Fast exploring controller of two-wheel micro-mouse based on double processors

Abstract

The invention discloses a fast exploring controller of a two-wheel micro-mouse based on double processors. The fast exploring controller comprises a power source device, a hardware detecting module, a signal detecting device, a servo adjusting control unit, a first driving unit, a second driving unit, a first motor and a second motor. The power source device is electrically connected with the servo adjusting control unit, a first signal controller, a second signal controller, the first motor and the second motor. The signal detecting device sends and transmits a detecting signal to the first driving unit and the second driving unit through the servo adjusting control unit, and the first motor and the second motor are driven independently and synchronously in a servo mode by the first driving unit and the second driving unit. By means of the method, the two direct-current motors can be controlled independently in the servo mode through the processors, the micro-mouse is liberated from heavy work, and fast intelligent exploring of the micro-mouse is achieved.

Description

technical field [0001] The invention relates to an exploration controller, in particular to a rapid 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 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 ...

AI Technical Summary

Problems solved by technology

However, the microcomputer mouse needs to judge the surrounding environment at all times during the maze exploration process, and then transmit the parameters to the controller. To the surrounding maze walls, the exploration fails. Therefore, for the microcomputer mouse unit, the exploration process based on the single-chip microcomputer is the key to determining the success or failure of the sprint. The level is low, and the relative research and development level is relatively backward. There are many security problems found in long-term operation, namely:

[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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