CN105204502A - Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof - Google Patents
Dual-core medium-speed six-wheel little mouse exploration controller and control method thereof Download PDFInfo
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- CN105204502A CN105204502A CN201510521184.0A CN201510521184A CN105204502A CN 105204502 A CN105204502 A CN 105204502A CN 201510521184 A CN201510521184 A CN 201510521184A CN 105204502 A CN105204502 A CN 105204502A
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Abstract
The invention discloses a dual-core medium-speed six-wheel little mouse exploration controller comprising a sensor device, an auxiliary navigation device, a vacuum suction device and a control unit module. Every two of the six wheels of the little mouse are paired and respectively arranged at the head part, the middle part and the tail part. The auxiliary navigation device comprises a direction sensor D1, a gyroscope G1 and an accelerometer A1. The sensor device and the gyroscope device are respectively connected with the control unit module in a signaling way. The control unit module is respectively connected with motors X, Y, Z, U, R and M in the signaling way. The phenomenon of slipping of the little mouse in exploration can be solved by the vacuum suction device arranged below the chassis. Meanwhile, servo control of the 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
The present invention relates to minisize maze exploring robot field, particularly relate to a kind of double-core middling speed six and take turns slight mouse exploration 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, explore in order to slight mouse or micro computer mouse can be obtained, information after spurt, 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.
Slight mouse will judge the environment of surrounding the moment in labyrinth in heuristic process, then communicate a parameter to controller, by controller repetitive control its accurate acceleration and deceleration campaign in the grid of labyrinth.An outstanding slight mouse must possess good perception, has good locomotor activity, outstanding intelligent algorithm, otherwise cannot finish the work.Slight mouse Maze Exploration technological synthesis multi-subject knowledge, for promoting the manipulative ability of students, team collaboration's ability and innovation ability, promote that the scope of one's knowledge of the digestion of student classroom knowledge and expansion student is all very helpful, and slightly mouse Maze Exploration technology carry out the talent that can cultivate large quantities of association area, and then promote technical development and the industrialization process of association area.
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 technologies in Fig. 1 to explore labyrinth 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 servo-drive system is all more rudimentary algorithm, and make the exploration of slight mouse in the middle of labyrinth 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, and single single-chip microcomputer cannot meet the requirement starting fast and stop when slight mouse is explored.
(6) for two-wheel drive slight mouse General Requirements two motor PWM control signals driving it to move want synchronous, the single single-chip microcomputer servo-drive system of restriction by computing power is difficult to meet this condition, can not accurately walk on center line when slight mouse travels on straight way, being easy to bump against labyrinth retaining wall when exploring at a high speed, causing mission failure.
(7) 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 six axles, when particularly linear accelerating spurt is explored, requirement speed and acceleration will be pursued strict consistent, otherwise straight line explore will be failed, the phenomenon causing slight mouse to occur hitting wall occurs;
(8) the slight mouse system of two-wheeled when accelerating 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 for the development of slight mouse at a high speed.
(9) 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 system is more prone to skid slightly, also more easily wanders off, causes exploring unsuccessfully.
(10) if two-wheeled slight mouse system designs the improper normal pressure difference causing center of gravity lateral deviation to cause two driving wheels to bear when normal exploration 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.
(11) 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.
(12) 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.
(13) if adopt the time sharing exploring mode of forerunner+rear-guard, all have certain weakness when being and adopting forerunner or rear-guard, when turning exploration, angle is not excessive, and be exactly not, turning dynamic property is poor;
(14) 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 exploration performance increases slightly; the efficiency of motor is also necessarily optimized; but center of gravity can be caused to retrodeviate when exploring at a high speed, needing software to protect this.
(15) no matter be two-wheel drive or four-wheel drive, in exploring at a high speed, run into labyrinth seam crossing when having certain difference in height, spurt dynamic property all can receive and have a strong impact on.
(16) 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 design a kind of meet elementary person learn slight mouse solve labyrinth high speed explore controller.
