CN105116892A - Double-core high-speed six-wheeled picomouse sprint controller and control method thereof - Google Patents

Abstract

The invention discloses a double-core high-speed six-wheeled picomouse sprint controller, comprising a cell device, a sensor device, an auxiliary navigation device, a vacuum suction device and a control unit module; six wheels of a picomouse are divided into three pairs (each pair including two wheel), and are respectively arranged at a head portion, a middle portion and a tail portion; the auxiliary navigation device comprises a direction sensor D1, a gyroscope G1 and an accelerometer A1; the cell device is respectively in electric connection with the control unit module and motors X, Y, Z, R, U, W and M; the sensor device and the gyroscope are both in signal connection with the control unit module; the control unit module is respectively in signal connection with the motors X, Y, Z, R, U, W and M. The controller solves the problem of skidding of a picomouse in a sprint process through the vacuum suction device arranged under a chassis, and meanwhile automatically regulates the servo control of a vacuum suction direct current motor M according to the walking speed of the picomouse and ground conditions, thereby preventing the picomouse from being bound to labyrinth ground road conditions.

Description

Double-core high-speed six takes turns slight mouse sprint controller and control method thereof

Technical field

The present invention relates to minisize maze spurt robot field, particularly relate to a kind of double-core high-speed six and take turns slight mouse sprint controller and control method thereof.

Background technology

Micro computer mouse is a kind of Intelligent walking robot using embedded microcontroller, sensor and electromechanical movement parts to form, abroad contest nearly 30 years, and it often adopts two wheel constructions, two-wheeled micro computer mouse two-dimensional structure as shown in Figure 1.

Micro computer mouse at different " labyrinth " middle automatic Memory and selecting paths, can adopt corresponding algorithm, arrives set destination rapidly.The signal of one of its labyrinth solved as shown in Figure 2.

Along with the continuous progress of microelectric technique, Computer Control Technology, external expert solves micro computer mouse and proposes one on the technical foundation in labyrinth and have more challenging maze robot---mouse slightly: the difficulty solving labyrinth in order to strengthen labyrinth complexity and mouse, labyrinth retaining wall becomes 90mm by original 180mm, original labyrinth becomes 32*32 lattice by 16*16 lattice, and new labyrinth two-dimensional structure as shown in Figure 3.Power supply is once open, slight mouse whole process relies on self-contained sensor self-navigation completely, and solve the various complex mazes be made up of 1024 maze lattices, an optimal path arriving target setting point can be found from starting point fast, then make a spurt terminal with the fastest speed.As the self-service navigation intelligent robot of one, because labyrinth information can be inputted to controller by wireless device, slight mouse or micro computer mouse international rule refusal use wireless device, in order to can obtain slight mouse or micro computer mouse spurt, spurt after information, can only be deposited fast by algorithm and store its walking information, after finishing the work, read storage information by 232 serial ports of controller or USB serial ports.

If think that slight mouse is the simple copy of micro computer mouse, design slight mouse according to micro computer mouse technology, then can find following problem in practice:

(1) the skid level on ground, adaptation labyrinth that can only be passive based on wheeled slight mouse, along with the raising of slight mouse speed, its skidding probability also greatly increases, and causes solving labyrinth failure.

(2) owing to solving rolling up of labyrinth number, original micro computer mouse solves maze technique cannot solve existing complex maze.

(3) due to the significantly minimizing of slight mouse size, if mouse adopts six groups of sensor technology detection labyrinths in Fig. 1 slightly, often there is the situation that sensor disturbs mutually, cause it to read labyrinth information failure.

(4) due to the employing of micro computer mouse sprint controller is all more rudimentary algorithm, and make the spurt of slight mouse in the middle of labyrinth generally all will spend the longer time, this makes cannot win victory in real contest.

(5) due to the minimizing of labyrinth retaining wall size, the distance that the single lattice of slight mouse are run reduces, and slight mouse is braked frequently and starts the workload having increased the weight of single-chip microcomputer, the requirement starting fast and stop when single single-chip microcomputer cannot meet the spurt of slight mouse.

(6) owing to being subject to single-chip microcomputer capacity impact, existing slight mouse all only has two power drive wheels substantially, two wheel guide robot mode is adopted to travel, system is made to require higher to the servo of diaxon, particularly during linear accelerating spurt navigation, requirement speed and acceleration will be pursued strict consistent, otherwise straight line lead spurt will be failed, the phenomenon causing slight mouse to occur hitting wall occurs;

(7) the slight mouse system of two-wheeled when accelerating spurt due to center of gravity after move, make mouse front portion light, even if slight mouse also can be skidded on good road surface, the phenomenon likely causing hitting wall occurs, is unfavorable at a high speed the development that mouse is slightly made a spurt.

(8) if design when two-wheeled slight mouse system travels when normal spurt improper cause center of gravity before partially, the normal pressure causing driving wheel bears reduced, at this moment mouse is more prone to skid slightly, also more easily wanders off, causes making a spurt unsuccessfully.

(9) if two-wheeled slight mouse system designs the improper center of gravity lateral deviation that causes by different for the normal pressure causing two driving wheels to bear when normal spurt travels, when starting fast, two-wheeled skid level is inconsistent, moment is with regard to off-track, during turning, the wheel that wherein normal pressure is little may skid, and causes cornering difficulties.

(10) owing to adopting two power wheels to drive, in order to meet acceleration under complex state and spurt of slowing down, make the power of single drive motor larger, the space not only taken is larger, and under the state that some relative requirements energy are lower, sometimes cause the phenomenon of " low load with strong power " to occur, be unfavorable for the saving of slight mouse body miniaturization and slight mouse system energy.

(11) if adopt the AWD of forerunner+rear-guard, although dynamic property is better during spurt, AWD is as the term suggests all keep 4 wheel driven state whenever and wherever possible, but its power consumption is higher.

(12) if adopt the time sharing spurt mode of forerunner+rear-guard, all have certain weakness when being and adopting forerunner or rear-guard, when turning spurt, angle is not excessive, and be exactly not, turning dynamic property is poor;

(13) if to drive in adopting+the four-wheel drive mode of rear-guard makes a spurt; drive two-wheeled in being adopted by release rear-guard two-wheeled to turn; although mouse turning dash performance increases slightly; the efficiency of motor is also necessarily optimized; but center of gravity can be caused when sound lunge to retrodeviate, need software to protect this.

(14) no matter be two-wheel drive or four-wheel drive, sound lunge run into labyrinth seam crossing there is certain difference in height time, spurt dynamic property all can receive and has a strong impact on.

(15) based on wheeled slight mouse the sprint stage can only be passive the skid level on ground, adaptation labyrinth, along with the raising of slight mouse speed, its skidding probability also greatly increases, and causes solving labyrinth failure.

