CN103472838A - Fast sprint controller of four-wheel micro-mouse based on double processors - Google Patents

Abstract

The invention discloses a fast sprint controller based on a dual-core four-wheel microcomputer mouse, which includes: a power supply device, a voltage detection module, a low-voltage alarm device, a module for retrieving optimal information from a maze, a sensor, a servo adjustment control unit, a controller and a motor; There are 6 sensors, the controller includes: a first drive unit, a second drive unit, a third drive unit and a fourth drive unit, and the motor includes a first motor, a second motor, a third The motor and the fourth motor; the detection voltage module is electrically connected to the power supply device and the low-voltage alarm device; the power supply device is electrically connected to the module for obtaining the best information of the maze, the sensor, the servo adjustment control unit, the controller and the motor; The module for calling the optimal information of the maze is electrically connected with the servo adjustment control unit through a sensor. Through the above method, the present invention can provide a controller for the quick sprint of the microcomputer mouse, which can use the processor with double buffer structure in the game to realize the quick return sprint of the microcomputer mouse.

Description

A fast sprint controller based on dual-core four-wheel microcomputer mouse

technical field

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

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:

(1) Sensor: The sensor is the eyes of the microcomputer mouse, which is the basis for the microcomputer mouse to accurately obtain external environmental information, and then transmit the external information to the microprocessor for various condition judgments.

(2) Motor: The executive motor is the power source of the microcomputer mouse, and it executes the relevant actions of the microcomputer mouse when it walks in the maze according to the instructions of the microprocessor.

(3) Algorithms: Algorithms are the soul of the microcomputer mouse. The microcomputer mouse must use a certain intelligent algorithm to find the end point, find the shortest path, and reach the end point in the shortest time.

(4) Microprocessor: The microprocessor is the core part of the microcomputer mouse and the brain of the microcomputer mouse. All the information of the microcomputer mouse, including wall information, position information, angle information and motor status information, etc. need to be processed by the microprocessor and make corresponding judgments.

The computer mouse combines multi-disciplinary knowledge. The development of computer mouse maze walking technology can cultivate a large number of talents in related fields, and then promote the technological development and industrialization process in related fields. 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:

(1) As the eyes of the microcomputer mouse, ultrasonic or general infrared sensors are used, which makes the microcomputer mouse misjudge the exploration of the surrounding maze.

(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 position.

(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.

(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.

(5) Since the microcomputer mouse needs to brake and start frequently, the workload of the single-chip microcomputer is increased, and a single single-chip microcomputer cannot meet the requirements of the microcomputer mouse to quickly start and stop.

(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.

(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.

(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 the sway is larger in the maze, especially for fast exploration.

(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 start again.

Therefore, it is necessary to redesign the existing microcomputer mouse controller based on single-chip microcomputer control. .

Contents of the invention

The technical problem mainly solved by the present invention is to provide a fast sprint controller based on a dual-core four-wheel microcomputer mouse, which can realize a new control mode based on ARM9+LM629 on the original two-wheel microcomputer mouse. Using two-axis servo control unit, ARM9 microprocessor as the control core, LM629 as the data processing core of the servo control regulator, using LM629 to generate PWM waves to realize the real-time processing of digital signals of the two-axis DC motor servo system during the sprinting process of the microcomputer mouse, Realize the rapid sprint of the microcomputer mouse.

In order to solve the above-mentioned technical problems, a technical solution adopted by the present invention is to provide a fast sprint controller based on a dual-core four-wheel microcomputer mouse, including: a power supply unit, a detection voltage module, a low-voltage alarm device, a module for obtaining the best information from a maze, Sensor, servo adjustment control unit, controller and motor; the number of the sensor is set to 6, the controller includes: the first drive unit, the second drive unit, the third drive unit and the fourth drive unit, the motor Contains the first motor, the second motor, the third motor and the fourth motor; the detection voltage module is electrically connected with the power supply device and the low-voltage alarm device; The adjustment control unit, the controller and the motor are electrically connected; the module for obtaining the best information from the maze is electrically connected to the servo adjustment control unit through a sensor

