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                  基于智能手機的撿球機控制系統設計

                  職稱驛站所屬分類:通信論文發布時間:2019-07-03 10:02:03瀏覽:1

                  智能手機以其獨有的特點正為人們提供越來越多的技術成果。本文設計了一種基于智能手機控制的網球撿球機,-首先闡述了基于智能手機控制的網球撿球機要實現的功能,然后介紹了該撿球機的設計原理

                     智能手機以其獨有的特點正為人們提供越來越多的技術成果。本文設計了一種基于智能手機控制的網球撿球機,-首先闡述了基于智能手機控制的網球撿球機要實現的功能,然后介紹了該撿球機的設計原理,包括系統方案設計、硬件電路設計、軟件開發設計。在撿球過程中,撿球機可以獨立完成撿球信號的接收、網球的識別、拾取網球等一系列動作。使用手機控制的撿球機系統具有低成本、使用靈活的優點,能實現網球撿球過程的智能化、高效化。

                  天津通信技術

                    《天津通信技術》Tianjin Communications Technology(季刊)1984年創刊,是國內外公開發行的科技期刊,宗旨是跟蹤國際和國內通信科技發展的新潮流,傳播、交流、推廣通信科技的新成果,宣傳我國及天津市通信科技發展的大好形勢,為繁榮通信科技和通信現代化服務。本刊自辦刊以來已連續四次被原郵電部及信息產業部評為優秀期刊,是一本不可多得的通信技術類的刊物。

                    1.網球撿球機的發展現狀

                    目前國內外已有的網球撿球機大約有四類:第一類是手推式的撿球機,需要靠人推著車去撿球,無智能裝置區。第二類是電動控制的撿球機,需要靠人操控完成撿球,無智能裝置。第三類是自動控制的撿球車,每次只能撿一個球,且沒有避人避障等一些基本的控制,僅限用于實驗,智能性較差。第四類是基于上位機結合場地攝像頭采集圖像的總體控制方案,其控制方式僅適用于大規模的網球場,而且系統控制方式復雜,成本較高,不易攜帶。

                    當前網球撿球工具體積大且自動化程度低,比較笨拙。浪費運動員體能,不方便打球,需要人工操作,與智能化撿球機相比消耗更多的時間與體力。而且造價高,一般網球場很難購買,因此,它的適用范圍小,普及度低。

                    為了網球撿球機的功能更加智能化、人性化,我們研制了一種撿球拾取過程的方便、快捷的基于智能手機控制的網球撿球機。基于智能手機控制的網球撿球機由手機藍牙控制平臺、藍牙HC-06通信模塊、網球識別模塊、運動系統、撿球系統和控制器組成,撿球機在接收手機控制平臺發出的撿球命令后,靈活識別場地上的網球,進而拾取網球。

                    2.網球撿球機控制系統的設計原理

                    2.1系統方案設計

                    基于智能手機控制的網球撿球機由智能手機藍牙控制平臺、藍牙HC-06通信模塊、網球識別模塊、運動系統、撿球系統和控制器組成。智能手機的藍牙控制平臺作為客戶端,撿球機上的藍牙模塊HC-06作為服務端,服務端采用AT89C51單片機進行控制,雙方通過串口進行通信,單片機通過控制撿球機的運動系統、撿球系統以完成相應的撿球功能。

                    網球撿球機以AT89C51單片機為核心,外圍電路包括電機驅動電路,撿球系統驅動電路,網球識別模塊,藍牙HC-06模塊。撿球機上的網球識別系統能快速搜尋網球,單片機控制行走電動機、撿球電動機的動作以拾取網球。當運動員需要撿球時,只需打開手機藍牙控制平臺,發出撿球命令,此時手機藍牙就與網球撿球機上的藍牙模塊建立通信,將撿球命令發送給撿球機,撿球機得到命令后,通過智能識別系統快速找到網球的位置,撿球機運動到其位置將網球拾取。

