CN204155150U - A kind of Mobile Robot Control System based on AVR - Google Patents
A kind of Mobile Robot Control System based on AVR Download PDFInfo
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- CN204155150U CN204155150U CN201420522735.6U CN201420522735U CN204155150U CN 204155150 U CN204155150 U CN 204155150U CN 201420522735 U CN201420522735 U CN 201420522735U CN 204155150 U CN204155150 U CN 204155150U
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Abstract
The utility model relates to a kind of Mobile Robot Control System based on AVR, comprises micro controller module, steering wheel, motor and sensor driver module, bluetooth module, power module.Micro controller module mainly carries out the process of various information, data, and in coherent system, each functional module completes predetermined task; Driver module primary responsibility controls to drive steering wheel, motor and sensor, realizes the action of robot and the data acquisition of sensor; Power module is responsible for the power supply supply of whole mobile robot.
Description
Art
the utility model relates to a kind of Mobile Robot Control System based on AVR, and 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 includes sensory perceptual system surrounding enviroment being carried out to perception, according to the decision system planned behavior after surrounding enviroment detection, and self action is carried out to the kinetic control system that controls Yu perform.Mobile robot is that one utilizes sensor senses external environment and oneself state, realizes object-oriented autokinetic movement, realize the robot system of certain operation function in the environment having barrier.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 the core of whole mobile robot, control system decides the whether even running of whole mobile-robot system.
Utility model content
the purpose of this utility model is to design a kind of Mobile Robot Control System based on AVR.The design with ATmega1280 for core, control system is divided into micro controller module, steering wheel, motor and sensor driver module, bluetooth module, power module etc.
the purpose of this utility model is achieved in that
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 steering wheel, sensor, driver module, bluetooth module, power module respectively; Driver module is connected with motor; Micro controller module bluetooth module realizes and host computer information transmission.
described motor is that direct current reduces motor.
the program is with ATmega1280 chip for core, and to modules independent design, each functions of modules is as follows:
(1) microprocessor module: the core of control system, the information that mainly single-chip microcomputer completes various transmission enters comprehensively is analyzed, and carries out control finish the work to modules.
(2) driver module: realize DC speed-reducing and rotate according to specified angle according to predetermined rotation and steering wheel, complete the advance of four wheel mobile robots, retreat, turn left and right-hand rotation action, steering wheel drives ultrasound examination module to detect front, left and right barrier situation;
(3) sensor assembly: mainly ultrasonic sensor, is responsible for detecting barrier;
(4) bluetooth module: the wireless telecommunications being realized host computer and four wheel mobile robots by bluetooth module;
(5) power module: for whole system is powered, enables system move without the need to additional cable, is made up of the 6 joint rechargeable Ni-H 2 batteries of 1.2V and corresponding regulating circuit.
design feature of the present utility model and beneficial effect:
(1) control system miniaturization, lightness, standardization, modularization.The standardization of system, modularization facilitate the maintenance of system and conveniently expand from now on
(2) bluetooth module is that four wheel mobile robots provide a kind of Long-distance Control scheme, manual control pattern is directly switch in the manually operated occasion of needs, can directly implement to control to it by cell phone software after matching with mobile phone, greatly expand the scope of application of this four wheel mobile robot.
(3) the design has reserved a lot of expansion mouth, facilitates the expansion of other functions.
Accompanying drawing explanation
fig. 1 is system principle structural drawing of the present utility model.
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 utility model and concrete annexation are described in more detail:
composition graphs 1, Fig. 1 is system principle structural drawing of the present utility model; Comprise micro controller module, steering wheel, motor and sensor driver module, bluetooth module, power module.Micro controller module mainly carries out the process of various information, data, and in coherent system, each functional module completes predetermined task; Driver module primary responsibility controls to drive steering wheel, motor and sensor, realizes the action of robot and the data acquisition of sensor; Power module is responsible for the power supply supply of whole mobile robot.
fig. 2 is singlechip minimum system circuit figure of the present utility model.Singlechip minimum system circuit is made up of single chip computer AT mega1280 and clock circuit, reset circuit, I/O port expansion circuit etc.Be connected with the two ends of external crystal-controlled oscillation with output XTAL2 at the reverse amplification amp.in XTAL1 of ATmega1280 sheet internal oscillator, crystal oscillator two ends all need the electric capacity meeting about 22pF.
reset circuit is used for system reset.Electrification reset design that ATmega1280 is built-in, and in fuse bit, can control extra time when resetting, thus AVR external reset circuit can design very simple: directly drawing the resistance of a 10K to receive Vcc can (R5).
fig. 3 is ISP interface circuit figure of the present utility model.ISP is a kind of general download program mode, wherein, MOSI(SPIBusMasterOutput/SlaveInput) be the main output of spi bus/from input, MISO(SPIBusMasterInput/SlaveOutput) for spi bus main frame input/exports from machine, 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, USB can be realized to the conversion of serial UART interface, also can be transformed into synchronous, asynchronous BIT-BANG interface modes.。The level of FT-232 is EIA level.Adopt secondary logic, namely-3 ~ 15V represents logical one ,+3 ~+15V presentation logic " 0 ", because TXD, RXD pin of ATmega1280 is Transistor-Transistor Logic level, therefore by interface conversion chip, Transistor-Transistor Logic level must be converted to the level of PC serial ports coupling.The RXD port of single-chip microcomputer is linked the TXD port of FT232RL, the TXD port of single-chip microcomputer links the RXD port of FT232RL, and the CBUS1 of FT232RL links 1 pin of USB, and USBDM, USBDP link 2,3 pin of USB respectively.
fig. 5 is direct current motor drive circuit.Circuit design 2 current feedback detect interface, 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, the control of DC speed-reducing can be realized.Devise EA, I1, I2, EB, I3, I4 six terminals during circuit design for controlling motor, wherein EA, EB are that the control of two-way motor is enable, can control motor speed by PWM.
Claims (2)
1. 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 steering wheel, sensor, driver module, bluetooth module, power module respectively; Driver module is connected with motor; Micro controller module bluetooth module realizes and host computer information transmission.
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.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420522735.6U CN204155150U (en) | 2014-09-12 | 2014-09-12 | A kind of Mobile Robot Control System based on AVR |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420522735.6U CN204155150U (en) | 2014-09-12 | 2014-09-12 | A kind of Mobile Robot Control System based on AVR |
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| CN204155150U true CN204155150U (en) | 2015-02-11 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199448A (en) * | 2014-09-12 | 2014-12-10 | 哈尔滨恒誉名翔科技有限公司 | AVR-based Mobile robot control system |
| CN106843304A (en) * | 2017-03-31 | 2017-06-13 | 深圳诺欧博智能科技有限公司 | Motor general-purpose control system and method |
| CN108015773A (en) * | 2017-12-15 | 2018-05-11 | 青岛大学 | Mechanical arm control panel based on wireless blue tooth technology |
-
2014
- 2014-09-12 CN CN201420522735.6U patent/CN204155150U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104199448A (en) * | 2014-09-12 | 2014-12-10 | 哈尔滨恒誉名翔科技有限公司 | AVR-based Mobile robot control system |
| CN106843304A (en) * | 2017-03-31 | 2017-06-13 | 深圳诺欧博智能科技有限公司 | Motor general-purpose control system and method |
| CN108015773A (en) * | 2017-12-15 | 2018-05-11 | 青岛大学 | Mechanical arm control panel based on wireless blue tooth technology |
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| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150211 |
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| CF01 | Termination of patent right due to non-payment of annual fee |