It is international emerging a special kind of skill that slight mouse solves labyrinth, and the complicacy of the higher and labyrinth design of the difficulty due to slight mouse technology, causes the domestic unit also not researching and developing this robot.Therefore, need that design is a kind of to be met elementary person and learn the sound lunge controller that slight mouse solves labyrinth.

Summary of the invention

The object of the invention is to solve the deficiencies in the prior art, provide a kind of double-core high-speed six to take turns slight mouse sprint controller, to solve the problems such as slight mouse is skidded in spurt process, sensor disturbs mutually, the processing time is slow.

The technical solution used in the present invention is: relative to four-wheel bearing structure, six wheel constructions have that load-bearing capacity is stronger, translational speed is fast, control performance is excellent, work efficiency advantages of higher, and for there being the landform of certain altitude difference to have certain obstacle climbing ability, therefore this Shen adopts six wheel drive structures to design slight mouse sound lunge controller.In order to turn in taking into account to advantage, adopt herein forerunner+in drive+rear-guard six wheel construction: in the two-wheeled that drives adopt the motor that power is larger, power can meet needs time generally spurt in labyrinth, and four motors of forerunner and rear-guard adopt identical motor, but power is less, just opens power-assisted when needs repeatedly accelerate at a high speed spurt, carry out the power-assisted mode of pulling in front and others push behind, not only ensure that the centre of gravity place of slight mouse, and power demand when meeting fast sprint.

Slight mouse is placed on labyrinth starting point, under power-on state, slight mouse is introduced into self-locking state, and transfer the spurt labyrinth information optimized, now the first enable FPGA of STM32F407 opens vacuum draw motor M, regulate the friction factor on slight mouse and ground, then controller unlocks slight mouse, the feedback of slight mouse dependence direction sensor D1 automatically regulates by motor X and motor Y and its direction of motion is overlapped with direction initialization, controller is converted into slight mouse advancement commands value according to the difference of spurt path and spurt time requirement optimal path, slight mouse on the front, left and right side keeps in obscurity sensor S1, S2, S5, S6 according to actual navigational environment transformation parameter to the STM32F407 in dual-core controller, STM32F407 is converted into the position of slight mouse motion these environmental parameters, speed and acceleration parameter instruction, then with FPGA communication, by FPGA in conjunction with photoelectric encoder and current sensor C1 ~ C6, direction sensor D1, the feedback of gyroscope G1 and accelerometer A1, the PWM wave control signal of seven axle individual motor is generated through its inner servo-operated regulator, control signal amplifies servocontrol when rear drive seven individual motor realize slight mouse fast sprint and vacuum cup to the servocontrol of ground absorption through drive axle MX118, finally processing data communication to STM32F407, the follow-up spurt state of process is continued by STM32F407.

The beneficial effect that the present invention adopts is: 1, in spurt process; take into full account battery effect in this system; all the spurt state of slight mouse is being monitored and computing based on the STM32F407+FPGA controller moment; current sensor C1 ~ C6 is in real time detecting electric current and feeding back to controller protection simultaneously, avoids the generation of big current.2: in order to fully improve stability and the driveability of slight mouse sprint controller, and take into account the mid-advantage turned to of two-wheeled, and ensure that the centre of gravity place of slight mouse is conducive to various motion, the present invention adopts six wheel drive structures: the power of mid-driving is larger, rearmounted less with four each and every one powers of motor that are pre-driver, only just start when power demand is higher, play power-assisted effect.3: during spurt, realize the function that two drive, 4 wheel driven and six drives as required.Under normal dash speed, slight mouse generally can adopt four-wheel before and after release, adopts the mode of mid-two-wheel drive; And once need to raise speed a little, acceleration is now less, STM32F407 can enable immediately by FPGA according to acceleration magnitude in drive four road PWM wave control signal work of rear-guard, slight mouse demand torque part is distributed to rearmounted two power-assisted driving wheels, FPGA changes the servocontrol of motor M simultaneously, and slight mouse system is switched to four-wheel drive spurt state naturally.And once needs fast speed-raising or floor-dust more, STM32F407 can according to acceleration magnitude by driving six road PWM wave control signal work of rear-guard in the enable forerunner of FPGA, rearmounted six power drives wheel in before demand torque is distributed to, FPGA changes the servocontrol of motor M simultaneously, slight mouse system is switched to six wheel drive states naturally, power demand when not only meeting fast sprint, but also balance when adding the spurt of slight mouse, enhance the adhesion of slight mouse and handling.4: owing to adopting the composite flooding mode of all-wheel drive, when needs accelerate spurt, power is assigned to four or six motors, once power wheel because ground, physical construction etc. cause ground away from keyboard, STM32407 can redistribute moment of torsion, by FPGA enable motor PWM control signal more torque distribution on the driving wheel of non-stall, sprint system is made to hightail non-steady state, come back to four axle power or six axle dynamic equilibrium states, make slight mouse have better straight dash adjustment capability.5: when mouse spurt turns to slightly, in order to ensure the stability rotated, the two-way PWM ripple driven during FPGA is enable exports and forbids that front and back four road PWM ripple exports, slight mouse adopts two mid-driving wheels to realize turning, and discharge four power-assisted driving wheels of front and rear, utilization orientation sensor D1, gyroscope G1, accelerometer A1 measure the instantaneous angular of slight mouse, angular velocity and acceleration in real time, reliably feed back accurately for slight mouse precise turns provides, and carry out fine compensation in next sampling period arrival, ensure that the reliability of turning.6: if slight mouse sprint system designs when normal spurt and improperly causes centre-of gravity shift under all-wheel drive mode, the normal pressure causing a side drive wheel is born is reduced, the power that STM32F407 can adjust this side automatically distributes, then make sprint system be in a kind of new equilibrium state by the servocontrol of FPGA adjustment corresponding motor, prevent slight mouse from skidding.8: the servocontrol of six direct current generators when taking turns slight mouse sound lunge by FPGA process six and single axle vacuum adsorb the servocontrol of motor, make control fairly simple, substantially increase arithmetic speed, solve scm software and run slower bottleneck, shorten the construction cycle short, and program transportability ability is strong.9, direction sensor D1 is introduced in this slight mouse sprint controller, three-axis gyroscope G1 and three axis accelerometer A1, achieve instantaneous acceleration when slight mouse is made a spurt in labyrinth, speed, the detection of angle, not only eliminate utilize gyroscope to carry out computing that integration obtains angle, but also decrease utilize gyroscope to carry out error that integration obtains angle, controller utilization orientation sensor D1, the directly feedback of three-axis gyroscope G1 and three axis accelerometer A1 realizes omnidistance navigation and second compensation, be conducive to stability when improving slight mouse sound lunge and dynamic property.10: in slight mouse fast sprint process, controller can carry out on-line identification to the torque of seven axle direct current generators and utilize the relation of motor torque and electric current to compensate, and decreases the impact of motor torque shake on slight mouse fast sprint.11: can effectively regulate vacuum cup to the absorption affinity on ground by regulating motor M, and change the adsorptive power of vacuum cup to ground in real time by the movement velocity controller self-regulation motor M detecting slight mouse reality, practical requirement, completely eliminate the generation of slight mouse skidding when sound lunge, slight mouse also transfers to from ground, passive adaptation labyrinth during sound lunge not to be affected by it, sound lunge is had to the impact of matter.12: owing to having memory function, this makes slight mouse can transfer the labyrinth information explored easily, can optimize the path of secondary spurt, reduces the spurt time.

