CN103529837A - Dual-core two-wheeled top-speed microcomputer mouse-based diagonal sprint servo system - Google Patents

Abstract

The invention discloses a diagonal sprint servo system based on a dual-core two-wheel extreme-speed microcomputer mouse, which includes a sprint center control unit, a first motion drive unit, a second motion drive unit, a first high-speed DC motor, a second high-speed DC motor and a power supply The supply unit, the sprint center control unit includes an ARM9 processor and an FPGA processor, the ARM9 processor is electrically connected to the FPGA processor, the FPGA processor is electrically connected to the first motion drive unit and the second motion drive unit, and the first motion drive unit The drive unit is further electrically connected to the first high-speed DC motor, and the second motion drive unit is further electrically connected to the second high-speed DC motor. The present invention adopts two processors to work together to process data at the same time, the calculation speed is fast, the generation of large current is avoided, and the impact of the battery on high-speed sprinting is reduced; the gyroscope can navigate for the microcomputer mouse to turn, which improves the Stability of microcomputer mice.

Description

Diagonal sprint servo system based on dual-core two-wheel extremely fast microcomputer mouse

technical field

The invention relates to a diagonal sprint servo system based on a dual-core two-wheel extreme-speed microcomputer mouse.

Background technique

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. the

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:

(1) American IEEE APEC International Microcomputer Mouse Robot Competition: Exploration time, sprint time and fixed contact point deduction are all included in the total score, score = exploration time/30 + sprint time + fixed contact point deduction;

(2) All Japan International Microcomputer Mouse Robot Conference (expert level): the total score only counts the sprint time, and the score = the best sprint time;

(3) British microcomputer mouse robot challenge: Exploration time, sprint time and variable contact deduction points are all included in the total score, score = exploration time/30 + sprint time + variable contact deduction points;

(4) Singapore Robot Competition: Exploration time and sprint time will be included in the total score. Each time you touch the robot, you will reduce one attempt opportunity. Score = exploration time/30 + sprint time.

Judging from the above international standards, the sprint time determines the success or failure of the entire microcomputer mouse. Since there are few units in China that develop this robot, the relative R&D level is relatively backward. problem, namely:

(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 blocking wall in front.

(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.

(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.

(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.

(5) Since the microcomputer mouse needs frequent braking and starting during the fast sprint process, the workload of the single-chip microcomputer is increased, and the single-chip signal processor cannot meet the requirements of the fast sprint of the microcomputer mouse.

(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.

(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 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 for a single single-chip microcomputer, so that the microcomputer mouse will sway relatively slowly in the maze when sprinting at high speed. Large, the phenomenon of hitting the wall often occurs, resulting in the failure of the sprint. the

(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.

(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.

(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.

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 diagonal sprint servo system based on a dual-core two-wheel ultra-speed microcomputer mouse, which uses two processors to work together to process data, and the calculation speed is fast, which avoids the generation of large currents and reduces The impact of the battery on high-speed sprint; the gyroscope can navigate for the microcomputer mouse to turn, which improves the stability of the microcomputer mouse.

In order to solve the above technical problems, a technical solution adopted by the present invention is to provide a diagonal sprint servo system based on a dual-core two-wheel extremely fast microcomputer mouse, which is applied to a two-wheel microcomputer mouse, and the sprint servo system includes a sprint center control unit , a first motion drive unit, a second motion drive unit, a first high-speed DC motor, a second high-speed DC motor and a power supply unit, the power supply unit includes a lithium ion battery, and the sprint center control unit includes an ARM9 processor and FPGA processor, the ARM9 processor is electrically connected to the FPGA processor to transmit control signals and data information, the FPGA processor is electrically connected to the first motion drive unit and the second motion drive unit respectively, the The first motion drive unit is further electrically connected to the first high-speed DC motor, and the second motion drive unit is further electrically connected to the second high-speed DC motor.

In a preferred embodiment of the present invention, the first high-speed DC motor and the second high-speed DC motor are further provided with a photoelectric encoder and a current sensor, and the photoelectric encoder and the current sensor are respectively connected to the FPGA processor. sexual connection.

In a preferred embodiment of the present invention, the sprint servo system further includes at least six obstacle sensors, and the ARM9 processor is respectively electrically connected to each of the obstacle sensors to receive the environment detected by the obstacle sensors Information, the barrier sensor is an infrared sensor, and the infrared sensor includes an infrared transmitter OPE5594A and an infrared receiver TSL262.

In a preferred embodiment of the present invention, the sprint servo system further includes a first gyroscope and a second gyroscope, the first gyroscope includes a micromechanical angular velocity sensor, the second gyroscope includes a speed sensor, and the first gyroscope The instrument and the second gyroscope are respectively electrically connected to the ARM9 processor to transmit the detected angular velocity information and velocity information to the ARM9 processor.

The present invention also provides a two-wheeled microcomputer mouse, including the sprint servo system, the sprint servo system includes a sprint center control unit, a first motion drive unit, a second motion drive unit, a first high-speed DC motor, a second A high-speed DC motor and a power supply unit, the power supply unit includes a lithium-ion battery, the sprint center control unit includes an ARM9 processor and an FPGA processor, and the ARM9 processor is electrically connected to the FPGA processor to transmit control signals and Data information, the FPGA processor is electrically connected to the first motion drive unit and the second motion drive unit, the first motion drive unit is further electrically connected to the first high-speed DC motor, and the second motion drive unit is electrically connected to the first high-speed DC motor. The motion drive unit is further electrically connected to the second high-speed DC motor;

The two-wheel microcomputer mouse further includes a housing, a first wheel and a second wheel, the sprint servo system is arranged inside the housing, and the first wheel and the second wheel are respectively arranged on both sides of the housing, The first wheel is connected to the first high-speed DC motor, and the second wheel is connected to the second high-speed DC motor.

