CN203643839U - Dual-core two-wheeled micro-computer mouse and full-digital servo controller thereof - Google Patents
Dual-core two-wheeled micro-computer mouse and full-digital servo controller thereof Download PDFInfo
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- CN203643839U CN203643839U CN201320570017.1U CN201320570017U CN203643839U CN 203643839 U CN203643839 U CN 203643839U CN 201320570017 U CN201320570017 U CN 201320570017U CN 203643839 U CN203643839 U CN 203643839U
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Abstract
The utility model discloses a dual-core two-wheeled micro-computer mouse and a full-digital servo controller thereof. The servo controller includes a main control unit, a first motion driving unit, a second motion driving unit, a first motor and a second motor. The main control unit includes a main controller and a secondary controller. The main controller is electrically connected to the secondary controller; and the secondary controller is respectively and electrically connected to the first motion driving unit and the second motion driving unit. In addition, the first motion driving unit is electrically connected to the first motor, and the second motion driving unit is electrically connected to the second motor. According to the method above, by employing dual cores to work simultaneously and cooperatively, the workload of each control chip is relatively small, and thereby the program fleet is effectively prevented, the anti-interference capability is enhanced and the large current is avoided. The operating precision is high and the performance is stable.
Description
Technical field
The utility model relates to microrobot field, relates in particular to a kind of based on double-core two-wheeled micro computer mouse and full Digitized Servo Control device thereof.
Background technology
Micro computer mouse is a kind of Intelligent walking robot that uses embedded microcontroller, sensor and electromechanical movement parts to form, abroad contest nearly 30 years, can be converted into the industrial robot of multiple reality by its principle, just introduce in recent years domesticly, and become gradually an emerging sports.Micro computer mouse can be in different labyrinths automatic Memory and selecting paths, adopt corresponding algorithm, arrive rapidly the destination setting.An outstanding micro computer mouse must possess good perception, has good locomotor activity, outstanding intelligent algorithm, and a complete micro computer mouse is being divided into following components substantially:
1) sensor: sensor is the eyes of micro computer mouse, is the foundation of micro computer mouse Obtaining Accurate external environmental information, then external information is transported to microprocessor and carries out various condition judgment.
2) motor: actuating motor is the power source of micro computer mouse, it carries out the relevant action of micro computer mouse while walking in labyrinth according to the instruction of microprocessor.
3) algorithm: algorithm is the soul of micro computer mouse.Micro computer mouse must adopt certain intelligent algorithm just can find terminal, just can find a path the shortest, within the shortest time, reaches home.
4) microprocessor: microprocessor is the core of micro computer mouse is the brain of micro computer mouse.The information that micro computer mouse is all, comprises wall information, positional information, and angle information and motor status information etc. all needs through microprocessor processes and makes corresponding judgement.
Computer mouse combines multi-subject knowledge, for the manipulative ability, team collaboration's ability and the innovation ability that promote students, promotes that the digestion of student classroom knowledge and the scope of one's knowledge of expansion student are all very helpful.Computer mouse walks the talent that can cultivate large quantities of association areas that carries out of maze technique, and then promotes technical development and the industrialization process of association area.The environment around but micro computer mouse will judge in the moment in the middle of labyrinth, then communicate a parameter to controller, by its accurate acceleration and deceleration in the middle of the grid in labyrinth of controller repetitive control, slightly careless micro computer mouse will bump against labyrinth retaining wall around, make to explore or make a spurt unsuccessfully, therefore, the key that determines its victory or defeat concerning SCM Based servo-drive system performance with micro computer mouse system, but because the unit of this robot of domestic research and development is less, lower to international rule read level, R & D Level is relatively backward relatively, the micro computer mouse structure of research and development is as Fig. 1, long-play finds to exist a lot of safety problems, that is:
(1) what adopt as the eyes of micro computer mouse is ultrasound wave or general infrared sensor, makes micro computer mouse have certain erroneous judgement to the exploration in labyrinth around.
(2) what adopt as the topworks of micro computer mouse is stepper motor, and the problem that often can run into pulse-losing occurs, causes the memory of position to occur mistake.
(3) owing to adopting stepper motor, make organism fever more serious, be unfavorable in large complicated labyrinth, exploring and spurt.
(4) be all more rudimentary algorithm because micro computer mouse servo-drive system adopts, the exploration in the middle of labyrinth generally all will spend the time of 4 ~ 5 minutes, and this makes cannot win victory in real contest.
(5) because micro computer mouse will be braked frequently and start, increased the weight of the workload of single-chip microcomputer, single single-chip microcomputer cannot meet the requirement that micro computer mouse starts fast and stops.
