Research On The Design And Control Algorithm Of The Suction Cup Computer Mouse

With the continuous development of industrial automation,the field of robot application has been expanding,more and more automated robots have replaced human labor as a social development trend.Micromouse as a typical representative of wheeled robots,involving motion control,path planning,sensor applications,mechanical design and many other technologies,has gained widespread attention at home and abroad.Domestic micromouse has problems such as poor control stability,slow speed,and backward algorithms.This dissertation studies the current international popular suction micromouse,adds suction fan mechanism,increases the stability of micromouse movement,and improves the traditional control mode of micromouse.Designing the motion control scheme of the micromouse,by analyzing the electrical characteristics of the analog infrared sensor and its ranging method,the accuracy of the distance measurement of the suction micromouse is improved.In-depth study of the suction micromouse sprint algorithm,and finally complete the suction micromouse system design.The main research work is as follows:(1)Research on mechanical structure design and control scheme of suction fan.Aiming at the problem of turning and slipping under the high-speed operation of traditional micromouse,the suction fan mechanism is designed,the principle and function of the suction fan are analyzed in detail,and the traditional control scheme of the micromouse is deeply analyzed.The position closed loop is added on the basis of the traditional micromouse speed closed loop.The accuracy of the calibration of the suction micromouse and the stability of the overall operation are improved.The relationship between the suction fan and the running speed of the micromouse is studied.The PWM technology is used to control the speed of the suction fan motor and increase the friction between the micromouse and the maze.The trapezoidal turning strategy is adopted to avoid the slippage of the suction micromouse during high-speed cornering,thereby realizing the non-deceleration turning;the long straight path acceleration and deceleration sprinting strategy is designed,and the suction micromouse high-speed sprint is realized,and the sprint running time is shortened.(2)Research on infrared ranging method of suction micromouse.Analyze the position and function of the infrared sensor in the suction micromouse,use the analog infrared,get rid of the drawbacks that the digital infrared can only detect the baffle,and deeply study the characteristics of the analog infrared sensor,and propose the first-order logarithm method and the second-order pair.The infrared ranging method of the number method and the linear interpolation method is used to approximate the relationship between the measured AD value and the distance,and the computational burden of the main controller is reduced.(3)Research on the eight-direction oblique sprint algorithm of the suction micromouse.Establish a mathematical model of the maze,study the storage method of wall data,define the relative direction and absolute direction,and study the transformation relationship between the two.By analyzing the traditional search algorithm and sprint algorithm,this paper proposes an eight-direction oblique sprint algorithm for the traditional sprint algorithm with many turning actions and long path,and analyzes various errors in the sprint process to realize the suction micromouse sprinting.(4)Construction and experimental analysis of the suction micromouse system.The hardware circuit of the suction micromouse was designed,and the experimental prototype was built.The IEEE standard maze was used to verify the speed response,suction suction,position response,infrared ranging and sprint algorithm of the suction micromouse.The experiment shows that the suction micromouse designed in this dissertation is effective.The ground improves the stability of the operation and the sprint speed,and the sprint algorithm is excellent.