CN203773352U - Dual core-based two-wheeled top-speed microcomputer mouse diagonal sprint servo system - Google Patents
Dual core-based two-wheeled top-speed microcomputer mouse diagonal sprint servo system Download PDFInfo
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- CN203773352U CN203773352U CN201320596707.4U CN201320596707U CN203773352U CN 203773352 U CN203773352 U CN 203773352U CN 201320596707 U CN201320596707 U CN 201320596707U CN 203773352 U CN203773352 U CN 203773352U
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Abstract
The utility model discloses a dual core-based two-wheeled top-speed microcomputer mouse diagonal sprint servo system. The system comprises a sprint central control unit, a first motion driving unit, a second motion driving unit, a first high-speed direct current motor, a second high-speed direct current motor, and a power supply unit, wherein the sprint central control unit comprises an ARM 9 processor and an FPGA processor; the ARM9 processor is electrically connected with the FPGA processor; the FPGA processor is electrically connected with the first motion driving unit and the second motion driving unit; the first motion driving unit is further electrically connected with the first high-speed direct current motor; and the second motion driving unit is further electrically connected with the second high-speed direct current motor. According to the system, the two processors are simultaneously adopted to work cooperatively to process data, so that the operation speed is higher, large current is prevented from being generated, and the influence of batteries on the high-speed sprint is reduced; and a gyroscope can navigate the turning of a microcomputer mouse, so that the stability for the microcomputer mouse is improved.
Description
Technical field
The utility model relates to a kind of based on the very fast micro computer mouse of double-core two-wheeled and diagonal line spurt servo-drive system thereof.
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:
(1) the international micro computer mouse of American I EEE 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;
(2) the international micro computer mouse robot conference (expert's level) in all Japan: overall scores only calculates the spurt time, score=best spurt time;
(3) Britain's micro computer mouse robot challenge match: 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;
(4) Singapore robot contest: exploration time, spurt time are charged to overall scores, contacts robot at every turn minimizing is once attempted to chance, 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.
Utility model content
The technical matters that the utility model mainly solves is to provide a kind of based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, adopt two processor collaborative work deal with data simultaneously, arithmetic speed is very fast, has avoided the generation of large electric current, has reduced the impact of battery on sound lunge; Described gyroscope can be turned and navigate for described micro computer mouse, has improved the stability of micro computer mouse.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: provide a kind of based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, be applied in two-wheeled micro computer mouse, described spurt servo-drive system comprises spurt centralized control unit, the first motion driver element, the second motion driver element, the first High-speed DC motor, the second High-speed DC motor and power-supply unit, described power-supply unit comprises lithium ion battery, described spurt centralized control unit comprises ARM9 processor and FPGA processor, described ARM9 processor and FPGA processor are electrically connected with transmission of control signals and data message, described FPGA processor is electrically connected with described the first motion driver element and the second motion driver element respectively, described the first motion driver element is further electrically connected with described the first High-speed DC motor, described the second motion driver element is further electrically connected with described the second High-speed DC motor.
In preferred embodiment of the utility model, on described the first High-speed DC motor and the second High-speed DC motor, photoelectric encoder and current sensor are all further set, described photoelectric encoder and current sensor are electrically connected with described FPGA processor respectively.
In preferred embodiment of the utility model, described spurt servo-drive system further comprises at least six sensors that keep in obscurity, described ARM9 processor is electrically connected with the sensor that keeps in obscurity described in each environmental information detecting to receive the sensor that keeps in obscurity respectively, the described sensor that keeps in obscurity is infrared ray sensor, and described infrared ray sensor comprises infrared transmitter OPE5594A and infrared receiver TSL262.
In preferred embodiment of the utility model, described spurt servo-drive system further comprises the first gyroscope and the second gyroscope, the first gyroscope comprises micro-mechanical sensor of angular velocity, the second gyroscope comprises speed pickup, and described the first gyroscope and the second gyroscope are electrically connected so that the angular velocity information detecting and velocity information are sent to ARM9 processor with described ARM9 processor respectively.
The utility model also provides a kind of two-wheeled micro computer mouse, comprise described spurt servo-drive system, described spurt servo-drive system comprises spurt centralized control unit, the first motion driver element, the second motion driver element, the first High-speed DC motor, the second High-speed DC motor and power-supply unit, described power-supply unit comprises lithium ion battery, described spurt centralized control unit comprises ARM9 processor and FPGA processor, described ARM9 processor and FPGA processor are electrically connected with transmission of control signals and data message, described FPGA processor is electrically connected with described the first motion driver element and the second motion driver element respectively, described the first motion driver element is further electrically connected with described the first High-speed DC motor, described the second motion driver element is further electrically connected with described the second High-speed DC motor,
Described two-wheeled micro computer mouse further comprises housing, the first wheel and the second wheel, described enclosure interior arranges described spurt servo-drive system, described the first wheel and the second wheel are separately positioned on described housing both sides, described the first wheel is connected with described the first High-speed DC motor, and described the second wheel is connected with described the second High-speed DC motor.