In a preferred embodiment of the present invention, the servo adjustment control unit is a four-axis synchronous servo adjustment control unit, including a maze retrieval unit, an operation control unit, and a return exploration unit; the maze retrieval unit and the operation control unit The unit and the return exploration unit are electrically connected; the signals are transmitted sequentially in the order of the maze retrieval unit, the operation control unit and the return exploration unit

In a preferred embodiment of the present invention, the maze retrieval unit, operation control unit, and return exploration unit include a data control module for receiving signals and controlling signal transmission, and for receiving signals from the data control module and performing signal transmission. The processed data processing module is used to drive the four-wheel drive, the front drive and the rear drive for driving the movement of the microcomputer mouse, and the data control module, the data processing module are electrically connected with the four-wheel drive, the front drive and the rear drive.

In a preferred embodiment of the present invention, the data processing module includes an LM629 processor, the LM629 processor includes a PWM regulator, and the PWM regulator and data control module and four-wheel drive, front The drive is electrically connected to the rear drive; the data control module further includes a compensation module.

In a preferred embodiment of the present invention, the maze retrieval unit further includes an interrupt request module, and the sensor, interrupt request module, data control module, data processing module and four-wheel drive, front drive and rear drive The drives are electrically connected; the maze retrieval unit further includes a reset circuit and a maze information retrieval module, and the reset circuit is electrically connected to the sensor and the maze information retrieval module.

In a preferred embodiment of the present invention, (1) the operation control unit further includes a coordinate storage module, a curve motion control module, and a shortest linear distance parameter conversion module; the sensor and coordinate storage module, a curve motion control module and The shortest straight line distance parameter conversion module is electrically connected, the curve motion control module and the shortest straight line distance parameter conversion module are electrically connected to the data control module, the data processing module and the four-wheel drive, front drive and rear drive ; The sensor transmits the signal to the coordinate storage module for storage, and at the same time transmits the signal to the data control module and the data processing module; (2) The operation control unit further includes a target module and an error compensation module, and the sensor It is electrically connected with the target module and the error compensation module. After the signal flows from the target module to the error compensation module, it is converted by the PWM wave in the data control module and the data processing module, and then the control signal is transmitted to the four-wheel drive and front drive. and rear drive.

In a preferred embodiment of the present invention, the return search unit further includes an unknown search area module and a known search area module, and the unknown search area module and the known search area module are electrically connected to the motor drive and data processing modules sexual connection.

In a preferred embodiment of the present invention, the four-wheel drive, the front drive and the rear drive are provided with photoelectric sensors, and the photoelectric sensors are electrically connected to the controller.

The beneficial effects of the present invention are: the present invention electrically connects the power supply device for controlling the movement of the microcomputer mouse with the detection voltage module and the maze information retrieval module, so that the low voltage situation can be detected in time, and data storage can be performed on the microcomputer mouse in time and protection. The sensor is used to electrically connect the servo adjustment control unit, and at the same time connect the controller to the motor, so that the microcomputer mouse can be controlled in real time while timely and effectively obtaining the maze information, so that the operation of the microcomputer mouse is more accurate and the speed is faster. , All-round realization of fast sprint.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative work, wherein:

Fig. 1 is a kind of structure schematic diagram of a preferred embodiment based on dual-core four-wheel microcomputer mouse quick sprint controller of the present invention;

Fig. 2 is a kind of servo control adjustment unit block diagram based on a preferred embodiment of dual-core four-wheel microcomputer mouse fast sprint controller of the present invention;

Fig. 3 is a kind of motion control module block diagram based on a preferred embodiment of dual-core four-wheel microcomputer mouse fast sprint controller of the present invention;

Fig. 4 is a kind of microcomputer mouse structure schematic diagram based on a preferred embodiment of dual-core four-wheel microcomputer mouse fast sprint controller of the present invention;

Fig. 5 is a kind of labyrinth schematic diagram based on a preferred embodiment of dual-core four-wheel microcomputer mouse fast sprint controller of the present invention;

Fig. 6 is a kind of speed curve figure based on a preferred embodiment of dual-core four-wheel microcomputer mouse fast sprint controller of the present invention;

Fig. 7 is a kind of right-turn sprint schematic diagram based on a preferred embodiment of the dual-core four-wheel microcomputer mouse fast sprint controller of the present invention;

Fig. 8 is a left-turn sprint meaning diagram of a preferred embodiment of a fast sprint controller based on a dual-core four-wheel microcomputer mouse in the present invention.

