Double-core intermediate speed six-wheel full-digital navigation servo controller and control method for the same

A servo controller and servo control technology, applied in two-dimensional position/channel control and other directions, can solve the problems of mutual interference of sensors, slow processing time, micro-mouse slippage, etc., to improve adaptability, avoid the generation of large current, The effect of reducing false interference

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

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Problems solved by technology

[0024] The purpose of the present invention is to solve the deficiencies of the prior art and provide a dual-core medium-speed six-wheel full-digital navigation servo controller to solve the problems of pico mouse slipping during navigation, mutual interference of sensors, slow processing time, etc.

Method used

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  • Double-core intermediate speed six-wheel full-digital navigation servo controller and control method for the same
  • Double-core intermediate speed six-wheel full-digital navigation servo controller and control method for the same
  • Double-core intermediate speed six-wheel full-digital navigation servo controller and control method for the same

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Embodiment Construction

[0048] Combine below Figure 1 to Figure 9 , to further illustrate the present invention.

[0049] 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 peripherals...

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Abstract

The invention discloses a double-core intermediate speed six-wheel full-digital navigation servo controller, comprising a chassis. A battery device, a sensor device, an auxiliary navigation device, a vacuum suction device and a control unit module are arranged on the chassis; the two sides of the chassis are connected to moving wheels; the auxiliary navigation device comprises a direction sensor D1, a gyroscope G1 and an accelerometer A1. The invention solves the slipping of the mini mouse during navigation through the vacuum suction device arranged under the chassis. In the meantime, the servo control of the vacuum suction DC motor M is automatically regulated according to the marching speed and the ground situation, which enables the mini mouse to be not limited to the ground condition of the maze.

Description

technical field [0001] The invention relates to the field of miniature maze navigation robots, in particular to a dual-core medium-speed six-wheel full-digital navigation servo 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 technolo...

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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