Double-core high-speed two-wheeled picomouse full digital navigation servo controller, and control method thereof

A servo controller and servo control technology, applied in two-dimensional position/channel control, program control, computer control and other directions, can solve the problems of micro mouse slippage, slow processing time, sensor interference, etc., to reduce the burden and simplify debugging. , to prevent the effect of slipping

Inactive Publication Date: 2015-12-02
TONGLING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0017] The purpose of the present invention is to solve the deficiencies of the prior art, and provide a dual-core high-speed two-wheel pico mouse full digital navigation servo controller to solve the problems of pico mouse slipping during navigation, mutual interference of sensors, slow processing time, etc.

Method used

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  • Double-core high-speed two-wheeled picomouse full digital navigation servo controller, and control method thereof
  • Double-core high-speed two-wheeled picomouse full digital navigation servo controller, and control method thereof
  • Double-core high-speed two-wheeled picomouse full digital navigation servo controller, and control method thereof

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Embodiment Construction

[0046] Combine below Figure 1 to Figure 8 , to further illustrate the present invention.

[0047] The STM32F4 series is compatible with the high-performance F2 series in terms of pins and software. The main frequency of the F4 (168MHz) is higher than that of the F2 series (120MHz) and the F1 series (78MHz), and supports single-cycle DSP instructions and floating point units. SRAM capacity (192KB, F2 is 128KB), 512KB-1MB embedded flash memory and more advanced peripherals such as video, network interface and data encryption. The STM32F4 series is based on the latest ARM CortexM4 core, adding signal processing functions and increasing operating speed to the existing excellent STM32 microcontroller product portfolio; STM32F405x integrates timers, 3 ADCs, 2 DACs, serial interface , external memory interface, real-time clock, CRC calculation unit and a complete set of advanced peripherals including analog true random number generator. STM32F407 adds multiple advanced peripherals...

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Abstract

The invention discloses a double-core high-speed two-wheeled picomouse full digital navigation servo controller, comprising a chassis provided with a cell device, a sensor device, a gyroscope device G, a vacuum suction device and a control unit module; two sides of the chassis are in connection with motion wheels. The controller solves the problem of skidding of a picomouse in walking through the vacuum suction device arranged under the chassis, and meanwhile automatically regulates the servo control of a vacuum suction direct current motor M according to the walking speed of the picomouse and ground conditions, thereby preventing the picomouse from being bound to labyrinth ground road conditions.

Description

technical field [0001] The invention relates to the field of miniature labyrinth exploring robots, in particular to a dual-core high-speed two-wheel pico mouse full digital navigation servo controller and a control method thereof. Background technique [0002] 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. It often adopts a two-wheel structure. The two-dimensional structure of the two-wheel microcomputer mouse is as follows: figure 1 shown. [0003] The microcomputer mouse can automatically memorize and select paths in different "mazes", and use corresponding algorithms to quickly reach the set destination. One of the mazes it solves is shown as figure 2 shown. [0004] With the continuous advancement of microelectronics technology and computer control technology, foreign experts have proposed a more challenging maze robot based on...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02G05B19/042
Inventor 张好明杨锐敏
Owner TONGLING UNIV
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