In a preferred embodiment of the present invention, the rotation shaft of the first wheel is connected to the first gyroscope, and the rotation shaft of the second wheel is connected to the second gyroscope.

In a preferred embodiment of the present invention, the two-wheeled microcomputer mouse further includes a photoelectric compensation sensor and a photoelectric compensation sensor, and the voltage sensor and the photoelectric compensation sensor are respectively electrically connected to the ARM processor.

The present invention also provides a control method of the two-wheel microcomputer mouse, the two-wheel microcomputer mouse includes the sprint servo system, and the sprint servo system includes a sprint center control unit, a first motion drive unit, a second motion drive unit, the first high-speed DC motor, the second high-speed DC motor and a power supply unit, the power supply unit includes a lithium-ion battery, the sprint center control unit includes an ARM9 processor and an FPGA processor, and the ARM9 processor and FPGA The processor is electrically connected to transmit control signals and data information, the FPGA processor is electrically connected to the first motion drive unit and the second motion drive unit, and the first motion drive unit is further connected to the first motion drive unit. The high-speed DC motor is electrically connected, and the second motion drive unit is further electrically connected with the second high-speed DC motor;

Including a motion control module and a host computer control module, the host computer control module includes a maze reading unit, a coordinate positioning unit and an online output unit, the motion control module includes a data storage unit, an input and output unit and an FPGA control unit, the The FPGA control unit includes a straight line sprint unit, a right turn sprint unit, a left turn sprint unit, a diagonal line sprint unit and a U-shaped sprint unit.

In a preferred embodiment of the present invention, the FPGA control unit controls the sprint speed of the two-wheeled microcomputer mouse in each movement distance, and the sprint speed is successively divided into an acceleration movement stage, a uniform movement stage and a deceleration movement stage; in the acceleration movement stage and the deceleration movement stage, the accelerations of the two rounds of microcomputer mice all gradually increase from 0, then remain unchanged, and finally gradually decrease to 0.

In a preferred embodiment of the present invention, the control method of the two-wheeled microcomputer mouse includes two sprint modes of exploring sprint and direct sprint, and the direct sprint mode further includes a constant speed sprint mode and an indeterminate speed sprint mode; In the above-mentioned exploration sprint mode, the two rounds of microcomputer mice automatically search to complete the maze exploration and then return to the starting point after reaching the end point, and finally call the maze information obtained during the exploration process to quickly sprint to the end point; in the direct sprint mode, the two rounds of microcomputer mice The mouse directly retrieves the historical maze information and quickly sprints to the finish line.

The beneficial effects of the present invention are:

(1) At the same time, the ARM9 processor and the FPGA processor are used to divide the work, and the FPGA processor handles the synchronous servo control of the two high-speed DC motors when the microcomputer mouse sprints at high speed, which makes the control relatively simple, greatly improves the calculation speed, and avoids large current, which shortens the development cycle and has strong program portability; it effectively prevents the program from running away and greatly enhances the anti-interference ability; monitoring the remaining capacity of the lithium-ion battery at all times is helpful for understanding the energy state of the battery. When the state is low, the battery can be replaced in advance before the sprint, thereby reducing the false interference of the battery to the high-speed sprint;

(2) During the rapid sprinting process of the microcomputer mouse, the ARM9 processor can conduct online identification of the torque of the DC motor X and motor Y and use the relationship between the torque and current of the DC motor to compensate, reducing the impact of motor torque jitter on the microcomputer The effect of a fast sprint of the mouse;

(3) The gyroscope can determine the angular coordinates and measure the rotation speed of the wheel according to the time accumulation, which has a navigation function for the calculation of the continuous rotation of the microcomputer mouse at a certain angle, and can realize the independent control of the speed and direction of the two rounds of the microcomputer mouse, which is conducive to improving The stability and dynamic performance of the microcomputer mouse when sprinting make it easier for the microcomputer mouse to realize the rotation of the curved track;

(4) The data storage module can store the maze exploration information of the microcomputer mouse, which is conducive to extracting corresponding information and optimizing the path of the second sprint, reducing the sprint time;

(5) The LM629 control module calls different sprint modules according to the specific path to control the sprint direction and sprint speed, and automatically sprints to prevent contact deduction, which is fast and safe;

(6) The two rounds of microcomputer mice include two sprint modes to meet the needs of realistic competitions;

(7) The S-shaped acceleration and deceleration curve is used to continuously change the acceleration at any point, thus avoiding the flexible impact of the microcomputer mouse system, the smoothness of the speed is very good, and the movement accuracy is high.

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 the schematic block diagram of the circuit of the microcomputer mouse controlled by the single-chip microcomputer;

Fig. 2 is the circuit principle block diagram of the sprint servo system of the present invention;

Fig. 3 is a working principle diagram of the sprint center control unit of the present invention;

Fig. 4 is the control module block diagram of the control method of two-wheel microcomputer mouse of the present invention;

Fig. 5 is the schematic diagram of maze coordinates when the two-wheeled microcomputer mouse of the present invention moves;

Fig. 6 is the structural representation of a preferred embodiment of the two-wheeled microcomputer mouse of the present invention;

Fig. 7 is the speed graph of two rounds of microcomputer mice of the present invention;

Fig. 8 is the automatic sprint program flowchart of the control method of two-wheel microcomputer mouse of the present invention;

Fig. 9 is the schematic diagram of sprinting to the right of the two-wheeled microcomputer mouse of the present invention;

Fig. 10 is the left-turn sprint schematic diagram of two-wheeled microcomputer mouse of the present invention;

Fig. 11 is the stair-shaped maze structure diagram when the two-wheeled microcomputer mouse of the present invention moves;

Fig. 12 is the schematic diagram that two rounds of microcomputer mice of the present invention sprint along the staircase maze at 45 degrees;

Fig. 13 is a U-shaped maze structure diagram when the two-wheeled microcomputer mouse of the present invention moves;

Fig. 14 is the schematic diagram of the trajectory of the two-wheeled microcomputer mouse in the U-shaped maze of the present invention;

Fig. 15 is a schematic diagram of motion parameters of the two-wheeled microcomputer mouse sprinting along a U-shaped maze according to the present invention.

