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Single-core low-speed four-wheel mini mouse sprint controller and control method for the same

A micromouse and controller technology, applied in two-dimensional position/channel control, etc., can solve problems such as sensor interference, slow processing time, and micromouse slipping, and achieve the goals of avoiding excessive aging, good straight-line walking function, and solving shocks Effect

Inactive Publication Date: 2015-12-09
TONGLING UNIV
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  • 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 sprint controller to solve the problems of pico mouse slipping during walking, mutual interference of sensors, slow processing time, etc.

Method used

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  • Single-core low-speed four-wheel mini mouse sprint controller and control method for the same
  • Single-core low-speed four-wheel mini mouse sprint controller and control method for the same
  • Single-core low-speed four-wheel mini mouse sprint controller and control method for the same

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Embodiment Construction

[0053] Combine below Figure 1 to Figure 13 , To further explain the present invention.

[0054] 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 supports single-cycle DSP instructions and floating-point units, and larger SRAM capacity (192KB, F2) It is 128KB), 512KB-1MB embedded flash memory, and more advanced peripherals such as image, 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 products. Thes...

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Abstract

The invention discloses a single-core low-speed four-wheel mini mouse sprint controller, comprising a battery device, a sensor device, a gyroscope device, a vacuum suction device and a control unit module; a pair of the four wheels of the mini mouse is positioned in the middle of the mini mouse, and the other pair is arranged on the tail part of the mini mouse; the gyroscope device comprises a gyroscope G1 and a speedometer A1; the gyroscope G1 is a three shaft gyroscope which is used for measuring movement of three rotation directions; and the speedometer A1 is a three-shaft speedometer used for measuring accelerated speed of three translational motions. The invention solves the slipping of the mini mouse during the walking through the vacuum suction device arranged under a chassis, and automatically adjusts the servo control of the vacuum suction DC motor M according to the marching speed of the mini mouse and the ground situation, so that the mini mouse is not limited to the ground situation of the maze.

Description

Technical field [0001] The invention relates to the field of micro labyrinth sprint robots, in particular to a single-core low-speed four-wheel micro mouse sprint 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 microcomputer mouse to s...

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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