本(ben)發明專利屬于(yu)迷宮(gong)機(ji)器(qi)人領域，尤(you)其涉及一種基于(yu)freertos的迷宮(gong)機(ji)器(qi)人實時操作控制系統。

背景技術：

1、隨著(zhu)科技水平的(de)(de)(de)(de)(de)進(jin)步與(yu)發(fa)展(zhan)(zhan)，移動式(shi)(shi)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)走(zou)進(jin)大(da)眾(zhong)視野(ye)并豐富人(ren)(ren)們(men)的(de)(de)(de)(de)(de)生(sheng)活(huo)，在方便人(ren)(ren)們(men)日(ri)常生(sheng)活(huo)的(de)(de)(de)(de)(de)同時(shi)(shi)，機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)競賽(sai)的(de)(de)(de)(de)(de)方式(shi)(shi)也吸引了各大(da)高(gao)校學(xue)(xue)生(sheng)的(de)(de)(de)(de)(de)目光。作為移動式(shi)(shi)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)的(de)(de)(de)(de)(de)一(yi)個(ge)分支，嵌入式(shi)(shi)迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)作為一(yi)種具有(you)“記憶功能(neng)”的(de)(de)(de)(de)(de)競速型機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)，因其自身所具備的(de)(de)(de)(de)(de)實(shi)踐與(yu)研究價值，深(shen)受過(guo)國(guo)內外(wai)(wai)研究學(xue)(xue)者的(de)(de)(de)(de)(de)喜愛(ai)；迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)是多(duo)學(xue)(xue)科交叉的(de)(de)(de)(de)(de)產物，可(ke)在多(duo)個(ge)技術領域對(dui)移動式(shi)(shi)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)進(jin)行(xing)延伸(shen)與(yu)發(fa)展(zhan)(zhan)。當(dang)前(qian)迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)主要出現在國(guo)內外(wai)(wai)迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)走(zou)迷(mi)(mi)宮(gong)(gong)比(bi)(bi)賽(sai)當(dang)中，而比(bi)(bi)賽(sai)中由于迷(mi)(mi)宮(gong)(gong)環(huan)境復雜且要求(qiu)迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)更(geng)快(kuai)更(geng)穩(wen)，就(jiu)需要迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)的(de)(de)(de)(de)(de)軟、硬(ying)件開發(fa)環(huan)境達到最(zui)優。當(dang)前(qian)的(de)(de)(de)(de)(de)迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)雖(sui)可(ke)以完成比(bi)(bi)賽(sai)任務(wu)，但單一(yi)追求(qiu)速度的(de)(de)(de)(de)(de)競賽(sai)任務(wu)逐漸呈現疲態(tai)，且當(dang)前(qian)開發(fa)的(de)(de)(de)(de)(de)迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)大(da)多(duo)為裸機(ji)(ji)(ji)(ji)(ji)開發(fa)，環(huan)境適應(ying)能(neng)力差(cha)、實(shi)時(shi)(shi)性(xing)差(cha)且多(duo)功能(neng)擴展(zhan)(zhan)性(xing)較(jiao)差(cha)，不利于迷(mi)(mi)宮(gong)(gong)機(ji)(ji)(ji)(ji)(ji)器(qi)(qi)人(ren)(ren)多(duo)功能(neng)性(xing)擴展(zhan)(zhan)的(de)(de)(de)(de)(de)發(fa)展(zhan)(zhan)趨(qu)勢(shi)。針對(dui)以上背(bei)景，基(ji)于freertos實(shi)時(shi)(shi)操作系統的(de)(de)(de)(de)(de)開發(fa)顯得尤為重要。

技術實現思路

1、針(zhen)對上述問(wen)題，本發明公開(kai)了一(yi)種基于freertos的(de)(de)迷(mi)宮機器人實時(shi)操作(zuo)控(kong)制(zhi)系統，通過將控(kong)制(zhi)系統進(jin)行分層管理，結合freertos的(de)(de)多任務(wu)架構特點，劃分多個獨立任務(wu)并(bing)根據(ju)功能(neng)由相應的(de)(de)硬件(jian)模塊作(zuo)為(wei)支撐來完成(cheng)相應的(de)(de)完整迷(mi)宮任務(wu)。