Accompanying drawing explanation

Fig. 1 former two takes turns six micro computer mouse X-Y schemes.

Fig. 2 is micro computer mouse 16*16 labyrinth schematic diagram.

Fig. 3 is slight mouse 32*32 labyrinth schematic diagram

Fig. 4 is slight mouse sprint controller flow chart.

Fig. 5 is schematic diagram of the present invention.

Fig. 6 is theory diagram of the present invention.

Fig. 7 is the catenation principle figure of STM32F407 processor of the present invention and FPGA.

Fig. 8 is slight mouse advance schematic diagram.

Fig. 9 is that slight mouse oppositely advances schematic diagram.

Figure 10 is the schematic diagram of MX118 of the present invention.

Figure 11 is slight mouse right-hand rotation schematic diagram.

Figure 12 is slight mouse left-hand rotation schematic diagram.

Embodiment

Below in conjunction with Fig. 1 to Figure 12, the present invention is described further.

STM32F4 series is except pin and the high performance F2 series of softwarecompatible, the dominant frequency (168MHz) of F4 is higher than F2 series (120MHz), F1 system class (78MHz), and support the peripheral hardware that monocycle DSP instruction and floating point unit, larger SRAM capacity (192KB, F2 are 128KB), the embedded flash memory of 512KB-1MB and image, network interface and data encryption etc. are more advanced.STM32F4 series, based on up-to-date ARMCortexM4 kernel, has increased signal processing function newly, and has improve travelling speed in existing outstanding STM32 microcontroller products combination; STM32F405x is integrated with timer, 3 ADC, 2 DAC, serial line interface, external memory interface, real-time clock, CRC computing unit and simulates real randomizers at the advanced peripheral hardware of interior the whole series.STM32F407 adds multiple advanced peripheral hardware on STM32F405 product basis.These performances make F4 series can be easier to meet the Digital Signals demand of control and signal processing function mixing.The combination of the low energy consumption of efficient signal processing function and Cortex-M4 processor family, low cost and wieldy advantage, makes it can provide flexible solution for multiaxis Motor Control.These features make STM32F407 be more suitable for the signal transacting of slight mouse six axle servo-drive system relative to other STM32F system class.

FPGA is the abbreviation of English FieldProgrammableGateArray, i.e. field programmable gate array, is the product further developed on the basis of the programming devices such as PAL, GAL, EPLD.It occurs as a kind of semi-custom circuit in special IC (ASIC) field, namely solves the deficiency of custom circuit, overcomes again the shortcoming that original programming device gate circuit number is limited.

FPGA have employed logical cell array LCA(LogicCellArray) such new ideas, inside comprises configurable logic blocks CLB(ConfigurableLogicBlock), export load module IOB(InputOutputBlock) and interconnector (Interconnect) three parts.Based on its principal feature, make user can according to the design needs of oneself, by specific placement-and-routing instrument, connection is reconfigured to its inside, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Because FPGA adopts the design philosophy of software implementation to realize the design of hardware circuit, so just make, based on FPGA designed system, there is good reusable and amendment property.This brand-new design philosophy has been applied in high performance direct drive gradually and has controlled, and fast-developing.These characteristics makes FPGA be particularly suitable in servo control, and particularly take turns slight mouse spurt control structure for six of the present invention's employing, the servo programe that can greatly reduce STM32F407 controller is write.

In order to reduce the space shared by sprint controller driving circuit; the present invention uses MX118 chip; in order to detection protection can be carried out to the electric current of motor; every spindle motor is equipped with the Chip-R sensor of 0.01 ohm to carry out current sample; and sampled result is fed back to STM32F407, for the current loop control of slight mouse provides feedback.MX118 is for the system worked under low-voltage and the single channel DC motor Driver integrated circuit designed.It has H bridge driver, for providing ideal chose to the system of space sensitive, built-in power MOS FET switch, can realize rotating forward load DC motor, reversion, brake and the control of standby four functions, brake function can make load motor stop operating fast.MX118 built-in temperature defencive function; when load motor stall or the output short-circuit of low internal resistance; MX118 output current increases instantaneously; circuit power consumption sharply rises; chip temperature sharply raises, when chip temperature exceed internal temperature protection circuit arrange after maximum temperature point (representative value 150 DEG C), internal circuit turns off the built-in power switch pipe of MX118; cut off load current, the potential safety hazard such as avoid temperature too highly to cause plastic package to smolder, on fire.MX118 is conventional is encapsulated as SOT23-6, and the distribution of MX118 pin and its truth table are as shown in Figure 10.

Find in an experiment, due to the significantly reduction of slight mouse volume, in Fig. 1, sensor S2 and S3 and S4 and S5 often produces mutual interference; All need the regular hour owing to often organizing sensor collection labyrinth retaining wall parameter simultaneously, increased the weight of the sampling period, caused sample frequency to reduce, extended the processing time of processor STM32F407.The present invention is the defect overcoming six groups of sensors spurt labyrinths, and independent research is based on the brand-new sprint controller in four groups of sensors detection labyrinths, and the slight mouse two-dimensional structure of four-wheel as shown in Figure 5; Sensor S1, S6 acting in conjunction judges front barricade, and sensor S2 judges the existence of its left side barricade, and sensor S5 judges the existence of barricade on the right of it, and S2 cooperates with S5 as slight mouse rectilinear motion provides navigation foundation simultaneously.Labyrinth retaining wall information is calculated in order to use intelligent algorithm, at slight mouse calibration phase, slight mouse is placed on different set position, labyrinth, the infrared light of infrared sensor S1, S2, S5, S6 can be received by the infrared remote receiver TSL262 of correspondence after side barricade feedback, then the reception value via controller of TSL262 calculate after as the setting threshold values of current location, then mouse obtains its labyrinth information by comparing with these threshold values in spurt process slightly.In same position, in Fig. 1, the calculating threshold values of sensor S2 is obviously accurate than S2, the calculating threshold values of sensor S5 is obviously accurate than S5, and S2 and S5 can also accurately measure labyrinth from have barricade to without barricade and without barricade to the change having barricade, the sensor signal change of this position can be captured by controller, then fine compensation can be carried out to slight mouse in this position, this calculates most important for complex maze, if do not have this intelligent compensation, the cumulative errors of slight mouse in complex maze are enough to make to solve labyrinth failure.Therefore this controller adopts the structure in Fig. 6 to solve labyrinth, to guarantee the accuracy in labyrinth.