The marks of the components in the drawings are as follows: 1. Front left control motor; 2. Front right control motor; 3. Rear left control motor; 4. Front and rear right control motor; 5. Sensor.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only some of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

Referring to FIG. 1 , FIG. 2 , FIG. 3 and FIG. 4 , the embodiment of the present invention provides the following technical solutions.

In one embodiment, a fast sprint controller based on a dual-core four-wheel microcomputer mouse includes: a power supply unit, a detection voltage module, a low-voltage alarm device, a module for obtaining the best information in a maze, a sensor 5, a servo adjustment control unit, and a controller and the motor; the sensors 5 are set to 6, respectively S1, S2, S3, S4, S5, S6; the controller includes: a first drive unit, a second drive unit, a third drive unit and a fourth drive unit Drive unit, the motor includes a first motor, a second motor, a third motor and a fourth motor; the detection voltage module is electrically connected to a power supply device and a low-voltage alarm device; the power supply device is optimally connected to the call labyrinth The information module, the sensor 5, the servo adjustment control unit, the controller and the motor are electrically connected; the module for obtaining the best information from the maze is electrically connected to the servo adjustment control unit through the sensor 5.

Different from the prior art, in one embodiment, preferably, the servo adjustment control unit is a four-axis synchronous servo adjustment control unit, including a maze retrieval unit, an operation control unit and a return exploration unit; the maze retrieval unit It is electrically connected with the operation control unit and the return exploration unit; the signal is transmitted sequentially in the order of the maze retrieval unit, the operation control unit and the return exploration unit.

Preferably, the maze retrieval unit, the operation control unit and the return exploration unit include a data control module for receiving signals and controlling signal transmission, a data processing module for receiving signals from the data control module and performing signal processing, and a user The four-wheel drive, the front drive and the rear drive are used to drive the movement of the microcomputer mouse, and the data control module and the data processing module are electrically connected to the four-wheel drive, the front drive and the rear drive.

Preferably, the data control module is provided with an ARM9 chip processor, and the ARM9 chip adopts an R ISC (Reduce Instruction Computer, reduced instruction set computer) structure, which has many registers, simple addressing methods, batch transfer of data, automatic use of addresses characteristics such as increase and decrease.

The data processing module is provided with an LM629 chip. LM629 is a dedicated chip for precise motion control produced by National Semiconductor. There are two surface-mounted packages of 24 pins and 28 pins. Digital motion control is integrated in one chip. The full range of features makes the task of designing a fast and accurate motion control unit light and easy.

Preferably, the data processing module includes a LM629 processor, and the LM629 processor includes a PWM regulator, and the PWM regulator and the data control module and four-wheel drive, front drive and rear drive electrical connection; the data control module further includes a compensation module.

Preferably, the maze retrieval unit further includes an interrupt request module, and the sensor 5, the interrupt request module, the data control module, the data processing module are electrically connected to the four-wheel drive, the front drive and the rear drive The maze retrieval unit further includes a reset circuit and a maze information retrieval module, and the reset circuit is electrically connected to the sensor 5 and the maze information retrieval module.

Preferably, the operation control unit further includes a coordinate storage module, a curved motion control module, and a shortest linear distance parameter transformation module; Sexual connection, the curve motion control module and the shortest straight line distance parameter conversion module are electrically connected with the data control module, the data processing module and the four-wheel drive, front drive and rear drive; the sensor 5 transmits the signal to The coordinate storage module stores and transmits the signal to the data control module and the data processing module at the same time;

Preferably, the operation control unit further includes a target module and an error compensation module, the sensor 5 and the target module are electrically connected to the error compensation module, and the signal flows from the target module to the error compensation module and then passes through the data control module and the data The PWM wave in the processing module is converted, and then the control signal is sent to the four-wheel drive, front drive and rear drive.