The marks of the components in the attached drawings are as follows: 1. Housing, 2. The first wheel, 3. The second wheel, S1, the first barrier sensor, S2, the second barrier sensor, S3, the third barrier sensor barrier sensor, S4, the fourth barrier sensor, S5, the fifth barrier sensor, S6, the sixth barrier sensor, S7, photoelectric compensation sensor, S8, voltage 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.

Please refer to Fig. 1 to Fig. 15, the embodiment of the present invention comprises:

A diagonal sprint servo system based on a dual-core two-wheel extreme-speed microcomputer mouse is applied to a two-wheel microcomputer mouse. The sprint servo system includes a sprint center control unit, a first motion drive unit, a second motion drive unit, a first high-speed DC motor X, the second high-speed DC motor Y and a power supply unit, the power supply unit includes a lithium-ion battery, the sprint center control unit includes an ARM9 processor and an FPGA processor, and the ARM9 processor and the FPGA processor are electrically powered. The FPGA processor is electrically connected to the first motion drive unit and the second motion drive unit respectively, and the first motion drive unit is further electrically connected to the first high-speed DC motor The second motion drive unit is further electrically connected to the second high-speed DC motor.

The ARM9 processor adopts the R ISC (Reduce Instruction Computer) structure, which has the characteristics of many registers, simple addressing mode, batch data transmission, and automatic increase and decrease of used addresses. The new generation of ARM9 processor, through a new design, uses more transistors, which can achieve more than twice the processing power of the ARM7 processor. This improvement in processing power is achieved by increasing the clock frequency and reducing the instruction execution cycle. .

FPGA, that is, field programmable gate array, is a product of further development on the basis of programmable devices such as PAL, GAL, and EPLD. It emerged as a semi-custom circuit in the field of application-specific integrated circuits (ASIC), which not only solves the shortcomings of custom circuits, but also overcomes the shortcomings of the limited number of original programmable device gates.

FPGA adopts a new concept of logic cell array LCA (Logic Cell Array), which includes three parts: configurable logic module CLB (Configurable Logic Block), input and output module IOB (Input Output Block) and internal wiring (Interconnect).

Both the first high-speed DC motor and the second high-speed DC motor of the present invention are further provided with a photoelectric encoder and a current sensor, and the photoelectric encoder and the current sensor are respectively electrically connected to the FPGA processor.

The sprint servo system further includes at least six barrier sensors. In this embodiment, the number of barrier sensors is six, which are sequentially numbered as S1, S2, S3, S4, S5, and S6. The ARM9 processor is electrically connected to each of the barrier sensors to receive the environmental information detected by the barrier sensor, the barrier sensor is an infrared sensor, and the infrared sensor includes an infrared transmitter OPE5594A and an infrared receiver TSL262.

The sprint servo system further includes a first gyroscope and a second gyroscope, the first gyroscope includes a micromechanical angular velocity sensor, the second gyroscope includes a speed sensor, and the first gyroscope and the second gyroscope are respectively connected to the The ARM9 processor is electrically connected to transmit the detected angular velocity information and velocity information to the ARM9 processor.

The present invention also provides a two-wheeled microcomputer mouse, including the sprint servo system, the two-wheeled microcomputer mouse further includes a housing 1, a first wheel 2 and a second wheel 3, and the housing 1 is provided with the Sprint servo system, the first wheel 2 and the second wheel 3 are respectively arranged on both sides of the housing 1, the first wheel 2 is connected to the first high-speed DC motor, and the second wheel 3 is connected to the The second high-speed DC motor connection is described. The rotating shaft of the first wheel 2 is connected with the first gyroscope, and the rotating shaft of the second wheel 3 is connected with the second gyroscope.

The two-wheeled microcomputer mouse further includes a photoelectric compensation sensor 7 and a photoelectric compensation sensor 7, and the voltage sensor 8 and the photoelectric compensation sensor 7 are respectively electrically connected to the ARM processor.

The present invention also provides a control method for the two-wheeled microcomputer mouse, comprising a motion control module and a host computer control module, the host computer control module including a maze reading unit, a coordinate positioning unit and an online output unit, the motion control module The module includes a data storage unit, an input and output unit and an FPGA control unit, and the FPGA control unit includes a straight line sprint unit, a right turn sprint unit, a left turn sprint unit, a diagonal line sprint unit and a U-shaped sprint unit. In this embodiment, the straight-line sprint module, right-turn sprint module, left-turn sprint module, diagonal sprint module and U-shaped sprint module are sequentially numbered as subroutine 1, subroutine 2, subroutine 3, and subroutine 4 , Subroutine 5.

Wherein, the FPGA control unit controls the sprint speed of the two-wheeled microcomputer mouse in each section of motion distance, and the sprint speed is successively divided into an accelerated motion stage, a uniform velocity motion stage and a decelerated motion stage; in the accelerated motion stage In the deceleration phase, the accelerations of the two rounds of microcomputer mice gradually increase from 0, then remain unchanged, and finally decrease to 0 gradually.

The control method of the two-wheeled microcomputer mouse includes two sprint modes of exploring sprint and direct sprint, and the direct sprint mode further includes a constant speed sprint mode and an indeterminate speed sprint mode; under the described exploration sprint mode, the two rounds The microcomputer mouse automatically searches the maze and returns to the starting point after reaching the end point, and finally calls the maze information obtained during the exploration process to quickly sprint to the end point; in the direct sprint mode, the two rounds of microcomputer mice directly call historical maze information and quickly sprint to the end point end.