(6) what relatively adopt is all the plug-in components that some volume ratios are larger, makes the volume and weight of micro computer mouse relatively all larger, cannot meet the requirement of quick exploration.
(7) owing to disturbed by surrounding environment labile factor, singlechip controller often there will be extremely, causes that micro computer mouse is out of control, and antijamming capability is poor.
(8) for the micro computer mouse of differential control, it is synchronous that the pwm control signal of two motor of General Requirements is wanted, owing to being subject to the restriction of computing power, single single-chip microcomputer servo-drive system is difficult to meet this condition, when being travelled on straight way, micro computer mouse can accurately not walk on center line, in order to ensure the accurate location of micro computer mouse, and the compensation that servo-drive system will be back and forth, make micro computer mouse rocking tendency in the middle of labyrinth larger, during particularly for quick walking.
(9) owing to being subject to single-chip microcomputer capacity and algorithm affects, micro computer mouse is not stored the information in labyrinth, and information all in the time running into power-down conditions will disappear, and this will restart whole heuristic process.
(10) micro computer mouse is in operational process, necessarily runs into hit wall situation motor rotation blockage situation all can occur, and causes motor immediate current excessive, burns out motor when serious.
Therefore, need to redesign based on monolithic processor controlled micro computer mouse controller existing.
Utility model content
The technical matters that the utility model mainly solves is to provide a kind of two-wheeled micro computer mouse and servo controller thereof based on dual processor, adopt double-core collaborative work simultaneously, the workload of each control chip is relatively little, has effectively prevented from program fleet from having strengthened antijamming capability; Avoid producing large electric current, operational precision is higher, and performance is more stable.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of two-wheeled micro computer mouse and servo controller thereof based on dual processor is provided, comprise main control unit, the first motion driver element, the second motion driver element, the first motor and the second motor, described main control unit comprises master controller and from controller, described master controller be electrically connected from controller, describedly be electrically connected with the first motion driver element and the second motion driver element respectively from controller, described the first motion driver element is further electrically connected with described the first motor, described the second motion driver element is further electrically connected with described the second motor.
In preferred embodiment of the utility model, described full Digitized Servo Control device further comprises power-supply unit, and described power-supply unit and described main control unit are electrically connected.
In preferred embodiment of the utility model, described power-supply unit comprises lithium ion battery.
In preferred embodiment of the utility model, described master controller is ARM920T(S3C2440A), described is FPGA(A3P250 from controller).
In preferred embodiment of the utility model, described the first motor and the second motor are High-speed DC motor, in the rotating shaft of described the first motor and the second motor, are equipped with photoelectric encoder.
The utility model also provides a kind of two-wheeled micro computer mouse, comprise described full Digitized Servo Control device, described full Digitized Servo Control device comprises main control unit, the first motion driver element, the second motion driver element, the first motor and the second motor, described main control unit comprises master controller and from controller, described master controller be electrically connected from controller, describedly be electrically connected with the first motion driver element and the second motion driver element respectively from controller, described the first motion driver element is further electrically connected with described the first motor, described the second motion driver element is further electrically connected with described the second motor, described two-wheeled micro computer mouse further comprises housing, described full Digitized Servo Control device is arranged on described enclosure interior.
In preferred embodiment of the utility model, described housing both sides are equipped with wheel, and described the first motor is connected with a wheel respectively with the second motor.
In preferred embodiment of the utility model, on described housing, be further provided with at least six sensors that keep in obscurity, each sensor that keeps in obscurity is electrically connected with described master controller respectively, wherein, first the keep in obscurity signal transmit direction of sensor of sensor and second that keeps in obscurity is identical with the direction of motion of described wheel, the 3rd the keep in obscurity signal transmit direction of sensor of sensor 3 and the 4th that keeps in obscurity is contrary and perpendicular to the direction of motion of described wheel, the signal transmit direction of the 5th sensor and the 6th sensor away from described housing center and with the angle of the direction of motion of described wheel be acute angle.
In preferred embodiment of the utility model, described in the sensor that keeps in obscurity comprise infrared sensor OPE5594A.
In preferred embodiment of the utility model, described two-wheeled micro computer mouse further comprises voltage sensor and opto-electronic compensation sensor, and described voltage sensor and opto-electronic compensation sensor are electrically connected with described main control unit respectively.
