Double-core high-speed four-wheeled picomouse full digital navigation servo controller

A servo controller, servo control technology, applied in two-dimensional position/channel control and other directions

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

[0019] The purpose of the present invention is to solve many problems in the prior art by providing a dual-core high-speed four-w...

Method used

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  • Double-core high-speed four-wheeled picomouse full digital navigation servo controller
  • Double-core high-speed four-wheeled picomouse full digital navigation servo controller
  • Double-core high-speed four-wheeled picomouse full digital navigation servo controller

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Embodiment Construction

[0069] Below in conjunction with accompanying drawing, the present invention will be further described.

[0070] For ease of explanation, the middle part of the pico mouse refers to the midline of the pico mouse, and the rear part of the pico mouse refers to the side of the pico mouse far away from the first sensor S1, the second sensor S2, the third sensor S5 and the fourth sensor S6, the specific position Refer to attached picture. 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 R, and the fourth motor Z correspond to the X wheel, Y wheel, R wheel, and Z wheel respectively, and the X wheel and Z wheel are located on the right side of the pico mouse, and the Y wheel and R wheel Located on the left side of the Pico, the X and Y wheels are located in the middle o...

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Abstract

The invention discloses a double-core high-speed four-wheeled picomouse full digital navigation servo controller, comprising a mainboard, and a cell, a first sensor S1, a second sensor S2, a third sensor S5, a fourth sensor S6, a first motor X, a second motor Y, a third motor R, a fourth motor Z, a fifth motor M, a three-axis gyroscope G1, a three-axis accelerometer A1, a vacuum device, etc. which are all arranged on the mainboard. By employing the structure of the invention, the controller obtains an increased operation speed, and can monitor and calculates running states of a picomouse in real time; through four sensors, interferences can be reduced, and meanwhile peripheral environments can be accurately monitored; besides, the controller can correct motion postures according to running states, redistribute torques, and distribute more torques to nonstall driving wheels so as to get a system out of an unstable state rapidly, automatically regulate the ground absorption capability of the vacuum device, and completely eliminate the skidding of the picomouse in complex labyrinth navigation.

Description

technical field [0001] The invention relates to an automatic control system of a PICOMOUSE, 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 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. 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...

Claims

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Application Information

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IPC IPC(8): G05D1/02
Inventor 张好明鲍庭瑞
Owner TONGLING UNIV
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