to 5,7-12, the described concrete function of exploring controller based on ARM9 four-wheel micro computer mouse is:

1) before micro computer mouse is not received exploration order, its generally can wait for exploration order that controller send at starting point coordinate (0,0), once receive after task, meeting start to explore to terminal (7,7), (7,8), (8,7), (8,8) along starting point.

2) micro computer mouse is placed on starting point coordinate (0, 0), receive the sensor S1 in its place ahead after task, S6 can judge the environment in the place ahead, define and do not have barricade to enter range of movement, as exist the barricade will be to ARM9(S3C2440A) send interrupt request, ARM9(S3C2440A) can be to interrupting doing very first time response, then forbid controlling two L298N Enable Pin ENA of four-wheel, ENB work, block the motor X of micro computer mouse, motor Y, the PWM of motor Z and motor R drives signal, make it be still in original place, then the place ahead information is determined in secondary judgement labyrinth, information erroneous judgement while preventing from exploring.

3) micro computer mouse, start moment, according to the ladder diagram of Velocity-time shown in Figure 11, move, in order to meet quick acceleration request, ARM9(S3C2440A) can put two L298N 8 pin and 14 pin EnA, EnB is high level, open two L298N, ARM9(S3C2440A) immediately micro computer mouse acceleration is converted into demand torque, then according to algorithm, require distribution portion moment of torsion to two, the place ahead driving wheel, system is switched to four-wheel drive state naturally, when the speed of micro computer mouse arrives setting space rate, ARM9(S3C2440A) can put 8 pin and the 14 pin EnA of front-wheel control chip L298N, EnB is low level, system discharges motor Z and motor R, system relies on motor X and motor Y to enter rear wheel drive state.

4) micro computer mouse, along Y-axis, travel forward, if determine do not have labyrinth retaining wall to enter the range of movement in the place ahead in any one side's center of a lattice, micro computer mouse will be stored its coordinate (X, Y), and give ARM9(S3C2440A the location parameter of the lattice that travel forward), then by ARM9(S3C2440A) according to exploration speed and acceleration, require formation speed motion ladder diagram, the area that this Velocity-time graphics package contains is exactly the lattice distance that micro computer mouse motor X and motor Y will move.ARM9(S3C2440A) then according to this ladder diagram, in conjunction with the feedback of photoelectric encoder and current sensor, generate the PWM ripple of driving diaxon direct current generator, then ARM9(S3C2440A) enable L298N, before driving two individual motor X and motor Y-direction by L298N, move, the photoelectric encoder of motor X and motor Y can record mobile distance constantly; Before not arriving target, if skidding has appearred in system, ARM9(S3C2440A) can enable the Enable Pin of forerunner's chip L298N, open motor Z and motor R, system enters four-wheel drive state, ARM9(S3C2440A) according to time and rate request, remaining distance is converted into the PWM ripple of four axle direct current generators, motor X, motor Y, motor Z and motor R are advanced with identical speed; When arriving target setting, will upgrade its coordinate for (X, Y+1), under the prerequisite of Y+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 words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, micro computer mouse is prepared return and explores;