Summary of the invention
The object of the invention is to solve the deficiencies in the prior art, provide a kind of double-core middling speed six to take turns slight mouse and explore controller, to solve the problems such as slight mouse is skidded in heuristic process, sensor disturbs mutually, the processing time is slow.
The technical solution used in the present invention is: based on the exploration controller of STM32F407+LM629 chip, its flow chart as shown in Figure 4.Digital slight mouse six is taken turns and explores controller with LM629 microprocessor for core, give full play to LM629 data processing speed feature faster, make it give sb. his head the various algorithms of seven axle DC servomechanisms, STM32F407 is freed from the Data processing of complexity.Wherein the set-point of position, speed, electric current is generated according to the navigation value of sensor S1, S2, S5, S6 by microprocessor STM32F407, the detection electric current of photoelectric encoder feedback and motor as the value of feedback of three Close loop servo control, generates the PWM ripple of control seven spindle motor after the decoding of LM629 internal algorithm after the inner PID of LM629 regulates.STM32F407 realizes the signal processing algorithm (direct current generator compensated torque etc.) of part and the steering logic of LM629 simultaneously, and response is interrupted, and realizes data communication therebetween and stores live signal.
The beneficial effect that the present invention adopts is: 1, in heuristic process, take into full account battery effect in this system, explore the controller moment based on STM32F407+LM629 all monitoring and computing the running status of slight mouse, current sensor C1 ~ C6 is detecting electric current and is feeding back to controller protection in real time simultaneously, avoid the generation of big current, and the SOC of moment display lithium ion battery, be conducive to the energy state of electrolytic cell, because the present invention adopts permanent magnet DC motor, the acceleration of motor and the electric current of motor are certain proportion relation, so when battery SOC is lower, the requirement of energy during in order to ensure to explore, battery can be changed before exploration prerequisite, thus decrease battery because the too high mistake interference to exploring at a high speed of discharge current.
2, stability and the driveability of controller is explored in order to fully improve the slight mouse of many wheels, 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.Owing to adopting six wheel drive technology, in before and after slight mouse, six power wheels are all dynamic, can be different with ambient conditions and before and after being distributed in by different proportion by demand torque on all wheel, improve the adaptive faculty to complex maze when slight mouse is explored at a high speed by ground, labyrinth.
3, the function that two drive, 4 wheel driven and six drives is realized as required during spurt.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, STM32407 can according to acceleration magnitude exist side by side namely enable in drive four LM629 work of rear-guard, slight mouse demand torque part is distributed to rearmounted two power-assisted driving wheels, change the servocontrol of motor M with Time Controller, slight mouse system is switched to four-wheel drive spurt state naturally.And once needs fast speed-raising or floor-dust more, STM32407 can drive six LM629 of rear-guard according to acceleration magnitude in enable forerunner, work exist side by side and distribute to by slight mouse demand torque before in rearmounted six power drives wheel, the servocontrol of motor M is changed with Time Controller, slight mouse system is switched to six wheel drive states naturally, power demand when not only meeting rapid discovery, but also the balance added when slight mouse is concentrated the talk of, enhance the adhesion of slight mouse and handling.
4, owing to adopting the composite flooding mode of all-wheel drive, when needs accelerate, 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 and enable corresponding LM629, 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 exploration turns to slightly, in order to ensure the stability rotated, the two panels LM629 driven during controller is enable also forbids four, front and back LM629, 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.
If 6, under all-wheel drive mode, slight mouse sprint system designs when normal spurt and improperly causes centre-of gravity shift, the normal pressure causing a side drive wheel is born is reduced, the power that STM32F407 can adjust this side automatically distributes, then the servocontrol that enable corresponding LM629 adjusts motor makes searching system be in a kind of new equilibrium state, prevents slight mouse from skidding.
7, the servocontrol of six direct current generators when slight mouse is explored at a high speed and the servocontrol of single axle vacuum absorption motor is taken turns by LM629 process six, 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.
8, 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 improving stability when slight mouse is explored at a high speed and dynamic property.