Preferably, the return search unit further includes an unknown search area module and a known search area module, and the unknown search area module and the known search area module are electrically connected to the motor drive and data processing modules.

Preferably, the four-wheel drive, the front drive and the rear drive are provided with photoelectric sensors, and the photoelectric sensors are electrically connected to the controller.

Please refer to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. 8, in order to specifically describe the fast sprint running state of the microcomputer mouse, its specific function realization steps are as follows.

Before the microcomputer mouse receives the sprint command, the controller uses the detection voltage module to detect the battery power. If the voltage is low, the low-voltage alarm device will be activated to prompt charging; And use the best information module to transfer the maze to call out the optimal maze path that has been explored. After receiving the sprint command, it will quickly start to the end point (7, 7), (7, 8), (8, 7), (8, 8) sprint.

Place the microcomputer mouse at the starting point coordinates (0, 0). After receiving the sprint task, in order to prevent the wrong sprint direction, the sensors 5S1 and S6 in front of it will judge the environment ahead to determine whether there is a blocking wall entering the range of motion. If there is a barrier, it will send an interrupt request to the ARM9 processor, and the ARM9 processor will respond to the interrupt immediately, send an interrupt request, and then prohibit the work of the LM629 that controls the front, rear, left, and right four wheels, and block the front left control motor of the microcomputer mouse 1, The PWM driving signals of the front right control motor 2, the rear left control motor 3 and the rear right control motor 4 make it static in place. Then judge the maze for the second time to determine the information ahead to prevent misjudgment of information; if there is no retaining wall to enter the range of motion ahead, the microcomputer mouse will turn on the reset circuit to retrieve normal maze information and prepare for normal sprinting.

At the moment when the microcomputer starts to sprint, the sensors 5S1, S2, S3, S4, S5, and S6 (the infrared light emitted by six independent infrared emitting tubes OPE5594A is received by the receiver TSL262 and converted into the information of the surrounding maze) judge the surrounding environment and send for ARM9 processors. Then the ARM9 processor generates the command given value of the speed-time motion ladder diagram according to the sprint maze information. The area contained in this trapezoid is exactly the distance S1 that the two front left control motors 1, front right control motor 2, rear left control motor 3 and rear right control motor 4 of the microcomputer mouse will run. Then the ARM9 processor enables the four-axis LM629, communicates with the LM629, and the LM629 generates PWM waves to drive the four-axis DC motor according to these parameters combined with the feedback from the photoelectric encoder and current sensor. The PWM wave drives four motors to run after passing through the drive axle, and completes the entire acceleration process until reaching the sprint set speed. And communicate the processing data to the ARM9 processor, and the ARM9 processor continues to process the subsequent running state.

During the rapid sprinting process of the microcomputer mouse along the Y axis, if the maze information shows that there is a Z grid line coordinate in front and no barrier wall enters the front movement range, the microcomputer mouse will store its current coordinates (X, Y) to the coordinate storage module, and transmit the position parameter of the Z grid forward to the ARM9 processor, and then the ARM9 processor converts this parameter into a speed parameter and an acceleration parameter according to different requirements of various sprint conditions and enables two LM629s of the rear drive, Then transmit the set command value to the LM629 that controls the left and right wheels. The trapezoidal motion generator inside the LM629 will generate PWM waveforms that drive the left and right wheels based on these parameters and combined with the feedback from the photoelectric encoder and current sensor, and control the front left control of the left and right wheels. The motor 1 and the front right control motor 2 move forward quickly, and record the specific distance S moved in the maze at all times. If there is slipping or dust in the process of fast sprinting, the ARM9 processor will enable the two LM629s of the front drive, and the ARM9 processor will convert the remaining distance into a new reference command value and transmit it to the front, rear, left, and right The four-wheel LM629, the trapezoidal motion generator inside the LM629 will generate PWM waveforms that drive the front, rear, left, and right four wheels based on these parameters combined with the feedback from the photoelectric encoder and current sensor. The front left control motor 1, the front right control motor 2, the rear left control motor 3 and the rear right control motor 4 of the front and rear left and right wheels controlled by the drive axle move forward. When the set target is reached, its coordinates will be updated as (X, Y+Z), when its forward movement reaches the established target, under the premise of Y+Z<15, judge whether its coordinates are (7, 7), (7, 8), (8, 7), ( 8, 8) One of them, if not, will continue to update its coordinates, if it is, notify the controller that it has sprinted to the target, and then set the return exploration flag to 1, and the sprint flag to 0, and the microcomputer mouse is ready for the second return exploration after sprinting , to search for a better maze path.