In preferred embodiment of the utility model, the rotating shaft of described the first wheel is connected with described the first gyroscope, and the rotating shaft of described the second wheel is connected with described the second gyroscope.
In preferred embodiment of the utility model, described two-wheeled micro computer mouse further comprises opto-electronic compensation sensor and voltage sensor, and described voltage sensor and opto-electronic compensation sensor are electrically connected with described arm processor respectively.
The beneficial effects of the utility model are:
(1) adopt ARM9 processor and FPGA processor division of labor work simultaneously, the synchronous servo of two High-speed DC motors while processing micro computer mouse sound lunge by FPGA processor is controlled, make to control fairly simple, greatly improved arithmetic speed, avoid producing large electric current, shortened the construction cycle short, and program transportability ability is strong; The race that has effectively prevented program flies, and antijamming capability strengthens greatly; Constantly monitor the residual capacity of lithium ion battery, be conducive to the energy state of electrolytic cell, when energy content of battery state is lower, can before spurt prerequisite, change battery, thereby reduced battery, the mistake of sound lunge is disturbed;
(2) in micro computer mouse spurt process fast, described ARM9 processor can carry out on-line identification and utilize the relation of direct current generator moment and electric current to compensate the torque of direct current generator X and motor Y, has reduced motor torque shake to the impact of spurt fast of micro computer mouse;
(3) described gyroscope can be determined angular coordinate and measure vehicle wheel rotational speed by time cumulation, this calculates and has navigation function for micro computer mouse continuous rotation certain angle, can realize velocity magnitude and the independent of direction of two-wheeled micro computer mouse controls, stability and dynamic property while being conducive to improve the spurt of micro computer mouse, make micro computer mouse more easily realize the rotation of curvilinear path;
(4) information is explored in the labyrinth that can store micro computer mouse, is conducive to extract corresponding informance and optimizes the path that secondary is made a spurt, and reduces the spurt time;
(5) can transfer different spurt module controls spurt directions and dash speed according to concrete path, spurt automatically, stops contact deduction of points, quick and safe;
(6) described two-wheeled micro computer mouse comprises according to concrete condition and carries out corresponding spurt pattern, meets the demand of reality match;
(7) adopting the acceleration of S type acceleration and deceleration curves in any point is all continually varying, thereby has avoided the soft impulse of micro computer mouse system, and the flatness of speed is fine, and kinematic accuracy is high.
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 block circuit diagram of monolithic processor controlled micro computer mouse;
Fig. 2 is the schematic block circuit diagram of spurt servo-drive system described in the utility model;
Fig. 3 is the fundamental diagram of spurt centralized control unit described in the utility model;
Fig. 4 is the control module block diagram of the control method of two-wheeled micro computer mouse described in the utility model;
Labyrinth coordinate schematic diagram when Fig. 5 is two-wheeled micro computer mouse motion described in the utility model;
Fig. 6 is the structural representation of two-wheeled micro computer mouse described in the utility model one preferred embodiment;
Fig. 7 is the speed curve diagram of two-wheeled micro computer mouse described in the utility model;
Fig. 8 is the automatic spurt program flow diagram of the control method of two-wheeled micro computer mouse described in the utility model;
Fig. 9 is the right-hand rotation spurt schematic diagram of two-wheeled micro computer mouse described in the utility model;
Figure 10 is the left-hand rotation spurt schematic diagram of two-wheeled micro computer mouse described in the utility model;
Stair shape labyrinth structure figure when Figure 11 is two-wheeled micro computer mouse motion described in the utility model;
Figure 12 is the schematic diagram that two-wheeled micro computer mouse described in the utility model carries out 45 degree spurt along stair shape labyrinth;
U-shaped labyrinth structure figure when Figure 13 is two-wheeled micro computer mouse motion described in the utility model;
Figure 14 is the movement locus schematic diagram of two-wheeled micro computer mouse described in the utility model in U-shaped labyrinth;
Figure 15 is that two-wheeled micro computer mouse described in the utility model is along the kinematic parameter schematic diagram of U-shaped labyrinth spurt.