In a specific application, the present invention adopts S3C2440A as the core of the development board, and the computer mouse basically realizes the whole chip component material, and realizes single board control, which not only saves the space occupied by the control board, but also facilitates the reduction of volume and weight. Lightening is conducive to improving the stability and dynamic performance of the microcomputer mouse servo system.

For the dual-core controller designed in this paper, first place the microcomputer mouse at the starting point of the maze, and when the power is turned on, decide whether to automatically search to complete the maze exploration or call the stored maze information to generate the optimal sprint path according to the button information, and then The microcomputer mouse is located in the front, left and right sides, and the obstacle sensor transmits parameters to the ARM9 (S3C2440A) in the dual-core controller according to the actual navigation environment. The servo control of the independent motor, and communicate the processing data to ARM9 (S3C2440A), and the ARM9 (S3C2440A) will continue to process the subsequent running status.

Working principle of the present invention is:

1) When the microcomputer mouse is powered on, the system will complete the sprint according to the method shown in Figure 8. First, the system needs to complete initialization, and then wait for the key information. Before receiving the key information command, it will generally be at the starting point coordinates (0, 0) Waiting for the sprint command issued by the controller, according to the button information, the present invention has multiple sprint methods: if the START button is pressed, it means that the system will give up the previous maze information to search first, and then generate an optimized maze after the search is completed. Sprint maze information, the microcomputer mouse enters the stage of automatic multiple sprints; if you press the RESET (reset) + STRAT (start) button, it means that the system will call out the optimal maze that has been explored, and then start quickly to the end along the starting point (7, 7), (7, 8), (8, 7), (8, 8) sprint; if the RESET (reset) + STRAT (start) + SPEED (speed) keys are pressed, it means that the system needs to adjust Get out of the optimal maze that has been explored, and then quickly sprint towards the end point (7, 7), (7, 8), (8, 7), (8, 8) along the starting point at the set sprint speed.

2) The microcomputer mouse is placed at the starting point coordinates (0, 0). After receiving the task, in order to prevent the wrong sprinting direction, the sensors S1 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 blocking wall, it will send an interrupt request to ARM9 (S3C2440A), and ARM9 (S3C2440A) will respond to the interrupt at the first time. Lock, and 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 sprint normally.

3) At the moment when the microcomputer starts to sprint, the sensors S1, S2, S3, S4, S5, S6 (the infrared light emitted by six independent infrared emission tubes OPE5594A is received by the receiver TSL262 and converted into the information of the surrounding maze) judges the surrounding environment And send it to ARM9 (S3C2440A), and then ARM9 (S3C2440A) generates the S-curve trajectory in Figure 7 according to the sprint maze information to generate the command given value of the speed-time motion graph. The area contained in this graph is the two motors of the microcomputer mouse X, The distance S1 that the motor Y is to travel. Then communicate with the FPGA, and the FPGA generates the PWM wave and direction for driving the two-axis DC motor according to the speed and acceleration parameter command values and then combined with the feedback from the photoelectric encoder disk and the current sensor. The PWM wave drives two independent motors after passing through the drive bridge, completes the entire acceleration process until reaching the set speed of the sprint, and communicates the processing data to the ARM9 (S3C2440A), and the ARM9 (S3C2440A) continues to process the subsequent running status.

4) When the microcomputer mouse moves forward along the Y axis, if there is a Z grid coordinate and no barrier wall enters the range of motion in front, the system enters the automatic sprint subsystem 1, and the microcomputer mouse will store its coordinates (X, Y). , abandoning the traditional single-speed sprint mode, and accelerate and decelerate according to the S-curve speed-time diagram in Figure 7. During its forward movement, ARM9 (S3C2440A) converts the distance of the forward Z grid into a microcomputer mouse according to the time requirement. Acceleration and speed command values for the sprint are required, and then communicate with the FPGA. The FPGA combines the feedback from the photoelectric encoder and the current sensor to convert the acceleration and speed command values into actual speed and acceleration, and the FPGA generates a PWM wave signal to drive the two-axis DC motor , drive the microcomputer mouse to reach the predetermined distance after passing through the driving bridge. Every time the microcomputer mouse passes through a square during the sprint process, its coordinates will be updated to (X, Y+1). Under the premise of Y+1<15, judge its coordinates Is it one of (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 is 1, and the sprint flag is 0. The microcomputer mouse prepares for the second return exploration after the sprint to search for a better maze path.

5) During the reverse movement of the microcomputer mouse along the Y axis, if there are multiple coordinates that do not enter the range of motion in front of the barrier, the system enters the automatic sprint subsystem 1, and the microcomputer mouse will store the coordinates (X, Y) at this time, in order to For fast walking, the traditional single-speed sprint mode is discarded, and acceleration and deceleration are performed according to the speed and time curves in Figure 7. During its forward movement, the ARM9 (S3C2440A) converts the distance of the forward Z grid into the microcomputer according to the time requirements. The mouse needs to sprint the acceleration and speed command value, and then communicate with the FPGA, and the FPGA combines the feedback of the photoelectric encoder and the current sensor to convert the acceleration and speed command value into the actual speed and acceleration, and the FPGA generates the PWM wave that drives the two-axis DC motor The signal drives the microcomputer mouse to reach the predetermined distance after passing through the drive bridge. Every time the microcomputer mouse passes through a grid during the sprint process, its coordinates will be updated to (X, Y-1). On the premise that Y-1>0 is determined, Determine whether its coordinates are one of (7, 7), (7, 8), (8, 7), (8, 8), if not, continue to update its coordinates, if so, 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.