The stability of slight mouse when complex maze is made a spurt is taken turns in order to improve six further, because gyroscope G1 obtains the off-centered angle of slight mouse by its angular velocity of integration, integral error can be caused in long-term motion, the present invention is in order to accurately can measure the off-centered angle of micro-mouse, direction sensor D1 is added in slight mouse spurt servo hardware system, three-axis gyroscope G1 and three axis accelerometer A1, single gyroscope mode of operation given up by controller.Omnidistance opening direction sensor D1, gyroscope G1 and accelerometer A1 between the slight mouse labyrinth Sprint period, direction sensor D1 measures the off-centered angle of slight mouse in real time, the angular movement of the slight mouse of three-axis gyroscope G1 Measurement accuracy three rotation directions, three axis accelerometer is used for measuring the acceleration of slight mouse three translation motions.Instantaneous parameters in direction sensor D1, gyroscope G1 and accelerometer A1 moment accurate recording slight mouse spurt process also flows to controller, when attitude when slight mouse spurt changes and exceedes setting threshold values, new sampling period just immediately to its position compensation, the generation that center causes hitting wall phenomenon is departed from far away when avoiding the spurt of slight mouse, not only increase stability during its fast sprint, also ensure that the accuracy of its spurt complex maze, direction sensor D1 also can provide certain help for slight mouse sprint controller calibration phase simultaneously, when slight mouse spurt attitude threshold values is set in early days, assist owing to there is no direction sensor, the placement direction of slight mouse is once there be certain deviation, cause slight mouse head a little a little partially, by Infrared survey as finally given parameter threshold just certain mistake, even if slight mouse attitude in reality spurt correctly also will be adjusted to the setting attitude of mistake by controller, adding of direction sensor D1 avoids this unnecessary error, also for the accurate spurt of slight mouse provides reliable criterion,

In order to improve the stability of slight mouse further, prevent slight mouse from skidding when sound lunge and cause slight mouse labyrinth information errors, the present invention adds DC micromotor M in slight mouse sprint controller, in slight mouse motion process, motor M does not stop to aspirate the air in micro vacuum sucker by vacuum suction apparatus, make the external and internal pressure of micro vacuum sucker different, produce certain negative pressure, making it produce certain absorption affinity to ground, labyrinth, skids in the ground that effectively prevent when slight mouse is made a spurt in high speed labyrinth.

As shown in the figure, double-core high-speed six takes turns slight mouse sprint controller, comprises cell apparatus, sensor device, gyroscope equipment G, vacuum suction apparatus and control module module; Described cell apparatus is electrically connected control module module, motor X, motor Y and motor M respectively, and described sensor device and gyroscope equipment divide level signal connection control unit module, and described control module module divides level signal to connect motor X, Y and M; Described motor X and motor Y is positioned at both sides, and motor M is positioned at afterbody, and described gyroscope equipment G is positioned at center; Described sensor device comprises infrared sensor S1 and S6 being positioned at both sides, be positioned at infrared sensor S2 and S5 of front end, described sensor S1, S6 acting in conjunction judges front barricade, sensor S2 judges the existence of its left side barricade, sensor S5 judges the existence of barricade on the right of it, and S2 cooperates as rectilinear motion provides navigation foundation with S5 simultaneously; Described control module module comprises host computer procedure module and motion control program module, described host computer procedure module comprises STM32F407 processor, described motion control program module comprises FPGA processor, described FPGA processor comprises six axle walking servo control units and single axle vacuum absorption servo control unit, described STM32F407 processor is electrically connected FPGA processor, and described six axle walking servo control unit signals connect single axle vacuum absorption servo control unit.

In order to protect big current to the impact of cell apparatus, also include voltage sensor V1, described voltage sensor V1 is electrically connected cell apparatus, the STM32F407 processor of signal connection control unit module.

In order to reduce and stop the interference of external light source to sensor, thus affect the use of whole system, also comprise light compensation sensor L1, the STM32F407 processor of described smooth compensation sensor L1 signal connection control unit module.

Accurately control the advance of slight mouse to make servo controller of the present invention further and turn to, also include current sensor C1, C2, C3, C4, C5 and C6, described current sensor C1, C2, C3, C4, C5 are connected STM32F407 processor with C6 signal.

For expanding the processing power of two core processors further, accomplish that the division of labor is clear and definite, work is interference-free, and described FPGA processor is by I/O port and the real-time communication of STM32F407 processor, and STM32F407 processor control FPGA processor turns on and off.

In order to improve the performance of slight mouse further, described motor X, Y, Z, R, U and W are high-speed permanent magnetic direct current generator, and described motor M is DC micromotor.

For eliminating the interference between infrared sensor further, improve the induction precision of sensor device, angle between described infrared sensor S1 and S2 signal transmit direction is 75 ° ~ 90 ° angles, and the angle between described infrared sensor S5 and S6 signal transmit direction is 75 ° ~ 90 ° angles.

Slight mouse is placed on labyrinth starting point, under power-on state, slight mouse is introduced into self-locking state, then mouse mouse relies on front slightly, the infrared sensor S1 that keeps in obscurity in left and right side, S2, S5, S6 according to actual navigational environment transformation parameter to the STM32F407 in dual-core controller, then STM32F407 is converted into actual navigational environment the position of slight mouse six spindle motor servo system control, speed and acceleration parameter command value, then with FPGA communication, FPGA is again in conjunction with the feedback of photoelectric encoder and current of electric, synchronous servo through its inner servo control algorithm process six individual motor controls, and process data communication to STM32F407.In whole motion process, there is gyroscope G1 to carry out position detection and second compensation in real time, ensure the stability of slight mouse sprint controller.