5) if having labyrinth retaining wall to enter the range of movement in the place ahead micro computer mouse in motion process before Y-axis, and the sensor S2 now, S3, S4, when there is barricade S5 judgement left and right, micro computer mouse will be stored now coordinate (X, Y), according to the feedback of sensor S1 and S6, calculate the location parameter that travels forward and stop, after pressing, according to the Velocity-time figure of Figure 12, move, by ARM9(S3C2440A) enable forerunner and drive chip L298N, opening motor Z and motor R makes system enter four-wheel drive reduction state, ARM9(S3C2440A) according to parking spot parameter, exploration speed and acceleration require formation speed motion ladder diagram, the area that this graphics package contains is exactly the distance that four motors of micro computer mouse will stop.ARM9(S3C2440A) the feedback generation driving four axle direct current generator X in conjunction with photoelectric encoder and current sensor according to this ladder diagram, motor Y, the PWM ripple of motor Z and motor R, the retarded motion realize central point and stop forward of four individual motor, then ARM9(S3C2440A) enable two L298N, and adjust OUT1, OUT2, OUT3, the level of OUT4, make the motor movement opposite direction of both sides, micro computer mouse original place is controlled and is adjusted turnback by gyroscope, then prepare along Y-axis counter motion, in order to meet acceleration request, ARM9(S3C2440A) can enable 8 pin and the 14 pin EnA of forerunner's chip L298N, EnB is high level, open L298N, ARM9(S3C2440A) immediately micro computer mouse acceleration is converted into demand torque, then according to algorithm, require distribution portion moment of torsion to two, the place ahead driving wheel, system is switched to four-wheel drive state naturally, when the speed of micro computer mouse arrives setting space rate, ARM9(S3C2440A) can record the displacement that photoelectric encoder moves, 8 pin of juxtaposition front-wheel control chip L298N and 14 pin EnA, EnB is low level, system discharges motor Z and motor R, system relies on motor X and motor Y to enter rear wheel drive state.Travelling forward, the remaining location parameter of lattice is given ARM9(S3C2440A), then by ARM9(S3C2440A) according to the time requirement of the speed of exploration, in conjunction with the feedback of photoelectric encoder and current sensor, generate the PWM ripple of driving diaxon direct current generator X and motor Y, by L298N, drive two individual motor to travel forward, when arriving target setting, to upgrade its coordinate is (X, Y-1), determining under the prerequisite of Y-1>0, judge that its coordinate is (7, 7), (7, 8), (8, 7), (8, 8) one of them, if not continuing to upgrade its coordinate, if words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, micro computer mouse is prepared return and explores,

6) if having labyrinth retaining wall to enter the range of movement in the place ahead micro computer mouse in motion process before Y-axis, and the sensor S2 now, S3, S4, S5 judgement left has barricade right-hand during without barricade, micro computer mouse will be stored now coordinate (X, Y), according to the feedback of sensor S1 and S6, calculate to travel forward and stop at the location parameter at grid center, labyrinth, then according to Velocity-time figure, move, by ARM9(S3C2440A) according to exploration speed and acceleration, require formation speed motion ladder diagram, the area that this graphics package contains is exactly the distance that four motors of micro computer mouse will stop.ARM9(S3C2440A) according to this ladder diagram, in conjunction with the feedback of photoelectric encoder and current sensor, generate the PWM ripple of driving four axle direct current generators, then ARM9(S3C2440A) enable two L298N, by L298N, drive four individual motor X, motor Y, motor Z and motor R retarded motion realize central point and stop forward, ARM9(S3C2440A) enable L298N, and adjust the OUT1 of two L298N, OUT2, OUT3, the level of OUT4, make the motor movement opposite direction of both sides, micro computer mouse original place is controlled to the right and is adjusted and turn 90 degrees by gyroscope, then along X-axis positive movement, at it in X-axis positive movement process, the location parameter of the lattice that travel forward is transferred to ARM9(S3C2440A), by ARM9(S3C2440A) according to exploration speed and acceleration, require formation speed motion ladder diagram, by ARM9(S3C2440A) enable forerunner and rear-guard and drive chip L298N, open motor X, motor Y, motor Z and motor R make system enter four-wheel drive acceleration mode, system keeps this acceleration always and sets space rate until speed arrives, photoelectric encoder records mobile distance constantly, then system forbids that forerunner drives chip L298N to enable, and motor Z and motor R are released, and system enters rear-guard motion state, ARM9(S3C2440A) according to remaining location parameter, the feedback that straight line is explored speed combination photoelectric encoder and current sensor generates driving diaxon direct current generator X, the PWM ripple of motor Y, two individual motor forward uniform motion to target setting, when arriving target setting, to upgrade its coordinate is (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 words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, micro computer mouse is prepared return and explores,

