High-end Computer Mouse Design And Control Research

The design and control of MicroMouse was an important branch of robotics research.It was related to the mechanical stability of robot and the problem of system control.In this thesis,the research work of MicroMouse was carried out to improve the stability of high speed running.Firstly,the stability of the hardware structure was analyzed.Then,the circuit was designed,and the control of basic layer motion and the algorithm of top layer path were also improved.Finally,a high-end MicrMouse was designed and the experiment was carried out.The innovative research work of this paper was as follows:1.According to the functional requirements of the MicroMouse,the body size was designed.And the stability of MicroMouse was influenced by the center of gravity and the shift of the center when adding,decelerating or turning,so a MicroMouse with a low center of gravity was designed.And the moment inertia of the body was influenced by the dust adhering ability,tire friction coefficient and the position of devieces,the wheel size,type of tire and device layout were totally redesigned.In order to increase the adhesion of the MicroMouse to the labyrinth floor when fast running or turning,a fan based on aerodynamics was designed.2.The hardware system architecture of MicroMouse was built,high cost performance chip of STM32F103RET6 was chosen as the core controller,circuit design including the processor minimum system based on STM32F103RET6,infrared transceiver circuit,gyroscope circuit for swerve,motor-driven circuit,suction fan circuit,system power supply circuit and others was finished.3.The traditional bottom control algorithm was improved.The traditional two wheel independent control was changed into the coordinated control of the left and right wheels to complete the straight and turn action of the MicroMouse.Control arc turning by using gyroscope,encoder and infrared correction fusion;In order to overcome the centrifugal force caused the MicroMouse slip.The change of the traditional trapezoidal turn was changed to a variable acceleration curve,which made the turn smooth and reduced the lateral sliding phenomenon.Aiming at the lateral offset,longitudinal deviation and angle error caused by the operation of the MicroMouse,we put forward the use of infrared to make unilateral correction,double side correction and column correction.Finally,the curve of the sprint of the MicroMouse was curved by using the amplitude of the infrared detection column to determine the turning radius of the curve.4.The probability distance fusion algorithm was proposed.A two-dimensional array was used to memorize the number of the maze,and each grid was represented by coordinates;the transformation between absolute and relative direction was used to facilitate the identification of coordinate memory and walking direction.In view of the low efficiency of the traditional search algorithm,can not take the "back" bend and take up a lot of CPU,the probability of distance mathematical modeling was used.The whole maze was divided into eight regions and the corresponding algorithm was filled,the probability distance fusion algorithm was formed and the search efficiency of the maze was improved.5.Control experiment of exclusive MicroMouse.The effect of opening and closing the ground fan on the friction force of the MicroMouse was tested,and infrared characteristics of MicroMouse was experimented,velocity response and position response were experimented.In the last,probability distance fusion algorithm efficiency was experimented.