Design and Research of Intelligent Robot Control System Based on Single Chip Microcomputer
Zhengzhou institute of aeronautical industry management) Chen Zi
Chen Yu
Based on the photoelectric conversion characteristics of infrared sensor, AT89C5 1 single chip microcomputer is used as the core control unit to process the detection signal and complete the control of intelligent robot.
Design of the system. This paper introduces the system structure, software and hardware design methods in detail. The robot control system is designed based on infrared technology and single chip microcomputer technology, and each step is realized.
Driving, tracking, obstacle avoidance, pacing, voice, voice control, LCD display, ground detection and other functions. The system meets higher requirements in intelligence, accuracy and real-time.
It has a good application prospect.
Keywords: single chip microcomputer; Infrared technology; Robots; Intelligent control system
China Library Classification Number: TP2 16 Document Identification Number: B.
Using the photoelectric characteristics of pyroelectric infrared sensor. The detection signal is processed by a chip.
AT89C5 1. Its structure and software and hardware design method are introduced in detail. Control system mark of
Intelligent robot based on infrared technology and single chip microcomputer technology. The robot has realized the functions of talking, tracking, obstacle avoidance,
Adjust the pace, voice, noise control, liquid crystal display, grounding detection, etc. The system has reached higher requirements,
Such as intelligence, accuracy and real-time.
Key words: single chip microcomputer, infrared technology, robot. , intelligent control system
introduce
Single chip microcomputer technology is one of the cores of automatic control technology. Be widely used
In industrial control, intelligent instruments, mechanical and electrical products, household appliances and other fields. Micro-electricity
With the rapid development of sub-technology, the function of single chip microcomputer is becoming more and more powerful. This design is based on MCU.
The control system of intelligent robot is designed by using single chip microcomputer technology and infrared technology. intelligent machine
It is remarkable that human research has a very prominent position in the field of robot research at present.
Its characteristics are environmental awareness, decision-making, human-computer interaction and other functions? . Benzhi
The robot system mainly realizes walking, tracking, obstacle avoidance, pacing, voice,
Voice control, LCD display, ground detection and other functions. When external conditions change.
At that time, the robot will take different measures and show it to the robot well.
Thinking ability.
Step correction
Voice module
infrared detection
Ground detection
Single chip microcomputer control
MCU 1
Single chip microcomputer control
MCU2
drive circuit
Photoelectric conversion
Tactile module
display module
Figure 1 Structure Diagram of Robot Control System
1 introduction of intelligent robot
1. 1 system block diagram
The intelligent robot control system is controlled by two pieces of AT89C51121,and one piece is a single piece.
MCU 1 is used for the control of the whole system, and MCU2 is used for driving.
Joy chen: Master of Lecturer.
The LCD LCM 1602 works normally. They communicate with each other through I/O ports to realize two functions.
Coordination and control of single chip microcomputer. System block diagram [3l~l diagram 1.
In the design, P 1.0 and P 1.3 of MCU 1 respectively touch the sensor, P 1.6-P 1.7.
Connect the visible infrared sensor. . P2.0-P2A 13 control relay drive circuit, P2.5 13.
Connect to the ground detection sensor. . P2.6-P2.7 is connected to the step correction optocoupler, and P3.0-P3.5 is connected.
ISD25 120 Voice Chip
1.2 implementation function
When the robot is moving, it will give a voice prompt: "The target is searching".
LCD display: "Target is searching"; " ; Find the goal and language in the process of progress.
Voice prompt: "target found": LCD display: "object found", and the robot will automatically send it to this.
Target turning; After aiming at the target, the voice prompts: "Lock the target", and the LCD displays:
"Lock", while the robot continues to move towards the target; If the robot hits the target, the language
Voice prompt: "Obstacle ahead", LCD display: "Obstacle approaching", machine.
According to the order of antenna collision, the robot turns about 100 in the opposite direction.
Degree, move on: there is a fault on the ground at present, and the voice prompts: "Danger, ahead!"
There is a fault on the surface, and the LCD displays "Warning, Front Fault". At the same time, robots will
Take a few steps back and turn around and move on; If the robot is turning, the speed is wrong.
When there is confusion, the speed adjustment program will be automatically executed to correct the pace.
2 system design
2. 1 drive circuit
In order to make the robot have a stable walking ability, it is necessary to choose a stable motor drive.
Dynamic system. In this design, the I/O port current of single chip microcomputer is amplified by triode.
Amplifies and drives the relay to control the rotation of the motor. And has no influence on the input current.
Influence, can completely provide large current to the motor. Ensure the stable operation of the circuit.
The motor drive circuit uses two NPN transistors to control the I/O of the single chip microcomputer AT89C5 1.
The output current signal of the O port is amplified, and the resistors R 19 and R20 are used as the base of the triode.
Line protection. When there is a signal output from the I/O port of the single chip microcomputer, the current passes through the resistor and is sent to the core journal of China Robotics, Microcomputer Information (Embedded and SOC), Volume 23,No. 12.2, 2007.
The base of the first-stage triode makes the first-stage diode conductive, and the conductive current is sent to others through the resistor.
The base of the second triode further amplifies the current to reach the relay driving current.
