Dual-core-based two-wheel high-speed microcomputer mouse and diagonal ramp-up servo system thereof

Abstract

The invention discloses a diagonal ramp-up servo system for a dual-core-based two-wheel high-speed microcomputer mouse. The diagonal ramp-up servo system comprises a ramp-up control unit, two motion driving units, two gyroscopes and a power supply unit, wherein the power supply unit is electrically connected with the ramp-up control unit; the ramp-up control unit comprises an ARM9 (Advanced RISC Machines 9) processor and an LM629 control chip; the ARM9 processor is electrically connected with the LM629 control chip; the ARM9 processor is further electrically connected with the gyroscopes to receive angular speed information and speed information; the LM629 control chip is further electrically connected with each motion driving unit to control the motion driving unit to work. According to the diagonal ramp-up servo system, two processors are adopted at the same time for processing data in a synergistic way, so that the computing speed is high, the generation of high current is avoided, and the influence of a battery on high-speed ramp-up is reduced; the gyroscopes can be used for navigating during turning of the microcomputer mouse, so that the stability of the microcomputer mouse is enhanced.

Description

technical field [0001] The invention relates to a diagonal sprint servo system based on a dual-core two-wheel high-speed microcomputer mouse. Background technique [0002] The microcomputer mouse is an intelligent walking robot composed of embedded microcontrollers, sensors and electromechanical moving parts. The microcomputer mouse can automatically memorize and select paths in different "mazes", and use corresponding algorithms to quickly reach the set goal land. The microcomputer mouse competition has a history of more than 30 years abroad, and now hundreds of similar microcomputer mouse competitions are held internationally every year. [0003] The microcomputer mouse competition uses three parameters: running time, maze time and touch, and is scored from three aspects: speed, efficiency of solving the maze, and reliability of the computer mouse. Different countries use different scoring standards. The most representative The four national standards are: [0004] (1) ...

AI Technical Summary

Problems solved by technology

[0009] (1) The eyes of the microcomputer mouse use ultrasonic or general infrared sensors, and the sensor settings are wrong, so that the microcomputer mouse is blind to the surrounding area when it sprints quickly. There are some misjudgments in the judgment of the maze, which makes it easy for the microcomputer to hit the front wall when sprinting quickly

[0010] (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. Sometimes I can't find the end of the sprint

[0011] (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

[0012] (4) Due to the use of relatively low-level algorithms, there are certain problems in the calculation of the optimal maze and the calculation of the sprint path. The developed microcomputer mouse basically does not Multiple automatic acceleration sprints, sprints in the general maze generally take 15-30 seconds, which makes it impossible to win in the real international complex maze competition

[0013] (5) Since the microcomputer mouse needs to brake and start frequently during the fast sprint process, which increases the workload of the single-chip microcomputer, the single-chip signal processor cannot satisfy the fast speed of the microcomputer mouse. sprint requirements

[0014] (6) Relatively, some relatively large plug-in components are used, which makes the size and weight of the microcomputer mouse relatively large, and the center of gravity is high, which cannot meet the fast sprint requirements

[0015] (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, anti-interference Poor ability

[0017] (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 it encounters a power failure, which makes The entire sprint cannot be completed

[0018] (10) Due to turning without the assistance of the angular velocity sensor, the turning angle is often too small or too large, and then it is compensated by the navigation sensor, resulting in In the maze with multiple turns in a row, the phenomenon of hitting the wall occurs, resulting in the failure of the sprint

[0019] (11) A single sensor is used to detect the barrier wall of the front maze, which is very easy to receive external interference, causing the front sensor to mislead the fast-sprinting microcomputer mouse, resulting in the microcomputer mouse The sprint in the maze is not in place or hits the wall, resulting in the sprint failure

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