Fast sprint controller based on dual-core four-wheel microcomputer mouse

Abstract

The invention discloses a fast sprint controller of a four-wheel micro-mouse based on dual processors. The fast sprint controller comprises a master control unit, four moving control units and a power source, and the master control unit is electrically connected with the power source. The master control unit comprises an ARM processor and an FPGA processor, the ARM processor is electrically connected with the FPGA processor to output a control signal to the FPGA processor so that the working or stopping of the FPGA processor can be controlled. The FPGA processor is further electrically connected with each moving control unit. The two processors are adopted to process data cooperatively at the same time, the computing speed is high, the production of a large current is avoided, and a lithium ion battery is prevented from being excessively aged; the four-wheel drive structure is adopted, therefore, needed torque can be distributed to front wheels and back wheels according to different proportions based on different labyrinth grounds and surrounding environment states, the turning is convenient to conduct, the stability is good, and the running ability of the micro-mouse is improved.

Description

technical field [0001] The invention relates to the field of micro-robots, in particular to a fast sprint 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 is the eyes of ...

AI Technical Summary

Problems solved by technology

Due to the fact that domestic research and development of this robot is less, the reading level of international rules is relatively low, and the relative level is relatively backward. The structure of the microcomputer mouse developed is as follows: figure 1 , running for a long time found that there are many security problems, namely:

[0008] (1) The eyes of the microcomputer mouse use ultrasonic or general infrared sensors, which makes the microcomputer mouse misjudge the surrounding maze when it sprints quickly

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

[0010] (3) Due to the use of stepping motors, the body heats up more seriously, which is not conducive to fast sprinting in large and complex mazes

[0011] (4) Due to the use of relatively low-level algorithms, sprinting in the maze generally takes 15-30 seconds, which makes it impossible to win in real competitions

[0012] (5) Due to the frequent braking and starting of the microcomputer mouse during the fast sprint process, the workload of the single-chip microcomputer is increased, and the single-chip signal processor cannot meet the requirements of the fast sprint 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 fast sprinting

[0014] (7) Due to the interference of unstable factors in the surrounding environment, especially the interference of some surrounding light, the microcontroller 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, which makes the microcomputer mouse go back and forth when driving on a straight road. Compensation, especially for high-speed sprinting, the microcomputer mouse sometimes wobbles a lot in the maze

[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 entire sprint process impossible to complete

[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 two-wheeled microcomputer mouse system shifts backward during acceleration, making the front of the mouse light and floating. Even on a good road, 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 improper design of the two-wheel micro-computer mouse system causes the center of gravity to shift forward during normal driving, the positive pressure on the driving wheels will decrease. At this time, the micro-computer mouse system is more likely to slip and deviate, resulting in navigation failure.

[0020] (13) If the two-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 degree of slippage of the two wheels will be inconsistent during a quick start, and the track will deviate instantly. 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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