LPC2119-based autonomous mobile robot design – electronics industry
Abstract: Philips's LPC2119 ARM MCU core for control, a autonomous mobile robot design. Application of multi-ultrasonic sensor subsystem 98C1051 constitute control circuits to realize this subsystem obstacles ranging and autonomous obstacle avoidance robot walking control; by light sensors on the robot and the search for light perception; through wireless Communicate Chip PTR2000 mobile robot wireless communication between computers.
Keywords: mobile robot LPC2119 PWM PTR2000 />
Autonomous mobile robot system is the task and the environment under the instruction information independent path planning, and implementation process in the task of continually collecting local environmental information, make decisions, to achieve safe driving and accurately reach the target location intelligent system. In this paper, LPC2119 as the control center, describes a wheeled mobile robot design. The robot system using ultrasonic sensors, light sensors, collision sensors collect information on the external environment, using PTR2000 mobile robot and computer communications, enabling on-site information, feedback and computer control commands sent.
LPC2119 is supported by Philips has introduced real-time simulation and tracking the ARM7TDMI-S microprocessor, embedded high speed Flash memory 128KB. It is a 3-stage pipeline technology, fetch, decode and execution at the same time, parallel processing of instructions can improve the CPU speed. Due to its very small size and low power consumption, very suitable for small applications. Chip up to 64KB of SRAM, a large buffer size and processing power. LPC2119 internal integration of two CAN controllers, two 32-bit timer counter and four ADC unit circuit.
1 Hardware Structure Controller LPC2119 mainly used to produce 2-way PWM signal, and sensor information processing, intelligent control to realize the car. The system uses the IR2110 driver chip as the H bridge circuit with four STP60NE06 lap drive DC motor H bridge circuit, and the use of encoders measure the motor speed; using ultrasonic sensor system 16 as a collision avoidance system and a simple distance; use light sensors on the robot's perception and the search for light; by the collision sensor detecting collision, the robot can make with emergency treatment; use of wireless communications and computer chip PTR2000 robot wireless communication.
1.1 Motor Control PWM IR2110 U.S. IR (InternationalRectifier) has introduced a dual-channel, high voltage, high power device gate drive monolithic integrated drive. It is to drive high side and low side MOSFET or IGBT most needed functionality integrated into a high-performance package, add a few discrete components that can provide extremely fast Switch The speed and low power consumption. Its characteristics are: the input logic signal into phase with low-impedance output drive signal, which drives the same bridge arm of the 2 outputs, drive ability, fast response; high voltage up to 600V; internal voltage blockade; low cost, easy to debug; circuit chip, small size, for the DIP14 package. High side driver with an external bootstrap capacitor power, and other IC Driving circuit compared to the design significantly reduces the number of drive transformers and capacitors, reducing product cost, reduced size, improved system reliability. This applies to drive the power MOSFET and IGBT's bootstrap IC In power conversion, motor control and other areas of power-driven access to a wide range of applications.
LPC2119 microcontroller's PWM timer function to establish a standard, it has a timing controller and 32-bit prescaler controller, 7 matching controller, enabling six sided PWM or three bilateral PWM output you can use both types of mixed output. This system uses the port PWM0 and Two PWM signals PWM1 output were 2 mobile robot control drive motor. After PWM signals in two channels optocoupler 180 ° phase difference signal added to the IR2110's HIN and LIN pins on the same bridge arm to achieve the two MOSFET switch control, the principle shown in Figure 1.
HIN is high during the period, Q1, Q4 turns on, add in the DC forward voltage; HIN is low during the period, LIN-ended input is high, Q2, Q3 guidance through, add in the DC reverse voltage. Therefore, the armature voltage is bipolar rectangular pulse shape. As the role of mechanical inertia, the average voltage rectangular pulse motor steering and speed the decision.
1.2 Ultrasonic sensor system To reduce the burden on the controller LPC2119, ultrasonic sensor system consists of Atmel's AT89C1051 Microcontroller. 1051 microcontroller is programmable with a 1KB E 2 PROM high-performance micro-controller, with the industry standard MCS-51 instructions and pin-compatible. Many embedded control applications it provides a highly flexible and effective solution. AT89C1051 has the following characteristics: 1KB of E 2 PROM, 128B of RAM, 15 I / O lines, two 16-bit timer / counters, 5 second vector interrupt structure, a full duplex serial port and includes precision analog comparator and on-chip Oscillator With 4.25 ~ 5.5V and 24MHz scope of the voltage frequency, and also offers encryption array of secondary program memory lock, power-down and the clock circuit. In addition, AT89C1051 software also supports two power saving mode setting. Idle time, CPU halted, RAM, timer / counters, serial port and interrupt system to continue to work. Power down, save the contents of RAM, but stops the oscillator in order to prohibit other chip functions until the next hardware reset.
1051 control every 60ms to send all the way ultrasound, detection of echo time, and complete the distance calculations. This cycle of 16 ultrasonic detection of an approximately 1s, the speed of ultrasound at room temperature is about when the 344m / s, can calculate the distance barrier, the last super Acoustic sensors Number and distance information transmitted to the LPC2119.
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