9, adopt four groups of original six groups of sensor Maze Exploration technology of sensor Maze Exploration technical substitution to not only reduce the interference of each sensor group in system, and improve labyrinth retaining wall frequency acquisition, be conducive to improving the arithmetic speed exploring controller.
10, due to seven axle servo control algorithm when this controller adopts the reading of STM32F407 process labyrinth and renewal and LM629 process to explore, effectively prevent " race flies " of program, antijamming capability strengthens greatly.
11, in slight mouse rapid discovery 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 rapid discovery.
12, by regulating motor M can effectively regulate vacuum cup to the absorption affinity on ground, 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, on exploring at a high speed the impact having matter.
13, 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 that slight mouse explores director demon block diagram.
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 LM629.
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.
Figure 11 is that slight mouse accelerates hourly velocity-motion schematic diagram.
Figure 12 is slight mouse deceleration hourly velocity-motion schematic diagram.
Figure 13 is that slight mouse two lattice explore schematic diagram.
Figure 14 is slight mouse right-hand rotation schematic diagram.
Figure 15 is slight mouse left-hand rotation schematic diagram.
Embodiment
Below in conjunction with Fig. 1 to Figure 15, 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 seven axle servo-drive system relative to other STM32F system class.
LM629 is a special chip for precise flange that Nationalsemiconductor produces, there are 24 pin and 28 pin, two kinds of surface-mount package, in a chip, be integrated with the repertoire that digital-type sport controls, the task of design one kinetic control system fast and accurately become easily, easy.
As shown in the figure, double-core middling speed six is taken turns slight mouse and is explored controller, comprises sensor device, assisting navigation device, vacuum suction apparatus and control module module; Six of slight mouse is taken turns in pairs, lays respectively at stem, middle part and afterbody; Described assisting navigation device comprises direction sensor D1, gyroscope G1 and accelerometer A1; 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, U, R and M; Described motor X and motor Y be positioned at middle part both sides and with middle part two-wheeled driving coupling, motor Z and R be positioned at two sides of tail and with afterbody two-wheeled driving coupling, motor U and W be positioned at stem both sides and with stem two-wheeled driving coupling, motor M is arranged on afterbody to be located, 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 LM629 processor, described LM629 processor comprises six axle walking servo control units and single axle vacuum absorption servo control unit, described STM32F407 processor is electrically connected LM629 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 exploration 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 LM629 processor is by I/O port and the real-time communication of STM32F407 processor, and STM32F407 processor control LM629 processor turns on and off.
In order to improve the performance of slight mouse further, described motor X, Y, Z, U, R and W high-speed permanent magnetic direct current generator, 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, and under power-on state, slight mouse is introduced into self-locking state, and first controller opens vacuum draw motor M, regulates the absorption affinity on slight mouse and ground, labyrinth, increases the friction force on itself and ground.Then slightly mouse relies on front, keep in obscurity sensor S1, S3, S4, S6 of left and right side detect unknown labyrinth, infrared remote receiver TSL262 is converted into parameter transmission to the STM32F407 in dual-core controller actual navigational environment, after STM32F407 process, these environmental parameters are converted into the position of slight mouse six spindle motor servo system control, speed and acceleration parameter command value, then with LM629 communication, each deviation of servo-drive system is generated in conjunction with the feedback of photoelectric encoder and current sensor by LM629.And give full play to the advantage of LM629 position servo regulator, realize the servocontrol of two individual motor between slight mouse probe phase, in whole motion process, have gyroscope G1, accelerometer A1 carries out position detection and second compensation in real time, and the stability of slight mouse fast detector is taken turns in guarantee six.