2、為了實現上述目的(de)，本(ben)發明采用(yong)如下(xia)的(de)具體方案：

3、采(cai)用(yong)支(zhi)持(chi)freertos嵌入式實(shi)時(shi)操(cao)作(zuo)(zuo)系(xi)統(tong)運行的(de)stm32f407vgt6內核作(zuo)(zuo)為主(zhu)控(kong)(kong)(kong)制器展開(kai)一(yi)系(xi)列周圍電(dian)路模(mo)塊設(she)計并基(ji)于freertos實(shi)時(shi)操(cao)作(zuo)(zuo)系(xi)統(tong)功能構建出一(yi)個四(si)層(ceng)(ceng)控(kong)(kong)(kong)制系(xi)統(tong)軟(ruan)件(jian)(jian)架構，其中(zhong)包括(kuo)：任(ren)(ren)務應(ying)用(yong)層(ceng)(ceng)、操(cao)作(zuo)(zuo)系(xi)統(tong)層(ceng)(ceng)、硬(ying)件(jian)(jian)模(mo)塊層(ceng)(ceng)、硬(ying)件(jian)(jian)驅(qu)動層(ceng)(ceng)；主(zhu)控(kong)(kong)(kong)制器按(an)照相應(ying)的(de)調(diao)度算法與任(ren)(ren)務優先(xian)級(ji)大小(xiao)合理(li)分配(pei)cpu的(de)使(shi)(shi)用(yong)權，極大提高(gao)cpu的(de)使(shi)(shi)用(yong)效率(lv)，從而對各項任(ren)(ren)務精(jing)準有效調(diao)控(kong)(kong)(kong)。

4、所(suo)述迷(mi)(mi)宮(gong)(gong)機器(qi)人控制系(xi)(xi)統(tong)軟件(jian)架(jia)構采用分(fen)層(ceng)(ceng)(ceng)設計(ji)，共分(fen)為4層(ceng)(ceng)(ceng)；任務(wu)應用層(ceng)(ceng)(ceng)根(gen)據迷(mi)(mi)宮(gong)(gong)機器(qi)人執行(xing)迷(mi)(mi)宮(gong)(gong)任務(wu)時(shi)的(de)(de)運(yun)行(xing)機制劃分(fen)出各個獨(du)立(li)任務(wu)；操作系(xi)(xi)統(tong)層(ceng)(ceng)(ceng)主(zhu)要(yao)采用相(xiang)應的(de)(de)api函數對任務(wu)應用層(ceng)(ceng)(ceng)中的(de)(de)任務(wu)進(jin)行(xing)任務(wu)調(diao)度(du)和任務(wu)同(tong)步；硬(ying)件(jian)模塊層(ceng)(ceng)(ceng)將硬(ying)件(jian)系(xi)(xi)統(tong)模塊化，便于對迷(mi)(mi)宮(gong)(gong)機器(qi)人硬(ying)件(jian)故障信息精確(que)排查(cha)；硬(ying)件(jian)驅動層(ceng)(ceng)(ceng)主(zhu)要(yao)對迷(mi)(mi)宮(gong)(gong)機器(qi)人運(yun)行(xing)時(shi)所(suo)需外設進(jin)行(xing)初始化配置(zhi)，提供底層(ceng)(ceng)(ceng)硬(ying)件(jian)驅動。

