CN203643837U - Dual-core four-wheeled micro-computer mouse and full-digital servo controller thereof - Google Patents
Dual-core four-wheeled micro-computer mouse and full-digital servo controller thereof Download PDFInfo
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- CN203643837U CN203643837U CN201320569960.0U CN201320569960U CN203643837U CN 203643837 U CN203643837 U CN 203643837U CN 201320569960 U CN201320569960 U CN 201320569960U CN 203643837 U CN203643837 U CN 203643837U
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Abstract
The utility model discloses a dual-core four-wheeled micro-computer mouse and a full-digital servo controller for the same. The servo controller comprises a control center unit, four motion driving units and four motors. Each motion driving unit is respectively and electrically connected to one motor. The control center unit comprises a first controller and a second controller. The first controller is electrically connected to the second controller. The second controller is respectively and electrically connected to every motion driving unit. According to the method above. According to the utility model, data is processed through the cooperative work of double processors, the large current is avoided and the operation speed is relatively fast. The lithium ion battery is prevented from overaging. By employing the four-wheel driving structure, determined by the different status of the labyrinth ground and the surrounding environment, the required torque can be distributed on all four wheels with different ratio; so that the micro-computer mouse can turn conveniently and has better stability, and the driving capability of the micro-computer mouse can be enhanced.
Description
Technical field
The utility model relates to microrobot field, relates in particular to a kind of four-wheel micro computer mouse and servo controller thereof based on dual processor.
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.
(11) owing to being subject to single-chip microcomputer capacity impact, existing micro computer mouse all only has two power drive wheels substantially, adopt two-wheeled differential mode to travel, system is had relatively high expectations to the servo of diaxon, particularly when line navigation, requirement speed and acceleration will be pursued strict consistent, otherwise line navigation will be failed, causes micro computer mouse to occur that the phenomenon of hitting wall occurs;
(12) two-wheeled micro computer mouse system is moved after due to center of gravity in the time accelerating, and makes mouse front portion light, even micro computer mouse also can be skidded on good road surface, likely causes the phenomenon of hitting wall to occur, is unfavorable for the development of high speed micro computer mouse.
(13) if two-wheeled micro computer mouse system in the time normally travelling, design improper cause center of gravity before partially, the normal pressure that causes bearing on driving wheel is reduced, at this moment micro computer mouse system is more prone to skid, and also more easily wanders off, and causes navigating unsuccessfully.
(14) if two-wheeled micro computer mouse system designs the improper center of gravity lateral deviation that causes by the normal pressure difference that causes two driving wheels to bear in the time normally travelling, in the time starting fast, two-wheeled skid level is inconsistent, moment is with regard to off-track, when turning, the wheel that wherein normal pressure is little may skid, and causes the difficulty of turning.
(15) owing to adopting two power wheels to drive, in order to meet acceleration and the deceleration under complex state, make the power of single drive motor larger, the space not only taking is larger, and sometimes under the lower state of some relative energy demand, cause the phenomenon of " low load with strong power " to occur, be unfavorable for the saving of the microminiaturized development of micro computer mouse body and the micro computer mouse system energy.
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 four-wheel micro computer mouse and servo controller thereof based on dual processor, adopt dual processor collaborative work deal with data, arithmetic speed is very fast, has avoided the generation of large electric current, prevents lithium ion battery overaging; Adopt four-wheel drive structure, can according to ground, labyrinth is different with ambient conditions, before and after demand torque is distributed in by different proportion on all wheel, turning facilitate, stability is better, has improved the driveability of micro computer mouse.
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is: a kind of four-wheel micro computer mouse and servo controller thereof based on dual processor is provided, comprise control center unit, four motion driver elements and four motors, each motion driver element is electrically connected with a motor respectively, described control center unit comprises the first controller and second controller, described the first controller and second controller are electrically connected, and described second controller is electrically connected with each motion driver element respectively.
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 control center 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 the first controller is ARM920T, and described second controller is FPGA.
In preferred embodiment of the utility model, described motor is High-speed DC motor, in the rotating shaft of described motor, is equipped with photoelectric encoder, and described photoelectric encoder is optical code disk.
The utility model also provides a kind of four-wheel micro computer mouse, comprise described full Digitized Servo Control device, described full Digitized Servo Control device comprises control center unit, four motion driver elements and four motors, each motion driver element is electrically connected with a motor respectively, described control center unit comprises the first controller and second controller, described the first controller and second controller are electrically connected, described second controller is electrically connected with each motion driver element respectively, described four-wheel micro computer mouse further comprises housing, described full Digitized Servo Control device is arranged on described enclosure interior, the first side of described housing and the 3rd side are respectively equipped with two wheels, the first side of described housing is just to the 3rd side, described each motor is connected with a wheel respectively.