Double-core middling speed six is taken turns slight mouse and is explored control method, comprises the steps:
1) enabling signal confirms, waits at starting point coordinate (0,0) the exploration order that controller sends, and after receiving exploration task, can start to explore to terminal (F, F), (F, 10), (10, F), (10,10) along starting point, 2) obstacle judges, the sensor S1 in front, S6 and judging 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 the LM629 work controlling to take turns left and right six is forbidden, block the High-speed DC motor X of slight mouse, Y, Z, U, the PWM drive singal of R and W, it is made to be still in original place, the process if the interrupt response of STM32F407 is not able to do in time, the motor X of slight mouse, Y, Z, U, R and W is by original place self-locking, then STM32F407 judges that front information is determined in labyrinth for bis-times, prevent information from judging by accident, 3) track search, travel forward along XY axle slight mouse, if determine do not have barricade to enter the range of movement in front in any one side's center of a lattice, then mouse will store its coordinate (X slightly, and the location parameter of the lattice that travel forward is transferred to STM32F407 Y), 4) path judges, when slight mouse arrives (F, F), (F, 10), (10, F), when the terminal or in (10,10) prepares return exploration, controller can recall its labyrinth stored, then calculate the optimal path that may exist according to quick labyrinth algorithm, return starts to enter one that wherein thinks optimum, 5) make a return voyage, slight mouse enter labyrinth normally make a return voyage run time, and the sensor S1 of its navigation, S2, S5, S6 is by work, and give STM32F407 the photosignal reflected, LM629 is given after STM32F407 judges, communication is carried out with STM32F407 by after LM629 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 (0, 0), 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.
For improving the exploring ability of slight mouse of the present invention further, when sensor S2 and S5 can judge the barricade of left and right, and record stores current labyrinth retaining wall information, slight mouse enters two wall navigation mode, single wall navigation mode or inertial navigation pattern according to the labyrinth information of working direction left and right barricade.
The present invention is following work:
Slight mouse is explored controller and 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, data storage, I/O control of slight mouse system, the seven axle servo-drive systems that wherein workload is maximum give STM32F407+LM629 process, remaining comprises completing of master system and gives STM32F407 and complete, so just achieve the division of labor of STM32F407 and LM629, therebetween also can carry out communication simultaneously, carry out exchanges data in real time and call.
1) before slight mouse does not receive exploration order, it generally can at starting point coordinate (0,0) the exploration order that controller sends is waited for, once after receiving task, vacuum draw motor M opened by controller first control LM629 work, first aspirated micro vacuum sucker 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.Then controller unlocks slight mouse, and slight mouse relies on direction sensor D1 by regulating the differential motion of X and motor Y, automatically regulates its angle with direction of motion until the two direction overlaps, prevents slight mouse from just having started the generation just occurring inclined head phenomenon instantaneously.Then mouse can start to explore to terminal (F, F), (F, 10), (10, F), (10,10) along starting point slightly.
2) mouse is placed on starting point coordinate (0 slightly, 0), after receiving task its front sensor S1, S6 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 six LM629 work are forbidden, block the PWM drive singal of the motor X of slight mouse, motor Y, motor Z, motor R, motor U and motor W, it is made to be still in original place, then secondary judges that front information is determined in labyrinth, information erroneous judgement when preventing from exploring;
3) moment is started slight mouse, carry out accelerated motion according to the ladder diagram of Velocity-time shown in Figure 11, in order to meet quick acceleration request, controller is first by the servocontrol withdrawing air of vacuum draw motor M, increase vacuum cup to the friction on ground, meet slight mouse acceleration request.Then S1 and S6 judges front environment, in order to better realize accelerating to explore, slight mouse has given up original single lattice exploring mode, the two lattice exploring modes as Figure 13 can be adopted within the scope of detectivity: slight mouse in the process of walking at sensor S1 and S6, the barricade of sensor S1 and S6 to front is relied on to judge in any center of a lattice position, if as shown in Figure 8 (a), in direction of motion front one, there is barricade at lattice place, slight mouse just starts to do retarded motion in a center of a lattice, and the information of real time record left and right barricade, both ensured that slight mouse dependence barricade information carried out navigating and be steadily parked in the center, labyrinth of next lattice, and barricade information can be relied on to provide foundation for next lattice exploration action, if front one lattice do not have labyrinth retaining wall, and intelligent algorithm points out best searching route still in existing direction of motion, slight mouse can judge the labyrinth retaining wall at direction of motion front two lattice, if there is barricade, slight mouse will complete deceleration task in two lattice, and real time record labyrinth retaining wall information, for next one exploration action provides foundation, if do not have the slight mouse of labyrinth retaining wall will take to accelerate exploration pattern in the front of two lattice, and real time record labyrinth retaining wall information, for next one exploration action provides foundation, take similar exploration pattern again when slight mouse accelerates the center, labyrinth arriving next lattice, move forward successively, two lattice are explored pattern and are obviously improve exploration speed than a lattice exploration pattern, are conducive to the exploration of complex maze.In heuristic process, controller opens four-wheel drive pattern or six wheel drive mode according to rate request.STM32F407 changes the duty of preposition and rearmounted power-assisted drive motor Z, motor R, motor U, motor W immediately according to drive pattern, complete exploration, and controller determines the servocontrol of whether Secondary Control motor M according to existing speed and surface state.