5、進一步(bu)的(de)(de)(de)，所述(shu)迷(mi)宮機器(qi)人控制(zhi)系(xi)統軟件架構(gou)的(de)(de)(de)任(ren)務(wu)(wu)(wu)應用(yong)(yong)層主要包括：系(xi)統初始化(hua)任(ren)務(wu)(wu)(wu)、狀態選擇任(ren)務(wu)(wu)(wu)、電(dian)量檢測(ce)任(ren)務(wu)(wu)(wu)、電(dian)源管(guan)理任(ren)務(wu)(wu)(wu)、搜索任(ren)務(wu)(wu)(wu)、普通沖刺(ci)任(ren)務(wu)(wu)(wu)、45度(du)斜向沖刺(ci)任(ren)務(wu)(wu)(wu)、數據(ju)采(cai)(cai)集(ji)與運動控制(zhi)任(ren)務(wu)(wu)(wu)；主控制(zhi)器(qi)采(cai)(cai)用(yong)(yong)freertos中的(de)(de)(de)管(guan)理機制(zhi)采(cai)(cai)用(yong)(yong)相應的(de)(de)(de)調度(du)算法合理調度(du)這(zhe)些任(ren)務(wu)(wu)(wu)，保證(zheng)系(xi)統的(de)(de)(de)正常運行。

6、進(jin)一步的(de)，所述迷宮(gong)機器人控制系統軟件(jian)架構(gou)的(de)操(cao)作系統層主要(yao)包括：任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)調(diao)度、任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)管理(li)、任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)通(tong)信(xin)、內存(cun)管理(li)；主控制器通(tong)過相(xiang)(xiang)應的(de)api函數對(dui)各(ge)項任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)進(jin)行(xing)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)調(diao)度；在對(dui)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)進(jin)行(xing)管理(li)時，需(xu)要(yao)根據迷宮(gong)機器人執行(xing)迷宮(gong)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)時的(de)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)工(gong)作流程來合理(li)分(fen)配(pei)各(ge)項任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)的(de)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)優先級與堆(dui)棧(zhan)空(kong)間(jian)；狀(zhuang)態選擇任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)、搜索(suo)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)、普通(tong)沖(chong)刺任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)、45度斜向沖(chong)刺任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)之間(jian)需(xu)要(yao)進(jin)行(xing)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)通(tong)信(xin)，電量檢測任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)與電源管理(li)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)也(ye)需(xu)要(yao)進(jin)行(xing)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)通(tong)信(xin)；在操(cao)作系統中堆(dui)棧(zhan)總(zong)空(kong)間(jian)相(xiang)(xiang)對(dui)有(you)限，若劃(hua)分(fen)多個(ge)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)，則需(xu)要(yao)對(dui)各(ge)個(ge)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)進(jin)行(xing)內存(cun)管理(li)，分(fen)配(pei)合適的(de)堆(dui)棧(zhan)空(kong)間(jian)保證(zheng)各(ge)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)(wu)的(de)有(you)序運行(xing)。

