Ultra-fast sprint controller based on dual-core two-wheel microcomputer mouse

Abstract

The invention discloses an ultra-fast sprint controller of a two-wheel micro-mouse based on dual processors. The fast sprint controller comprises a master control unit, a first moving control unit, a second moving control unit and a power source. The power source is electrically connected with the master control unit. The master control unit comprises an ARM processor and an FPGA processor, wherein the ARM processor is electrically connected with the FPGA processor to control working or stopping of the FPGA processor. The first moving control unit and the second moving control unit are respectively and electrically connected with the FPGA. By means of the method, the dual processors are adopted for working cooperatively, so that the computing speed is improved, program fleeting is prevented, and the development cycle is shortened; the production of a large current is avoided, and the stability and the dynamic performance are good; motors are independently controlled, and the moving track can be changed more easily.

Description

technical field [0001] The invention relates to the field of micro-robots, in particular to an ultra-fast sprint 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 ey...

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

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