Double-core high-speed six takes turns slight mouse spurt control method, and its concrete steps are as follows: 1) detect cell voltage, be in low pressure controller and will report to the police and point out charging, if voltage is normal, then and recall the optimum labyrinth after exploring, 2) spurt angle detecting, infrared sensor S1, S6 and can to spurt path on front environment judge, define and enter range of movement without barricade, interrupt request will be sent to STM32F407 as there is barricade, forbid that FPGA works, block the PWM drive singal of High-speed DC motor X, Y, Z, U, R and W of slight mouse, make slight mouse be still in original place, then secondary judges that front information is determined in labyrinth, prevents information from judging by accident, 3) labyrinth spurt, slight mouse is along X and Y-axis fast sprint, and controller judges whether its coordinate is terminal, new spurt order is performed if not by continuing, if it is notification controller has been made a spurt terminal, then puts exploration of making a return voyage and is masked as 1, and slight mouse prepares return and explores, 4) return spurt, can prepare the return after making a spurt after reaching home explores to search more excellent path, controller can recall its labyrinth information stored, and then calculates other optimal path that may exist, and then return starts to enter one that wherein thinks optimum, when slight mouse be in normally travel time, its major impetus effect of middle two-wheeled, front two-wheeled and its booster action of rear two-wheeled, when being in turning, front two-wheeled and rear two-wheeled quit work, 5) labyrinth return, when slight mouse enters labyrinth return exploration, the sensor S1 of its navigation, S2, S5, S6 is by work, and give STM32F407 the photosignal reflected, FPGA is given after STM32F407 judges, communication is carried out with STM32F407 by after FPGA computing, then send control signal to the motor X of navigation by controller, Y, Z, U, R and W determines: will advance fast if enter the region searched for, if unknown return area then adopts normal speed to search for, and the moment upgrades its coordinate (X, Y), and judge that its coordinate is starting point, if words put exploration of making a return voyage and be masked as 0, slight mouse enters the sprint stage, juxtaposition spurt is masked as 1, 6) secondary spurt, return is explored and is got back to starting point, control FPGA makes slight mouse stop at origin coordinates central point by STM32F407, then the PWM ripple readjusting FPGA exports, motor Z, U, R and W are quit work, motor X and motor Y moves with contrary direction, and under gyrostatic control, turnback is revolved in original place, then stop 1 second, secondary transfers labyrinth information, then calculates the spurt of the optimum after optimizing labyrinth information path according to algorithm, then put spurt and be masked as 1, system enters the secondary fast sprint stage.

The present invention is following work:

Slight mouse control system is divided into two parts: master system and kinetic control system.Wherein master system completes the functions such as labyrinth reading, coordinate setting, online output; Kinetic control system completes the function such as servocontrol, single axle vacuum absorption servocontrol, data storage, I/O control of the slight mouse sprint system of six axles, the seven axle servo-drive systems that wherein workload is maximum are given FPGA process and are generated drive singal, drive singal timesharing after MX118 amplifies drives seven spindle motor runnings, finally processing data communication to STM32F407, continue the follow-up running status of process by STM32F407.

1) before slight mouse does not receive spurt order, it generally can wait at starting point coordinate (0,0) the spurt order that controller sends, and recalls the optimum labyrinth after exploring.First controller opens vacuum draw motor M, first micro vacuum sucker is aspirated by aspirator, make vacuum cup over the ground mask have certain absorption affinity, controller also detects in real time, if ground is unclean, system can strengthen vacuum cup to the absorption affinity on ground by self-regulation motor M, increases the friction factor on when slight mouse is made a spurt and ground.

2) after receiving spurt order, in order to prevent anisotropy of making a spurt, sensor S1, the S6 in its front and can judge the environment in front, define and do not have barricade to enter range of movement, interrupt request will be sent to STM32F407 as there is barricade, STM32F407 can do very first time response to interruption, then block FPGA and export six road PWM wave control signals, forbid that the motor X of slight mouse, motor Y, motor Z, motor R, motor U and motor W work, it is made to be still in original place, then secondary judges that front information is determined in labyrinth, prevents information from judging by accident; If do not have barricade to enter the range of movement in front, slight mouse will be made a spurt normally, then controller unlocks slight mouse, slight mouse relies on direction sensor D1 by regulating the differential motion of X and motor Y, automatic adjustment makes its angle with direction of motion until the two direction overlaps, prevent slight mouse fast sprint from starting generation that inclined head phenomenon just appears in moment.After pose adjustment, slight mouse will to be sprinted for the line (F, F), (F, 10), (10, F), (10,10) according to best dash speed from the off fast along optimal path.

3) barricade is not had to enter the range of movement in front if shown under there are Z lattice rectilinear coordinates in front in labyrinth information in Y-axis forward forward fast sprint process slight mouse, slight mouse is by its present coordinate (X of storage, Y), controller gives STM32F407 the location parameter of the Z lattice that travel forward, STM32F407 requires this parameter to be converted into location parameter according to spurt time and dash speed, speed parameter and acceleration parameter command value, then with FPGA communication, FPGA according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6 generates driving six axle direct current generator X, motor Y, motor Z, motor R, the PWM wave control signal of motor U and motor W, control signal amplifies rear drive six independent direct current motor X by MX118, motor Y, motor Z and motor R travels forward, direct current generator X, motor Y, motor Z, motor R, the photoelectric encoder of motor U and motor W can record the distance of movement and flows to controller in the moment, slight mouse along in current maze lattice thrust forward process, now STM32F407 can detect direct current generator X in real time, motor Y, motor Z, motor R, the numerical value of motor U and motor W photoelectric encoder, and strengthen vacuum cup to the absorption affinity on ground according to its dash speed size control FPGA self-regulation motor M, then sensor S2 and S5 can judge the barricade of left and right, and record stores current labyrinth retaining wall information: barricade information is intelligent algorithm is on the one hand that the next spurt action of slight mouse makes a decision foundation, mouse is selected to enter single wall navigation mode according to the labyrinth information of working direction left and right barricade slightly on the other hand, two wall navigation mode or inertial navigation pattern, then direction sensor D1, gyroscope G1 and accelerometer A1 records the transient motion acceleration during spurt of slight mouse, speed and and deviation angle, when slight mouse fast sprint has departed from setting center, STM32F407 is converted into location parameter according to the deviation size and deviation angle of leaving center these parameters, speed parameter and acceleration parameter command value, then with FPGA communication, FPGA according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6, by direction sensor D1, the feedback of gyroscope G1 and accelerometer A1 starts to carry out real-Time Compensation, the PWM ripple input of fine setting motor, can the accurate adjustment slight mouse attitude of making a spurt at straight way by this mode, it is made to come back to setting center, before not arriving target, if when there is a certain power wheel stall condition in mouse sound lunge slightly, STM32F407 can regulate the servocontrol of motor M by enable FPGA again, by regulating the friction of slight mouse and ground further and the six road PWM wave control signals again driven in enable front and back, adjust the power of motor X, motor Y, motor Z, motor R, motor U and motor W simultaneously, system enters six wheel drive correcting states, makes slight mouse current non-equilibrium state of getting off quickly reenter equilibrium state.STM32F407 is according to time and dash speed requirement, remaining distance D is converted into location parameter, speed parameter and acceleration parameter command value, then with FPGA, FPGA generates the PWM wave control signal of driving six axle direct current generator X, motor Y, motor Z, motor R, motor U and motor W again in conjunction with the feedback of photoelectric encoder, current sensor C1 ~ C6 according to these parameters, control signal is amplified rear drive six independent direct current motor X, motor Y, motor Z, motor R, motor U and motor W by MX118 and travelled forward.Under slight mouse drives state new six, slight mouse is still according to original single wall navigation mode, two wall navigation mode or inertial navigation pattern are advanced, direction sensor D1, gyroscope G1 and accelerometer A1 records the transient motion acceleration during spurt of slight mouse, speed and and deviation angle, when slight mouse fast sprint has departed from setting center, STM32F407 is converted into location parameter according to the deviation size and deviation angle of leaving center these parameters, speed parameter and acceleration parameter command value, then with FPGA communication, FPGA according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6, by direction sensor D1, the feedback of gyroscope G1 and accelerometer A1 starts to carry out real-Time Compensation, the PWM ripple input of fine setting motor, can the accurate adjustment slight mouse attitude of making a spurt at straight way by this mode, it is made to come back to setting center, when slight mouse moves the Z lattice distance new address of arrival under the control of direction sensor D1, gyroscope G1, acceleration transducer A1, it is (X that microprocessor will upgrade its coordinate, Y+Z), under the prerequisite of Y+Z<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, upgrade its coordinate if not by continuation, if words notification controller to have made a spurt target, then put spurt of making a return voyage and be masked as 1, slight mouse prepares return spurt,