7) if having labyrinth retaining wall to enter the range of movement in the place ahead micro computer mouse in motion process before Y-axis, and the sensor S2 now, S3, S4, when S5 judgement left has barricade without barricade is right-hand, micro computer mouse will be stored now coordinate (X, Y), according to the feedback of sensor S1 and S6, calculate to travel forward and stop at the location parameter at grid center, labyrinth, then according to Velocity-time figure, move, by ARM9(S3C2440A) according to exploration speed and acceleration, require formation speed motion ladder diagram, this trapezoidal area comprising is exactly the distance that four motors of micro computer mouse will stop.ARM9(S3C2440A) according to this ladder diagram, in conjunction with the feedback of photoelectric encoder and current sensor, generate the PWM ripple of driving four axle direct current generators, then ARM9(S3C2440A) enable two L298N, by L298N, drive four individual motor X, motor Y, motor Z and motor R retarded motion realize central point and stop forward, ARM9(S3C2440A) enable L298N, and adjust the OUT1 of two L298N, OUT2, OUT3, the level of OUT4, make the motor movement opposite direction of both sides, micro computer mouse original place is controlled left and is adjusted and turn 90 degrees by gyroscope, then along X-axis counter motion, at it in X-axis counter motion process, the location parameter of the lattice that travel forward is transferred to ARM9(S3C2440A), then by ARM9(S3C2440A) according to exploration speed and acceleration, require formation speed motion ladder diagram, then by ARM9(S3C2440A) enable forerunner and rear-guard and drive chip L298N, open motor X, motor Y, motor Z and motor R make system enter four-wheel drive acceleration mode, system keeps this acceleration always and sets space rate until speed arrives, photoelectric encoder records mobile distance constantly, then system forbids that forerunner drives chip L298N to enable, and motor Z and motor R are released, and system enters rear-guard motion state, ARM9(S3C2440A) according to remaining location parameter, the feedback that straight line is explored speed combination photoelectric encoder and current sensor generates driving diaxon direct current generator X, the PWM ripple of motor Y, two individual motor forward uniform motion to target setting, when arriving target setting, to upgrade its coordinate is (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 words notification controller searched target, then putting the exploration of making a return voyage and being masked as 1, micro computer mouse is prepared return and explores,

8) when micro computer mouse arrives (7,7), (7,8), (8,7), (8,8) when preparing return and exploring, controller can recall its labyrinth of having stored, then according to quick labyrinth algorithm, calculate the optimal path that may exist, then return starts to enter one that wherein thinks optimum.

9) micro computer mouse, entering labyrinth normally makes a return voyage when operation, the sensor S1 of its navigation, S2, S3, S4, S5, S6 is by work, and give ARM9(S3C2440A the photosignal reflecting), through ARM9(S3C2440A) judgement after enable L298N, then motor X navigates, motor Y, motor Z and motor R: if enter the region of having searched for, will advance fast, if unknown return area adopts normal speed search, and constantly upgrade its coordinate (X, Y), judge that its coordinate is (0, 0), if words put to make a return voyage to explore and be masked as 0, micro computer mouse enters the sprint stage, juxtaposition spurt is masked as 1.

10) in order to realize micro computer mouse coordinate computing function accurately, the sensor S2 of micro computer mouse left and right, S3 and S4, S5 can survey labyrinth retaining wall and pillar around constantly, if S2, S3 or S4, S5 finds 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 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 utility model is in High-speed DC motor X-axis, Y-axis, on Z axis and R axle, added the photoelectric encoder of 512 lines, because precision is higher, make the coordinate calculating of micro computer mouse there will not be mistake, for the quick spurt of micro computer mouse is laid a good foundation.

11) if micro computer mouse runs into fault in heuristic process while hitting wall, the electric current of motor X, motor Y, motor Z and motor R will increase, when surpassing setting value, the current collection circuit of L298N is by work, ARM9(S3C2440A) will send and forbid enabling interrupting to L298N, this Time Controller can be controlled immediately L298N and quit work, and then discharges motor X, motor Y, motor Z and motor R, thereby has effectively solved stall problem.

12) micro computer mouse can detect cell voltage constantly at operational process, and when low pressure appears in system, sensor S7 is by unlatching and send alarm, has effectively protected lithium ion battery.

