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Single-core low-speed six-wheeled picomouse exploration controller

A micro-mouse and controller technology, applied in the direction of program control, computer control, general control system, etc.

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

[0016] The purpose of the present invention is to provide a single-core low-speed six-wheel pico mouse exploration controller with the help of existing advanced control technology and advanced control chips, which can meet the needs of beginners in learning and solve many problems in the prior art

Method used

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  • Single-core low-speed six-wheeled picomouse exploration controller
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  • Single-core low-speed six-wheeled picomouse exploration controller

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Embodiment Construction

[0069] Below in conjunction with accompanying drawing, the present invention will be further described. The front end of the pico mouse is the side of the pico mouse close to the first sensor S1, the second sensor S2, the third sensor S5 and the fourth sensor S6, the middle part of the pico mouse refers to the midline of the pico mouse, and the rear end of the pico mouse refers to the For the picomouse side of the first sensor S1 , the second sensor S2 , the third sensor S5 and the fourth sensor S6 , refer to the accompanying drawings for specific positions. The lower surface of the picomouse refers to the surface opposite to the surface on which the battery, the first sensor S1 , the second sensor S2 , the third sensor S5 , the fourth sensor S6 , etc. are located. The first motor X, the second motor Y, the third motor Z, the fourth motor R, the fifth motor U, and the sixth motor W are respectively corresponding to the X wheel, the Y wheel, the R wheel, the Z wheel, the U whee...

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Abstract

The invention discloses a single-core low-speed six-wheeled picomouse exploration controller, comprising a cell, a first sensor, a second sensor, a third sensor, a fourth sensor, a gyroscope, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a direction sensor, an accelerometer, a vacuum apparatus, an STM32F407 controller, seven MX118 chips, etc. The controller increases an operation speed, and constantly monitors and calculates running states of a picomouse; four sensors are employed for detection, which reduce interference, and meanwhile accurately monitor peripheral environments; according to the running states, the controller can correct moving postures, redistribute torques, and distribute more torques to a nonstall driving wheel so as to allow a system to rapidly get out of an unstable state; in addition, the controller can automatically regulate the ground adsorption capability of the vacuum apparatus, and completely avoid the skidding of the picomouse when performing exploration with a high speed and sprinting in a complex labyrinth.

Description

technical field [0001] The invention relates to a PICOMOUSE automatic control system, which belongs to the field of miniature labyrinth robots. Background technique [0002] The microcomputer mouse is an intelligent walking robot composed of embedded microcontrollers, sensors and electromechanical moving parts. It often adopts a two-wheel structure, such as figure 1 shown. The microcomputer mouse can automatically memorize and select paths in different "mazes", and use corresponding algorithms to quickly reach the set destination. figure 2 It is one of the mazes solved by the microcomputer mouse. [0003] With the continuous advancement of microelectronics technology and computer control technology, foreign experts have proposed a more challenging maze robot --- Weimouse, based on the technology of microcomputer mice to solve mazes. In order to enhance the complexity of the maze and solve the maze The difficulty of the maze is changed from 180mm to 90mm, and the original...

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
Owner TONGLING UNIV
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