7、進(jin)一步的(de)(de)，所述迷(mi)(mi)宮(gong)(gong)機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)控(kong)制系(xi)統軟件架構的(de)(de)硬(ying)件模(mo)(mo)(mo)塊(kuai)層主(zhu)要(yao)包括：紅(hong)外(wai)避障模(mo)(mo)(mo)塊(kuai)、主(zhu)控(kong)制器(qi)(qi)(qi)(qi)(qi)模(mo)(mo)(mo)塊(kuai)、電(dian)(dian)(dian)(dian)機(ji)(ji)控(kong)制模(mo)(mo)(mo)塊(kuai)、角(jiao)度測量模(mo)(mo)(mo)塊(kuai)、電(dian)(dian)(dian)(dian)量檢測模(mo)(mo)(mo)塊(kuai)、供電(dian)(dian)(dian)(dian)管(guan)理模(mo)(mo)(mo)塊(kuai)；供電(dian)(dian)(dian)(dian)管(guan)理模(mo)(mo)(mo)塊(kuai)與其余(yu)模(mo)(mo)(mo)塊(kuai)相(xiang)連并(bing)根據不(bu)同(tong)模(mo)(mo)(mo)塊(kuai)所需驅(qu)動電(dian)(dian)(dian)(dian)壓(ya)要(yao)求進(jin)行供電(dian)(dian)(dian)(dian)；紅(hong)外(wai)避障模(mo)(mo)(mo)塊(kuai)主(zhu)要(yao)將迷(mi)(mi)宮(gong)(gong)機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)距離障礙物(wu)的(de)(de)位置信息通過a/d轉(zhuan)換(huan)的(de)(de)方式(shi)反饋(kui)(kui)至主(zhu)控(kong)制器(qi)(qi)(qi)(qi)(qi)模(mo)(mo)(mo)塊(kuai)；主(zhu)控(kong)制器(qi)(qi)(qi)(qi)(qi)模(mo)(mo)(mo)塊(kuai)控(kong)制各個模(mo)(mo)(mo)塊(kuai)工作并(bing)通過freertos的(de)(de)調度算法進(jin)行任務(wu)調度與任務(wu)同(tong)步；電(dian)(dian)(dian)(dian)機(ji)(ji)控(kong)制模(mo)(mo)(mo)塊(kuai)接(jie)收(shou)來(lai)自主(zhu)控(kong)制器(qi)(qi)(qi)(qi)(qi)模(mo)(mo)(mo)塊(kuai)傳送的(de)(de)速度位置信息對迷(mi)(mi)宮(gong)(gong)機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)進(jin)行相(xiang)應(ying)的(de)(de)直行、左(zuo)轉(zhuan)、右轉(zhuan)、掉頭等指(zhi)令(ling)；角(jiao)度測量模(mo)(mo)(mo)塊(kuai)及時將迷(mi)(mi)宮(gong)(gong)機(ji)(ji)器(qi)(qi)(qi)(qi)(qi)人(ren)(ren)轉(zhuan)彎時的(de)(de)角(jiao)度信息通過a/d轉(zhuan)換(huan)的(de)(de)方式(shi)反饋(kui)(kui)至主(zhu)控(kong)制器(qi)(qi)(qi)(qi)(qi)模(mo)(mo)(mo)塊(kuai)；電(dian)(dian)(dian)(dian)量檢測模(mo)(mo)(mo)塊(kuai)將當前鋰電(dian)(dian)(dian)(dian)池的(de)(de)電(dian)(dian)(dian)(dian)壓(ya)信息反饋(kui)(kui)至主(zhu)控(kong)制器(qi)(qi)(qi)(qi)(qi)模(mo)(mo)(mo)塊(kuai)。

8、進一步的(de)(de)，所述(shu)迷(mi)宮(gong)(gong)機器人(ren)(ren)控制系(xi)統(tong)軟件架構的(de)(de)硬(ying)件驅(qu)動(dong)(dong)層(ceng)主要包括(kuo)：led驅(qu)動(dong)(dong)、timer驅(qu)動(dong)(dong)、adc驅(qu)動(dong)(dong)、dma驅(qu)動(dong)(dong)、直(zhi)流電機驅(qu)動(dong)(dong)、紅外傳感器等；這些底層(ceng)驅(qu)動(dong)(dong)設計的(de)(de)優良與合理性直(zhi)接決(jue)定(ding)了迷(mi)宮(gong)(gong)機器人(ren)(ren)的(de)(de)性能(neng)優劣，比如直(zhi)線前進n個單(dan)位迷(mi)宮(gong)(gong)格、定(ding)時(shi)中斷處理任務、adc+dma及時(shi)采集當前所處迷(mi)宮(gong)(gong)格周圍墻壁(bi)距離、左(zuo)右轉彎角度信息等；對于所需硬(ying)件資源全部初始(shi)化才能(neng)保證迷(mi)宮(gong)(gong)機器人(ren)(ren)硬(ying)件模(mo)塊層(ceng)的(de)(de)正常工作。