4) barricade is not had to enter the range of movement in front if shown under there are Z lattice rectilinear coordinates in front in labyrinth information in the reverse fast sprint process forward of Y-axis slight mouse, slight mouse is by its present coordinate (X of storage, Y), along Y-axis forward, fast sprint principle is similar forward along Y-axis reverse fast sprint principle and slight mouse forward for slight mouse, when slight mouse completes the new address of spurt arrival under the control of gyroscope G1, it is (X that microprocessor will upgrade its coordinate, Y-Z), under the prerequisite of Y-Z<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10, 10) one of them, its coordinate is upgraded if not by continuation, if words notification controller to have made a spurt target, then put spurt of making a return voyage and be masked as 1, slight mouse prepares return spurt,

5) if show along optimal path in Y-axis thrust forward process the range of movement that labyrinth retaining wall enters front slight mouse, and now in the information of labyrinth left have barricade and right without barricade constantly, slight mouse will store now coordinate (X, Y), then arrival curve movement locus: more steady in order to make right spurt turn, more approach actual turning action, system adopts five sections of methods to realize turning: proceed to linear correction distance Leading11 before spurt, proceed to and correct radian ARC11, proceed to radian ARC21, produce and correct radian ARC31, linear correction distance Passing11 is produced after spurt.

When right spurt is turned, first STM32F407 corrects the very short distance Leading11 of straight line according to spurt time and dash speed requirement before proceeding to, and this distance is converted into location parameter, speed parameter and acceleration parameter command value, then with FPGA communication, FPGA according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6 generates driving six axle direct current generator X, motor Y, motor Z, motor R, the PWM wave control signal of motor U and motor W, then through MX118 drive amplification rear drive six independent direct current motor X, motor Y, motor Z, motor R, motor U and motor W travels forward, and controller can detect direct current generator X in real time, motor Y, motor Z, motor R, the photoelectric encoder of motor U and motor W exports numerical value, and strengthen vacuum cup to the absorption affinity on ground according to its velocity magnitude self-regulation motor M, sensor S2 can judge left labyrinth retaining wall during spurt, slight mouse is selected to enter Dan Zuoqiang navigation mode, direction sensor D1 according to the labyrinth information of the left barricade of working direction, gyroscope G1 and accelerometer A1 records the transient motion acceleration during spurt of slight mouse, speed and and deviation angle, when slight mouse fast sprint has departed from setting center, STM32F407 has been converted into location parameter according to the deviation size and deviation angle of leaving center these parameters, speed parameter and acceleration parameter command value, then with FPGA communication, FPGA according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6, direction sensor D1, the feedback of gyroscope G1 and accelerometer A1 starts to carry out real-Time Compensation, the PWM ripple input of fine setting motor, can the accurate adjustment slight mouse attitude of make a spurt at straight way by this mode, makes it come back to and sets center, when arriving set objective, sensor reference value R90_FrontWallRef starts working, and prevents external interference from starting to do error compensation.After error compensation terminates, in order to smooth turning, FPGA forbids the PWM wave control signal work of front and back four-wheel, and enable in the two-way PWM wave control signal work of driving, slight mouse is switched to the mid-driving turn condition of two-wheeled.

First STM32F407 is converted into position, speed and acceleration parameter command value radian ARC11 according to the requirement that various spurt condition is different, then with FPGA communication, FPGA generates in conjunction with the feedback of the feedback of photoelectric encoder, current sensor C1, C2, direction sensor D1, gyroscope G1 and accelerometer A1 the PWM ripple driving direct current generator motion again, drives to promote slight pindone after two panels MX118 drive axle amplifies and become to proceed to spurt at a slow speed during PWM ripple passes through.In slight mouse turning spurt process, sensor S1, S2, S5, S6 close, and system enters gyroscope inertial navigation pattern.Direction sensor D1, gyroscope G1 and its instantaneous acceleration of accelerometer A1 real time record, speed and position in slight mouse spurt process at a slow speed, and communication is to STM32F407, when slight mouse spurt has departed from desired location, within the new sampling period, FPGA is according to the PWM ripple input of deviation size fine setting motor, six axle servo-drive systems start to carry out real-Time Compensation to adjust the attitude of slight mouse, make it complete radian ARC11;

When after arrival set objective, STM32F407 is converted into position, speed and acceleration parameter command value radian ARC21 according to the requirement that various spurt condition is different, then with FPGA communication, FPGA generates in conjunction with the feedback of the feedback of photoelectric encoder, current sensor C1, C2, direction sensor D1, gyroscope G1 and accelerometer A1 the PWM ripple driving direct current generator motion again, drives to promote slight pindone after two panels MX118 drive axle amplifies and become flipper turn to make a spurt during PWM ripple passes through.Turn spurt by ARC2 process slight mouse, and sensor S1, S2, S5, S6 close, and system enters gyroscope inertial navigation pattern.Direction sensor D1, gyroscope G1 and its instantaneous acceleration of accelerometer A1 real time record, speed and position in slight mouse fast sprint process, and communication is to STM32F407, when slight mouse fast sprint has departed from desired location, within the new sampling period, FPGA is according to the PWM ripple input of deviation size fine setting motor, six axle servo-drive systems start to carry out real-Time Compensation to adjust the attitude of slight mouse, make it complete radian ARC21;