The beneficial effects of the utility model are:
(1) adopt two controllers, i.e. simultaneously master controller and sub-controller, two controllers are shared out the work and help one another, and process different data, avoid producing large electric current, prevent from causing lithium ion battery overaging because of heavy-current discharge;
(2) described sub-controller adopts FPGA(A3P250), and the independent motor of controlling, alleviate the burden of ARM, simplify interface circuit, give full play to FPGA(A3P250) speciality and the program portable function of control aspect, make to control fairly simple, greatly improve arithmetic speed, shortened the construction cycle short, and program transportability ability is strong;
(3) had the assistance from controller, the workload of described master controller reduces, and has effectively prevented program fleet, has strengthened antijamming capability;
(4) adopt infrared sensor OPE5594A, operational precision is higher;
(5) adopt High-speed DC motor, performance is more stable.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing, wherein:
Fig. 1 is the circuit block diagram of the servo controller of computer mouse of the prior art;
Fig. 2 is the circuit block diagram of full Digitized Servo Control device described in the utility model;
Fig. 3 is the control schematic diagram of full Digitized Servo Control device described in the utility model;
Fig. 4 is the structural representation of computer mouse one preferred embodiment described in the utility model.
In accompanying drawing, the mark of each parts is as follows: 1, housing, 2, wheel, 3, the sensor 3,4 that keeps in obscurity, opto-electronic compensation sensor, 5, voltage sensor.
Embodiment
To the technical scheme in the utility model embodiment be clearly and completely described below, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making all other embodiment that obtain under creative work prerequisite, all belong to the scope of the utility model protection.
Refer to Fig. 1 to Fig. 4, the utility model embodiment comprises:
A kind of based on double-core two-wheeled micro computer mouse full Digitized Servo Control device, comprise main control unit, the first motion driver element, the second motion driver element, the first motor and the second motor, described main control unit comprises master controller and from controller, described master controller be electrically connected from controller, describedly be electrically connected with the first motion driver element and the second motion driver element respectively from controller, described the first motion driver element is further electrically connected with described the first motor, and described the second motion driver element is further electrically connected with described the second motor.
Wherein, described full Digitized Servo Control device further comprises power-supply unit, and described power-supply unit and described main control unit are electrically connected, and described power-supply unit comprises lithium ion battery.Described the first motor and the second motor are High-speed DC motor, in the rotating shaft of described the first motor and the second motor, are equipped with photoelectric encoder, and described photoelectric encoder is optical code disk.The first motor is numbered to X, and the second motor is numbered Y.Described master controller is ARM920T(S3C2440A), described is FPGA(A3P250 from controller), ARM920T(S3C2440A) control FPGA(A3P250) open or turn-off.
ARM920T(S3C2440A) be ARM9 processor of new generation, have that register is many, addressing mode is simple, bulk transfer data, use the features such as address automatically increases or decreases.ARM920T(S3C2440A) by brand-new design, adopt more transistor, can reach twice above in the processing power of ARM7 processor.The raising of this processing power is by increasing clock frequency and reducing instruction execution cycle and realize.
FPGA(A3P250) as a kind of semi-custom circuit in special IC field, both solved the deficiency of custom circuit, overcome again the limited shortcoming of original programming device gate circuit number.Adopt this two kinds of processor collaborative works, make the user can be according to the design needs of oneself, by specific placement-and-routing instrument, its inside is reconfigured to connection, within the shortest time, design the special IC of oneself, so just reduce cost, shorten the construction cycle.Due to FPGA(A3P250) adopt the design philosophy of software implementation to realize the design of hardware circuit, so just make based on FPGA(A3P250) designed system has good reusable and amendment property.
The utility model also provides a kind of two-wheeled micro computer mouse, comprises described full Digitized Servo Control device, and described two-wheeled micro computer mouse further comprises housing 1, and described full Digitized Servo Control device is arranged on described housing 1 inside.Described housing 1 both sides are equipped with wheel 2, and described the first motor is connected with a wheel 2 respectively with the second motor.
In the present embodiment, on described housing 1, be further provided with six infrared sensor OPE5594A as the sensor 3 that keeps in obscurity, each sensor 3 that keeps in obscurity is electrically connected with described master controller respectively, six sensors 3 that keep in obscurity are numbered respectively to S1, S2, S3, S4, S5, S6, wherein, the sensor S1 that keeps in obscurity is identical with the direction of motion of described wheel 2 with the signal transmit direction of the sensor S6 that keeps in obscurity, the signal transmit direction of sensor S2 and the sensor S5 that keeps in obscurity of keeping in obscurity is contrary and perpendicular to the direction of motion of described wheel 2, keep in obscurity the angle of direction of motion of sensor S3 and keep in obscurity sensor S4 and described wheel 2 for being generally 45 degree.Described two-wheeled micro computer mouse further comprises voltage sensor 5 and photoelectric sensor 4, and described voltage sensor 5 and photoelectric sensor 4 are electrically connected with described main control unit respectively, and described voltage sensor 5 is numbered S8, and described photoelectric sensor 4 is numbered S7.