During the rapid reverse sprint of the microcomputer mouse along the Y axis, if the maze information shows that there is a Z-grid linear coordinate in front and no barrier wall enters the movement range ahead, the microcomputer mouse will store its current coordinates (X, Y) to the coordinate storage module, and transmit the position parameter of Z grid in the reverse movement to the ARM9 processor, and then the ARM9 processor converts this parameter into a speed parameter and an acceleration parameter according to different requirements of various sprint conditions and enables two LM629s of the rear drive, Then transmit the set command value to the LM629 that controls the left and right wheels. The trapezoidal motion generator inside the LM629 will generate PWM waveforms that drive the left and right wheels based on these parameters and combined with the feedback from the photoelectric encoder and current sensor, and control the front left control of the left and right wheels. The motor 1 and the front right control motor 2 move forward quickly, and record the specific distance S moved in the maze at all times. If there is slipping or dusty conditions during the fast sprint movement, the ARM9 processor will enable the two LM629s of the front drive, and the ARM9 processor will convert the remaining distance into a new reference command value and transmit it to the front, rear, left, and right. LM629 with four wheels. The trapezoidal motion generator inside the LM629 will generate PWM waveforms and directions for driving the front, rear, left, and right wheels according to these parameters and the feedback from the photoelectric encoder. The front left control motor 1, the front right control motor 2, the rear left control motor 3 and the rear right control motor 4 move forward through the drive axle control front and rear left and right wheels. When it reaches the set target, its coordinates will be updated to (X, Y-Z). When it reaches the set target during its forward movement, under the premise of Y-Z>0, judge whether its coordinates are (7, 7), (7 , 8), (8, 7), (8, 8), if not, it will continue to update its coordinates; if it is, notify the controller that it has sprinted to the target, and then set the return exploration flag to 1, and the sprint flag to 0 , the microcomputer mouse prepares for the second return exploration after the sprint, to search for a better maze path.

When the microcomputer mouse moves forward along the Y axis, if there is a maze wall entering the front movement range, and there is a wall on the left in the maze information at this time, the microcomputer mouse will store the coordinates (X, Y) at this time to the coordinates Storage module, and then enter the curve motion track. When sprinting to the right and turning, the ARM9 processor first converts the short distance of walking in a straight line Leading into speed parameters and acceleration parameters according to different requirements of various sprint conditions, and then enables four LM629s in the front, rear, left, and right. Then transmit this set command value to LM629 which controls the front, rear, left, and right wheels. The trapezoidal motion generator inside the LM629 will generate PWM waveforms and directions for driving the front, rear, left, and right wheels according to these parameters and combined with the feedback from the photoelectric encoder and current sensor, and control the front and rear wheels. The left control motor 1, the front right control motor 2, the rear left control motor 3 and the rear right control motor 4 move forward rapidly. When the target is reached, the reference value R90_FrontWallRef of the sensor 5 starts to work to prevent external interference and start error compensation. After the error compensation is completed, the ARM9 processor converts the walking curve trajectory Arc1 and Arc3 into the speed parameters and acceleration parameter command values of the four LM629s of the rear drive and front drive according to the requirements of various sprint conditions. The trapezoidal motion generator inside the LM629 Based on these parameters and combined with the feedback from the photoelectric encoder and current sensor, the PWM waveforms for driving the front and rear drive four-axis motors are generated, and then the front, rear, left, and right wheels are controlled to work. When the target is reached, the ARM9 processor converts the walking curve trajectory Arc2 and Arc4 into the speed parameters and acceleration parameter command values of the four LM629s of the rear drive and front drive according to the requirements of various sprint conditions, and the trapezoidal movement inside the LM629 occurs According to these parameters and combined with the feedback of the photoelectric encoder and current sensor, the PWM waveform for driving the four-axis motors of the front and rear drives will be generated, and then the front, rear, left, and right wheels will be controlled to work. When the target is reached, the controller converts the straight-line walking for a short distance Passing into speed parameters and acceleration parameters according to the requirements of various sprint conditions, and then enables the four LM629s on the front, back, left, and right sides, and then transmits the set command value to the The LM629 that controls the front, rear, left, and right wheels, the trapezoidal motion generator inside the LM629 will generate PWM waveforms that drive the front, rear, left, and right wheels based on these parameters and combined with the feedback from the photoelectric encoder and current sensor, and control the front left control motor 1, front right control motor 2, The rear left control motor 3 and the rear right control motor 4 move forward rapidly. Complete the trajectory curve motion of the whole right turn after reaching the established target. At this time, its coordinates will be updated to (X+1, Y), and under the premise of X+1<15, judge whether its coordinates are (7, 7), (7, 8), (8, 7), (8 , 8) One of them, if not, will continue to update its coordinates; if it is, notify the controller that it has sprinted to the target, and then set the return exploration flag to 1, and the sprint flag to 0, and the microcomputer mouse is ready for the second return exploration after sprinting, To search for a better maze path.