4) slight mouse along in Y-axis forward movement, if judge all do not have barricade to enter present direction of motion in the maze lattice of two, front in any one side's center of a lattice, then mouse will store its coordinate (X slightly, Y), and judge that next maze lattice coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, if words notification controller take a lattice deceleration mode to enter search target, then put exploration of making a return voyage and be masked as 1, slight mouse prepares return and explores, if not controller, startup two lattice are explored pattern: controller gives STM32F407 the location parameter of two lattice that travel forward, STM32F407 is converted into location parameter this parameter according to exploration time and exploration rate request, speed parameter and acceleration parameter command value, then four LM629 driven in enable rear-guard, the trapezoidal motion generator of LM629 inside can according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C4 generates driving four axle direct current generator X, motor Y, the PWM wave control signal of motor Z and motor R, control signal is by MX118 drive amplification rear drive four independent direct current motor X, motor Y, motor Z and motor R travels forward, direct current generator X, motor Y, the photoelectric encoder of motor Z and motor R can record the distance of movement and flows to controller in the moment, slight mouse along in current maze lattice explored going forward process, this Time Controller can detect direct current generator X in real time, motor Y, the numerical value of motor Z and motor R photoelectric encoder, and strengthen vacuum cup to the absorption affinity on ground according to its velocity magnitude 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 that intelligent algorithm makes a decision foundation to the next exploration action of slight mouse on the one hand, 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 transient motion acceleration when slight mouse is explored, speed and and deviation angle, when slight mouse rapid discovery has departed from setting center, microprocessor 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 the two panels LM629 driven in enable, the trapezoidal motion generator of LM629 inside can according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C4, and by direction sensor D1, gyroscope G1 and accelerometer A1 starts to carry out real-Time Compensation, the PWM ripple input of fine setting motor, by this mode can the slight mouse of accurate adjustment in the attitude of straight way, it is made to come back to setting center, before not arriving target, if slightly mouse is explored at a high speed and occurs stall or the more situation of labyrinth floor-dust, STM32F407 can regulate M to strengthen the friction on slight mouse and ground and enable forerunner two panels LM629, open motor U and motor W, system enters six wheel drive states, STM32F407 is according to time and rate request, remaining distance D is converted into location parameter, speed parameter and acceleration parameter command value, then six LM629 driven in enable front and back, the trapezoidal motion generator of LM629 inside can 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 drives six independent direct current motor X through MX118, motor Y, motor Z, motor R, motor U and motor W travels forward, under slight mouse drives state 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 transient motion acceleration when slight mouse is explored, speed and and deviation angle, when slight mouse rapid discovery has departed from setting center, microprocessor 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 six LM629 driven in enable front and back, the trapezoidal motion generator of LM629 inside can according to these parameters again in conjunction with photoelectric encoder, the feedback of current sensor C1 ~ C6, and by direction sensor D1, gyroscope G1 and accelerometer A1 starts to carry out real-Time Compensation, the PWM ripple input of fine setting motor, by this mode can the slight mouse of accurate adjustment in the attitude of straight way, it is made to come back to setting center, when slight mouse moves the two lattice distance new addresses of arrival under gyrostatic control, microprocessor will upgrade its coordinate for (X, Y+2), under the prerequisite of Y+2<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, if not by continuation upgrade its coordinate, if words notification controller search target, then put exploration of making a return voyage and be masked as 1, slight mouse prepares return and explores,
