Dual-core four-wheel high-speed microcomputer mouse continuous rotation sprint servo system

Abstract

The invention discloses a dual-core four-wheel high-speed microcomputer mouse continuous rotation sprint servo system, which includes a dual-core control center circuit, a power supply circuit and four motion control units, the power supply circuit is electrically connected to the dual-core control center circuit, and the The dual-core control center circuit includes an ARM processor and an LM629 processor, the ARM processor and the LM629 processor are connected through data lines and control lines, and the LM629 processor is electrically connected to each of the motion control units . The present invention adopts dual-core processors for division of labor and cooperation, which greatly improves the calculation speed; adopts a four-wheel drive structure, which improves the stability and driving ability of the microcomputer mouse when it sprints; the gyroscope can improve the stability and dynamic performance of the microcomputer mouse when it sprints The data storage module can store the maze information that the microcomputer mouse has explored, so as to optimize the path of the second sprint and reduce the sprint time.

Description

technical field [0001] The invention relates to a dual-core four-wheel high-speed 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 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

[0016] (8) For a 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-chip microcomputer , so that the microcomputer mouse will sway a lot in the maze when it sprints at high speed, and often hits the wall, resulting in the failure of the sprint

[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 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;

[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 mice.

[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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