Full-digital servo system controller of two-wheel micro-mouse based on dual processors

Abstract

The invention discloses a full-digital servo system controller of a two-wheel micro-mouse based on dual processors. The full-digital servo system controller comprises a master control unit, a first moving control unit, a second moving control unit and a power source. The power source is electrically connected with the master control unit. The master control unit comprises an ARM9 processor and an LM 629 processor, the ARM9 processor is electrically connected with the LM 629 processor to control the working or stopping of the LM 629 processor, and the first moving control unit and the second moving control unit are respectively and electrically connected with the LM 629 processor. By means of the method, the full-digital servo system controller of the two-wheel micro-mouse based on the dual processors has the advantages of being low in interference error rate, easy to control, good in stability, good in dynamic property, strong in anti-interference ability and the like, the system is debugged easily, and the micro-mouse sprint controller has wide market prospects in popularization.

Description

technical field [0001] The invention relates to the field of robots, in particular to a dual-core-based two-wheel microcomputer mouse all-digital servo system controller. Background technique [0002] The microcomputer mouse is an intelligent walking robot composed of embedded microcontrollers, sensors and electromechanical moving parts. It has been competing abroad for nearly 30 years. Its principle can be transformed into a variety of practical industrial robots. It has only been introduced into China in recent years. , and gradually become a new competition project. The microcomputer mouse can automatically memorize and select paths in different "mazes", and use corresponding algorithms to quickly reach the set destination. An excellent microcomputer mouse must have good perception ability, good walking ability, and excellent intelligent algorithm. A complete microcomputer mouse includes sensors, motors, algorithms and microprocessors, among which the microprocessor is ...

AI Technical Summary

Problems solved by technology

[0004] (1) The eyes of the microcomputer mouse use ultrasonic or general infrared sensors, which makes the microcomputer mouse misjudge the exploration of the surrounding maze;

[0005] (2) As the actuator of the microcomputer mouse, a stepping motor is used, which often encounters the problem of missing pulses, resulting in errors in the memory of the position;

[0006] (3) Due to the use of stepping motors, the body heats up more seriously, which is not conducive to exploring and sprinting in large and complex mazes;

[0007] (4) Since the microcomputer mouse servo system uses relatively low-level algorithms, it generally takes 4 to 5 minutes to explore in the maze, which makes it impossible to win in real competitions;

[0008] (5) Due to the frequent braking and starting of the microcomputer mouse, the workload of the single-chip microcomputer is increased, and a single single-chip microcomputer cannot meet the requirements for the rapid start and stop of the microcomputer mouse;

[0009] (6) Some relatively large plug-in components are relatively used, which makes the size and weight of the microcomputer mouse relatively large, which cannot meet the requirements of rapid exploration;

[0010] (7) Due to the interference of unstable factors in the surrounding environment, the microcontroller controller often appears abnormal, causing the microcomputer mouse to lose control and have poor anti-interference ability;

[0011] (8) For the microcomputer mouse with differential speed control, it is generally required that the PWM control signals of the two motors must be synchronized. Due to the limitation of computing power, it is difficult for a single single-chip servo system to meet this condition, making the microcomputer mouse on the straight track. When driving, it cannot walk on the center line accurately. In order to ensure the accurate positioning of the microcomputer mouse, the servo system needs to compensate back and forth, so that the microcomputer mouse swings a lot in the maze, especially for fast walking;

[0012] (9) Due to the influence of the capacity and algorithm of the single-chip microcomputer, the microcomputer mouse does not store the information of the maze, and all the information will disappear when encountering a power failure, which makes the whole exploration process restart;

[0013] (10) During the operation of the microcomputer mouse, if it hits a wall, it will cause the motor to stall, causing the instantaneous current of the motor to be too large, and in severe cases, the motor will be burned

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