When after arrival set objective, STM32F407 is converted into position, speed and acceleration parameter command value radian ARC31 according to the requirement that various spurt condition is different, then with FPGA communication, FPGA generates in conjunction with the feedback of the feedback of photoelectric encoder, current sensor C1, C2, direction sensor D1, gyroscope G1 and accelerometer A1 the PWM ripple driving direct current generator motion again, drives to promote slight pindone after two panels MX118 drive axle amplifies and become to produce spurt at a slow speed during PWM ripple passes through.Turn spurt by ARC3 process slight mouse, and sensor S1, S2, S5, S6 close, and system enters gyroscope inertial navigation pattern.Direction sensor D1 in spurt process, gyroscope G1 and its instantaneous acceleration of accelerometer A1 real time record, speed and position is produced at a slow speed slight mouse, and communication is to STM32F407, when slight mouse produce spurt departed from desired location time, within the new sampling period, FPGA is according to the PWM ripple input of deviation size fine setting motor, six axle servo-drive systems start to carry out real-Time Compensation to adjust the attitude of slight mouse, make it complete radian ARC31;

When after arrival set objective, system turn on sensor S2, controller, producing the very short distance Passing11 of linear correction according to spurt time and dash speed requirement, is converted into location parameter this distance, speed parameter and acceleration parameter command value, then with FPGA communication, FPGA according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6 generates driving six axle direct current generator X, motor Y, motor Z, motor R, the PWM wave control signal of motor U and motor W, then through MX118 drive amplification rear drive six independent direct current motor X, motor Y, motor Z, motor R, motor U and motor W travels forward, and controller can detect direct current generator X in real time, motor Y, motor Z, motor R, the photoelectric encoder of motor U and motor W exports numerical value, and strengthen vacuum cup to the absorption affinity on ground according to its velocity magnitude by FPGA self-regulation motor M, sensor S2 can judge left labyrinth retaining wall during spurt, slight mouse is selected to enter Dan Zuoqiang navigation mode, direction sensor D1 according to the labyrinth information of the left barricade of working direction, gyroscope G1 and accelerometer A1 records the transient motion acceleration during spurt of slight mouse, speed and and deviation angle, when slight mouse fast sprint has departed from setting center, STM32F407 has been converted into location parameter according to the deviation size and deviation angle of leaving center these parameters, speed parameter and acceleration parameter command value, then with FPGA communication, FPGA according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6, direction sensor D1, the feedback of gyroscope G1 and accelerometer A1 starts to carry out real-Time Compensation, the PWM ripple input of fine setting motor, can the accurate adjustment slight mouse attitude of make a spurt at straight way by this mode, makes it come back to and sets center, the geometric locus motion of whole right-hand bend is completed after arriving set objective.Now will upgrade its coordinate is (X+1, Y), under the prerequisite of X+1<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, new spurt order is performed if not by continuing, if it is notification controller has been made a spurt terminal, then puts exploration of making a return voyage and is masked as 1, and slight mouse prepares return and explores;

6) if show along optimal path in Y-axis thrust forward process the range of movement that labyrinth retaining wall enters front slight mouse, and now in the information of labyrinth, without barricade, right has barricade constantly in left, slight mouse will store now coordinate (X, Y), slight mouse enters left-hand rotation spurt state, slight mouse left-hand rotation fast sprint principle is similar to slight mouse right-hand rotation fast sprint principle, completes the motion of whole left-hand bend geometric locus by five sections of methods.Now will upgrade its coordinate is (X-1, Y), under the prerequisite of X-1<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, new spurt order is performed if not by continuing, if it is notification controller has been made a spurt terminal, then puts exploration of making a return voyage and is masked as 1, and slight mouse prepares return and explores;

7) when slight mouse spurt arrives (F, F), (F, 10), (10, F), (10,10) can prepare the return after making a spurt after explores to search more excellent path, controller can recall its labyrinth information stored, and then calculates other optimal path that may exist, and then return starts to enter one that wherein thinks optimum.

8) in order to coordinate calculating accurately when slight mouse is made a spurt under complex maze can be realized, sensor S2 and S5 about slight mouse can detect the labyrinth retaining wall of surrounding and pillar in the moment, if S2 or S5 finds that sensor signal there occurs the transition of bigger numerical, then illustrate that slight mouse enters from having labyrinth retaining wall to the change without labyrinth retaining wall (or from without labyrinth retaining wall to there being labyrinth retaining wall) state, STM32F407 according to slight mouse current operating conditions fine compensation, can thoroughly eliminate the error added up when slight mouse is made a spurt in complex maze.

9) when slight mouse enters labyrinth return exploration, sensor S1, S2, S5, S6 of its navigation are by work, and give STM32F407 the photosignal reflected, present position, present labyrinth is determined after STM32F407 computing, then generate PWM ripple by FPGA according to position, current labyrinth and send control signal to MX118: if enter the region searched for will strengthen the dutycycle of PWM ripple, slight mouse is advanced fast, reduces the time of labyrinth search; If unknown return area then adopts normal speed to search for, controller adjusts the servocontrol of motor M in real time according to current search speed, ensure the stable row of slight mouse, in search procedure, the moment upgrades its coordinate (X, Y), and judges that its coordinate is (0,0), if words put exploration of making a return voyage and be masked as 0, slight mouse enters the sprint stage, and juxtaposition spurt is masked as 1.

10) in slight mouse spurt process, if interference has appearred in system, FPGA can have been compensated electric current according to current state, the electric current loop pid parameter in rapid adjustment servo-operated regulator, the system fast and stable of making gets off, and prevents the impact disturbed during sound lunge system.

11) in the whole spurt process of slight mouse, sensor L1 can the moment to external world jamming light source gather, then be transferred to STM32F407, STM32F407 according to the auto-compensation external interference of L1, can decrease the interference of external interference light source to slight mouse fast sprint servo-drive system.

12) when slight pindone becomes whole spurt process to arrive (F, F), (F, 10), (10, F), (10, 10), slight mouse can be put exploration and is masked as 1, slight mouse return is explored and is got back to starting point (0, 0), control six road PWM ripple exports and slight mouse starting point central point is stopped by FPGA, then FPGA forbids that the pwm control signal of front and back four turbin generator exports, motor X and motor Y is moved with contrary direction, and at direction sensor D1, under the control of gyroscope G1, turnback is revolved in original place, then stop 1 second, secondary transfers labyrinth information, and the optimum spurt path of slight mouse exploration is calculated according to improvement ant group algorithm (Improvedantcolonyalgorithm), then put spurt and be masked as 1, system enters the fast sprint stage.Then controller adjusts motor M automatically according to the size of dash speed, changes vacuum cup to the absorption affinity on ground, meets friction needs during fast sprint.

