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Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller

A servo system and servo control technology, applied in two-dimensional position/channel control and other directions

Inactive Publication Date: 2016-02-03
TONGLING UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0020] The purpose of the present invention is to provide a single-core low-speed six-wheel pico mouse all-digital navigation servo system controller with the help of existing advanced control technology and advanced control chips, to meet the needs of beginners in learning and solve many problems in the prior art

Method used

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  • Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller
  • Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller
  • Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller

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Embodiment Construction

[0065] Below in conjunction with accompanying drawing, the present invention will be further described. The front end of the pico mouse is the side of the pico mouse close to the first sensor S1, the second sensor S2, the third sensor S5 and the fourth sensor S6, the middle part of the pico mouse refers to the midline of the pico mouse, and the rear end of the pico mouse refers to the For the picomouse side of the first sensor S1 , the second sensor S2 , the third sensor S5 and the fourth sensor S6 , refer to the accompanying drawings for specific positions. The lower surface of the picomouse refers to the surface opposite to the surface on which the battery, the first sensor S1 , the second sensor S2 , the third sensor S5 , the fourth sensor S6 , etc. are located. The first motor X, the second motor Y, the third motor Z, the fourth motor R, the fifth motor U, and the sixth motor W are respectively corresponding to the X wheel, the Y wheel, the R wheel, the Z wheel, the U whee...

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Abstract

The invention discloses a single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller, and the controller comprises a battery, a first sensor, a second sensor, a third sensor, a fourth sensor, a gyro, a first motor, a second motor, a third motor, a fourth motor, a fifth motor, a sixth motor, a seventh motor, a direction sensor, a gyro, an accelerometer, a vacuum device STM32F407 controller, and a seven-piece MX118 chip. After the above structure is employed, the controller improves the operation speed, achieves the continuous monitoring and calculation of the operation states of a miniature micro-mouse, employs four sensors for detection, reduces the interference, also can accurately monitor the surroundings, can correct the motion posture according to the operation states, can distribute torque again, enables more torque to be distributed to driving wheels which do not lose speed, enables a system to quickly get out of an unstable state, automatically adjusts the capability of a vacuum device for absorbing the ground, and completely eliminates the slipping phenomena of the miniature micro-mouse in a complex labyrinth during exploration and sprinting.

Description

technical field [0001] The invention relates to a PICOMOUSE automatic control system, which belongs to the field of miniature labyrinth robots. 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. The microcomputer mouse can automatically memorize and select paths in different "mazes", and use corresponding algorithms to quickly reach the set destination. figure 2 It is one of the mazes solved by the microcomputer mouse. [0003] With the continuous advancement of microelectronics technology and computer control technology, foreign experts have proposed a more challenging maze robot --- Weimouse, based on the technology of microcomputer mice to solve mazes. In order to enhan...

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
Owner TONGLING UNIV
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