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Single-core low-speed four-wheel little mouse full-digital navigation servo controller and control method thereof

A servo controller and servo control technology, applied in the direction of two-dimensional position/channel control, etc., can solve the problems of micro-mouse slipping, slow processing time, sensor interference, etc., to improve driving ability, solve impact, and avoid excessive aging Effect

Inactive Publication Date: 2015-12-30
TONGLING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

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 all-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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  • Single-core low-speed four-wheel little mouse full-digital navigation servo controller and control method thereof
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  • Single-core low-speed four-wheel little mouse full-digital navigation servo controller and control method thereof

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Embodiment Construction

[0055] Combine below Figure 1 to Figure 11 , to further illustrate the present invention.

[0056] 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 little mouse full-digital navigation servo controller comprising a chassis. A battery device, a sensor device, a gyroscope device, a vacuum suction device and a control unit module are arranged on the chassis. Two pairs of moving wheels are connected at the two sides of the chassis. One pair of the moving wheels are arranged at the middle part of the chassis, and the other pair of the moving wheels are arranged at the tail part of the chassis. The gyroscope device comprises a gyroscope G1 and an accelerometer A1. The gyroscope G1 is a triaxial gyroscope which is used for measuring movement of three rotating directions. The accelerometer A1 is a triaxial accelerometer which is used for measuring acceleration of three translational movements. The phenomenon of slipping of the little mouse in navigation can be solved by the vacuum suction device arranged below the chassis. Meanwhile, servo control of a 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 exploring robots, in particular to a single-core low-speed four-wheel pico mouse 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 ...

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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