In accompanying drawing, the mark of each parts is as follows: 1, housing, 2, the first wheel, 3, the second wheel, S1, first sensor that keeps in obscurity, S2, second sensor that keeps in obscurity, S3, the 3rd sensor that keeps in obscurity, S4, the 4th sensor that keeps in obscurity, S5, the 5th sensor that keeps in obscurity, S6, the 6th sensor that keeps in obscurity, S7, opto-electronic compensation sensor, S8, voltage 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. 1 to Figure 15, the utility model embodiment comprises:
A kind of based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, be applied in two-wheeled micro computer mouse, described spurt servo-drive system comprises spurt centralized control unit, the first motion driver element, the second motion driver element, the first High-speed DC motor X, the second High-speed DC motor Y and power-supply unit, described power-supply unit comprises lithium ion battery, described spurt centralized control unit comprises ARM9 processor and FPGA processor, described ARM9 processor and FPGA processor are electrically connected with transmission of control signals and data message, described FPGA processor is electrically connected with described the first motion driver element and the second motion driver element respectively, described the first motion driver element is further electrically connected with described the first High-speed DC motor, described the second motion driver element is further electrically connected with described the second High-speed DC motor.
ARM9 processor adopting R I SC (Reduce Instruction Computer, Reduced Instruction Set Computer) structure, has that register is many, addressing mode is simple, bulk transfer data, use the features such as address automatically increases or decreases.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, and the raising of this processing power is by increasing clock frequency and reducing instruction execution cycle and realize.
FPGA, field programmable gate array, is the product further developing on the basis of the programming devices such as PAL, GAL, EPLD.It occurs as a kind of semi-custom circuit in special IC (ASIC) field, has solved the deficiency of custom circuit, has overcome again the limited shortcoming of original programming device gate circuit number.
FPGA has adopted logical cell array LCA(Logic Cell Array) such new ideas, inside comprises configurable logic blocks CLB(Configurable Logic Block), output load module IOB(Input Output Block) and three parts of interconnector (Interconnect).
On the first High-speed DC motor described in the utility model and the second High-speed DC motor, photoelectric encoder and current sensor are all further set, described photoelectric encoder and current sensor are electrically connected with described FPGA processor respectively.
Described spurt servo-drive system further comprises at least six sensors that keep in obscurity, in the present embodiment, described in the keep in obscurity quantity of sensor be six, number consecutively is S1, S2, S3, S4, S5, S6.Described ARM9 processor is electrically connected with the sensor that keeps in obscurity described in each environmental information detecting to receive the sensor that keeps in obscurity respectively, the described sensor that keeps in obscurity is infrared ray sensor, and described infrared ray sensor comprises infrared transmitter OPE5594A and infrared receiver TSL262.
Described spurt servo-drive system further comprises the first gyroscope and the second gyroscope, the first gyroscope comprises micro-mechanical sensor of angular velocity, the second gyroscope comprises speed pickup, and described the first gyroscope and the second gyroscope are electrically connected so that the angular velocity information detecting and velocity information are sent to ARM9 processor with described ARM9 processor respectively.
The utility model also provides a kind of two-wheeled micro computer mouse, comprise described spurt servo-drive system, described two-wheeled micro computer mouse further comprises housing 1, the first wheel 2 and the second wheel 3, described housing 1 inside arranges described spurt servo-drive system, described the first wheel 2 and the second wheel 3 are separately positioned on described housing 1 both sides, described the first wheel 2 is connected with described the first High-speed DC motor, and described the second wheel 3 is connected with described the second High-speed DC motor.The rotating shaft of described the first wheel 2 is connected with described the first gyroscope, and the rotating shaft of described the second wheel 3 is connected with described the second gyroscope.
Described two-wheeled micro computer mouse further comprises opto-electronic compensation sensor S7 and voltage sensor S8, and described voltage sensor S8 and opto-electronic compensation sensor S7 are electrically connected with described arm processor respectively.
The method of controlling two-wheeled micro computer mouse described in the utility model comprises motion-control module and upper computer control module, described upper computer control module comprises labyrinth reading unit, coordinate setting unit and online output unit, described motion-control module comprises data storage cell, input-output unit and FPGA control module, described FPGA control module comprises straight dash unit, unit, the spurt unit that turns left, diagonal line spurt unit and the U-shaped spurt unit of making a spurt of turning right.In the present embodiment, described straight dash module, the spurt module of turning right, the spurt module of turning left, diagonal line spurt module and U-shaped spurt module number consecutively are subroutine 1, subroutine 2, subroutine 3, subroutine 4, subroutine 5.
Wherein, described FPGA control module is controlled the dash speed of described two-wheeled micro computer mouse in each section of motion distance, and described dash speed is divided into accelerated motion stage, uniform motion stage and retarded motion stage successively; In described accelerated motion stage and described retarded motion stage, the acceleration of two-wheeled micro computer mouse all increases gradually since 0, then remains unchanged, and is finally decreased to gradually 0.