13) in order to reduce the interference of light source to micro computer mouse heuristic process, the utility model has added photoelectric sensor S8, this sensor can read abnormal light source around at micro computer mouse motion process, and automatically give controller and do real-Time Compensation, eliminated the interference of external light source to spurt.

14) in micro computer mouse operational process, controller can carry out on-line identification to the torque of High-speed DC motor X, motor Y, motor Z and motor R, if there is pulsation in torque, controller can utilize the relation of direct current generator moment and electric current to carry out linear compensation, the pid parameter of rapid adjustment electric current loop, the system fast and stable of making gets off, and has reduced the impact of navigation when motor torque shake is explored fast on micro computer mouse.

15) when completing whole heuristic process, micro computer gets back to starting point (0,0), ARM9(S3C2440A) two L298N of control are made micro computer central point stop, then readjust the level of OUT1, OUT2, OUT3 and the OUT4 of two L298N, enable the motor of both sides, motor X, motor Z and motor Y, motor R are with contrary direction motion, and under gyrostatic control original place Rotate 180 degree, then stop 1 second, transfer labyrinth information, according to algorithm, calculate optimum spurt path, then put spurt and be masked as 1, system enters the quick sprint stage.

The beneficial effect the utlity model has is:

1, in motion process, taken into full account the effect of battery in this system, based on ARM9+L298N chip, constantly all the running status of micro computer mouse is being monitored and computing, due to the inner integrated current collection circuit of L298N, constantly the electric current of motor is gathered, fundamentally avoid the generation of large electric current, solved the impact of large electric current to lithium ion battery, avoided the generation of the lithium ion battery overaging phenomenon that causes due to heavy-current discharge.

2, in order fully to improve stability and the driveability of micro computer mouse searching system, the utility model adopts four-wheel drive structure, pre-driver is consistent with rearmounted four powers of motor that drive, owing to adopting four-wheel drive technology, micro computer mouse front and back wheel is all dynamic, in the time of can exploring by labyrinth ground different with ambient conditions and by demand torque by different proportion before and after being distributed on all wheel, to improve the driveability of micro computer mouse while exploring.

3, in normal straight, explore under running environment, micro computer mouse generally can adopt release front-wheel, adopts the mode of rear wheel drive; And once run into the situation that road dust is more, driving wheel skids and stop and slow down, ARM9(S3C2440A) can automatically detect the soon micro computer mouse demand torque of existing side by side and partly distribute to two, the place ahead front-wheel, naturally be switched to four-wheel drive state, strengthen adhesion that micro computer mouse explores and handling, guaranteed to explore the accuracy in labyrinth.

4, owing to adopting four-wheel drive mode, when needs give it the gun, power mean allocation to four motor, an once power wheel built on stilts, ARM9(S3C2440A) can redistribute moment of torsion, on non-slip driving wheel, make system hightail slipping state more torque distribution, come back to four axle dynamic equilibrium states, make micro computer mouse there is better straight line moving function.

When 5, micro computer mouse turns to, in order to guarantee the stability of rotation, adopt four-wheel to realize turning with control: in the time of need to stopping, ARM9(S3C2440A) on power mean allocation to four motor, four motors adopt identical acceleration synchronously to slow down, and make micro computer mouse accurate stopping; While needing to accelerate to start, ARM9(S3C2440A) on power mean allocation to four motor, four motors adopt identical acceleration synchronously to accelerate, and while arriving setting speed, discharge front-wheel and adopt rear wheel drive; By ARM9(S3C2440A) in conjunction with the requirement of turning time, according to the difference of track, generate four road PWM and control direct current generator X, motor Y, motor Z and motor R, complete the synchro control of four axle DC servomechanisms.

If it is partially front that 6, four-wheel micro computer mouse system designs the improper center of gravity that causes, when normally travelling, to cause the normal pressure of bearing in rear side drive wheel to reduce, ARM9(S3C2440A) can automatically adjust the power distribution of rear side, make system in a kind of new equilibrium state, prevent from when micro computer mouse from exploring skidding, the accuracy in labyrinth while having guaranteed to explore.

