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Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof

A pico-mouse and controller technology, applied in two-dimensional position/channel control and other directions, can solve the problems of pico-mouse slippage, slow processing time, sensor interference, etc., to improve adaptability, avoid the generation of large current, and reduce errors. the effect of interference

Inactive Publication Date: 2015-12-30
TONGLING UNIV
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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 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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  • Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof
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  • Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof

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Embodiment Construction

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

[0055] In addition to the pin and software compatible high-performance F2 series, the STM32F4 series has a higher frequency (168MHz) than the F2 series (120MHz) and F1 series (78MHz), and supports single-cycle DSP instructions and floating-point units. SRAM capacity (192KB, F2 is 128KB), 512KB-1MB of embedded flash memory, and more advanced peripherals such as imaging, network interface and data encryption. Based on the latest ARMCortexM4 core, the STM32F4 series adds signal processing functions to the existing excellent STM32 microcontroller product portfolio and increases the operating speed; STM32F405x integrates timers, 3 ADCs, 2 DACs, and serial interfaces A complete set of advanced peripherals including external memory interface, real-time clock, CRC calculation unit and analog true random number generator. STM32F407 adds a number of advanced peripherals on the basis of STM32F405 pro...

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Abstract

The invention discloses a dual-core medium-speed six-wheel little mouse exploration controller comprising a sensor device, an auxiliary navigation device, a vacuum suction device and a control unit module. Every two of the six wheels of the little mouse are paired and respectively arranged at the head part, the middle part and the tail part. The auxiliary navigation device comprises a direction sensor D1, a gyroscope G1 and an accelerometer A1. The sensor device and the gyroscope device are respectively connected with the control unit module in a signaling way. The control unit module is respectively connected with motors X, Y, Z, U, R and M in the signaling way. The phenomenon of slipping of the little mouse in exploration can be solved by the vacuum suction device arranged below the chassis. Meanwhile, servo control of the vacuum suction DC motor M can be automatically adjusted according to advancing speed of the little mouse and the ground conditions so that the little mouse is enabled not to be limited by the ground conditions of a maze.

Description

Technical field [0001] The invention relates to the field of miniature labyrinth exploration robots, in particular to a dual-core medium-speed six-wheeled micro 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 in foreign countries for nearly 30 years. It often uses a two-wheel structure. The two-wheel microcomputer mouse has a two-dimensional structure such as 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 progress of microelectronics and computer control technology, foreign experts have proposed a more challenging labyrinth robot based on the technology of microcom...

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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