6) When the microcomputer mouse moves forward along the Y axis, if there is a barrier wall entering the front movement range, and there is a barrier wall on the left in the maze information, the system will enter the automatic sprint subsystem 2, and the microcomputer mouse will store this Time coordinates (X, Y), and then enter the curved trajectory shown in Figure 9. When turning right, the microcomputer mouse will first go straight and walk a short distance. Convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA, FPGA then combines the motor feedback photoelectric encoder A, B, Z and motor current I signal to generate PWM to control motor X and motor Y Then drive the two-wheel motors to the predetermined position through the drive axle. At this time, R90_FrontWallRef starts to work to prevent external interference and start error compensation; the microcomputer mouse then transmits DashTurn_R90_Arc1 to ARM9 (S3C2440A), ARM9 (S3C2440A) according to the new sprint time Requirements, convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA, FPGA then combines the motor feedback photoelectric encoder A, B, Z and motor current I signal to generate PWM wave and The speed of the motor is DashTurn_R90_VelX1 and DashTurn_R90_VelY1, and then drives the two-wheeled motors to the predetermined position through the drive axle; then, the microcomputer mouse starts to adjust the speed and transmits the distance traveled by the microcomputer mouse DashTurn_R90_Arc2 to ARM9 (S3C2440A), ARM9 (S3C2440A) according to the new sprint Time requirements, convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA. FPGA then combines the feedback of photoelectric encoder and motor current to generate PWM waves and motor speeds DashTurn_R90_VelX2 and DashTurn_R90_VelY2 for controlling motor X and motor Y. Then drive the two-wheeled motors to the predetermined position through the driving bridge, and the microcomputer mouse has turned right 90 degrees under the control of the gyroscope; the microcomputer mouse starts to adjust the speed and transmits the distance traveled by the microcomputer mouse DashTurn_R90_Passing to ARM9 (S3C2440A), ARM9 (S3C2440A ) According to the new sprint time requirements, convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA, and then FPGA will combine the feedback of photoelectric encoder and motor current to generate PWM and motor speed for controlling motor X and motor Y DashTurn_R90_VelX3 and DashTurn_R90_VelY3, and then drive the two-wheel motors to the predetermined position through the drive axle, and complete the whole process through four stages of closed-loop control of different speeds and currents. Trajectory curve motion for a right turn. 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;

7) When the microcomputer mouse moves forward along the Y axis, if there is a barrier wall entering the front movement range, and there is a barrier wall on the right in the maze information, the system will enter the automatic sprint subsystem 3, and the microcomputer mouse will store this Time coordinates (X, Y), and then enter the curved trajectory shown in Figure 10. When sprinting to the right and turning, the microcomputer mouse will first go straight and walk a short distance. Convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA, FPGA then combines the motor feedback photoelectric encoder A, B, Z and motor current I signal to generate PWM to control motor X and motor Y Then drive the two-wheel motors to the predetermined position through the drive axle. At this time, L90_FrontWallRef starts to work to prevent external interference and start error compensation; the microcomputer mouse then transmits DashTurn_L90_Arc1 to ARM9 (S3C2440A), ARM9 (S3C2440A) according to the new sprint time Requirements, convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA, FPGA then combines the motor feedback photoelectric encoder A, B, Z and motor current I signal to generate PWM wave and The speed of the motor is DashTurn_L90_VelX1 and DashTurn_L90_VelY1, and then the drive axle drives the two-wheel motors to rotate to the predetermined position; then, the microcomputer mouse starts to adjust the speed and transmits the distance traveled by the microcomputer mouse DashTurn_L90_Arc2 to ARM9 (S3C2440A), ARM9 (S3C2440A) according to the new sprint Time requirements, convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA, FPGA then combines the feedback of photoelectric encoder and motor current to generate PWM wave and motor speed DashTurn_L90_VelX2 and DashTurn_L90_VelY2 for controlling motor X and motor Y, Then the two-wheeled motors are driven to the predetermined position through the drive bridge, and the microcomputer mouse has turned 90 degrees to the left under the control of the gyroscope; ) According to the new sprint time requirements, convert this distance into corresponding position, speed and acceleration commands and then transmit them to FPGA, and then FPGA will combine the feedback of photoelectric encoder and motor current to generate PWM and motor speed for controlling motor X and motor Y DashTurn_L90_VelX3 and DashTurn_L90_VelY3, and then drive the two-wheel motors to the predetermined position through the drive axle, and complete the whole process through four stages of closed-loop control of different speeds and currents. The trajectory curve movement of a right turn. 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.