5) if having labyrinth retaining wall to enter the range of movement in front slight mouse in Y-axis forward movement, and the now sensor S2 of left and right, when having barricade about S5 judgement, slight mouse will store now coordinate (X, Y), the location parameter travelling forward and stop is calculated according to the feedback of sensor S1 and S6, move according to the Velocity-time figure of Figure 10 after pressing, first the servocontrol of M is regulated to strengthen the friction on slight mouse and ground by LM629 by STM32F407, and control forerunner's rear-guard and drive four LM629, open motor Z, motor R, motor U and motor W makes system enter six wheel drive deceleration regimes, STM32F407 is according to parking spot parameter, exploration speed and acceleration require to be converted into location parameter, speed parameter and acceleration parameter command value, then with LM629 communication, LM629 is 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, six individual motor drive the retarded motion forward of slight mouse, in docking process forward, sensor S2, S5 judges the barricade of left and right in real time, and feed back current labyrinth retaining wall information, slight mouse enters two wall navigation mode, then at direction sensor D1, gyroscope G1, attitude secondary correction is carried out under the feedback of accelerometer A1, slight mouse realizes arranging stop parking.Then STM32F407 forbids four LM629 work of forerunner and rear-guard, block the PWM wave control signal of motor Z, motor R, motor U, motor W, the two panels LM629 work of work is driven in enable, make motor X contrary with motor Y direction of motion, slight mouse original place is controlled to revolve turnback by direction sensor D1, gyroscope G1, accelerometer A1, then prepares along Y-axis counter motion.
Slight mouse along in the reverse forward movement of Y-axis, if judge all do not have barricade to enter present direction of motion in the maze lattice of two, front in any one side's center of a lattice, then mouse will store its coordinate (X, Y), with the principle work travelling forward identical along Y-axis slightly; When slight mouse moves the two lattice distance new addresses of arrival under gyrostatic control, microprocessor will upgrade its coordinate for (X, Y-2), under the prerequisite of Y-2<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, if not by continuation upgrade its coordinate, if words notification controller search target, then put exploration of making a return voyage and be masked as 1, slight mouse prepares return and explores;
6) if having labyrinth retaining wall to enter the range of movement in front slight mouse in Y-axis forward movement, and now left and right sensor S2, when S5 judges that there is barricade right left without barricade, slight mouse will store now coordinate (X, Y), calculate to travel forward according to the feedback of sensor S1 and S6 and stop at the location parameter of grid center, labyrinth A, move according to the graphics track of Figure 14 after pressing, M is first regulated to strengthen the friction on slight mouse and ground by STM32F407, and control forerunner's rear-guard and drive four LM629, open motor Z, motor R, motor U and motor W makes system enter six wheel drive deceleration regimes, STM32F407 is according to parking spot parameter, exploration speed and acceleration requirement, these parameters are converted into location parameter, speed parameter and acceleration parameter command value, then with LM629 communication, LM629 is 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, six individual motor drive the retarded motion forward of slight mouse, in docking process forward, sensor S2 judges left barricade in real time, and feed back current labyrinth retaining wall information, slight mouse enters Dan Zuoqiang navigation mode, then at direction sensor D1, gyroscope G1, attitude secondary correction is carried out under the feedback of accelerometer A1, slight mouse realizes stopping at labyrinth central point.Then STM32F407 forbids four LM629 work of forerunner and rear-guard, the two panels LM629 work of work is driven in enable, make motor X contrary with motor Y direction of motion, slight mouse original place controls 90-degree rotation to the right by direction sensor D1, gyroscope G1, accelerometer A1, then prepares along X-axis positive movement.