In the time of concrete application, when the utility model exploitation, adopt S3C2440A and A3P250 as development board core, described computer mouse is realized full SMD components material substantially, realize veneer control, not only having saved control panel takes up room, and be conducive to alleviating of volume and weight, be conducive to improve stability and the dynamic property of micro computer mouse servo-drive system.
The principle of work of micro computer mouse described in the utility model is:
1) under power supply opening state, micro computer mouse is introduced into self-locking state, micro computer mouse relies on front in labyrinth starting point, left and right and the sensor 3 that keeps in obscurity of side according to actual navigational environment transformation parameter to the ARM920T(S3C2440A in controller), ARM920T(S3C2440A) these environmental parameters are converted into the distance that micro computer mouse left and right wheels will be moved according to time requirement, speed and acceleration command value, ARM920T(S3C2440A simultaneously) and FPGA(A3P250) communication, FPGA(A3P250) the synchronous servo control in conjunction with two individual motor of feedback processing of opto-electronic compensation sensor 4 according to these parameter instruction values, and deal with data communication to ARM920T(S3C2440A), by ARM920T(S3C2440A) the follow-up running status of continuation processing.
2) turn on the power switch moment, ARM920T(S3C2440A) can detect cell voltage, if low pressure will be forbidden FPGA(A3P250) work, and motor can not self-locking, and voltage sensor 5 is work simultaneously, and points out alerting signal.
3) if voltage is normal, system is by detecting sensor circuit and clock circuit, if sensor circuit and clock circuit break down, system will automatically reset, and again detects, and if you have questions, will report to the police.
4) in micro computer motion process, the sensor 3 that keeps in obscurity judges environment around and gives ARM920T(S3C2440A), ARM920T(S3C2440A) these environmental parameters are converted into the distance that micro computer mouse left and right wheels will be moved, speed and acceleration command value, ARM920T(S3C2440A) then with FPGA(A3P250) communication, transmit these parameter instruction values to FPGA(A3P250), then by FPGA(A3P250) according to the difference of various explorations and spurt condition in conjunction with feedback formation speed-time motion ladder diagram of photoelectric encoder, the distance that this trapezoidal area comprising is exactly two confidential operations of direct current of micro computer mouse, just can be obtained speed and the acceleration parameter value of the actual motion of micro computer mouse by this ladder diagram, and then the pwm signal of motor movement is controlled in generation.
5) if micro computer mouse is found that labyrinth solves and occurs that endless loop will be to ARM920T(S3C2440A in motion process) send interrupt request, ARM920T(S3C2440A) can be to interrupting doing very first time response, if interrupt response ARM920T(S3C2440A) does not have enough time to process, the first motor of micro computer mouse and the second motor are by original place self-locking.
6) photoelectric encoder being arranged on the first motor and the second motor can be exported the A pulse of its position signalling and position signalling B pulse, the every variation of logic state of A pulse and B pulse once, FPGA(A3P250) in location register can add 1 or subtract 1 according to the traffic direction of left and right wheels.
7), in the time that position signalling A pulse, B pulse and Z pulse are low level simultaneously, just produce a position signalling to FPGA(A3P250) register, the absolute position of recording motor, is then converted into the particular location of micro computer mouse in labyrinth.
8) ARM920T(S3C2440A) particular location according to micro computer mouse in labyrinth, send corresponding acceleration, speed and position data command value to FPGA(A3P250), then by FPGA(A3P250) calculate in conjunction with the feedback of photoelectric encoder actual acceleration, speed and the position signalling that micro computer mouse need to upgrade, generate new Velocity-time motion ladder diagram, to meet the requirement of quick exploration and spurt servo-drive system.
9) if micro computer mouse runs into fault in operational process while hitting wall, the electric current (I1 or I2) of motor will increase, in the time exceeding setting value, FPGA(A3P250) interruptive command will be to ARM920T(S3C2440A) send interrupt request, now ARM920T(S3C2440A) can control immediately FPGA(A3P250) quit work, thereby effectively solve stall problem.
10) micro computer mouse can detect cell voltage at operational process in the moment, and in the time that low pressure appears in system, system is sent alarm, has effectively protected lithium ion battery.
