CN104199448A

CN104199448A - AVR-based Mobile robot control system

Info

Publication number: CN104199448A
Application number: CN201410462749.8A
Authority: CN
Inventors: 李相武; 王瑛; 李忠喜
Original assignee: Harbin Hengyu Mingxiang Technology Co Ltd
Current assignee: Harbin Hengyu Mingxiang Technology Co Ltd
Priority date: 2014-09-12
Filing date: 2014-09-12
Publication date: 2014-12-10

Abstract

The invention relates to an AVR-based Mobile robot control system comprising a microcontroller module, a steering engine, a motor and sensor drive module, a Bluetooth module and a power module. The microcontroller module is mainly used for processing information and data and coordinating functional modules in the system to perform preset tasks. The motor and sensor drive module is mainly used for controlling the steering engine, a motor and a sensor to allow a mobile robot to move and the sensor to collect data. The power module is used for powering the whole mobile robot.

Description

A kind of Mobile Robot Control System based on AVR

Affiliated technical field

the present invention relates to a kind of Mobile Robot Control System based on AVR, especially a kind of ATmega1280 chip is core, comprises the control system of micro controller module, steering wheel, motor and sensor driver module, bluetooth module, power module.

Background technology

robot is an overall system, and it has comprised the sensory perceptual system that surrounding enviroment is carried out to perception, the decision system of after surveying according to surrounding enviroment, behavior being planned, and control and the kinetic control system of carrying out self moving.Mobile robot is that one is utilized sensor senses external environment and oneself state, realizes object-oriented autokinetic movement in the environment that has barrier, realizes the robot system of certain operation function.Mobile robot is in military affairs, and industry and business all play an important role, and are subject to increasing attention.Nowadays, the core technology of robot has become an important indicator of various countries' science and technology strength contrast.

as whole mobile robot's core, control system is determining the whether even running of whole mobile-robot system.

Summary of the invention

the object of the invention is to design a kind of Mobile Robot Control System based on AVR.The design, with taking ATmega1280 as core, is divided into micro controller module, steering wheel, motor and sensor driver module, bluetooth module, power module etc. control system.

the object of the present invention is achieved like this:

based on a Mobile Robot Control System of AVR, it is characterized in that: comprise micro controller module, steering wheel, motor, sensor, driver module, bluetooth module, power module; Described micro controller module connects respectively steering wheel, sensor, driver module, bluetooth module, power module; Driver module is connected with motor; Micro controller module is realized and host computer communication with bluetooth module.

described motor is that direct current reduces motor.

this scheme is taking ATmega1280 chip as core, and to modules independent design, each functions of modules is as follows:

(1) microprocessor module: the core of control system is mainly that single-chip microcomputer completes the information that various transmission are entered and comprehensively analyzes, and modules is controlled and finished the work.

(2) driver module: realize DC speed-reducing and rotate according to specified angle according to predetermined rotation and steering wheel, complete advancing of four-wheel mobile robot, retreat, turn left and turn right action, steering wheel drives ultrasound examination module to detect front, left and right-hand barrier situation;

(3) sensor assembly: be mainly ultrasonic sensor, be responsible for detecting barrier;

(4) bluetooth module: realize host computer and four-wheel mobile robot's wireless telecommunications by bluetooth module;

(5) power module: for whole system power supply, system can be moved without additional cable, formed by rechargeable Ni-H 2 battery and the corresponding regulating circuit of 6 joint 1.2V.

design feature of the present invention and beneficial effect:

(1) control system miniaturization, lightness, standardization, modularization.The standardization of system, modularization have facilitated maintenance and the convenient expansion from now on of system

(2) bluetooth module provides a kind of Long-distance Control scheme for four-wheel mobile robot, be directly switch to manual control pattern in the manually operated occasion of needs, can directly implement to control to it by cell phone software by after matching with mobile phone, greatly expand this four-wheel mobile robot's the scope of application.

(3) the design has reserved a lot of expansions mouthful, facilitates the expansion of other functions.

