Single-core low-speed two-wheeled picomouse sprint controller

A micro-mouse and controller technology, applied in two-dimensional position/channel control and other directions, to achieve the effect of solving impact, simple control, and strong program portability

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

[0014] The purpose of this invention is With the help of the existing advanced control technology and advanced control chip, a single-core low-speed two-wheel pico mouse sprint controller is provided , Meet the needs of beginners in learning and other aspects and solve many problems in the prior art

Method used

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  • Single-core low-speed two-wheeled picomouse sprint controller
  • Single-core low-speed two-wheeled picomouse sprint controller
  • Single-core low-speed two-wheeled picomouse sprint controller

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0046] Embodiment 1: Single-core low-speed two-wheel Pico mouse sprint controller, including STM32F4 controller, L6207D chip, battery, first sensor S1, second sensor S2, third sensor S5, fourth sensor S6, gyroscope G1, second sensor A motor X, a second motor Y, a third motor M, a gyroscope G1, a current sensor and a vacuum device, the current sensor is connected to the signal of the L6207D chip and connected to the signal of the STM32F4 controller, the signal of the STM32F4 controller is connected to the L6207D chip, the first The sensor S1, the second sensor S2, the third sensor S5 and the fourth sensor S6 are all located on one side of the upper part of the two-wheeled pico mouse, two of the sensor signals are emitted in the same direction as the wheel, and the other two sensor signals are emitted in the same direction as the wheel. There is a certain angle between the traveling directions, two of the three motors are respectively connected to the two wheels of the two-wheel ...

Embodiment 2

[0051] Embodiment 2 differs from Embodiment 1 in that: the angle between the sensor signal emission direction of the first sensor S1 and the sensor signal emission direction of the second sensor S2 is greater than or equal to 75° and less than or equal to 90°; the third sensor S5, The included angle between the sensor signal emission directions of the fourth sensor S6 is greater than or equal to 75° and less than or equal to 90°. In this way, there is less interference between the sensors and the measurement is more accurate. exist When the included angle is greater than or equal to 75° and less than 90°, Sensor S2 and sensor S5 can also accurately measure the change from having a retaining wall to no retaining wall and from no retaining wall to having a retaining wall. The sensor signal change at this position can be captured by the controller, and then at this position can be Precise and intelligent compensation for picomouse. while in When the included angle is equal to...

Embodiment 3

[0052] Embodiment 3, the difference from Embodiment 1 is that the two motors corresponding to the two wheels are the first motor X and the second motor Y, and both the first motor X and the second motor Y are permanent magnet DC motors, driving vacuum The motor of the device is a third motor M and the third motor is a DC motor.

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PUM

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Abstract

The invention discloses a single-core low-speed two-wheeled picomouse sprint controller, comprising an STM32F4 controller, an L6207D chip, 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 current sensor and a vacuum apparatus. The STM32F4 controller and the L6207D chip are in signal connection; the signal emission direction of two sensors is the same with a wheel running direction, and the signal emission direction of the other two sensors and the wheel running direction form a certain angle; the gyroscope and the STM32F4 controller are in signal emission; two motors among the three motors are respectively in corresponding connection with two wheels of a two-wheeled picomouse, and the other motor is in connection with the vacuum apparatus. The controller increases an operation speed, constantly monitors and calculates running states of the picomouse, automatically regulates the ground adsorption capability of the vacuum apparatus, and completely avoids the skidding of the picomouse when sprinting with a high speed in a complex labyrinth.

Description

technical field [0001] The invention relates to a pico mouse (PICOMOUSE) An automatic control system 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 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 ord...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05D1/02
Inventor 张好明林伟
Owner TONGLING UNIV
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