Slight mouse along in X-axis forward movement, if judge all do not have barricade to enter present direction of motion in the maze lattice of two, front in any one side's center of a lattice, then slightly mouse will store its coordinate (X, Y), and along the proal same principle work of Y-axis; When slight mouse moves the two lattice distance new addresses of arrival under gyrostatic control, microprocessor will upgrade its coordinate for (X+2, Y), under the prerequisite of X+2<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, if not by continuation upgrade its coordinate, if words notification controller search target, then put exploration of making a return voyage and be masked as 1, slight mouse prepares return and explores;
7) if having labyrinth retaining wall to enter the range of movement in front slight mouse in Y-axis forward movement, and now left and right sensor S2, S5 judge left without barricade right without barricade time, slight mouse will store now coordinate (X, Y), calculate to travel forward according to the feedback of sensor S1 and S6 and stop at the location parameter of grid center, labyrinth A, move according to the graphics track of Figure 15 after pressing, carry out left-hand rotation work according to the identical principle of right-hand rotation; When slight mouse moves the two lattice distance new addresses of arrival under gyrostatic control, microprocessor will upgrade its coordinate for (X-2, Y), under the prerequisite of X-2<1F, judge that its coordinate is (F, F), (F, 10), (10, F), (10,10) one of them, if not by continuation upgrade its coordinate, if words notification controller search target, then put exploration of making a return voyage and be masked as 1, slight mouse prepares return and explores;
8) when slight mouse arrives (F, F), (F, 10), (10, F), (10,10) prepare return explore time, controller can recall its labyrinth stored, then calculate the optimal path that may exist according to quick labyrinth algorithm, then return starts to enter one that wherein thinks optimum.
9) slight mouse enter labyrinth normally make a return voyage run time, and the sensor S1 of its navigation, S2, S5, S6 is by work, and give STM32F407 the photosignal reflected, after STM32F407 judges, control LM629 works, then the motor X navigated, motor Y, motor Z, motor R, motor U and motor W drives slight mouse to advance: will advance fast if enter the region searched for, if unknown return area then adopts normal speed to search for, controller can detect motor X in real time, motor Y, motor Z, motor R, the numerical value of the photoelectric encoder of motor U and motor W, and strengthen according to its velocity magnitude self-regulation motor M or reduce vacuum cup to the absorption affinity on ground, and the moment upgrades its coordinate (X, Y), and judge 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, juxtaposition spurt is masked as 1.
10) in order to the coordinate calculating accurately when exploring of slight mouse 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 explored in complex maze.
11) if slightly mouse runs into fault when hitting wall in heuristic process, the electric current of motor X, motor Y, motor R, motor U and motor W will increase, when exceeding setting value, current sensor C1 ~ C6 Acquisition Circuit voltage is said and is exceeded setting value, STM32F407 will forbid that LM629 works, block the control signal of motor X, motor Y, motor Z, motor R, motor U and motor W, and then release motor X, motor Y, motor Z, motor R, motor U and motor W, thus efficiently solve stall problem.
15) slightly mouse voltage sensor V1 in heuristic process can detect cell voltage in the moment, and when low pressure appears in system, sensor V1 is by unlatching and send alarm, effectively protects lithium ion battery.
16) in slight mouse motion process, if interference has appearred pulsing in system torque, STM32F407 can have been compensated electric current according to current state, the pid parameter of rapid adjustment LM629 internal regulator, the system fast and stable of making gets off, and prevents torque pulsation on the impact of servo-drive system performance.
17) in the whole motion 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 external interference light source to the interference of slight mouse rapid discovery with spurt servo-drive system.
15) when slight pindone becomes whole heuristic process to get back to starting point (0,0), control six LM629 make slight mouse central point stop by STM32F407, then the LM629 driven in two panels is readjusted, motor X and motor Y is moved with contrary direction, and turnback is revolved in original place under the control of direction sensor A1, gyroscope G1 and accelerometer A1, then stop 1 second.Controller starts to transfer labyrinth information and calculates the optimum spurt path of slight mouse exploration according to improvement ant group algorithm (Improvedantcolonyalgorithm) and Flood Fill algorithm separately, optimum spurt path is selected after the two, 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.