The control method of described two-wheeled micro computer mouse comprises explores spurt and the two kinds of spurt patterns of directly making a spurt, and described direct spurt pattern further comprises constant speed spurt pattern and non-constant speed spurt pattern; Under described exploration spurt pattern, described two-wheeled micro computer mouse automatic search complete labyrinth explore reach home after return to origin again, finally transfer the labyrinth information obtained in heuristic process fast spurt to terminal; Under direct spurt pattern, described two-wheeled micro computer mouse is directly transferred the quick spurt of historical labyrinth information to terminal.
When concrete application, during the utility model exploitation, adopt S3C2440A as development board core, described computer mouse is realized full SMD components material substantially, realized veneer control, not only having saved control panel takes up room, and be conducive to alleviating of volume and weight, be conducive to improve stability and the dynamic property of micro computer mouse servo-drive system.
For the double-core controller designing herein, first micro computer mouse is placed on to labyrinth starting point, under power supply opening state, and determine it is that automatic search completes the optimum spurt of the labyrinth Information generation path that storage was explored or transferred in labyrinth according to key information, then micro computer mouse on the front, left and right side keep in obscurity sensor according to actual navigational environment transformation parameter to the ARM9 in double-core controller (S3C2440A), ARM9 (S3C2440A) processes rear and FPGA communication, then the servocontrol in conjunction with two individual motor of feedback processing of photoelectric encoder by FPGA, and deal with data communication to ARM9 (S3C2440A), by ARM9 (S3C2440A), continue to process follow-up running status.
Principle of work of the present utility model is:
1) in micro computer mouse opening power moment, system will complete spurt according to the mode of Fig. 8, first system will complete initialization, then wait for key information, before not receiving key information order, it generally can be at starting point coordinate (0, 0) wait for the spurt order that controller sends, according to key information, the utility model has multiple spurt method: if what press is that START(starts) key, illustrative system will be abandoned the advanced line search of former labyrinth information, then searched for the spurt labyrinth information that rear generation is optimized, micro computer mouse enters automatically the repeatedly sprint stage, if what press is that RESET(resets)+STRAT(startup) key, the optimum labyrinth after illustrative system will recall and explore, then starts fast to terminal (7,7), (7,8), (8,7), (8,8) spurt along starting point, if what press is that RESET(resets)+STRAT(startup)+SPEED(speed) key, the optimum labyrinth after illustrative system will recall and explore, then starts fast to terminal (7 with the dash speed of setting along starting point, 7), (7,8), (8,7), (8,8) spurt.
2) micro computer mouse is placed on starting point coordinate (0,0), receive after task in order to prevent from misplacing spurt direction, sensor S1, the S6 in its place ahead and can judging the environment in the place ahead, define and do not have barricade to enter range of movement, as exist barricade to send interrupt request to ARM9 (S3C2440A), ARM9 (S3C2440A) can be to interrupting doing very first time response, if the interrupt response of ARM9 (S3C2440A) does not have enough time to process, motor X and the motor Y of micro computer mouse will continue self-locking, then the place ahead information is determined in secondary judgement labyrinth, prevents information erroneous judgement; If do not have barricade to enter the range of movement in the place ahead, micro computer mouse will be made a spurt normally.
3) 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 S curvilinear path formation speed-time motion diagram of spurt labyrinth Information generation Fig. 7, the area that this graphics package contains is exactly the distance S1 that two motor X of micro computer mouse, motor Y will move.Then with FPGA communication, then FPGA generates in conjunction with the feedback of photoelectric coded disk and current sensor PWM ripple and the direction that drives diaxon direct current generator according to speed, acceleration parameter command value.PWM ripple, through two individual motor of drive axle 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.
