Double-core high-speed six-wheel mini mouse exploration controller and control method for the same

A micromouse and controller technology, applied in two-dimensional position/channel control and other directions, can solve problems such as slow processing time, sensor interference, micromouse slipping, etc., to achieve the effect of increasing balance, avoiding excessive aging, and solving shocks

Inactive Publication Date: 2015-12-09
TONGLING UNIV
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0023] The purpose of the present invention is to solve the deficiencies of the prior art, and provide a dual-core high-speed six-wheel pico mouse exploration controller to solve the problems of pico mouse slipping during exploration, mutual interference of sensors, slow processing time, etc.

Method used

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  • Double-core high-speed six-wheel mini mouse exploration controller and control method for the same
  • Double-core high-speed six-wheel mini mouse exploration controller and control method for the same
  • Double-core high-speed six-wheel mini mouse exploration controller and control method for the same

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Embodiment Construction

[0054] Combine below Figure 1 to Figure 15 , to further illustrate the present invention.

[0055] 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 peripheral...

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Abstract

The invention discloses a double-core high-speed six-wheel mini mouse exploration controller, comprising a sensor device, an auxiliary navigation device, a vacuum suction device and a control unit module; the sensor device and the gyroscope device are in signal connection with the control unit module; the control unit module is in signal connection with motors X,Y,Z,R,U,W and M; the motor X and the motor Y are arranged on two sides of the middle part; the motor Z and the motor R are arranged on two sides of the tail part; the motor U and the motor W are arranged on two sides of the head part; the motor M is positioned on the middle-upper part of the tail part; and the auxiliary navigation device comprises a direction sensor D1, a gyroscope G1 and an accelerometer A1. The vacuum suction device arranged under the chassis of the double-core high speed two-wheel mini mouse spurting controller solves the slipping problem of the mini mouse during the walk, and the servo control of the vacuum suction DC motor M is automatically controlled according to the marching speed of the mini mouse and the ground situation in order to make the mini mouse not limited to the ground condition of the maze.

Description

technical field [0001] The invention relates to the field of miniature labyrinth exploration robots, in particular to a dual-core high-speed six-wheel micromouse exploration 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 the technology ...

Claims

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Application Information

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