Ultra-fast exploration controller based on dual-core four-wheel microcomputer mouse

Abstract

The invention discloses a fast exploration controller based on a dual-core four-wheel microcomputer mouse. The exploration controller includes an FPGA processor, an ARM processor, a voltage sensor, a photoelectric compensation sensor, at least six barrier sensors and four motion control systems. , the FPGA processor is electrically connected to each of the motion control systems, and the ARM processor is respectively electrically connected to the voltage sensor, the photoelectric compensation sensor and each barrier sensor. Through the above method, the present invention uses dual-core cooperative work to process data at the same time, and the calculation speed is fast, which avoids the generation of large current; the four-wheel drive structure is adopted, and the required torque can be distributed in different proportions according to the different conditions of the maze ground and the surrounding environment. All front and rear wheels are convenient to turn and have good stability, which improves the driving ability of the microcomputer mouse.

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 four-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 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 can be roughly divided into the following parts: [0003] 1) Sensor: The sensor i...

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

[0017] (10) Due to the influence of the capacity of the single-chip microcomputer, the existing microcomputer mice basically only have two power driving wheels, and the two-wheel differential mode is used to drive, which makes the system have higher requirements for the two-axis servo, especially for straight-line navigation. The speed and acceleration should be strictly consistent, otherwise the straight-line navigation will fail, causing the microcomputer mouse to hit the wall;

[0018] (11) The center of gravity of the four-wheel microcomputer mouse system shifts backward during acceleration, making the front of the mouse light and floating, even on a good road surface, the microcomputer mouse will slip, which may cause the phenomenon of hitting the wall, which is not conducive to the development of high-speed microcomputer mice

[0019] (12) If the four-wheel micro-computer mouse system is improperly designed to cause the center of gravity to shift forward during normal driving, the positive pressure on the driving wheels will be reduced. At this time, the micro-computer mouse system is more likely to slip and deviate, resulting in navigation failure.

[0020] (13) If the four-wheel microcomputer mouse system is improperly designed during normal driving and the center of gravity is sideways, the positive pressure on the two driving wheels will be different, and the two wheels will slip in the same degree when starting quickly, and they will deviate from the track in an instant. When turning, among them Wheels with low positive pressure may slip, making turning difficult

[0021] (14) Due to the use of two power wheels to drive, in order to meet the acceleration and deceleration in complex states, the power of a single drive motor is relatively large, which not only occupies a large space, but also sometimes in some states with relatively low energy requirements The phenomenon of "big horses and small carts" appears, which is not conducive to the miniaturization of the microcomputer mouse body and the energy saving of the microcomputer mouse system

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