According to calculation, the current of relay is amplified by bipolar amplifier circuit.
S2 Times, 90 14 is used as a switch here. The relay is driven after two stages of amplification. such as
As shown in figure 2.
l
Fig. 2 schematic diagram of motor drive circuit
Each relay is equivalent to a single-pole double-throw switch. Therefore, two single pole double throw switches.
Flip the switch to form the forward and backward control circuit of the motor, and realize the forward and backward movement of the robot.
Action.
2.2 visual circuit
In this design, we only ask the robot to find and track the target, but we don't need it.
Confirm the target. Therefore, the most commonly used infrared reflection sensors are used as robots.
The vision function of the robot can detect whether there is a target in front of the robot. The realization of this function adopts
The two infrared reflection sensors are TX05D. TX05D commonly used
The infrared reflective proximity switch is internally provided with an infrared emitting tube and an infrared connector.
Take over the pipe. The launch tube emits infrared rays. If there is no object in front, the receiving tube
No infrared feedback signal was received. When an object appears in front, the infrared signal will pass through.
Passing objects are reflected back. At this time, the receiving tube receives the signal and sends it to the single chip microcomputer.
High-level signal, inform the single chip microcomputer that there is an obstacle in front.
Two infrared sensors are installed in front of the robot.
When working, the two sensors always emit infrared detection signals. When one of them
When the sensor receives the feedback signal, it sends a high-level signal to the single chip microcomputer for notification.
The single chip microcomputer finds the target in this direction and controls the motor to move in this direction after judgment.
The rotation direction realizes the tracking function. When both sensors sense the target, the machine
The robot went straight to the target until it hit the target.
2.3 pace adjustment circuit
When the robot moves forward, if the motor speed is inconsistent or turns.
If the pace is disturbed in this process, the pace adjustment function will be started at this time, which is beneficial.
This is done with two optical couplers. In the leg of the robot, two blocks pass through the optical coupler.
When the robot walks normally, the baffle will alternately open and close the optical coupler. if
The states of two optocouplers are always different. That means the robot has a normal pace.
When the optocouplers are in the same state, it means that the robot's pace is disordered and needs to be corrected.
At this time, one "leg" will stop at random and wait for the other "leg" to go to the right position, that is,
When the optocoupler is in the opposite state, it will move forward synchronously. The circuit is shown in Figure 3.
Fig. 3 schematic diagram of step correction circuit
2.4 display circuit
This function mainly realizes the visualization platform of human-computer interaction. This design adopts
LCM 1602 LCD module, which is the most commonly used English display module. it
It contains English fonts, which is convenient to use and cheap. LCD function matching
Voice function * * * Additional function used together, whose function is to display the current.
State, in order to realize the human-computer interactive display function of the robot.
LCM 1602 is a character LCD module with 16 characters and x2 lines.
Wired connection mode and analog port connection mode. This design adopts analog port connector.
Compared with the former, the circuit is simpler. In this circuit, the P 1 port is connected to the display screen.
Data transmission, P3.0 to P3.2 control the state of reading and writing data to the display screen. VL
The pin is grounded through the 1K resistor to limit the chromaticity of the liquid crystal display. BLA and
BLK is a backlight power interface. The circuit is shown in Figure 4.
Figure 4 shows the schematic diagram of the circuit.
In the design, P2 port is used to communicate with MCU 1. It's been monitoring.
Status of MCU 1. So as to keep the display content and voice synchronized.
2.5 language circuit
In order to ensure the correctness of the operation, the sound is used for the second prompt.
The ISD25 120 voice chip used in the system is a high-fidelity recording produced by ISD Company of the United States.
Monolithic solid-state voice integrated circuit, integrated playback, recording, playback time 120 seconds, transportable.
Line multi-segment information processing, which can be recorded repeatedly100000 times 6, using ISD25 120.
You don't need to consider how to drive the voice chip, just use 5 1 to control the voice directly.
The trigger time of the circuit can play pre-recorded sound files to realize the robot.
The function of speaking. The circuit is shown in Figure 5.
"-is the song dynasty.
Fig. 5 schematic diagram of voice circuit
2.6 Sub-ultrasonic receiving circuit
The robot is equipped with a sub-ultrasonic receiving module. When an external infrasonic wave is received,
Ultrasonic wave. The robot will stop and run to realize the hearing function of the robot.
Yes This part is realized by using the finished sub-ultrasonic receiving board. In design, it
The output signal is converted into a low voltage that can trigger the I/O port of single chip microcomputer through photoelectric switch.
The plane switch signal informs the microcontroller of the current state of the sub-ultrasonic switch. The circuit is as follows
As shown in fig. 6. Information and data such as purpose; The Internet access module is used for broadband access to the Internet; red
The external module controls the sending and receiving of the remote controller, selects TV programs or realizes others.
Function; Dual-port RAM is used to exchange data with STI55 18.
4 Software and functions of digital network set-top box
Because embedded system software is closely related to microprocessor, embedded system software is usually used.
In the layered model, the software layered structure is divided into firmware layer, driver layer,
Middleware, application layer, so that once the hardware module changes, only the software needs to be modified.