4) if do not have barricade to enter the range of movement in the place ahead micro computer mouse along the Y-axis Z lattice coordinate that travels forward, system enters automatic spurt subsystem 1, micro computer mouse will be stored its coordinate (X, Y), for walking need to fast, given up traditional single speed spurt pattern, S curve speed-time diagram according to Fig. 7 accelerates and slows down, at it, travel forward in process, ARM9 (S3C2440A) is converted into according to time requirement acceleration and the speed value that micro computer mouse need to be made a spurt the distance of Z lattice forward, then with FPGA communication, FPGA is converted into actual speed and acceleration in conjunction with the feedback of photoelectric encoder and current sensor acceleration and speed value, by FPGA, generated the PWM ripple signal that drives diaxon direct current generator, through drive axle rear drive micro computer mouse, arrive preset distance, micro computer mouse is every through a grid in spurt process, to upgrade its coordinate is (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 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, the secondary return that micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
5) if having a plurality of coordinates not have barricade to enter the range of movement in the place ahead micro computer mouse in Y-axis counter motion process, system enters automatic spurt subsystem 1, micro computer mouse will be stored now coordinate (X, Y), for walking need to fast, given up traditional single speed spurt pattern, according to the speed of Fig. 7 and time curve, accelerate and slow down, at it, travel forward in process, ARM9 (S3C2440A) is converted into according to time requirement acceleration and the speed value that micro computer mouse need to be made a spurt the distance of Z lattice forward, then with FPGA communication, FPGA is converted into actual speed and acceleration in conjunction with the feedback of photoelectric encoder and current sensor acceleration and speed value, by FPGA, generated the PWM ripple signal that drives diaxon direct current generator, through drive axle rear drive micro computer mouse, arrive preset distance, micro computer mouse is every through a grid in spurt process, , 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 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, the secondary return that micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
6) if having barricade to enter the range of movement in the place ahead micro computer mouse in motion process before Y-axis, and when now in the information of labyrinth, left has barricade, system enters automatic spurt subsystem 2, micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Fig. 9, when right spurt is turned, micro computer mouse is transferred to ARM9 (S3C2440A) by first going to straight line to walk very short distance D ashTurn_R90_Leading, ARM9 (S3C2440A) is according to the time requirement of spurt, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA is again in conjunction with the photoelectric encoder A of motor feedback, B, Z and current of electric I signal generate the PWM ripple of controlling motor X and motor Y, then through drive axle, drive two-wheeled motor rotation to precalculated position, now R90_FrontWallRef starts working, prevent that external interference from starting to do error compensation, then micro computer mouse is transferred to DashTurn_R90_Arc1 ARM9 (S3C2440A), ARM9 (S3C2440A) is according to new spurt time requirement, then position, speed and assisted instruction that this distance is converted into response are transferred to FPGA, FPGA generates control motor X and the PWM ripple of motor Y and speed DashTurn_R90_VelX1 and the DashTurn_R90_VelY1 of motor in conjunction with photoelectric encoder A, B, Z and the current of electric I signal of motor feedback again, then through drive axle, drives two-wheeled motor rotation to precalculated position, subsequently, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_R90_Arc2 of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA generates control motor X and the PWM ripple of motor Y and speed DashTurn_R90_VelX2 and the DashTurn_R90_VelY2 of motor in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drive two-wheeled motor rotation to precalculated position, and micro computer mouse turn 90 degrees on the right side under gyroscope is controlled, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_R90_Passing of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA generates control motor X and the PWM of motor Y and the speed DashTurn_R90_VelX3 of motor and DashTurn_R90_VelY3 in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drive two-wheeled motor rotation to precalculated position, through four sections of different speed, complete the geometric locus motion of whole right-hand bend with the closed-loop control of electric current.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;
7) if having barricade to enter the range of movement in the place ahead micro computer mouse in motion process before Y-axis, and now right-hand while having barricade in the information of labyrinth, system enters automatic spurt subsystem 3, micro computer mouse will be stored now coordinate (X, Y), then enter the curvilinear motion track shown in Figure 10, when right spurt is turned, micro computer mouse is transferred to ARM9 (S3C2440A) by first going to straight line to walk very short distance D ashTurn_L90_Leading, ARM9 (S3C2440A) is according to the time requirement of spurt, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA is again in conjunction with the photoelectric encoder A of motor feedback, B, Z and current of electric I signal generate the PWM ripple of controlling motor X and motor Y, then through drive axle, drive two-wheeled motor rotation to precalculated position, now L90_FrontWallRef starts working, prevent that external interference from starting to do error compensation, then micro computer mouse is transferred to DashTurn_L90_Arc1 ARM9 (S3C2440A), ARM9 (S3C2440A) is according to new spurt time requirement, then position, speed and assisted instruction that this distance is converted into response are transferred to FPGA, FPGA generates control motor X and the PWM ripple of motor Y and speed DashTurn_L90_VelX1 and the DashTurn_L90_VelY1 of motor in conjunction with photoelectric encoder A, B, Z and the current of electric I signal of motor feedback again, then through drive axle, drives two-wheeled motor rotation to precalculated position, subsequently, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_L90_Arc2 of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA generates control motor X and the PWM ripple of motor Y and speed DashTurn_L90_VelX2 and the DashTurn_L90_VelY2 of motor in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drive two-wheeled motor rotation to precalculated position, and micro computer mouse turn 90 degrees on a left side under gyroscope is controlled, micro computer mouse starts to regulate the speed micro computer mouse is transferred to ARM9 (S3C2440A) by the distance D ashTurn_L90_Passing of walking, ARM9 (S3C2440A) is according to new spurt time requirement, this distance is converted into corresponding position, then speed and assisted instruction are transferred to FPGA, FPGA generates control motor X and the PWM of motor Y and the speed DashTurn_L90_VelX3 of motor and DashTurn_L90_VelY3 in conjunction with the feedback of photoelectric encoder and current of electric again, then through drive axle, drive two-wheeled motor rotation to precalculated position, through four sections of different speed, complete the geometric locus motion of whole right-hand bend with the closed-loop control of electric current.Now will upgrade its coordinate for (X-1, Y), under the prerequisite of X-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 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.