9、本發(fa)明具(ju)有(you)如下優點和(he)積極(ji)效果：

10、第一：迷(mi)宮(gong)機(ji)器人(ren)在迷(mi)宮(gong)環境中運動需要不(bu)斷通過二階對數擬(ni)合(he)法(fa)和線(xian)性插(cha)值法(fa)計(ji)算(suan)當前距(ju)離迷(mi)宮(gong)格四(si)周墻壁的位(wei)置(zhi)信息，stm32f103系(xi)(xi)列的迷(mi)宮(gong)機(ji)器人(ren)容易(yi)因為(wei)運算(suan)時間不(bu)足導(dao)致轉彎(wan)出(chu)現問題(ti)(ti)；采用stm32f407系(xi)(xi)列的迷(mi)宮(gong)機(ji)器人(ren)作(zuo)為(wei)硬件支(zhi)撐并(bing)基于freertos嵌入(ru)式實(shi)時操作(zuo)系(xi)(xi)統(tong)，提高(gao)了系(xi)(xi)統(tong)的運行(xing)效(xiao)率，計(ji)算(suan)性能更為(wei)強大，克服了運算(suan)效(xiao)率低的問題(ti)(ti)。

11、第二(er)：目(mu)前(qian)迷宮(gong)機器(qi)人單一(yi)追求競速的(de)比賽任務(wu)逐(zhu)漸呈現疲態，未來比賽風格將向多任務(wu)化競賽的(de)方向發(fa)展；基于freertos嵌(qian)入式實(shi)時操(cao)作系(xi)統(tong)的(de)迷宮(gong)機器(qi)人可將當前(qian)迷宮(gong)機器(qi)人的(de)執(zhi)行(xing)任務(wu)劃(hua)分為多個獨立(li)的(de)任務(wu)，利用freertos的(de)資源傳遞信息(xi)與任務(wu)同步(bu)特(te)點，保證了迷宮(gong)機器(qi)人系(xi)統(tong)的(de)實(shi)時穩(wen)定性(xing)，方便該系(xi)統(tong)后續(xu)多功能擴展性(xing)開(kai)發(fa)工作。

技術特征：

1.一種(zhong)基于(yu)(yu)freertos的迷宮機器人實時操作控制系(xi)統，其特(te)征在(zai)于(yu)(yu)包括：

2.根(gen)據權(quan)利要求(qiu)1所述的(de)(de)控(kong)制系(xi)統(tong)，其特征在于(yu)(yu)：所述迷宮機器人(ren)(ren)控(kong)制系(xi)統(tong)軟件架(jia)構采用(yong)分(fen)層設計，共分(fen)為4層；任(ren)(ren)(ren)(ren)務(wu)應(ying)用(yong)層根(gen)據迷宮機器人(ren)(ren)執行(xing)迷宮任(ren)(ren)(ren)(ren)務(wu)時(shi)的(de)(de)運(yun)行(xing)機制劃分(fen)出各個獨(du)立任(ren)(ren)(ren)(ren)務(wu)；操作(zuo)系(xi)統(tong)層主要采用(yong)相應(ying)的(de)(de)api函(han)數對(dui)任(ren)(ren)(ren)(ren)務(wu)應(ying)用(yong)層中(zhong)的(de)(de)任(ren)(ren)(ren)(ren)務(wu)進行(xing)任(ren)(ren)(ren)(ren)務(wu)調度和任(ren)(ren)(ren)(ren)務(wu)同步(bu)；硬件模(mo)塊(kuai)層將硬件系(xi)統(tong)模(mo)塊(kuai)化(hua)，便(bian)于(yu)(yu)對(dui)迷宮機器人(ren)(ren)硬件故障信息精確排查；硬件驅(qu)動層主要對(dui)迷宮機器人(ren)(ren)運(yun)行(xing)時(shi)所需外設進行(xing)初始化(hua)配置，提供底(di)層硬件驅(qu)動。

