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A pico-mouse and controller technology, applied in two-dimensional position/channel control and other directions, can solve problems such as large motor current, motor stall, and motor burnout.
Inactive Publication Date: 2016-02-17
TONGLING UNIV
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[0019] The purpose of the present invention is to provide a dual-core high-speed four-wheel pico mouse sprint controller with the help of existing advanced control technology and advanced control chip, to solve the problem of existing technology many problems in
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[0073] Below in conjunction with accompanying drawing, the present invention will be further described.
[0074] For ease of explanation, the middle part of the pico mouse refers to the midline of the pico mouse, and the rear part of the pico mouse refers to the side of the pico mouse far away from the first sensor S1, the second sensor S2, the third sensor S5 and the fourth sensor S6, the specific position Refer to attached picture. 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 R, and the fourth motor Z correspond to the X wheel, Y wheel, R wheel, and Z wheel respectively, and the X wheel and Z wheel are located on the right side of the pico mouse, and the Y wheel and R wheel Located on the left side of the Pico, the X and Y wheels are located in the middl...
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Abstract
The invention discloses a double-core high-speed four-wheel miniature micro-mouse sprint controller, and the controller comprises a mainboard, a battery, a first sensor S1, a second sensor S2, a third sensor S5, a fourth sensor S6, a first motor X, a second motor Y, a third motor R, a fourth motor Z, a fifth motor M, a three-axis gyroscope G1, a triaxial accelerometer A1, and a vacuum device, wherein the battery, the first sensor S1, the second sensor S2, the third sensor S5, the fourth sensor S6, the first motor X, the second motor Y, the third motor R, the fourth motor Z, the fifth motor M, the three-axis gyroscope G1, the triaxial accelerometer A1 and the vacuum device are all disposed on the mainboard. After the above structure is employed, the controller improves the operation speed, continuously monitor and calculate the operation state of a miniature micro-mouse, employs four sensors for detection, reduces the interference, can accurately monitor the surroundings, can correct a movement posture according to the operation state, can distribute torque again, enables more torque to be distributed to a driving wheel which does not stall, enables a system to get off from a unstable state, can automatically adjust the capability of a vacuum device for absorbing the ground, and completely eliminates the slipping when the miniature micro-mouse sprints in a complex labyrinth at a high speed.
Description
technical field [0001] The invention relates to an automatic control system of a PICOMOUSE, 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...
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