8) micro computer mouse along X-axis, if there is the staircase-type labyrinth retaining wall of similar Figure 11 to enter the range of movement in the place ahead before Y-axis in motion process, system enters automatic spurt subsystem 4, micro computer mouse will be stored now coordinate (X, Y), then enter the diagonal motion track shown in Figure 12, at straight way coordinate, be (X, Y) time, ARM9 (S3C2440A) enables FPGA, there are FPGA control direct current generator X and direct current generator Y at the uniform velocity to advance with identical speed, sensor S2 in the process of advancing, S3 and S4, S5 acting in conjunction, when guaranteeing the spurt of micro computer mouse, necessarily along labyrinth center line, travel, being about to go out coordinate is (X, Y) during the grid of labyrinth, micro computer mouse upfront sensor S1 and S6 are by work, when reading preset value, the front portion that micro computer mouse is described has entered coordinate (X, Y+1), then micro computer mouse sensor S1 is transferred to ARM9 (S3C2440A) to the distance SX of motor center, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value the very short distance SX of walking straight line according to different spurt condition time requirement, then be transferred to and control FPGA, FPGA can generate according to these parameters the PWM waveform that drives left and right wheels in the feedback in conjunction with photoelectric encoder and electric current, the motor of controlling left and right wheels travels forward fast, when arriving set objective, labyrinth coordinate renew now, be (X, Y+1), it is that attitude adjustment is done in 45 degree diagonal line spurt that micro computer mouse starts, now ARM9 (S3C2440A) can be converted into speed parameter and acceleration parameter command value according to different spurt condition time requirement curvilinear motion track R_Arc1_45, then FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then controls left and right wheels and advances with constant ratio C 1, after arriving set objective, adjust immediately the speed of micro computer mouse left and right wheels, ARM9 (S3C2440A) is converted into speed parameter and acceleration parameter command value curvilinear motion track R_Arc2_45 according to different spurt condition time requirement, then FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then controls left and right wheels and advances with constant ratio C 2, under gyrostatic control, the slope that guarantees arrival curve R_Arc2_45 when arriving set objective A point is 45 degree, then controller is converted into speed parameter and acceleration parameter command value the very short distance P assing1 of straight line moving according to different spurt condition time requirement, then FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then controlling left and right wheels advances with identical acceleration and speed, after arriving set objective, by three sections of different tracks, completing the geometric locus that whole right-hand bend 45 degree directions change moves, micro computer mouse enters the diagonal line sprint stage, now upfront sensor S1 and S6 start working, ARM9 (S3C2440A) is first converted into speed parameter and acceleration parameter command value walking air line distance according to different spurt condition time requirement, then FPGA is in conjunction with feedback and sensor S1 and the detection of S6 to the place ahead pillar of the photoelectric encoder on motor X and motor Y, current sensor, generate the PWM ripple of controlling left and right wheels, then control left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, micro computer pindone becomes at coordinate (X+1, Y+1) makes a spurt to the diagonal line under coordinate (X+1, Y+2), and micro computer pindone becomes the spurt in a lattice stair labyrinth, labyrinth coordinate renew now, is (X+2, Y+3), the like, micro computer pindone becomes the spurt in Z lattice stair labyrinth, renewal labyrinth is (X+Z+1, Y+Z+2), micro computer mouse starts to produce action, 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_Arc3_45, and then FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then controls left and right wheels and advances with constant ratio C 3, after arriving set objective, adjust immediately the speed of micro computer mouse left and right wheels, controller is converted into speed parameter and acceleration parameter command value curvilinear motion track L_Arc4_45 according to different spurt condition time requirement, then FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then controls left and right wheels and advances with constant ratio C 4, under gyrostatic control, the slope that guarantees arrival curve L_Arc4_45 when arriving set objective B point is 0 degree, then 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 FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then controlling left and right wheels advances with identical acceleration and speed, after arriving set objective, by three sections of different tracks, complete at coordinate (X+Z+1, Y+Z+1) lower whole left-hand bend 45 motion of line tracking of writing music, micro computer pindone becomes forthright track after becoming diagonal line to make a spurt changes, micro computer mouse enters the straight dash stage, upfront sensor S2 now, S3, S4 and S5 start working, enter line navigation, and upgrade current coordinate for (X+Z+1, Y+Z+2) is under the prerequisite of X+Z+1<15 and Y+Z+2<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.