8) When the microcomputer mouse moves forward along the X-axis and Y-axis, if a stair-shaped maze retaining wall similar to that shown in Figure 11 enters the range of motion ahead, the system will enter the automatic sprint subsystem 4, and the microcomputer mouse will store the coordinates at this time ( X, Y), and then enter the diagonal motion trajectory shown in Figure 12. When the straight track coordinates are (X, Y), ARM9 (S3C2440A) enables the FPGA, and the FPGA controls the DC motor X and DC motor Y with the same The speed moves forward at a constant speed. During the forward process, the sensors S2, S3, S4, and S5 work together to ensure that the microcomputer mouse must run along the center line of the maze when it sprints. Sensors S1 and S6 will work. When the preset value is read, it means that the front of the microcomputer mouse has entered the coordinates (X, Y+1), and then the distance SX from the microcomputer mouse sensor S1 to the center of the motor is transmitted to ARM9 (S3C2440A) , ARM9 (S3C2440A) first converts the very short distance SX walking in a straight line into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then transmits them to the control FPGA, and the FPGA will combine the photoelectric encoder and current according to these parameters Feedback generates PWM waveforms that drive the left and right wheels, and controls the motors of the left and right wheels to move forward quickly; when reaching the established goal, update the maze coordinates at this time to (X, Y+1); the microcomputer mouse starts with a 45-degree diagonal Sprint for attitude adjustment, at this time ARM9 (S3C2440A) will convert the curved motion trajectory R_Arc1_45 into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then FPGA combines photoelectric encoders and current sensors on motor X and motor Y The feedback generates PWM waves to control the left and right wheels, and then controls the left and right wheels to move forward with a constant ratio C1; when reaching the established target, immediately adjust the speed of the left and right wheels of the microcomputer mouse, and ARM9 (S3C2440A) converts the curve trajectory R_Arc2_45 according to different sprint conditions Time requirements are converted into speed parameters and acceleration parameter command values, and then FPGA combines the feedback from the photoelectric encoders and current sensors on motor X and motor Y to generate PWM waves that control the left and right wheels, and then control the left and right wheels to move forward with a constant ratio C2; Under the control of the gyroscope, it is guaranteed that the slope of the curve R_Arc2_45 is 45 degrees when reaching the predetermined target point A, and then the controller converts a short distance in a straight line Passing1 into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements , and then the FPGA combines the feedback from the photoelectric encoders and current sensors on the motor X and motor Y to generate PWM waves that control the left and right wheels, and then control the left and right wheels to advance at the same acceleration and speed, and pass through three different trajectories when reaching the set target Complete the track curve movement of the whole right turn 45 degree direction change, the microcomputer mouse enters the diagonal sprint stage, at this time the front sensors S1 and S6 start to work; ARM9 (S3C2 440A) First, convert the straight-line walking distance into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then FPGA combines the photoelectric encoders on motor X and motor Y, the feedback of current sensors, and the feedback from sensors S1 and S6 to the front pillars detection, generate PWM waves to control the left and right wheels, and then control the left and right wheels to move forward in a straight line at the same acceleration and speed; , Y+2), the microcomputer mouse completes the sprint of a staircase maze, and updates the maze coordinates at this time to (X+2, Y+3); and so on, the microcomputer mouse completes the Z staircase maze sprint, the maze is updated to (X+Z+1, Y+Z+2), and the microcomputer mouse starts to turn out. At this time, the controller will convert the curved trajectory L_Arc3_45 into speed parameters and Acceleration parameter command value, then FPGA combines the feedback of the photoelectric encoder and current sensor on motor X and motor Y to generate PWM waves to control the left and right wheels, and then control the left and right wheels to move forward with a constant ratio C3; when reaching the set target, adjust immediately The speed of the left and right wheels of the microcomputer mouse, the controller converts the curved trajectory L_Arc4_45 into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then FPGA combines the feedback of the photoelectric encoder and current sensor on motor X and motor Y to generate Control the PWM waves of the left and right wheels, and then control the left and right wheels to move forward with a constant ratio C4; under the control of the gyroscope, ensure that the slope of the curve L_Arc4_45 is 0 degrees when reaching the established target point B, and then the controller walks the straight line very short The distance of Passing2 is converted into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then FPGA combines the feedback from the photoelectric encoders and current sensors on motor X and motor Y to generate PWM waves to control the left and right wheels, and then control the left and right wheels Go forward with the same acceleration and speed, and complete the movement of the entire left-turn 45-degree curve trajectory under the coordinates (X+Z+1, Y+Z+1) through three different trajectories after reaching the predetermined target, and the microcomputer mouse completes the alignment. After corner sprinting, the trajectory of the straight road changes, and the microcomputer mouse enters the straight sprint stage. At this time, the front sensors S2, S3, S4 and S5 start to work and enter the straight line navigation; and update the current coordinates as (X+Z+1, Y+ Z+2) Under the premise of X+Z+1<15 and Y+Z+2<15, judge whether its coordinates are (7, 7), (7, 8), (8, 7), (8, 8) One of them, if it is 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, go to Search for better maze paths.