In preferred embodiment of the utility model, described four-wheel micro computer mouse further comprises opto-electronic compensation sensor and voltage sensor, and described opto-electronic compensation sensor and voltage sensor are electrically connected with described control center unit respectively.
In preferred embodiment of the utility model, the type of drive of described four-wheel micro computer mouse comprises two kinds of two-wheel drive and four-wheel drives.
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 the first 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 direction of motion angle of described wheel be 45 °.
The beneficial effects of the utility model are:
1) in motion process, take into full account the effect of battery in this system, all the running status of micro computer mouse is being monitored and computing based on the ARM+FPGA controller moment, simplify interface circuit, the debugging of system is simple, has prevented program fleet, has avoided the generation of large electric current, so fundamentally solved the impact of large electric current to lithium ion battery, avoided the generation of the lithium ion battery overaging phenomenon causing due to heavy-current discharge;
2) in order fully to improve stability and the driveability of micro computer mouse system, the utility model adopts four-wheel drive structure, pre-driver is consistent with rearmounted four powers of motor that drive, four-wheel servo motion all has FPGA to complete, before and after micro computer mouse, four wheels are all dynamic, can by ground, labyrinth different with ambient conditions and by demand torque by different proportion before and after being distributed on all wheel, to improve the driveability of micro computer mouse;
3) can automatically between two-wheel drive and four-wheel drive, switch according to road surface situation, strengthen the adhesion of micro computer mouse and handling, when turning, stability is better, and when the motion of micro computer mouse, center of gravity is difficult for skew, and balance is better, is difficult for skidding;
4) processed the independent servocontrol of four direct current generators of micro computer mouse by FPGA, give full play to speciality and the program portable function of FPGA control aspect, make to control fairly simple, greatly improve arithmetic speed, solve the slower bottleneck of scm software operation, shortened the construction cycle short, and program transportability ability is strong;
5) this micro computer mouse has adopted and has used in the world maximum infrared sensor OPE5594A, and operational precision is improved greatly;
6) 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 that keeps in obscurity, 4, 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 four-wheel micro computer mouse full Digitized Servo Control device, comprise control center unit, four motion driver elements and four motors, each motion driver element is electrically connected with a motor respectively, described control center unit comprises the first controller and second controller, described the first controller and second controller are electrically connected, and described second controller is electrically connected with each motion driver element respectively.
Wherein, described full Digitized Servo Control device further comprises power-supply unit, and described power-supply unit and described control center unit are electrically connected, and described power-supply unit comprises lithium ion battery.Described motor is High-speed DC motor, in the rotating shaft of described motor, is equipped with photoelectric encoder, and described photoelectric encoder is optical code disk.Four motors are numbered respectively X, Y, Z and R.Described the first controller is ARM920T(S3C2440A), described second controller is FPGA(A3P50), ARM920T(S3C2440A) control FPGA(A3P50) turn on and off.
ARM920T(S3C2440A) be ARM920T(S3C2440A of new generation) processor, 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(A3P50) 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(A3P50) adopt the design philosophy of software implementation to realize the design of hardware circuit, so just make based on FPGA(A3P50) designed system has good reusable and amendment property.
The utility model also provides a kind of four-wheel micro computer mouse, comprise the above full Digitized Servo Control device, described four-wheel micro computer mouse further comprises housing 1, described full Digitized Servo Control device is arranged on described housing 1 inside, the first side of described housing 1 and the 3rd side are respectively equipped with two wheels 2, the first side of described housing 1 is just to the 3rd side, and described each motor is connected with a wheel 2 respectively.Described four-wheel micro computer mouse further comprises opto-electronic compensation sensor 4 and voltage sensor 5, and described opto-electronic compensation sensor 4 and voltage sensor 5 are electrically connected with described control center unit respectively.The type of drive of described four-wheel micro computer mouse comprises two kinds of two-wheel drive and four-wheel drives.
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 side keep in obscurity sensor 3 according to actual navigational environment transformation parameter to the ARM920T(S3C2440A in controller), ARM920T(S3C2440A) these environmental parameters are converted into micro computer mouse and take turns the distance that will move all around, speed and acceleration command value, ARM920T(S3C2440A) then with FPGA(A3P50) communication, FPGA(A3P50) according to these order parameters again in conjunction with motor photoelectric encoder and current sensor feedback generate the synchronous PWM ripple of four axles, then complete the synchronous servo control of four each and every one individual motor by power bridge, 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(A3P50) 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 micro computer mouse distance that four-wheel will move all around, speed and acceleration command value, ARM920T(S3C2440A) then with FPGA(A3P50) communication, transmit these parameters to FPGA(A3P50), then by FPGA(A3P50) require to generate according to the difference of various explorations and spurt PWM ripple and direction and the Velocity-time motion ladder diagram of controlling motor, the distance that this trapezoidal area comprising is exactly the confidential operation of micro computer mouse direct current, then ARM920T(S3C2440A) according to external environment condition requirement, decision enables two motors or four machine operation wherein, drive micro computer mouse to advance, and deal with data communication to ARM920T(S3C2440A), by ARM920T(S3C2440A) the follow-up running status of continuation processing.