Brief description of the drawings

fig. 1 is system principle structural drawing of the present invention.

fig. 2 is processor minimum system circuit theory diagrams.

fig. 3 is ISP interface circuit figure.

fig. 4 is FT232RL serial line interface schematic diagram.

fig. 5 is direct current motor drive circuit.

Embodiment

below in conjunction with accompanying drawing, principle of the present invention and concrete annexation are described in more detail:

in conjunction with Fig. 1, Fig. 1 is system principle structural drawing of the present invention; Comprise micro controller module, steering wheel, motor and sensor driver module, bluetooth module, power module.Micro controller module mainly carries out the processing of various information, data, and in coherent system, each functional module completes predetermined task; Driver module is mainly responsible for controlling driving steering wheel, motor and sensor, realizes the action of robot and the data acquisition of sensor; Power module is responsible for whole mobile robot's power supply and is supplied with.

fig. 2 is single-chip minimum system circuit diagram of the present invention.Single-chip minimum system circuit is made up of single chip computer AT mega1280 and clock circuit, reset circuit, I/O port expansion circuit etc.Reverse amplification amp.in XTAL1 at ATmega1280 sheet internal oscillator is connected with the two ends of external crystal-controlled oscillation with output XTAL2, and crystal oscillator two ends all need to connect the electric capacity of 22pF left and right.

reset circuit is for system reset.Electrification reset design that ATmega1280 is built-in, and in fuse bit, can control the extra time while reset, so that AVR external reset circuit can design is very simple: directly drawing the resistance of a 10K to receive Vcc can (R5).

fig. 3 is ISP interface circuit figure of the present invention.ISP is a kind of general program downloading mode, wherein, MOSI(SPIBusMasterOutput/SlaveInput) be the main output of spi bus/from input, MISO(SPIBusMasterInput/SlaveOutput) be the output of spi bus main frame input/slave, SCK is clock signal, is produced by main device.Diagram connection is the ISP_6PIN standard interface that atmel corp specifies.

fig. 4 is FT232RL serial line interface schematic diagram.FT232RL is the USB-UART bridging device that FTDI company releases, it has plate and carries EEPROM and master clock generator, 3.3VLDO regulator, reseting generator and usb terminal resistance, can realize USB to serial UART interface conversion, also can be transformed into synchronous, asynchronous BIT-BANG interface modes.。The level of FT-232 is EIA level.Adopt secondary logic ,-3 ~ 15V represents logical one, and+3 ~+15V presentation logic " 0 ", because on the TXD of ATmega1280, RXD pin be Transistor-Transistor Logic level, therefore must be converted to Transistor-Transistor Logic level by interface conversion chip the level of PC serial ports coupling.The RXD port of single-chip microcomputer is linked to the TXD port of FT232RL, the TXD port of single-chip microcomputer is linked the RXD port of FT232RL, and the CBUS1 of FT232RL links 1 pin of USB, and USBDM, USBDP link respectively 2,3 pin of USB.

fig. 5 is direct current motor drive circuit.2 current feedback of circuit design detect interfaces, interior logic power taking selecting side, 4 pull-up resistor selecting sides, No. 2 direct current generator interfaces and four line two-phase stepping motor interfaces, control motor drive direction pilot lamp, coordinate Single Chip Microcomputer (SCM) system, can realize the control of DC speed-reducing.When circuit design, designed EA, I1, I2, EB, I3, six terminals of I4 for controlling motor, wherein EA, EB are that the control of two-way motor enables, and can control motor speed by PWM.

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Claims

1. the Mobile Robot Control System based on AVR, is characterized in that: comprise micro controller module, steering wheel, motor, sensor, driver module, bluetooth module, power module; Described micro controller module connects respectively steering wheel, sensor, driver module, bluetooth module, power module; Driver module is connected with motor; Micro controller module is realized and host computer communication with bluetooth module.

2. a kind of Mobile Robot Control System based on AVR according to claim 1, is characterized in that: described motor is that direct current reduces motor.