9) During the forward movement of the microcomputer mouse along the X-axis and Y-axis, if a U-shaped maze wall similar to that in Figure 13 enters the range of motion ahead, the system will enter the automatic sprint subsystem 5, and the microcomputer mouse will store the coordinates at this time ( X, Y), and then enter the curved trajectory shown in Figure 14 and Figure 15. During a right sprint turn, ARM9 (S3C2440A) first converts the short distance of walking in a straight line Leading1 into speed parameters according to different sprint conditions and time requirements And the acceleration parameter command value, and then transmit it to the FPGA, and the FPGA combines the feedback of the photoelectric encoder and current sensor on the motor X and motor Y to generate PWM waves that control the left and right wheels, and then control the left and right wheels through the drive axle to achieve the same acceleration and speed in a straight line Forward; when reaching the established goal, update the maze coordinates at this time to (X, Y+1), and the sensor reference value R90_FrontWallRef starts to work to prevent external interference and start error compensation. After the error compensation is completed, the controller will convert the curved motion trajectory R_Arc1 into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then transmit them to FPGA, which combines photoelectric encoders and current sensors on motor X and motor Y The feedback generates PWM waves that control the left and right wheels, and then controls the speed of the left and right wheels to turn at a constant ratio through the drive axle; when the target is reached, the speed of the microcomputer mouse is adjusted immediately, and the controller will follow the curve trajectory R_Arc2 according to different sprints Conditional time requirements are converted into speed parameters and acceleration parameter command values, and then transmitted to FPGA. FPGA combines the feedback of photoelectric encoders and current sensors on motor X and motor Y to generate PWM waves that control the left and right wheels, and then control the left and right wheels through the drive axle. The speed turns at a constant ratio; when reaching the predetermined target, the microcomputer mouse has turned right 90 degrees under the control of the gyroscope, and the controller will walk a short distance in a straight line Passing1+Leading2, and convert it into speed according to the time requirements of different sprint conditions Parameters and acceleration parameter command values are then transmitted to the FPGA, and the FPGA combines the feedback from the photoelectric encoders and current sensors on the motor X and motor Y to generate PWM waves that control the left and right wheels, and then control the left and right wheels at the same acceleration and speed through the drive axle Forward, when the value of sensor S5 has a transition from low level to high level, update the coordinates of the microcomputer mouse to (X+1, Y+1), and the microcomputer mouse continues to move forward at the current speed and acceleration, when it reaches the predetermined When the target is reached, the sensor reference value R90_FrontWallRef starts to work to prevent external interference and start error compensation. After the error compensation is over, the microcomputer mouse continues to turn right, and the controller will convert the curved trajectory R_Arc1 into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then transmit them to the FPGA. The FPGA combines the motor X and motor Y. Feedback from the photoelectric encoder and current sensor generates PWM waves that control the left and right wheels, and then controls the speed of the left and right wheels to turn at a constant ratio through the drive axle; when the target is reached, immediately adjust the speed of the microcomputer mouse, and the controller will move the curve The trajectory R_Arc2 is converted into speed parameters and acceleration parameter command values according to different sprint conditions and time requirements, and then transmitted to the FPGA. The FPGA combines the feedback from the photoelectric encoders and current sensors on the motor X and motor Y to generate PWM waves for controlling the left and right wheels, and then Control the speed of the left and right wheels through the drive axle to turn at a constant ratio; when reaching the established target, the microcomputer mouse has turned right 90 degrees under the control of the gyroscope, and the controller will walk a short distance in a straight line Passing2 according to different sprint conditions and time requirements It is converted into speed parameters and acceleration parameter command values, and then transmitted to FPGA. FPGA combines the feedback of photoelectric encoders and current sensors on motor X and motor Y to generate PWM waves for controlling the left and right wheels, and then controls the same acceleration of the left and right wheels through the drive axle. Move forward at the same speed and reach the established goal, the microcomputer mouse completes the sprint of a U-shaped maze, update the coordinates of the microcomputer mouse to (X+1, Y), and judge whether its coordinates are (7, 7), (7, 8), One of (8, 7), (8, 8), if not, will continue to update its coordinates, if it is, notify the controller that it has sprinted to the target, then set the return exploration flag to 1, the sprint flag to 0, and the microcomputer mouse is ready The second return trip after the sprint is to search for a better maze path.

10) When the microcomputer mouse sprints to (7, 7), (7, 8), (8, 7), (8, 8), it will prepare for the return trip after the sprint to search for a better path, ARM9 (S3C2440A) It will call out the maze information it has stored, and then calculate other possible optimal paths, and then start the return journey to enter the one that is considered optimal.

11) When the microcomputer mouse enters the maze and returns to explore, its navigation sensors S1, S2, S3, S4, S5, and S6 will work, and send the reflected photoelectric signal to ARM9 (S3C2440A), after being judged by ARM9 (S3C2440A) Send it to FPGA, communicate with ARM9 (S3C2440A) after calculation by FPGA, and then the controller sends control signals to motor X and motor Y of the navigation for confirmation: if it enters the searched area, it will move forward quickly, if it is an unknown return area Then use the normal speed to search, and update its coordinates (X, Y) at all times, and judge whether its coordinates are (0, 0), if so, set the return exploration flag to 0, the microcomputer mouse enters the sprint stage, and set the sprint flag to 1.

12) In order to realize the accurate coordinate calculation function of the microcomputer mouse, the present invention adds a 512-line photoelectric encoder on the X-axis and Y-axis of the high-speed DC motor, and calculates the running distance of the microcomputer mouse at all times and calculates the distance according to the maze retaining wall and pillars. Compensation is introduced for the different characteristics of sensor feedback information, so that the calculation of the sprint coordinates of the microcomputer mouse will not be wrong.

13) In order to reduce the interference of the light source on the sprinting of the microcomputer mouse, the present invention adds a photoelectric compensation sensor 7S8, which will read the abnormal light sources around during the sprinting stage of the microcomputer mouse, and automatically send it to the controller for real-time compensation to eliminate The interference of external light sources on the sprint is eliminated.

14) During the operation of the microcomputer mouse, ARM9 (S3C2440A) will conduct online identification of the torque of DC motor X and motor Y. When the torque of the motor is greatly shaken by external interference, the controller will use the DC motor torque and The current relationship is time-compensated, which reduces the influence of the motor torque jitter on the high-speed sprint of the microcomputer mouse.

15) 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 for exploration (0, 0), ARM9 (S3C2440A) will control the FPGA to make the microcomputer mouse stop at the center point of the initial coordinate (0,0), and then readjust the PWM wave output of the FPGA so that the motor X and motor Y move in opposite directions, And under the control of the gyroscope, rotate 180 degrees on the spot, then stop for 1 second, retrieve the maze information for the second time, and then calculate the optimal sprint path after optimizing the maze information according to the algorithm, then set the sprint flag to 1, and the system enters the second A quick sprint phase. Then follow the sprint----exploration----sprint, and complete multiple sprints to achieve the goal of fast sprint.

