Six groups of infrared sensors are installed around the computer mouse to sense the left, left front, front, right front and right respectively. The transmitter emits infrared light of a certain frequency, and the receiver determines whether there are obstacles through the reflected waves in six directions. Store the data of the cell, through the maze information fed back by the six groups of infrared sensors, control the computer mouse to complete the obstacle avoidance, turning, acceleration and other actions, use an intelligent algorithm to traverse some cells or all cells of the maze, and maze The information is stored in an efficient data structure, and the microcontroller uses the labyrinth efficient algorithm to find an optimal path based on these recorded information, thereby maximizing the sprint from the start point to the end point.
2 hardware circuit designIn order to complete maze detection and sprint tasks, the computer mouse must have the following functional modules: ARM microprocessor as the control core to coordinate the normal operation of the functional modules; the motor and drive module control the motor startup and braking in real time; the infrared detection module is responsible for infrared detection and perception Power supply for the entire system to provide a stable voltage, gyroscope and compass module to determine the direction of the computer mouse, according to the distance traveled, in order to resolve the coordinates. The hardware components are shown in Figure 1.
2.1 Power Module
Power conditioning devices typically use linear voltage regulators (such as the LM7805), which have the advantages of adjustable output voltage and high regulation accuracy, but their linear adjustment mode of operation has a large “heat loss†at work, resulting in low power utilization. Can not meet the needs of portable low-power. Switching power regulators, unlike linear regulators, operate in a fully turned-on or turn-off mode. By controlling the turn-on and turn-off times of the switch, they effectively reduce “heat loss†during operation and improve power utilization. . In this design, the power supply module provides three different voltages for the system. The 12V power supply is used to drive the motor. The 12V DC voltage is reduced to 5V using a switching power supply LM2596 to supply power to the infrared module and the human-machine interaction module. Then 5V is reduced to 5V through the AMS1117. 3.3V for ARM processor and other modules.
2.2 microprocessor module
The microprocessor is the core of the entire control system. It completes the function of acquiring path information from the infrared detection module, collecting instantaneous speeds, performing data processing, controlling arithmetic operations, and outputting real-time control quantities. In order to ensure the practicability and extensibility of the system, this control system uses STMicroelectronics' enhanced series STFM32F103RCT6, STM32F103xx enhanced series uses high-performance ARM Correx-M3 32-bit RISC core, operating frequency is 72MHz, Built-in high-speed memory (up to 128K bytes of flash memory and 20K bytes of SRAM), rich I/O ports and peripherals connected to two APB buses. All models contain two 12-bit ADCs, three general-purpose 16-bit timers, and one PWM timer. They also include standard and advanced communication interfaces: up to 2 I2C and SPI, 3 USARTs, 1 USB, and A CAN meets the requirements in terms of storage capacity and computing speed.
2.3 Motor and Drive Module
In order to increase system power and reduce power consumption, the driver circuit uses an integrated circuit chip L298N based on pulse width modulation. The more common is the L298N in the 15-pin Muliwart package. It contains a four-channel logic drive circuit, which is a high-voltage, high-current dual full-bridge driver with two H-bridges. It can drive and control two DC motors. The chip is used to supply motor power. Dual-supply-and-logic-level power supplies accept standard TTL logic level signals, drive 46V, motors below 2A, and drive inductive loads. Which ENA, ENB is the control enable, IN1, IN2, IN3, IN4 is the control level input, the circuit shown in Figure 2. In this design, a hollow cup DC motor is used, which has outstanding energy-saving features, sensitive and convenient control characteristics and stable operation characteristics. The maximum efficiency is generally above 70%, and some products can reach over 90%; the start-up and braking are rapid and the response is Extremely fast; its weight, volume is relatively reduced by 1/3-1/2, speed is adjusted by PWM adjusting pulse duty cycle.
2.4 Infrared detection module
The infrared detection module is mainly responsible for the labyrinth environment monitoring and processing. The infrared ray is modulated and sent out by the launch tube. The receiving tube receives the reflected light from the labyrinth wall and determines the distance from the partition wall according to the intensity of the received reflected signal. This system has the following features compared to traditional infrared detection methods:
(1) Infrared sensors were increased from the original 5 groups to 6 groups. In addition to the front, front, right, front right and front two 45-degree bevels, an infrared sensor is added in front of the front, and the intersection of the two sets of sensor information in front of the intersection achieves a 45-degree intersection, which is relative to the previous 90 degrees. Right angle adjustment saves time and improves efficiency.
