Dual-core four-wheeled top-speed microcomputer mouse-based diagonal sprint system

Abstract

The invention discloses a dual-core four-wheeled top-speed microcomputer mouse-based diagonal sprint system. A battery is electrically connected with a processor unit; the processor unit is electrically connected with a first controller, a second controller, a third controller and a fourth controller respectively; the first controller, the second controller, the third controller and the fourth controller are correspondingly and electrically connected with a motor X, a motor Y, a motor Z and a motor R respectively; the motor X, the motor Y, the motor Z and the motor R are connected with a microcomputer mouse mechanical device; the processor unit comprises an ARM 9 (Advanced RISC Machine) processor and an LM629 chip; the ARM 9 processor is electrically connected with the LM629 chip. According to the dual-core four-wheeled top-speed microcomputer mouse-based diagonal sprint system, the anti-interference capacity is greatly enhanced, meanwhile, the operation speed is improved, and the stability and the reliability of the dual-core four-wheeled top-speed microcomputer mouse-based diagonal sprint system are guaranteed.

Description

technical field [0001] The invention belongs to the technical field of micro-robots, and in particular relates to a diagonal sprint system based on a dual-core four-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 re...

AI Technical Summary

Problems solved by technology

[0017] (1) As the eyes of the microcomputer mouse, ultrasonic or general infrared sensors are used, and the setting of the sensor is wrong, which makes the microcomputer mouse misjudgment the surrounding maze when it sprints quickly, so that the microcomputer sprints quickly. Sometimes it is easy to hit the front wall;

[0018] (2) The stepper motor is used as the actuator of the microcomputer mouse, which often encounters the problem of missing pulses, which leads to errors in the memory of the sprint position, and sometimes the end of the sprint cannot be found;

[0019] (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;

[0020] (4) Due to the use of a relatively low-level algorithm, there are certain problems in the calculation of the optimal maze and the calculation of the sprint path. The microcomputer mouse developed basically does not automatically accelerate the sprint for many times, and the sprint in the general maze generally requires It takes 15~30 seconds, which makes it impossible to win in the real international complex maze competition;

[0021] (5) Since the microcomputer mouse needs frequent braking and starting during the fast sprint process, which increases the workload of the single-chip microcomputer, the single-chip signal processor cannot meet the requirements of the fast sprint of the microcomputer mouse;

[0022] (6) Relatively, some relatively large plug-in components are used, which makes the microcomputer mouse relatively large in size and weight, and has a high center of gravity, which cannot meet the requirements of fast sprinting;

[0023] (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 have poor anti-interference ability;

[0024] (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 for a single single-chip microcomputer, so that the microcomputer mouse will sway relatively slowly in the maze when sprinting at high speed. Large, often hit the wall, resulting in sprint failure;

[0025] (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;

[0026] (10) Turning without the assistance of an angular velocity sensor often occurs when the turning angle is too small or too large, and then it is compensated by the navigation sensor, resulting in the phenomenon of hitting the wall in the maze with multiple consecutive turns, resulting in sprinting fail;

[0027] (11) Using a single sensor to detect the retaining wall of the maze in front is very easy to receive external interference, causing the front sensor to mislead the fast-sprinting microcomputer mouse, resulting in the microcomputer mouse not sprinting in place in the maze or hitting the wall, resulting in sprint failure;

[0028] (12) 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 servo of the two axes, 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;

[0029] (13) The center of gravity of the two-wheeled microcomputer mouse system shifts backward during acceleration, making the front of the mouse light and floating, and the microcomputer mouse will slip even on a good road surface, which may cause the phenomenon of hitting the wall, which is not conducive to the development of high-speed microcomputer mice;

[0030] (14) 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. ;

[0031] (15) If the two-wheel microcomputer mouse system is in normal driving, if the center of gravity is deflected due to improper design, the positive pressure on the two driving wheels will be different, and the degree of slippage of the two wheels will be inconsistent during the quick start, and the track will deviate instantly. When turning, among them Wheels with low positive pressure may slip, making turning difficult;

[0032] (16) 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 horse-drawn 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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