9) micro computer mouse along X-axis, if there is the U-shaped labyrinth retaining wall of similar Figure 13 to enter the range of movement in the place ahead before Y-axis in motion process, system enters automatic spurt subsystem 5, micro computer mouse will be stored now coordinate (X, Y), then enter Figure 14, curvilinear motion track shown in Figure 15, when once right 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 be transferred to FPGA, FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, control left and right wheels with identical acceleration and speed straight ahead, when arriving set objective, labyrinth coordinate renew now, be (X, Y+1), sensor reference value R90_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 R_Arc1, then be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, the speed of then controlling left and right wheels by drive axle is turned 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 R_Arc2, then be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, the speed of then controlling left and right wheels by drive axle is turned with constant ratio, after arriving set objective, under gyroscope is controlled, micro computer mouse turn 90 degrees on the right side, 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 be transferred to FPGA, FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controlling left and right wheels advances with identical acceleration and speed, when the value generation of sensor S5 has low level to arrive the transition of high level, 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, prevent that external interference from starting to do error compensation.After error compensation finishes, micro computer mouse continues to turn right, 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 be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, the speed of then controlling left and right wheels by drive axle is turned 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 R_Arc2, then be transferred to FPGA, FPGA generates the PWM ripple of controlling left and right wheels in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor, the speed of then controlling left and right wheels by drive axle is turned with constant ratio, after arriving set objective, under gyroscope is controlled, micro computer mouse turn 90 degrees on the right side, 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 be transferred to FPGA, FPGA generates in conjunction with the feedback of the photoelectric encoder on motor X and motor Y and current sensor the PWM ripple of controlling left and right wheels, then by drive axle, controlling acceleration and the speed that left and right wheels is identical advances, arrive after set objective, micro computer pindone becomes the spurt in a U-shaped labyrinth, upgrading micro computer mouse coordinate is (X+1, Y), and 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, the secondary return that micro computer mouse is prepared after spurt is explored, remove to search more excellent maze path.
10) when the spurt of micro computer mouse arrives (7,7), (7,8), (8,7), (8,8) after, the return that can prepare after spurt is explored to search more excellent path, and ARM9 (S3C2440A) can recall its labyrinth information of having stored, then calculate other optimal path that may exist, then return starts to enter one that wherein thinks optimum.
11) when micro computer mouse enters labyrinth return exploration, the sensor S1 of its navigation, S2, S3, S4, S5, S6 is by work, and give ARM9 (S3C2440A) the photosignal reflecting, after ARM9 (S3C2440A) judgement, give FPGA, by carrying out communication with ARM9 (S3C2440A) after FPGA computing, then by controller, send motor X and the motor Y of control signal to navigation to determine: 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), and 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.
12) in order to realize micro computer mouse coordinate computing function accurately, the utility model has added the photoelectric encoder of 512 lines in High-speed DC motor X-axis and Y-axis, constantly the distance of micro computer mouse operation calculated and with pillar, the different feature of sensor feedback information introduced to compensation according to labyrinth retaining wall, making the spurt coordinate calculating of micro computer mouse there will not be mistake.
13) in order to reduce the interference of light source to the spurt of micro computer mouse, the utility model has added opto-electronic compensation sensor S7, this sensor can read abnormal light source around in the micro computer mouse sprint stage, 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, ARM9 (S3C2440A) can carry out on-line identification to the torque of direct current generator X and motor Y, when the torque of motor is subject to the larger shake of external interference appearance, compensation when controller can utilize the relation of direct current generator moment and electric current to carry out, has reduced the impact of motor torque shake on micro computer mouse sound lunge.