When the microcomputer mouse moves forward along the Y axis, if there is a maze wall entering the front movement range, and there is a wall on the right in the maze information at this time, the microcomputer mouse will store the coordinates (X, Y) at this time, and then Entering the curved trajectory, when sprinting to the left and turning, the ARM9 processor first converts the short distance of walking in a straight line Leading into speed parameters and acceleration parameters according to the requirements of various sprint conditions, and then enables the front, rear, left, and right four LM629s, and then converts the This setting command value is transmitted to the LM629 that controls the front, rear, left, and right wheels. The trapezoidal motion generator inside the LM629 will generate PWM waveforms that drive the front, rear, left, and right wheels based on these parameters and combined with the feedback from the photoelectric encoder and current sensor, and control the front left control motor 1 , the front right control motor 2, the rear left control motor 3 and the rear right control motor 4 move fast forward. When the target is reached, the reference value L90_FrontWallRef of the sensor 5 starts to work to prevent external interference and start error compensation. After the error compensation is over, the ARM9 processor converts the walking curves Arc1 and Arc3 into the speed parameters and acceleration parameter command values of the four LM629s of the rear and front drives according to the different requirements of various sprint conditions. The trapezoidal motion generator inside the LM629 will generate PWM waveforms for driving the front-drive and rear-drive four-axis motors based on these parameters and combined with the feedback from the photoelectric encoder and current sensor. Then control the work of the front, rear, left, and right four wheels; when the target is reached, the ARM9 processor converts the walking curve trajectory Arc2 and Arc4 into the speed parameters and acceleration parameter commands of the four LM629s of the rear drive and the front drive according to the requirements of various sprint conditions value, the trapezoidal motion generator inside the LM629 will generate PWM waveforms for driving the front and rear drive four-axis motors based on these parameters and the feedback from the photoelectric encoder and current sensor, and then control the work of the front, rear, left, and right wheels. When the target is reached, the controller converts the straight-line walking for a short distance Passing into speed parameters and acceleration parameters according to the requirements of various sprint conditions, and then enables the four LM629s on the front, back, left, and right sides, and then transmits the set command value to the The LM629 that controls the front, rear, left, and right wheels, the trapezoidal motion generator inside the LM629 will generate PWM waveforms that drive the front, rear, left, and right wheels based on these parameters and combined with the feedback from the photoelectric encoder and current sensor, and control the front left control motor 1, front right control motor 2, The rear left control motor 3 and the rear right control motor 4 move forward quickly, and complete the trajectory curve motion of the whole left turn after reaching the established target. At this time, its coordinates will be updated to (X-1, Y). On the premise of X-1>0, judge whether its coordinates are (7, 7), (7, 8), (8, 7), (8 , 8) One of them, if not, will continue to update its coordinates, if it is, notify the controller that it has sprinted to the target, and then set the return exploration flag to 1, and the sprint flag to 0, and the microcomputer mouse is ready for the second return exploration after sprinting, To search for a better maze path.