Those skilled in the art should know; protection scheme of the present invention is not limited only to the above embodiments; various permutation and combination and conversion can also be carried out on the basis of above-described embodiment; under the prerequisite without prejudice to spirit of the present invention, the various conversion that the present invention carries out all are dropped in protection scope of the present invention.

Claims (9)

1. double-core high-speed six takes turns slight mouse sprint controller, it is characterized in that comprising cell apparatus, sensor device, assisting navigation device, vacuum suction apparatus and control module module; Six of slight mouse take turns between two a pair totally three right, lay respectively at front portion, middle part and afterbody;

Described assisting navigation device comprises direction sensor D1, gyroscope G1 and accelerometer A1;

Described cell apparatus be electrically connected respectively control module module, motor X, motor Y, motor Z, motor R, motor U, motor W and motor M, described sensor device and gyroscope equipment divide level signal connection control unit module, and described control module module divides level signal to connect motor X, Y, Z, R, U, W and M;

Described motor X and motor Y is positioned at both sides, middle part, and motor Z and motor R is positioned at two sides of tail, and motor W and motor U is positioned at front part sides; Motor M is positioned at afterbody middle and upper part;

Described sensor device comprises infrared sensor S1 and S6 being positioned at both sides, be positioned at infrared sensor S2 and S5 of front end, described sensor S1, S6 acting in conjunction judges front barricade, sensor S2 judges the existence of its left side barricade, sensor S5 judges the existence of barricade on the right of it, and S2 cooperates as rectilinear motion provides navigation foundation with S5 simultaneously;

Described control module module comprises host computer procedure module and motion control program module, described host computer procedure module comprises STM32F407 processor, described motion control program module comprises FPGA processor, described FPGA processor comprises six axle walking servo control units and single axle vacuum absorption servo control unit, described STM32F407 processor is electrically connected FPGA processor, and described six axle walking servo control unit signals connect single axle vacuum absorption servo control unit.

2. double-core high-speed six according to claim 1 takes turns slight mouse sprint controller, it is characterized in that also including voltage sensor V1, and described voltage sensor V1 is electrically connected cell apparatus, the STM32F407 processor of signal connection control unit module.

3. double-core high-speed six according to claim 1 takes turns slight mouse sprint controller, it is characterized in that also comprising light compensation sensor L1, the STM32F407 processor of described smooth compensation sensor L1 signal connection control unit module.

4. double-core high-speed six according to claim 1 takes turns slight mouse sprint controller, it is characterized in that also including current sensor C1, C2, C3, C4, C5 and C6, described current sensor C1, C2, C3, C4, C5 are connected STM32F407 processor with C6 signal.

5. double-core high-speed six as claimed in any of claims 1 to 4 takes turns slight mouse sprint controller, it is characterized in that described FPGA processor is by I/O port and the real-time communication of STM32F407 processor, STM32F407 processor control FPGA processor turns on and off.

6. double-core high-speed six according to claim 5 takes turns slight mouse sprint controller, and it is characterized in that described motor X, Y, Z, R, U and W are high-speed permanent magnetic direct current generator, described motor M is DC micromotor.

7. double-core high-speed six as claimed in any of claims 1 to 4 takes turns slight mouse sprint controller, it is characterized in that the angle between described infrared sensor S1 and S2 signal transmit direction is 75 ° ~ 90 ° angles, the angle between described infrared sensor S5 and S6 signal transmit direction is 75 ° ~ 90 ° angles.

8. double-core high-speed six as claimed in claim 1 takes turns a slight mouse spurt control method, it is characterized in that concrete steps are as follows:

1) detect cell voltage, be in low pressure controller and will report to the police and point out charging; If voltage is normal, then and recall the optimum labyrinth after exploring;

2) spurt angle detecting, infrared sensor S1, S6 and can to spurt path on front environment judge, define and enter range of movement without barricade, interrupt request will be sent to STM32F407 as there is barricade, forbid that FPGA works, block the PWM drive singal of High-speed DC motor X, Y, Z, U, R and W of slight mouse, make slight mouse be still in original place, then secondary judges that front information is determined in labyrinth, prevents information from judging by accident;

3) labyrinth spurt, slight mouse is along X and Y-axis fast sprint, and controller judges whether its coordinate is terminal, new spurt order is performed if not by continuing, if it is notification controller has been made a spurt terminal, then puts exploration of making a return voyage and is masked as 1, and slight mouse prepares return and explores;

4) return spurt, can prepare the return after making a spurt after reaching home explores to search more excellent path, controller can recall its labyrinth information stored, and then calculates other optimal path that may exist, and then return starts to enter one that wherein thinks optimum; When slight mouse be in normally travel time, its major impetus effect of middle two-wheeled, front two-wheeled and its booster action of rear two-wheeled, when being in turning, front two-wheeled and rear two-wheeled quit work;

5) labyrinth return, when slight mouse enters labyrinth return exploration, the sensor S1 of its navigation, S2, S5, S6 is by work, and give STM32F407 the photosignal reflected, FPGA is given after STM32F407 judges, communication is carried out with STM32F407 by after FPGA computing, then send control signal to the motor X of navigation by controller, Y, Z, U, R and W determines: will advance fast if enter the region searched for, if unknown return area then adopts normal speed to search for, and the moment upgrades its coordinate (X, Y), and judge that its coordinate is starting point, if words put exploration of making a return voyage and be masked as 0, slight mouse enters the sprint stage, juxtaposition spurt is masked as 1,

6) secondary spurt, return is explored and is got back to starting point, control FPGA makes slight mouse stop at origin coordinates central point by STM32F407, then the PWM ripple readjusting FPGA exports, motor Z, U, R and W are quit work, motor X and motor Y moves with contrary direction, and under gyrostatic control, turnback is revolved in original place, then stop 1 second, secondary transfers labyrinth information, then calculates the spurt of the optimum after optimizing labyrinth information path according to algorithm, then put spurt and be masked as 1, system enters the secondary fast sprint stage.

9. double-core high-speed six as claimed in claim 8 takes turns slight mouse spurt control method, it is characterized in that the labyrinth sprint stage, sensor S2 and S5 can judge the labyrinth retaining wall of left and right, and record stores current labyrinth retaining wall information, according to the labyrinth information of left and right barricade, slight mouse determines that it enters single wall navigation mode, two wall navigation mode or inertial navigation pattern; Its instantaneous acceleration of gyroscope real time record, speed and position in slight mouse fast sprint process, when slight mouse fast sprint has departed from setting center, within the new sampling period, STM32F407 regenerates the instruction set-point of three closed loop servo systems according to the state of current S2, S5 and is transferred to FPGA, then FPGA is again in conjunction with the PWM ripple input of the feedback fine setting motor of photoelectric encoder and current sensor C1 ~ C6, six axle servo-drive systems start to carry out real-Time Compensation to adjust the attitude of slight mouse, make it come back to setting center.