11) in micro computer mouse operational process, ARM920T(S3C2440A) can carry out on-line identification to the torque of motor, in the time that the torque of motor is subject to the larger shake of external interference appearance, ARM920T(S3C2440A) compensation when can utilizing the relation of motor torque and electric current to carry out, has reduced that motor torque shake is explored fast on micro computer mouse and the impact of spurt.
12) in the whole motion process of micro computer mouse, opto-electronic compensation sensor 4 can the moment to external world jamming light source gather, then be transferred to ARM920T(S3C2440A), ARM920T(S3C2440A) can be according to the auto-compensation external interference of opto-electronic compensation sensor 4, reduce interference when external interference light source is explored fast and makes a spurt micro computer mouse.
In sum, the utility model adopts two controllers simultaneously, i.e. master controller and sub-controller, and two controllers are shared out the work and help one another, and process different data, avoid producing large electric current, prevent from causing lithium ion battery overaging because of heavy-current discharge; Described sub-controller adopts FPGA(A3P250), and the independent motor of controlling, alleviate the burden of ARM, simplify interface circuit, give full play to FPGA(A3P250) speciality and the program portable function of control aspect, make to control fairly simple, greatly improve arithmetic speed, shortened the construction cycle short, and program transportability ability is strong; Had the assistance from controller, the workload of described master controller reduces, and has effectively prevented program fleet, has strengthened antijamming capability; Adopt infrared sensor OPE5594A, operational precision is higher; Adopt High-speed DC motor, performance is more stable.
The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present utility model.
Claims (10)
1. one kind based on double-core two-wheeled micro computer mouse full Digitized Servo Control device, it is characterized in that, comprise main control unit, the first motion driver element, the second motion driver element, the first motor and the second motor, described main control unit comprises master controller and from controller, described master controller be electrically connected from controller, describedly be electrically connected with the first motion driver element and the second motion driver element respectively from controller, described the first motion driver element is further electrically connected with described the first motor, described the second motion driver element is further electrically connected with described the second motor.
2. according to claim 1ly it is characterized in that based on double-core two-wheeled micro computer mouse full Digitized Servo Control device, described full Digitized Servo Control device further comprises power-supply unit, and described power-supply unit and described main control unit are electrically connected.
3. according to claim 2ly it is characterized in that based on double-core two-wheeled micro computer mouse full Digitized Servo Control device, described power-supply unit comprises lithium ion battery.
4. according to claim 1ly it is characterized in that based on double-core two-wheeled micro computer mouse full Digitized Servo Control device, described master controller is ARM920T, and described is FPGA from controller.
5. according to claim 1ly it is characterized in that based on double-core two-wheeled micro computer mouse full Digitized Servo Control device, described the first motor and the second motor are High-speed DC motor, in the rotating shaft of described the first motor and the second motor, are equipped with photoelectric encoder.
6. a two-wheeled micro computer mouse, is characterized in that, comprises the arbitrary described full Digitized Servo Control device of claim 1 to 5, and described two-wheeled micro computer mouse further comprises housing, and described full Digitized Servo Control device is arranged on described enclosure interior.
7. two-wheeled micro computer mouse according to claim 6, is characterized in that, described housing both sides are equipped with wheel, and described the first motor is connected with a wheel respectively with the second motor.
8. two-wheeled micro computer mouse according to claim 7, it is characterized in that, on described housing, be further provided with at least six sensors that keep in obscurity, each sensor that keeps in obscurity is electrically connected with described master controller respectively, wherein, first the keep in obscurity signal transmit direction of sensor of sensor and second that keeps in obscurity is identical with the direction of motion of described wheel, the 3rd the keep in obscurity signal transmit direction of sensor of sensor and the 4th that keeps in obscurity is contrary and perpendicular to the direction of motion of described wheel, the signal transmit direction of the 5th sensor and the 6th sensor away from described housing center and with the angle of the direction of motion of described wheel be acute angle.
9. two-wheeled micro computer mouse according to claim 8, is characterized in that, described in the sensor that keeps in obscurity comprise infrared sensor OPE5594A.
10. two-wheeled micro computer mouse according to claim 8, is characterized in that, described two-wheeled micro computer mouse further comprises voltage sensor and opto-electronic compensation sensor, and described voltage sensor and opto-electronic compensation sensor are electrically connected with described main control unit respectively.
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Cited By (1)
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CN105302133A (en) * | 2015-08-24 | 2016-02-03 | 铜陵学院 | Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller |
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CN105302133A (en) * | 2015-08-24 | 2016-02-03 | 铜陵学院 | Single-core low-speed six-wheel miniature micro-mouse full-digital navigation servo system controller |
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