(2) Using an amplifier design based on a double T frequency selective network, the infrared sensor implements ranging between a computer mouse and an obstacle based on the strength of the reflected signal. In the past, an integrated infrared receiving sensor (such as IRM8601S) was used. The receiver had an integrated automatic gain control circuit, a band-pass filter circuit, a decoding circuit, and an output driver circuit. However, since the output of the detection signal was a digital signal, it could only be judged Or no obstacles, the distance cannot be calculated based on the intensity of the detection signal output. In this design, a frequency-selective amplification design based on a double-T frequency selective network and a TLC084 is adopted to achieve different gains in frequency, amplify useful signals, and filter out or suppress unwanted signals.
(3) Three kinds of frequency modulation waves are transmitted to reduce interference between signals. The six groups of sensors are divided into three groups. The left and right sensors are used to detect whether the computer mouse is on the midline in order to make posture corrections in time; the left front and front right two sensors mainly check whether there is an intersection in front of them; the front two groups The sensor cooperates with the motor to work together to achieve a 45 degree turn. The higher the frequency of infrared light emission, the longer the distance of propagation. In this design, the distance between labyrinth walls is 16.8cm (cell 18cm, wall thickness 1.2cm), and the width of computer mouse is generally about 10cm. The distance of the wall is only about 3cm, so the right and right firing frequencies are selected to be 33kHz, the left front and right front are emitted at 35kHz, the farthest from the front, and the firing frequency is 38kHz. Specifically shown in Figure 3.
The design of the hardware circuit is improved, by the STM32 timer output three PWM signal, each group of infrared emission control share a PWM signal, after returning obstacles, infrared receiver tube for signal acquisition, through the frequency amplifier for the useful signal The amplification process is performed and the STM32 12-bit successive approximation AD converter is fed. Since there is a delay in the rectification filtering, AC sampling is used here. The ADC needs 1.5 to 12.5 ADC cycles at the highest sampling speed and 1 MSPs at the 14M ADC clock speed. Infrared ranging circuit shown in Figure 4, when the receiver receives infrared, D2 conduction, and the stronger the reflection, D2 resistance is smaller, no infrared, D2 resistance is infinite, equivalent to cut-off; R3 and R4 Two 10K resistors provide 2.5V DC bias.
The software module is an important component of the system. The computer mouse acquires the surrounding information through infrared detection and completes the basic actions such as forward, cornering, sprinting, and stopping. In addition, it searches for the optimal path by acquiring information and completes the final sprint. This design uses a modular design and calls each function subroutine through the main program. The main program flow chart and interrupt flow chart are shown in Figure 5(a)(b).
(1) Infrared sensor ranging system uses a frequency-selective network-based amplifier design. Because the resistors and capacitors use the national standard, the center frequency cannot fall exactly at 38 kHz. The double-T selective frequency network center frequency f0=1/2Ï€RC, selects R/C. =10k/430pF, f0=37kHz. The amplitude-frequency characteristics simulated by mulTIsim are shown in Fig. 6. The hardware experiment circuit was built. The center frequency did not fall at 37kHz but 30kHz. The RC value was decreased several times when R/ was tested. C=9.1k/430pF, center frequency falls at 38kHz.
(2) The labyrinth walls are made of hollow white plastic. A large part of the infrared light is transmitted and transmitted, which affects the sunlight. For example, a black outer tube is used for the emission tube to reduce outside interference; the PWM signal is generated by the ARM microprocessor. The human infrared emission tube receives the modulated infrared signal from the receiving tube, uses a triode to achieve level conversion, and adjusts the potentiometer to increase the transmission power, so that the signal is adjusted and amplified within the optimum range of the A/D conversion, and the desired processing accuracy is obtained. Through multiple measurements in the experiment, a set of infrared measurement distance and output voltage data are obtained. The obstruction distance S is the abscissa, the frequency-selected amplified voltage value U is the ordinate, and the curve is plotted using matlab. The relation between voltage value and distance For U = 0.1195 + 4.5962 * S-1, as shown in Figure 7.
(4) Use the STM32 timer function to modulate the required PWM signal through software programming to control the motor and emit infrared light. Figure 8 shows the PWM signal with TIMER4's CH1 channel output frequency of 38kHz and duty cycle of 30%.
5 Concluding remarksThis paper designed a computer mouse control system based on STM32F103RCT6. Based on the matlab and muhisim simulations, the RC parameters of the frequency-selective network were determined, and the distance and voltage values ​​were obtained through experiments, reflecting the good selection of symmetrical RC double T networks. Frequency characteristics; motor and drive module selection of high efficiency, fast response hollow cup DC motor. The test verified that the design scheme can meet the system requirements.
Features:
Bluetooth dialpad
Enter the number on the dial interface of the watch or mobile phone to enter the dial. The watch and mobile phone will be synchronized in real time.
Phone book
After connecting Bluetooth with your phone, phonebook contacts can be synced to your watch.
Call records
View recent call history of Bluetooth-connected devices.
Information
View phone information for Bluetooth connection with watc.
