The Hardware And Software System Improvement Of The Micromouse Robot

Robotics is a multi-disciplinary advanced science which includes machinery automation, electronic technology, pattern recognition, artificial intelligence and others. At present, intelligent robot has become an international focus and hot research field for most countries, the related research is very active now. In our country, robotics is a high-tech field cultivated by goverment. Research and development of robots for students in college can not only improve the students’ ability to conduct multi-disciplinary cross application, but also can cultivate their awareness of the entire system.This paper mainly designs an intelligent maze robot called micro-mouse, it is aimed at the requirement of IEEE Standard Maze Robot Competition. The new type of micro-mouse described in this paper improves the hardware and software and has faster and more stable operation in the maze.In the overall design of the robot, the new micro-mouse has focused on the separation of the upper maze routing module and the underlying sensing, execution module, and designed a dual-plate mechanical structure and a dual ARM-core control structure. After all, the new overall design has improved the performance of the new micro-mouse.The new micro-mouse designed in this paper chooses DC motor as the executive part of the whole system, therefore, the realization of the motion control method is proposed in this paper. First of all, according to the requirements of the different micro-mouse movement and the different environment of maze cells, a coding feedback control and infrared feedback control algorithm have been introduced, and the results show that the control method according to the algorithm described here can realize the micro-mouse of stable movement; Secondly, in order to improve the reliability of system operation, the paper combined with the idea of multiple sensors fusion with encoder and gyroscope data in the process of information fusion method, to a certain extent, improve the stability of the system; Finally, infrared sensor modules are important visual system for maze robots, and the modules are also of great importance to execute the infrared feedback algorithm, therefore, the paper puts forward a processing method of infrared data, the calculation precision of the distance to labyrinth baffle is up to 1mm.As a result of the design of dual deck plate and dual ARM cores, the implementation of the upper function of the new micro-mouse system is certainly obviously different from the traditional robot, therefore, it introduces the method for realizing the upper modules and a communication method between the ARMs.