Fast sprint controller of four-wheel micro-mouse based on double processors

Abstract

The invention discloses a fast sprint controller of a four-wheel micro-mouse based on double processors. The fast sprint controller comprises a power source device, a voltage detecting module, a low-voltage alarm device, a maze optimal information calling module, six sensors, a servo adjusting control unit, a controller body and motors. The controller body comprises a first driving unit, a second driving unit, a third driving unit and a fourth driving unit. The motors comprise a first motor, a second motor, a third motor and a fourth motor. The voltage detecting module is electrically connected with the power source device and the low-voltage alarm device. The power source device is electrically connected with the maze optimal information calling module, the sensors, the servo adjusting control unit, the controller body and the motors. The maze optimal information calling module is electrically connected with the servo adjusting control unit through the sensors. By means of the method, the fast sprint controller of the four-wheel micro-mouse can be provided, and the micro-mouse can fast return to sprint in a match through the processors of a double-buffering structure.

Description

technical field [0001] The invention relates to a sprint controller for a microcomputer mouse, 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...

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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