When the microcomputer mouse sprints to (7, 7), (7, 8), (8, 7), (8, 8), it will prepare for the return journey after the sprint to search for a better path, and the controller will call out its Stored maze information, and then calculate other possible optimal paths, and then start the return journey to enter the one that is considered optimal.

When the microcomputer mouse enters the maze and returns to explore, its navigation sensors 5S1, S2, S3, S4, S5, and S6 will work. And the reflected photoelectric signal is sent to the ARM9 processor, and after being judged by the ARM9 processor, it is sent to the LM629, and the LM629 communicates with the ARM9 processor after calculation. Then the controller sends control signals to the front left control motor 1, front right control motor 2, rear left control motor 3 and rear right control motor 4 of the navigation to determine: if it enters the searched area, it will move forward quickly, and the ARM9 processor It will increase the duty cycle of the control motor to quickly pass through the known area and reduce the secondary exploration time; if it is an unknown return area, it will search at a normal speed, and update its coordinates (X, Y) at all times, and judge whether its coordinates are If it is not (0, 0), if it is, set the return exploration flag to 0, and the microcomputer mouse enters the sprint stage, and set the sprint flag to 1.

In order to realize the coordinate calculation function of the accurate maze sprint of the microcomputer mouse, the left and right sensors 5S2, S3, S4, and S5 of the microcomputer mouse will detect the surrounding maze retaining walls and pillars at all times. If S2, S3 or S4, S5 find that the sensor signal jumps, then it shows that the microcomputer mouse has entered the junction point of the maze retaining wall and the pillar, and now the side sensor 5S2 or S5 can accurately detect this moment. When the jump occurs again, it means that the mouse has started the current maze grid, and the ARM9 processor will calculate according to the current running distance of the microcomputer mouse and compensate according to the feedback information of the sensor. The photoelectric encoder of 512 lines has been added on the right control motor 2, the rear left control motor 3 and the rear right control motor 4. Due to the high precision, the calculation of the coordinates of the microcomputer mouse will not be wrong, which ensures the accuracy of reading the maze when the microcomputer mouse sprints quickly.

In order to reduce the interference of the light source on the sprinting of the microcomputer mouse, the present invention adds a photoelectric sensor. The sensor 5 will read the surrounding abnormal light sources during the sprinting stage of the microcomputer mouse, and automatically send them to the controller for real-time compensation, eliminating the need for external light sources Interference with the sprint.

During the sprinting process of the microcomputer mouse, the ARM9 processor will conduct online identification of the torque of the DC motor. When the torque of the motor receives external interference and there is a large jitter, the controller will use the relationship between the torque and current of the motor to perform time compensation. Reduced the impact of motor torque jitter on the rapid sprint of the microcomputer mouse.

If the microcomputer mouse encounters ground slippage or misreads maze information during the sprinting process, it will often hit the wall, and the current of the motor will increase at this time. When the set value is exceeded, the interrupt command LPES of the LM629 will send an interrupt request to the ARM9 processor. At this time, the ARM9 processor will immediately control the four LM629s to stop working, and immediately release the front left control motor 1, front right control motor 2, The rear left control motor 3 and the rear right control motor 4 not only reduce and effectively solve the stall problem, but also reduce damage to system hardware.

When the microcomputer completes the entire sprint process and reaches (7, 7), (7, 8), (8, 7), (8, 8), the microcomputer mouse will set the exploration flag to 1, and the microcomputer mouse will return to the starting point (0 , 0), ARM9 (S3C2440A) will control the PWM wave output of four LM629s to make the microcomputer stop at the center of the starting point, and then readjust the PWM wave output of the LM629 so that the motors on both sides: front left control motor 1, rear left control The motor 3, the front right control motor 2, and the rear right control motor 4 move in opposite directions, and under the control of the gyroscope, rotate 180 degrees in situ, then stop for 1 second, retrieve the maze information twice, and then calculate according to the algorithm The optimal sprint path after optimizing the maze information, then set the sprint flag to 1, and the system enters the second rapid sprint stage. Then follow the sprint----exploration----sprint, and complete multiple sprints to achieve the goal of fast sprint.

