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題名 | 藍芽機器足球員之研製=Implement of Bluetooth Soccer Robot |
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作者姓名(中文) | 李廣齊; 周銘章; 徐旭昇; 蔡柏廷; | 書刊名 | 國立虎尾科技大學學報 |
卷期 | 25:1 民95.03 |
頁次 | 頁25-33 |
分類號 | 448.94 |
關鍵詞 | 機器足球員; 藍芽; Soccer robot; Bluetooth module; FPGA; |
語文 | 中文(Chinese) |
中文摘要 | 本文製作一台結合藍芽通訊及FPGA 運動控制晶片之機器足球員,其硬體架構包含藍芽通訊模組、馬達驅動電路、運動控制晶片與藍芽控制器。為求改善傳統機器足球員使用RF通訊系統,易受相同頻率干擾之問題,本文設計之藍芽控制器,可進行機器足球員之藍芽通訊系統規劃,其中包括初始化、加密、解密、並具有排除其他藍芽裝置訊號干擾與接收訊號之功能。運動控制方面是使用VHDL 設計之FPGA運動控制晶片,其可規劃送出速度與轉向之控制訊號,直接控制輪子的轉速與車體的轉向。且由查表法做機器足球員的運動控制,其中包含機器足球員的直線加速、後退、左右旋轉、射門等多項控制。本文所製作之藍芽機器足球員之藍芽通訊系統不易受到外界干擾,其FPGA 整合系統可達到機器人足球競賽中所需具備之運動控制。 |
英文摘要 | In this paper, the soccer robot is made by a bluetooth communication module and an FPGA integrated system. The main hardware framework of the soccer robot includes bluetooth module, motor's driver, FPGA motion controller, and bluetooth controller. To keep the traditional soccer robot that uses RF communication system away from the interference caused from the same frequency, this paper adopts a bluetooth module to improve the reliability of communication of a soccer robot to prevent from the disturbance of the other wireless communication devices. All the functions of the soccer robot are integrated into an FPGA chip by VHDL hardware language, which include initialization, encryption, decryption and the motion control. The motion controller can send the control signals of the speed and direction that directly control the rotational speed of the wheel and the direction of the robot. The motion control constructed by looking up table method includes the linear acceleration, backwards, motion rotation and taking a shot of the soccer robot. The bluetooth soccer robot’s communication system made in this paper won’t be interfered easily by surroundings. The FPGA integrated system can do the motion controls that a soccer robot needs equipping in the robot soccer’s game. |
本系統之摘要資訊系依該期刊論文摘要之資訊為主。