Claims (9)
1. double-core middling speed six is taken turns slight mouse and is explored controller, it is characterized in that comprising sensor device, assisting navigation device, vacuum suction apparatus and control module module; Six of slight mouse is taken turns in pairs, lays respectively at stem, middle part and afterbody;
Described assisting navigation device comprises direction sensor D1, gyroscope G1 and accelerometer A1;
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, U, R and M;
Described motor X and motor Y be positioned at middle part both sides and with middle part two-wheeled driving coupling, motor Z and R be positioned at two sides of tail and with afterbody two-wheeled driving coupling, motor U and W be positioned at stem both sides and with stem two-wheeled driving coupling, motor M is arranged on afterbody to be located, 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 LM629 processor, described LM629 processor comprises six axle walking servo control units and single axle vacuum absorption servo control unit, described STM32F407 processor is electrically connected LM629 processor, and described six axle walking servo control unit signals connect single axle vacuum absorption servo control unit.
2. double-core middling speed six according to claim 1 is taken turns slight mouse and is explored 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 middling speed six according to claim 1 is taken turns slight mouse and is explored 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 middling speed six according to claim 1 is taken turns slight mouse and is explored 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 middling speed six as claimed in any of claims 1 to 4 is taken turns slight mouse and is explored controller, it is characterized in that described LM629 processor is by I/O port and the real-time communication of STM32F407 processor, STM32F407 processor control LM629 processor turns on and off.
6. double-core middling speed six according to claim 5 is taken turns slight mouse and is explored controller, and it is characterized in that described motor X, Y, Z, U, R and W are high-speed permanent magnetic direct current generator, described motor M is DC micromotor.
7. double-core middling speed six as claimed in any of claims 1 to 4 is taken turns slight mouse and is explored 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 middling speed six as claimed in claim 1 is taken turns slight mouse and is explored a control method, it is characterized in that comprising the steps:
1) enabling signal confirms, waits at starting point coordinate the exploration order that controller sends, and after receiving exploration task, can start to explore to terminal along starting point;
2) obstacle judges, the sensor S1 in front, S6 and judging 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 the LM629 work controlling to take turns left and right six is forbidden, block the High-speed DC motor X of slight mouse, Y, Z, U, the PWM drive singal of R and W, it is made to be still in original place, the process if the interrupt response of STM32F407 is not able to do in time, the motor X of slight mouse, Y, Z, U, R and W is by original place self-locking, then STM32F407 judges that front information is determined in labyrinth for bis-times, prevent information from judging by accident,
3) track search, travel forward along XY axle slight mouse, if determine do not have barricade to enter the range of movement in front in any one side's center of a lattice, then mouse will store its coordinate (X slightly, and the location parameter of the lattice that travel forward is transferred to STM32F407 Y);
4) path judges, when the terminal that slight mouse arrives prepares return exploration, controller can recall its labyrinth stored, and then calculates the optimal path that may exist according to quick labyrinth algorithm, and return starts to enter one that wherein thinks optimum;
5) make a return voyage; slight mouse enter labyrinth normally make a return voyage run time; and sensor S1, S2, S5, S6 of its navigation are by work; and give STM32F407 the photosignal reflected; LM629 is given after STM32F407 judges; carry out communication by after LM629 computing with STM32F407, then send control signal to determine to motor X, Y, Z, U, R and W of navigation by LM629; If enter the region searched for will advance fast, 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, and juxtaposition spurt is masked as 1.
9. double-core middling speed six as claimed in claim 8 is taken turns slight mouse and is explored control method, it is characterized in that in described step 3 track search, when sensor S2 and S5 can judge the barricade of left and right, and record stores current labyrinth retaining wall information, slight mouse enters two wall navigation mode, single wall navigation mode or inertial navigation pattern according to the labyrinth information of working direction left and right barricade.
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