Motion record
Movement records three color circles, which represent the three data of step counting, exercise and standing
a. Step counting: according to the number of personal information target steps in the exercise record settings, the goal will be displayed full circle
b. Exercise: According to the physical fitness training exercise cumulative time reaches 30 minutes, full circle is displayed
c. Standing: stand and move for at least 1 minute per hour, and if the number of exercise steps reaches 25 steps or more in 1 minute, 1 ratio is recorded, and the target is divided into 12 ratios and a 12-hour full circle is required.
Heart rate
Enter the heart rate menu, the back of the watch must be placed on the skin of the arm, click on the start, the watch will automatically measure the heart rate value.
Blood pressure monitoring
Enter the blood pressure monitoring menu, the back of the watch must be placed on the skin of the arm, click start, the watch will automatically measure the blood pressure value.
Physical Training
Enter the fitness training menu, there are a total of 11 modes to choose from: 1, running 2, skipping 3, sit-up 4, table tennis 5, basketball 6, badminton 7, mountain climbing 8, riding 9, tennis 10, walking 11, Volleyball, you can choose any sport to start, record the current exercise time and calorie data.
Sedentary reminder
Click to enter the sedentary reminder interface, and slide the timing ring upward to enter the setting. After the set time period is determined, click Start. After the sedentary, the bell and vibration will remind you to get up.
Bluetooth connection
a. First turn on the Bluetooth switch of the watch, turn on the Bluetooth switch of the smartphone, and enter the Bluetooth notification menu. Click to automatically search for nearby Bluetooth enabled devices, find the phone device model and pair with it. After successful pairing, the Bluetooth icon in the status bar of the watch will display Green, at this time the watch and mobile phone successfully search for devices. (Via watch-search for equipment, there is vibration and ringing on the mobile phone end; through cellphone-finding device, there is vibration and ringing on the watch end)
b. Search, add, and delete Bluetooth devices, and the name and address of the device's Bluetooth can be viewed in About Phone.
Sleep detection
The watch wears the hand to sleep and automatically enters the sleep monitoring mode; automatically detects the length of your deep / light sleep all night and calculates your sleep quality; the APP can view the sleep data details.
Bluetooth music
After connecting the Bluetooth of the mobile phone, enter the Bluetooth music, click to control the music playback on the Bluetooth device.
Notice
Display information synchronized from the mobile phone, such as: QQ, WeChat, SMS, time, Twitter, Facebook, etc.
Set up
a, voice king (open and close, adjust the volume)
b. Side slip switch (open and close side slip function)
c. Security Settings (Password can be set arbitrarily, up to 8 digits)
d. Bluetooth Settings (enable and disable Bluetooth)
e. Raise the hand and light the screen (open and close the f. temperature unit (switchable Fahrenheit, Celsius)
g, the screen is always on (can be opened and closed)
h, clock (set time and date, change the time system, standby dial)
i, sound (set the incoming call ringing mode and incoming call notification bell ringing)
j, volume (set to adjust the multimedia, incoming ringtone and notification ringtone size)
k, Display (theme style: a variety of built-in UI styles can be switched at any time, set the screen brightness and backlight time
l. Language environment (multiple language modes can be selected)
m. Restore production Settings (this function will clear all the local call records, information, alarm clock, etc., please be careful)
n, About (check the device name and Bluetooth device address)
Recording
Enter the recording menu, click to start, pause, save the recording, and select to play the saved recording from the options menu
APP download
Scan the QR code on the watch side, you can download and install the Bluetooth notification application software.
Alarm
Add alarm reminders based on personal schedule.
Stopwatch
Turn the stopwatch timer on, off, and off.
Remote camera
After the watch is connected to an Android or IOS phone via Bluetooth, you can click the remote camera on the watch to control the phone to open the camera function to take a picture.
Note:IOS's mobile phone needs to enter the settings, click the linked device, then turn on the camera, and then click Remote photography
Search for my device
After the watch is connected to Android or IOS by Bluetooth, tap Search My Device on the watch and the phone will ring.
Calendar
Switching the interface up and down can jump to the date. Calculator
Used for calculation, supports up to 12-digit numerical display.
breathing
Used to adjust the breathing state, adjust the breathing according to the size of the icon
Blood oxygen
Enter the menu of blood oxygen, the back of the watch must be attached to the arm skin, the watch will automatically measure the value of bleeding oxygen.
Body temperature
Enter the temperature menu, the back of the watch must be attached to the arm skin, click "Start", the watch will automatically measure the temperature valueentertainment
Built-in some games, according to the game instructions to operate the entertainment
Music player
The built-in songs can be downloaded through USB, and can be played locally after the next good
Video player
The built-in video can be downloaded via USB, and can be played locally after it is finished
Application
a.Twitter(Turn on / off blocking message notifications)
b.Facebook(Turn on / off blocking message notifications)
c.WhatsApp(Turn on / off blocking message notifications)
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