3.根據(ju)權利要求1所述的控(kong)制系(xi)統(tong)，其(qi)特征在于：所述迷宮機(ji)器人控(kong)制系(xi)統(tong)軟件架(jia)構的任(ren)務(wu)(wu)(wu)應用(yong)(yong)(yong)層主(zhu)要包括：系(xi)統(tong)初始化(hua)任(ren)務(wu)(wu)(wu)、狀態選(xuan)擇(ze)任(ren)務(wu)(wu)(wu)、電量檢測任(ren)務(wu)(wu)(wu)、電源管(guan)理(li)任(ren)務(wu)(wu)(wu)、搜索任(ren)務(wu)(wu)(wu)、普(pu)通沖刺(ci)任(ren)務(wu)(wu)(wu)、45度(du)斜向沖刺(ci)任(ren)務(wu)(wu)(wu)、數據(ju)采集與運動控(kong)制任(ren)務(wu)(wu)(wu)；主(zhu)控(kong)制器采用(yong)(yong)(yong)freertos中(zhong)的管(guan)理(li)機(ji)制采用(yong)(yong)(yong)相應的調度(du)算法(fa)合理(li)調度(du)這(zhe)些任(ren)務(wu)(wu)(wu)，保證系(xi)統(tong)的正(zheng)常運行。

4.根據權利要求1所(suo)述的(de)(de)(de)控制系(xi)統(tong)(tong)，其特征在(zai)于：所(suo)述迷宮機器(qi)人控制系(xi)統(tong)(tong)軟件架構的(de)(de)(de)操作系(xi)統(tong)(tong)層(ceng)主要包括：任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)調度、任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)管(guan)(guan)理(li)、任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)通(tong)信、內(nei)存管(guan)(guan)理(li)；主控制器(qi)通(tong)過(guo)相應的(de)(de)(de)api函數(shu)對各(ge)項任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)進(jin)行(xing)(xing)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)調度；在(zai)對任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)進(jin)行(xing)(xing)管(guan)(guan)理(li)時，需(xu)要根據迷宮機器(qi)人執行(xing)(xing)迷宮任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)時的(de)(de)(de)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)工作流程來合理(li)分配各(ge)項任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)的(de)(de)(de)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)優先級與(yu)(yu)堆(dui)棧(zhan)空間；狀態選擇任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)、搜索(suo)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)、普通(tong)沖刺(ci)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)、45度斜向(xiang)沖刺(ci)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)之間需(xu)要進(jin)行(xing)(xing)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)通(tong)信，電量檢測(ce)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)與(yu)(yu)電源(yuan)管(guan)(guan)理(li)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)也(ye)需(xu)要進(jin)行(xing)(xing)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)通(tong)信；在(zai)操作系(xi)統(tong)(tong)中堆(dui)棧(zhan)總空間相對有(you)限(xian)，若劃分多個任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)，則需(xu)要對各(ge)個任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)進(jin)行(xing)(xing)內(nei)存管(guan)(guan)理(li)，分配合適(shi)的(de)(de)(de)堆(dui)棧(zhan)空間保證各(ge)任(ren)(ren)(ren)務(wu)(wu)(wu)(wu)(wu)的(de)(de)(de)正常有(you)序(xu)運行(xing)(xing)。