                    2.2系統硬件電路設計

                    該撿球機控制系統的硬件電路分為五個部分:單片機最小系統、網球識別模塊、電源模塊、電機驅動模塊、,其中AT89C51單片機最小系統是撿球機控制器的核心部分,網球識別模塊的原理類似于圖像處理系統,首先我們把網球的圖片信息輸入網球識別模塊系統中,優化網球識別算法,使網球識別系統能在復雜、多變的環境中識別出網球的位置,確保撿球機在不同的環境下都能拾取網球。電源模塊由兩部分組成,一部分接外部電源,用于供電機驅動模塊運行,另一部分由電池電源供電,以確保單片機最小系統、網球識別模塊、藍牙HC-06模塊的正常工作。電機驅動模塊需要兩個部分,一部分是對電機行走系統的控制,即對撿球機4個輪子的運行狀態的控制,包括輪子的進退、轉向方向和速度的控制;另一部分是控制撿球機的撿球機構動作,包括撿球機構對網球的抓取、釋放、各種角度動作的調整。控制系統結構如圖2所示。

                    2.2.1單片機最小系統

                    單片機最小系統主要由電源、復位、振蕩電路以及擴展部分等部分組成,是單片機能正常工作并能實現所要的控制要求的基本組成部分。對于51系列的單片機來說,最小系統一般包括:單片機、晶振電路、復位電路。單片機最小系統如圖3所示。現今市面上的單片機的類型有很多,51結構的單片機有AT89CXX系列、AT89SXX系列、AT89C20系列或STC系列的所有單片機都可實現控制電機驅動。

                    2.2.2藍牙HC-06模塊

                    撿球機上的藍牙模塊選擇HC-06模塊,用于接受手機平臺發出的撿球命令,把撿球信號傳遞給控制器從而使撿球機完成相應的動作。藍牙HC-06模塊芯片共有VCC、GND、RXD、TXD 4個引腳,可以對單片機無線升級和下載程序。它的主要作用是通過串口與AT89C51進行通信,傳遞智能手機藍牙開發平臺發出的撿球命令,直接打開手機藍牙開發平臺,點擊撿球按鈕,便通過與藍牙模塊的信息連接配對成功后,實現遠程控制撿球機拾取網球的功能。

                    2.2.3電機驅動模塊

                    該電機驅動模塊包括5個電動機,其中4臺電動機控制4個輪子的行走,1臺電動機控制撿球機構的動作。電機驅動模塊采用L298N電機,該電機由于其工作電壓高、輸出電流大、電路簡單的特點,可以實現控制兩個電機結構的要求,一個是控制電機行走系統,即對撿球機4個輪子的運行狀態的控制,包括輪子的進退、轉向方向和速度的控制;另一個是控制撿球機的撿球機構動作,包括撿球機構對網球的抓取、釋放、各種角度動作的調整。

                    2.3系統的軟件設計

                    2.3.1控制系統主程序設計

                    主程序的設計是為了單片機能對藍牙HC-06模塊接收到的來自手機藍牙平臺發出的撿球命令進行分析判斷,從而來控制電機驅動模塊的動作,從而實現智能撿球機的自動撿球功能。實現單片機對藍牙HC-06模塊存儲的命令進行判斷分析,控制電機驅動系統的運行,從而控制撿球機的撿球動作。

                    2.3.2手機控制平臺程序設計

                    為了實現智能手機控制網球機撿球的功能,手機藍牙控制采用Eclipse開發環境,主要是對手機藍牙輸入的撿球命令進行分析,與撿球機上的藍牙HC-06模塊建立通信,該程序分為2個模塊:平臺界面模塊,平臺監控模塊。使用者通過點擊“平臺界面”里的撿球命令按鈕,在命令成功錄入后,存人相應的數據庫,為撿球命令判斷做好前期準備,之后平臺監控模塊與藍牙HC-06模塊、網球識別模塊建立通信,網球識別模塊檢測到球場有網球散落,藍牙HC-06模塊立刻通過串口與AT89C51進行通信,傳遞智能手機藍牙發出的撿球命令,繼而使撿球機構拾取網球。

                    4.結論

                    本文是一種應用于各類網球場的智能網球撿球機。它具有一定的智能性,高效性通過其網球識別模塊的識別功能,能夠自動發現網球,另外還具有手機控制撿球的功能,不需要人過多的參與,只要利用智能手機,就能完成撿球信號的接收、網球的識別、拾取網球等一系列動作,實現了網球撿球過程的智能化、高效化。

                  《基于智能手機的撿球機控制系統設計》
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