Single-core low-speed four-wheel mini mouse exploration controller and control method

A micromouse and controller technology, applied in two-dimensional position/channel control and other directions, can solve problems such as sensor interference, slow processing time, and micromouse slipping, and achieve the goals of avoiding excessive aging, good straight-line walking function, and solving shocks Effect

Inactive Publication Date: 2015-12-09
TONGLING UNIV
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Problems solved by technology

[0017] The purpose of the present invention is to solve the deficiencies of the prior art, and provide a single-core low-speed four-wheel pico mouse exploration controller to solve the problems of pico mouse slipping during exploration, mutual interference of sensors, slow processing time, etc.

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  • Single-core low-speed four-wheel mini mouse exploration controller and control method

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Embodiment Construction

[0054] Combine below Figure 1 to Figure 13 , 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 supports single-cycle DSP instructions and floating-point units, and larger SRAM capacity (192KB, F2 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 based on STM32F4...

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Abstract

The invention discloses a single-core low-speed four-wheel mini mouse exploration controller, comprising a battery device, a sensor device, a gyroscope device, a vacuum suction device and a control unit module; a pair of the four wheels of the mini mouse is positioned in the middle of the mini mouse, and the other pair is arranged on the tail part of the mini mouse; the gyroscope device comprises a gyroscope G1 and a speedometer A1; the gyroscope G1 is a three shaft gyroscope which is used for measuring movement of three rotation directions; and the speedometer A1 is a three-shaft speedometer used for measuring accelerated speed of three translational motions. The invention solves the slipping of the mini mouse during the walking through the vacuum suction device arranged under a chassis, and automatically adjusts the servo control of the vacuum suction DC motor M according to the marching speed of the mini mouse and the ground situation, so that the mini mouse is not limited to the ground situation of the maze.

Description

technical field [0001] The invention relates to the field of miniature labyrinth exploration robots, in particular to a single-core low-speed four-wheel pico mouse 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 technolog...

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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