Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors

Abstract

The invention discloses an ultra-fast exploring controller of a two-wheel micro-mouse based on dual processors. The exploring controller comprises an ARM processor, an FPGA processor, shielding sensors, two moving drive units and two motors, wherein the ARM processor is respectively and electrically connected with the shielding sensors to receive a signal to judge whether a barrier exits in the front or on the two sides or not. The ARM processor is electrically connected with the FPGA processor to control the working of the FPGA processor, the FPGA processor is respectively and electrically connected with the moving drive units to control the working of the moving drive units, and each moving drive unit is electrically connected with the corresponding motor to control the working of the motor. The dual processors are adopted for working cooperatively at the same time, so that the workload of each control chip is relatively low, the program fleeting is effectively prevented, and the antijamming capability is improved; the production of a large current is avoided, the computing precision is high, and the performance is stable.

Description

Technical field [0001] The invention relates to the field of micro-robots, in particular to an ultra-fast exploration controller based on a dual-core two-wheel microcomputer mouse. Background technique [0002] The microcomputer mouse is an intelligent walking robot composed of embedded microcontrollers, sensors and electromechanical moving parts. It has been competing in foreign countries for nearly 30 years. It can be transformed into a variety of actual industrial robots based on its principles. It has only been introduced domestically in recent years. , And gradually become an emerging 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 algorithms. A complete microcomputer mouse is roughly divided into the following parts: [0003] 1)...

AI Technical Summary

Problems solved by technology

[0008] (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

[0009] (2) As the actuator of the microcomputer mouse, the stepper motor is used, which often encounters the problem of missing pulses, resulting in errors in the memory of the position

[0010] (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

[0011] (4) Due to the use of relatively low-level algorithms, the exploration in the maze generally takes 4 to 5 minutes, which makes it impossible to win in real competitions

[0012] (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

[0013] (6) Relatively, some relatively large plug-in components are used, which makes the microcomputer mouse relatively large in size and cannot meet the requirements of rapid exploration

[0014] (7) Due to the interference of unstable factors in the surrounding environment, the single-chip controller often appears abnormal, causing the microcomputer mouse to lose control, and the anti-interference ability is poor

[0015] (8) For the microcomputer mouse with differential speed control, it is generally required that the control signals of the two motors should be synchronized, but it is difficult to do it for a single single-chip microcomputer, so that the microcomputer mouse needs to compensate back and forth when driving on a straight road. , and sometimes there is a large swing in the maze, especially for fast exploration

[0016] (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

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