ARM9-based continuous-turning sprint servo system for four-wheeled fast microcomputer mice

Abstract

The invention discloses an ARM9-based continuous-turning sprint servo system for four-wheeled fast microcomputer mice, which comprises a master control circuit, two drive circuits and four high-speed permanent magnet direct-current motors, the master control circuit is respectively electrically connected with each drive circuit, each drive circuit is electrically connected with two of the high-speed permanent magnet direct-current motors, the master control circuit comprises an ARM9 processor, and each drive circuit comprises an L298N chip. As the ARM9-based continuous-turning sprint servo system adopts the L298N chips to drive the motors, the space occupied by the drive circuits is greatly reduced, and therefore the sprinting efficiency and stability of the system are increased; as the four-wheel drive structure is adopted, the stability and running capability of a microcomputer mouse are enhanced during sprinting; a gyroscope can enhance the stability and dynamic performance of the sprinting microcomputer mouse; a data storage module can store the labyrinth information which is already explored by the microcomputer mouse, consequently, the path of a secondary sprint can be conveniently optimized, and sprinting time can be shortened.

Description

technical field [0001] The invention relates to an ARM9-based four-wheel fast microcomputer mouse continuous rotation sprint servo system. 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 international microcomputer mouse competitions are held abroad 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) Americ...

AI Technical Summary

Problems solved by technology

[0009] (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. It is easy to hit the blocking wall ahead

[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

[0020] (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 speed is used to drive, which makes the system have higher requirements for the two-axis servo, especially when the linear acceleration sprint navigation , it is required that the speed and acceleration should be strictly consistent, otherwise the straight-line navigation will fail, resulting in the phenomenon that the microcomputer mouse hits the wall

[0021] (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. Even on a good road, the microcomputer mouse will slip, which may cause the phenomenon of hitting the wall, which is not conducive to the development of high-speed microcomputer mouse sprints.

[0022] (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.

[0023] (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

[0024] (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 horses and small 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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