5.根(gen)據(ju)權利要(yao)(yao)求1所(suo)述(shu)的(de)(de)(de)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)系統，其特征在于：所(suo)述(shu)迷(mi)宮(gong)(gong)機器(qi)(qi)人控(kong)(kong)(kong)制(zhi)(zhi)(zhi)系統軟件架構(gou)的(de)(de)(de)硬件模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)層(ceng)主要(yao)(yao)包括：紅外避(bi)障模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)、主控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)、電(dian)機控(kong)(kong)(kong)制(zhi)(zhi)(zhi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)、角(jiao)度(du)(du)測量(liang)(liang)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)、電(dian)量(liang)(liang)檢測模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)、供電(dian)管(guan)理(li)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)；供電(dian)管(guan)理(li)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)與(yu)其余模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)相(xiang)(xiang)連(lian)并(bing)根(gen)據(ju)不(bu)同模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)所(suo)需驅動電(dian)壓要(yao)(yao)求進(jin)行(xing)供電(dian)；紅外避(bi)障模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)主要(yao)(yao)將迷(mi)宮(gong)(gong)機器(qi)(qi)人距離障礙物的(de)(de)(de)位置信息(xi)通(tong)過(guo)a/d轉(zhuan)(zhuan)換的(de)(de)(de)方式反饋至主控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)；主控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)控(kong)(kong)(kong)制(zhi)(zhi)(zhi)各個模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)工作并(bing)通(tong)過(guo)freertos的(de)(de)(de)調度(du)(du)算法進(jin)行(xing)任務調度(du)(du)與(yu)任務同步；電(dian)機控(kong)(kong)(kong)制(zhi)(zhi)(zhi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)接收來自主控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)傳送的(de)(de)(de)速度(du)(du)位置信息(xi)對迷(mi)宮(gong)(gong)機器(qi)(qi)人進(jin)行(xing)相(xiang)(xiang)應的(de)(de)(de)直(zhi)行(xing)、左轉(zhuan)(zhuan)、右轉(zhuan)(zhuan)、掉(diao)頭等指令；角(jiao)度(du)(du)測量(liang)(liang)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)及時將迷(mi)宮(gong)(gong)機器(qi)(qi)人轉(zhuan)(zhuan)彎時的(de)(de)(de)角(jiao)度(du)(du)信息(xi)通(tong)過(guo)a/d轉(zhuan)(zhuan)換的(de)(de)(de)方式反饋至主控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)；電(dian)量(liang)(liang)檢測模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)將當前鋰(li)電(dian)池的(de)(de)(de)電(dian)壓信息(xi)反饋至主控(kong)(kong)(kong)制(zhi)(zhi)(zhi)器(qi)(qi)模(mo)(mo)(mo)塊(kuai)(kuai)(kuai)。

6.根據權利要求1所述的(de)控(kong)(kong)制系統(tong)，其特征在于：所述迷宮機(ji)器(qi)人(ren)控(kong)(kong)制系統(tong)軟件架(jia)構的(de)硬(ying)件驅(qu)動(dong)(dong)層(ceng)主(zhu)要包括：led驅(qu)動(dong)(dong)、timer驅(qu)動(dong)(dong)、adc驅(qu)動(dong)(dong)、dma驅(qu)動(dong)(dong)、直流電(dian)機(ji)驅(qu)動(dong)(dong)、紅外(wai)傳(chuan)感器(qi)等(deng)；這些底層(ceng)驅(qu)動(dong)(dong)設計的(de)優(you)良與(yu)合理(li)性(xing)直接決定(ding)了迷宮機(ji)器(qi)人(ren)的(de)性(xing)能優(you)劣，比如直線前進(jin)n個單位(wei)迷宮格、定(ding)時中斷處(chu)理(li)任(ren)務、adc+dma采(cai)集(ji)當前所處(chu)迷宮格周圍墻壁距(ju)離、左右轉彎角度(du)信息等(deng)；對于所需硬(ying)件資源全部(bu)初始化才能保證迷宮機(ji)器(qi)人(ren)硬(ying)件模塊層(ceng)的(de)正(zheng)常(chang)工作。

技術總結
一種基于FreeRTOS的迷宮機器人實時操作控制系統，屬于迷宮機器人技術領域。本發明采用STM32F407VGT6為主控制器的迷宮機器人作為硬件支撐展開一系列周邊電路模塊設計，結合FreeRTOS嵌入式實時操作系統的多任務架構特點以及具有的多任務管理、任務調度原理、系統裁剪與移植原理，構建出一個迷宮機器人控制系統軟件架構，框架內容分為四層包括：任務應用層、操作系統層、硬件模塊層、硬件驅動層。本發明采用FreeRTOS嵌入式實時操作系統代替傳統迷宮機器人系統裸機運行機制，提高CPU的使用效率，保證系統的實時性與穩定性，同時有利于迷宮機器人多功能化發展。

技術研發人員：袁臣虎,高超,譚子幪
受保護的技術使用者：天津工業大學
技術研發日：
技術公布日：2024/9/19