RoboCup小型足球机器人测速系统研究

Velocity measurement system of small size soccer robot in Robocup

为了实现对RoboCup小型足球机器人的实时测速,设计了一种采用光电编码器和现场可编程门阵列(FPGA)实现的测速系统。采用FPGA作为控制芯片,以可编程单芯片系统(SOPC)的设计方法进行设计,嵌入NIOS Ⅱ处理器,利用FPGA的硬件可编程的特点设计各个功能模块,并且采用了M法进行测速,精度高、实时性好。系统实现了对每个足球机器人4个驱动电机的实时测速,且在FPGA内部与足球机器人的NIOS Ⅱ控制器进行连接,简化了系统的设计,减少了系统的体积,方便对硬件进行修改、仿真以及系统的升级。通过Quartus Ⅱ Simulator对所设计测速电路进行了仿真分析,仿真结果验证了系统的可行性。

In order to realize the real-time velocity measurement for small size soccer robot,a velocity measurement system based on optical encoder and field programmable gate array（FPGA） was designed.FPGA was selected as the control chip and design technique of system on a programmable chip（SOPC） was used by embedding NIOS Ⅱ processor.Each function module was designed due to the hardware programmable property of FPGA.Morever,M method with high-accuracy and high-real-time was adopted to measure the speed.Each robot soccer＇s four driven motor can be real-time measured.And as a result of the connection of FPGA and NIOS Ⅱ in the robot soccer,the system was simplified and it was convenient to modify and simulate the hardware or upgrade the system.And also this velocity measurement was simulated by Quartus Ⅱ Simulator.The simulation results verify the feasibility of the system.