15) when completing whole spurt process, micro computer arrives (7, 7), (7, 8), (8, 7), (8, 8), micro computer mouse can be put to explore and is masked as 1, micro computer mouse return is explored and is got back to starting point (0, 0), ARM9(S3C2440A) make micro computer mouse at origin coordinates (0 control FPGA, 0) central point stops, then readjust the PWM ripple output of FPGA, make motor X and motor Y 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 beneficial effects of the utility model are:
(1) adopt ARM9 processor and FPGA processor division of labor work simultaneously, the synchronous servo of two High-speed DC motors while processing micro computer mouse sound lunge by FPGA processor is controlled, make to control fairly simple, greatly improved arithmetic speed, avoid producing large electric current, shortened the construction cycle short, and program transportability ability is strong; The race that has effectively prevented program flies, and antijamming capability strengthens greatly; Constantly monitor the residual capacity of lithium ion battery, be conducive to the energy state of electrolytic cell, when energy content of battery state is lower, can before spurt prerequisite, change battery, thereby reduced battery, the mistake of sound lunge is disturbed;
(2) in micro computer mouse spurt process fast, described ARM9 processor can carry out on-line identification and utilize the relation of direct current generator moment and electric current to compensate the torque of direct current generator X and motor Y, has reduced motor torque shake to the impact of spurt fast of micro computer mouse;
(3) described gyroscope can be determined angular coordinate and measure vehicle wheel rotational speed by time cumulation, this calculates and has navigation function for micro computer mouse continuous rotation certain angle, can realize velocity magnitude and the independent of direction of two-wheeled micro computer mouse controls, stability and dynamic property while being conducive to improve the spurt of micro computer mouse, make micro computer mouse more easily realize the rotation of curvilinear path;
(4) information is explored in the labyrinth that can store micro computer mouse, is conducive to extract corresponding informance and optimizes the path that secondary is made a spurt, and reduces the spurt time;
(5) can transfer different spurt module controls spurt directions and dash speed according to concrete path, spurt automatically, stops contact deduction of points, quick and safe;
(6) described two-wheeled micro computer mouse comprises according to concrete condition and carries out corresponding spurt pattern, meets the demand of reality match;
(7) adopting the acceleration of S type acceleration and deceleration curves in any point is all continually varying, thereby has avoided the soft impulse of micro computer mouse system, and the flatness of speed is fine, and kinematic accuracy is high.
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 (7)
1. one kind based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, be applied in two-wheeled micro computer mouse, it is characterized in that, described spurt servo-drive system comprises spurt centralized control unit, the first motion driver element, the second motion driver element, the first High-speed DC motor, the second High-speed DC motor and power-supply unit, described power-supply unit comprises lithium ion battery, described spurt centralized control unit comprises ARM9 processor and FPGA processor, described ARM9 processor and FPGA processor are electrically connected with transmission of control signals and data message, described FPGA processor is electrically connected with described the first motion driver element and the second motion driver element respectively, described the first motion driver element is further electrically connected with described the first High-speed DC motor, described the second motion driver element is further electrically connected with described the second High-speed DC motor.
2. according to claim 1 based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, it is characterized in that, on described the first High-speed DC motor and the second High-speed DC motor, photoelectric encoder and current sensor are all further set, described photoelectric encoder and current sensor are electrically connected with described FPGA processor respectively.
3. according to claim 2 based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, it is characterized in that, described spurt servo-drive system further comprises at least six sensors that keep in obscurity, described ARM9 processor is electrically connected with the sensor that keeps in obscurity described in each environmental information detecting to receive the sensor that keeps in obscurity respectively, the described sensor that keeps in obscurity is infrared ray sensor, and described infrared ray sensor comprises infrared transmitter OPE5594A and infrared receiver TSL262.
4. according to claim 3 based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, it is characterized in that, described spurt servo-drive system further comprises the first gyroscope and the second gyroscope, the first gyroscope comprises micro-mechanical sensor of angular velocity, the second gyroscope comprises speed pickup, and described the first gyroscope and the second gyroscope are electrically connected so that the angular velocity information detecting and velocity information are sent to ARM9 processor with described ARM9 processor respectively.
5. a two-wheeled micro computer mouse, it is characterized in that, comprise spurt servo-drive system as claimed in claim 4, described two-wheeled micro computer mouse further comprises housing (1), the first wheel (2) and the second wheel (3), described enclosure interior arranges described spurt servo-drive system, described the first wheel and the second wheel are separately positioned on described housing both sides, and described the first wheel is connected with described the first High-speed DC motor, and described the second wheel is connected with described the second High-speed DC motor.
6. two-wheeled micro computer mouse according to claim 5, is characterized in that, the rotating shaft of described the first wheel is connected with described the first gyroscope, and the rotating shaft of described the second wheel is connected with described the second gyroscope.
7. two-wheeled micro computer mouse according to claim 6, is characterized in that, described two-wheeled micro computer mouse further comprises opto-electronic compensation sensor and voltage sensor, and described voltage sensor and opto-electronic compensation sensor are electrically connected with described arm processor respectively.
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