The beneficial effects of the present invention are:

(1) At the same time, the ARM9 processor and the FPGA processor are used to divide the work, and the FPGA processor handles the synchronous servo control of the two high-speed DC motors when the microcomputer mouse sprints at high speed, which makes the control relatively simple, greatly improves the calculation speed, and avoids large current, which shortens the development cycle and has strong program portability; it effectively prevents the program from running away and greatly enhances the anti-interference ability; monitoring the remaining capacity of the lithium-ion battery at all times is helpful for understanding the energy state of the battery. When the state is low, the battery can be replaced in advance before the sprint, thereby reducing the false interference of the battery to the high-speed sprint;

(2) During the rapid sprinting process of the microcomputer mouse, the ARM9 processor can conduct online identification of the torque of the DC motor X and motor Y and use the relationship between the torque and current of the DC motor to compensate, reducing the impact of motor torque jitter on the microcomputer The effect of a fast sprint of the mouse;

(3) The gyroscope can determine the angular coordinates and measure the rotation speed of the wheel according to the time accumulation, which has a navigation function for the calculation of the continuous rotation of the microcomputer mouse at a certain angle, and can realize the independent control of the speed and direction of the two rounds of the microcomputer mouse, which is conducive to improving The stability and dynamic performance of the microcomputer mouse when sprinting make it easier for the microcomputer mouse to realize the rotation of the curved track;

(4) The data storage module can store the maze exploration information of the microcomputer mouse, which is conducive to extracting corresponding information and optimizing the path of the second sprint, reducing the sprint time;

(5) The LM629 control module calls different sprint modules according to the specific path to control the sprint direction and sprint speed, and automatically sprints to prevent contact deduction, which is fast and safe;

(6) The two rounds of microcomputer mice include two sprint modes to meet the needs of realistic competitions;

(7) The S-shaped acceleration and deceleration curve is used to continuously change the acceleration at any point, thus avoiding the flexible impact of the microcomputer mouse system, the smoothness of the speed is very good, and the movement accuracy is high.

The above descriptions are only examples of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made by using the content of the description of the present invention, or directly or indirectly used in other related technical fields, shall be The same reasoning is included in the patent protection scope of the present invention.

Claims (10)

1. one kind based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, be applied in two-wheeled micro computer mouse, it is characterized in that, described spurt servo-drive system comprises spurt centralized control unit, the first motion driver element, the second motion driver element, the first High-speed DC motor, the second High-speed DC motor and power-supply unit, described power-supply unit comprises lithium ion battery, described spurt centralized control unit comprises ARM9 processor and FPGA processor, described ARM9 processor and FPGA processor are electrically connected with transmission of control signals and data message, described FPGA processor is electrically connected with described the first motion driver element and the second motion driver element respectively, described the first motion driver element is further electrically connected with described the first High-speed DC motor, described the second motion driver element is further electrically connected with described the second High-speed DC motor.

2. according to claim 1 based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, it is characterized in that, on described the first High-speed DC motor and the second High-speed DC motor, photoelectric encoder and current sensor are all further set, described photoelectric encoder and current sensor are electrically connected with described FPGA processor respectively.

3. according to claim 2 based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, it is characterized in that, described spurt servo-drive system further comprises at least six sensors that keep in obscurity, described ARM9 processor is electrically connected with the sensor that keeps in obscurity described in each environmental information detecting to receive the sensor that keeps in obscurity respectively, the described sensor that keeps in obscurity is infrared ray sensor, and described infrared ray sensor comprises infrared transmitter OPE5594A and infrared receiver TSL262.

4. according to claim 3 based on the very fast micro computer mouse of double-core two-wheeled diagonal line spurt servo-drive system, it is characterized in that, described spurt servo-drive system further comprises the first gyroscope and the second gyroscope, the first gyroscope comprises micro-mechanical sensor of angular velocity, the second gyroscope comprises speed pickup, and described the first gyroscope and the second gyroscope are electrically connected so that the angular velocity information detecting and velocity information are sent to ARM9 processor with described ARM9 processor respectively.

5. a two-wheeled micro computer mouse, it is characterized in that, comprise the spurt servo-drive system as described in as arbitrary in claim 1 to 4, described two-wheeled micro computer mouse further comprises housing (1), the first wheel (2) and the second wheel (3), described enclosure interior arranges described spurt servo-drive system, described the first wheel and the second wheel are separately positioned on described housing both sides, and described the first wheel is connected with described the first High-speed DC motor, and described the second wheel is connected with described the second High-speed DC motor.

6. two-wheeled micro computer mouse according to claim 5, is characterized in that, the rotating shaft of described the first wheel is connected with described the first gyroscope, and the rotating shaft of described the second wheel is connected with described the second gyroscope.

7. two-wheeled micro computer mouse according to claim 6, it is characterized in that, described two-wheeled micro computer mouse further comprises opto-electronic compensation sensor and opto-electronic compensation sensor, and described voltage sensor and opto-electronic compensation sensor are electrically connected with described arm processor respectively.

8. a control method for two-wheeled micro computer mouse as claimed in claim 7, it is characterized in that, comprise motion-control module and upper computer control module, described upper computer control module comprises labyrinth reading unit, coordinate setting unit and online output unit, described motion-control module comprises data storage cell, input-output unit and FPGA control module, described FPGA control module comprises straight dash unit, unit, the spurt unit that turns left, diagonal line spurt unit and the U-shaped spurt unit of making a spurt of turning right.

9. the control method of two-wheeled micro computer mouse according to claim 8, it is characterized in that, described FPGA control module is controlled the dash speed of described two-wheeled micro computer mouse in each section of motion distance, and described dash speed is divided into accelerated motion stage, uniform motion stage and retarded motion stage successively; In described accelerated motion stage and described retarded motion stage, the acceleration of two-wheeled micro computer mouse all increases gradually since 0, then remains unchanged, and is finally decreased to gradually 0.

10. the control method of two-wheeled micro computer mouse according to claim 9, is characterized in that, comprises and explores spurt and the two kinds of spurt patterns of directly making a spurt, and described direct spurt pattern further comprises constant speed spurt pattern and non-constant speed spurt pattern; Under described exploration spurt pattern, described two-wheeled micro computer mouse automatic search complete labyrinth explore reach home after return to origin again, finally transfer the labyrinth information obtained in heuristic process fast spurt to terminal; Under direct spurt pattern, described two-wheeled micro computer mouse is directly transferred the quick spurt of historical labyrinth information to terminal.

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