The above is only an embodiment of the present invention, and does not limit the patent scope of the present invention. Any equivalent structure or equivalent process conversion made by using the description of the present invention and the contents of the accompanying drawings, or directly or indirectly used in other related technologies fields, all of which are equally included in the scope of patent protection of the present invention.

Claims (8)

1. one kind based on the double-core four-wheel micro computer mouse controller of making a spurt fast, it is characterized in that, comprising: supply unit, detect voltage module, low-pressure alarming device, transfer labyrinth best information module, sensor, servo regulation unit, controller and motor; Described sensor setting is 6, and described controller includes: the first driver element, the second driver element, the 3rd driver element and 4 wheel driven moving cell, and described motor includes the first motor, the second motor, the 3rd motor and the 4th motor; Described detection voltage module and supply unit and low-pressure alarming device are electrically connected; Supply unit and described labyrinth best information module, sensor, servo regulation unit, controller and the motor transferred are electrically connected; The described labyrinth best information module of transferring is electrically connected by sensor and described servo regulation unit.

2. according to claim 1 a kind of based on the double-core four-wheel micro computer mouse controller of making a spurt fast, it is characterized in that, described servo regulation unit is four axle synchronous servo regulation units, comprises that unit is transferred in labyrinth, operation control module and return are explored unit; Described labyrinth is transferred unit and described operation control module and return and is explored the unit electric connection; The order that signal is transferred unit, operation control module and return exploration unit by labyrinth is transmitted successively.

3. according to claim 2 a kind of based on the double-core four-wheel micro computer mouse controller of making a spurt fast, it is characterized in that, described labyrinth is transferred in unit, operation control module and return exploration unit and is included for receiving the Data Control module of signal control signal transmission, data processing module and four-wheel drive, pre-driver and rearmounted driving for driving the motion of micro computer mouse of for receiving the Data Control module, sending signal and carrying out the signal processing, described Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving are electrically connected.

4. according to claim 3 a kind of based on the double-core four-wheel micro computer mouse controller of making a spurt fast, it is characterized in that, include the LM629 processor in described data processing module, include pwm modulator in described LM629 processor, described pwm modulator and Data Control module and four-wheel drive, pre-driver and rearmounted the driving are electrically connected; Described Data Control module further includes compensating module.

5. according to claim 4 a kind of based on the double-core four-wheel micro computer mouse controller of making a spurt fast, it is characterized in that, described labyrinth is transferred unit and is also further included the interrupt request module, between described sensor, interrupt request module, Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving, is electrically connected; Described labyrinth transfers that unit also further includes reset circuit and labyrinth information is transferred module, and described reset circuit and described sensor and labyrinth information are transferred module and is electrically connected.

6. according to claim 4 a kind ofly it is characterized in that based on the double-core four-wheel micro computer mouse controller of making a spurt fast,

(1) described operation control module further includes coordinate memory module, curvilinear motion control module, short lines distance parameter conversion module; Be electrically connected between described sensor and coordinate memory module, curvilinear motion control module and short lines distance parameter conversion module, be electrically connected between described curvilinear motion control module and short lines distance parameter conversion module and Data Control module, data processing module and four-wheel drive, pre-driver and rearmounted the driving; Described sensor transmits signals to the coordinate memory module and is stored, and transmits signals to described Data Control module and data processing module simultaneously;

(2) described operation control module further includes object module and error compensation module, between described sensor and object module and error compensation module, be electrically connected, signal transforms by the PWM ripple Data Control module and data processing module after object module flows to the error compensation module, and then control signal is sent to four-wheel drive, pre-driver and rearmounted the driving.

7. according to claim 4 a kind of based on the double-core four-wheel micro computer mouse controller of making a spurt fast, it is characterized in that, further include unknown region of search module and known search regions module in described return search unit, described unknown region of search module and known search regions module and motor drive and data processing module is electrically connected.

8. according to claim 3 a kind ofly it is characterized in that based on the double-core four-wheel micro computer mouse controller of making a spurt fast, be provided with photoelectric sensor in described four-wheel drive, pre-driver and rearmounted the driving, described photoelectric sensor and controller electric connection.

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