The firmware layer, middleware and application layer related to hardware can remain unchanged and can
It can reduce programming workload and shorten software development time. Principles to be followed in layered construction:
A module of a certain layer can call the lower module and be called by the upper layer at the same time.
Generally cannot be called between.
The hardware composition of digital network set-top box is equivalent to the sum of a computer running on III.
Word set-top box, so its function can not only complete the function of computer but also complete the number.
The function of word set-top box. The main functions of digital network set-top box are:
1) receives digital TV programs.
2)DVB universal descrambling algorithm and conditional access.
3) support PAUNTSC/SECAM.
4) MPEG-2 images and sound quality supporting MP3 and Dolby 5. 1.
5 1 distance education
6) Pay for watching TV programs
7) Electronic program guide
Access to 8 1 Internet
9) Digital TV program storage
10) video on demand
1 1) interactive video games, etc. It can be seen that the digital network TV set-top box
The function of is very powerful.
5 abstract
The innovation of the author in this paper is to complete the numbering based on ARM9 and STi55 18.
Design of hardware platform of network set-top box. In this paper, the traditional digital set-top box and digital
The network set-top boxes are compared, and the hardware logic of digital network set-top boxes is given.
Block diagram, software model and function. After the design is realized, not only the transmission can be completed.
The function of digital set-top box can also complete the storage and interconnection of TV programs.
Network function, there is reason to believe that with the advent of digital TV era, design can be obtained.
Widely used.
refer to
[1] TDA827x User Manual of Philips Electronics Co., Ltd. [OL].2003.
[2]ST Electronics Co., Ltd. Sti55 18 User Manual [OL].200 1.
[3 1 Zhang Ying, Lin Xiaokang. FJ design of embedded gateway based on ARM and FPGA
Computer information.
[4] Hou Dongjing, Zhao Jin. Design of Remote Data Acquisition Platform Based on ARM9 and GSM
FJI, development and innovation of electromechanical products. 2006, 2: 84 ~ 85.
[5] User Manual of 3C24 10X Microprocessor of Samsung Electronics Co., Ltd.
Manual [OL].2003.
About the author: Hou Dong U ~ (1974 ~): Male (Tujia), from Zhangjiajie, Hunan, and Jishou, Hunan.
Lecturer, Master, College of Physical Information, University, mainly engaged in ARM technology and embedded system research.
The study of unification.
Biology: Hou Dongqing (1974 I: male (Tu nationality).
Lecturer, School of Physical Sciences, Hanan Zhangjiajie
Information Engineering of Jishou University in Hunan Province. Master,
The research direction is ARM technology and embedded system.
System.
(4 16000 School of Physical Science and Information Engineering, Jishou University, Hunan Province) Hou Dongjing
Mailing address ~ f: (4 16000 School of Physical Science and Information Engineering, Jishou University, Hunan)
Hou dongqing
(Date of receipt: September 2007.13) (Date of revision: 2007.11.15)
Fig. 6 schematic diagram of sub-ultrasonic receiving circuit
3 abstract
The design of this robot system simulates human vision and touch to some extent.
Sense, hearing, pronunciation and simple thinking ability, and to some extent achieved a.
The most basic human-computer interactive display function of robot, but the new requirements and tasks are also right for the machine.
Higher requirements are put forward for the performance of the robot. The system uses double single-chip computers for good communication.
The coordination problem between sensors and the priority response problem between sensors are successfully solved.
Answer the question.
Author's innovation: 1 This design is based on MCU technology and infrared technology.
The design of intelligent robot control system and the research of intelligent robot are the hot spots of robot research at present.
The research field has a very prominent position, its remarkable feature is that it has environmental awareness,
Judgement and decision-making, human-computer interaction and other functions: 2. Intelligent robots are modeled to some extent.
For human vision, touch, hearing, sound and simple thinking ability, in a.
To a certain extent, the most basic human-computer interactive display function of the robot is realized: 3.
In the system design, two pieces of AT89C5l control are adopted, and the system is modular.
The system has expanded functions, high flexibility and wide applicability.
References:
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Microcomputer information [m] .2006,22,4-2, 18 1- 182.
Fan Linan, Li Xuefei, Yin Shuyuan. Design of single chip microcomputer control system [M]. north
Beijing: People's Posts and Telecommunications Press. 2004, 1- 100.
[3] Xu Guanlei, Ge Dehong. Portable level based on MCX5 l single chip microcomputer should be
Designed for use. Microcomputer information [M] .2003,9,6,56-57.
Qian Dongbo. Temperature control system based on RTX5 1 Microcomputer information [M].
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About the author: joy chen (1978 ~), male (Han nationality), from Zhengzhou, Henan Province, is an electrician of Zhengzhou Institute of Aeronautics and Astronautics.
Lecturer, master, majoring in electronic communication and automatic control technology.
Investigation and research work
Resume: Chen Yu (1978-), male, from Zhengzhou, Henan, a lecturer at Zhengzhou University.
Zhengzhou university electromechanical engineering department
Master of aviation industry management research institute. Mainly, um—
Engaged in teaching and research of electronic communication.
Ion and automatic control technology