If 7, four-wheel micro computer mouse system designs the improper center of gravity lateral deviation that causes, when normally travelling, to cause the normal pressure of bearing in a side drive wheel to reduce, ARM9(S3C2440A) can automatically adjust the power distribution of this side, make system in a kind of new equilibrium state, prevent from when micro computer mouse from exploring skidding, the accuracy in labyrinth while having guaranteed to explore.

8, by ARM9(S3C2440A) process the independent servocontrol that micro computer mouse is explored four motors during labyrinth, make to control fairly simple, greatly improved arithmetic speed, solved the slower bottleneck of scm software operation, shortened the construction cycle, and program transportability ability is strong.

9, the utility model is realized full SMD components material substantially, has realized veneer control, has saved control panel and has taken up room.

10, in this micro computer mouse system, introduce gyroscope, realized velocity magnitude and the independent of direction of micro computer mouse and controlled, be conducive to improve stability and the dynamic property of micro computer mouse.

11,, in order to improve arithmetic speed and precision, this micro computer mouse has adopted uses maximum infrared sensor OPE5594A in the world, and operational precision is improved greatly, has prevented micro computer mouse waving in the middle of labyrinth.

12, because this controller adopts ARM9(S3C2440A) process labyrinth storage and heuristic algorithm, " race flies " that has effectively prevented program, antijamming capability strengthens greatly.

13, because this controller adopts two L298N, drive four axle direct current generators, greatly reduced the shared space of driving circuit, and improved the efficiency of system.

14, by ARM9(S3C2440A) output PWM modulation signal and direction signal while exploring, then the Enable Pin by L298N directly drives direct current generator X, motor Y, motor Z and motor R, not only alleviated ARM9(S3C2440A) burden, simplify interface circuit, made the debugging of system simple.

15, in order better to protect battery; when system runs into low pressure in heuristic process; low pressure alarming sensor S7 on micro computer mouse can open automatically; L298N can limit discharge current; guarantee that micro computer mouse can complete whole exploration, in exploration, complete while getting back to starting point, can be automatically locked in current location; and record labyrinth information, battery is changed in prompting.

16, in micro computer mouse operational process, controller can carry out on-line identification and utilize motor torque and the relation of electric current compensates the torque of High-speed DC motor X, motor Y, motor Z and motor R, has reduced the impact that motor torque shake is explored fast on micro computer mouse.

17,, because speed and the direction of micro computer mouse are independently controlled, micro computer mouse is more easily realized advance, fall back, turn left and the motion of right-hand rotation all directions.

18, owing to having memory function, this makes can transfer easily the labyrinth information of having explored after the power down of micro computer mouse, and time and path that secondary is explored reduce greatly.

The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description 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 utility model.

Claims (4)

1. based on ARM9 four-wheel micro computer mouse, explore controller for one kind, it is characterized in that, comprise lithium ion battery, electric wire, sensor, gyroscope, ARM9 controller, two L298N chips, four motors and four wheels, described lithium ion battery be positioned at described four-wheel micro computer mouse inner and with described sensor, described gyroscope, described ARM9 controller, described L298N chip is connected by described electric wire with described motor, described sensor is positioned at the top of described four-wheel micro computer mouse, described gyroscope is connected with described ARM9 controller, described ARM9 controller is together with described two L298N chips welding, described L298N chip is connected with described four motors, described four motors and described four wheels connect one to one.

2. according to claim 1ly based on ARM9 four-wheel micro computer mouse, explore controller, it is characterized in that, described sensor is 6, described 6 sensors be positioned at described four-wheel micro computer mouse top up and down before and after position.

3. according to claim 1ly based on ARM9 four-wheel micro computer mouse, explore controller, it is characterized in that, described ARM9 controller is S3C2440A controller.

4. according to claim 1ly based on ARM9 four-wheel micro computer mouse, explore controller, it is characterized in that, described four motors are permanent magnet DC motor.

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