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, four motors of micro computer mouse are by original place self-locking.
6) optical code disk being contained on motor X, motor Y, motor Z and motor R can be exported its position signalling A and position signalling B, the position signalling A pulse of optical code disk and the every variation of B pulse logic state once, FPGA(A3P50) in location register can add 1 or subtract 1 according to the traffic direction of left and right wheels.
7), when position signalling A pulse, B pulse and the Z pulse of optical code disk are low level simultaneously, just produce a position signalling to FPGA(A3P50) register, the absolute position of recording each 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 update instruction to FPGA(A3P50) ladder diagram generator as with reference to value, by ladder diagram generator in conjunction with parameter of electric machine feedback information, pass through FPGA(A3P50) PWM ripple signal and motor positive and inverse signal that three inner ring Digital PID Controller generating power drive axles need, be used for realizing the three closed loop servo controls that comprise electric current loop, speed ring and position ring of micro computer mouse system motor X, motor Y, motor Z and motor R.
9) in micro computer mouse normal straight at the uniform velocity under running environment, ARM920T(S3C2440A) generally can discharge two direct current generator Z and the motor R of front axle, the mode that adopts motor X and motor Y to drive; Once and run into the situation that road dust is more or driving wheel skids, ARM920T(S3C2440A) can automatically detect and the FPGA(A3P50 that makes an immediate response) interrupt, micro computer mouse demand torque part is distributed to motor Z and motor R, micro computer mouse is switched to four-wheel drive state naturally, has strengthened the adhesion of micro computer mouse and handling.
10) give it the gun under environment in micro computer mouse normal straight, ARM920T(S3C2440A) enable immediately two direct current generators of front axle, micro computer mouse demand torque mean allocation to four motor, once any one power wheel built on stilts, ARM920T(S3C2440A) can redistribute moment of torsion, on non-slip driving wheel, make system hightail slipping state more torque distribution, come back to four axle dynamic equilibrium states.
11) in the time that micro computer mouse turns to, in order to ensure the stability of rotation, ARM920T(S3C2440A) enable immediately two direct current generators of front axle, adopt the control of four-wheel synchronous servo to realize turning: when exploration, four axles adopt identical speed then to turn to acceleration ramp to stop and together with give it the gun; When spurt, nose-wheel turn radius is larger than the trailing wheel of homonymy, it is many that distance walks, the coaxial radius of turn of wheel ratio of cornering radius of foreign steamer wants large, track when four-wheel drive is turned is four sections of different fixing circular arcs, by ARM920T(S3C2440A) send corresponding instruction to FPGA(A3P50 in conjunction with the requirement of turning time according to the difference of track), then by FPGA(A3P50) generate four road PWM control direct current generator X, motor Y, motor Z and motor R, complete the synchro control of four axle servo-drive systems.
12) if micro computer mouse runs into fault in operational process while hitting wall, the electric current (I1, I2, I3 or I4) of motor will increase, in the time exceeding setting value, FPGA(A3P50) interruptive command will be to ARM920T(S3C2440A) send interrupt request, now ARM920T(S3C2440A) can control immediately FPGA(A3P50) quit work, thereby effectively solve stall problem.
13) 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 by unlatching and send alarm, has effectively protected lithium ion battery.
14) 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, compensation when controller can utilize the relation of motor torque and electric current to carry out, has reduced the impact that motor torque shake is explored and made a spurt fast micro computer mouse.
15) 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 external interference light source to the quick interference of exploring and making a spurt servo-drive system of micro computer mouse.
In sum, the utility model adopts dual processor to monitor and computing the running status of micro computer mouse, simplify interface circuit, the debugging of system is simple, prevent program fleet, avoid the generation of large electric current, so fundamentally solved the impact of large electric current to lithium ion battery, avoided the generation of the lithium ion battery overaging phenomenon causing due to heavy-current discharge; In order fully to improve stability and the driveability of micro computer mouse system, the utility model adopts four-wheel drive structure, pre-driver is consistent with rearmounted four powers of motor that drive, four-wheel servo motion all has FPGA(A3P50) complete, before and after micro computer mouse, four wheels are all dynamic, can by ground, labyrinth different with ambient conditions and by demand torque by different proportion before and after being distributed on all wheel, to improve the driveability of micro computer mouse; Can automatically between two-wheel drive and four-wheel drive, switch according to road surface situation, strengthen the adhesion of micro computer mouse and handling, when turning, stability is better, and when the motion of micro computer mouse, center of gravity is difficult for skew, and balance is better, is difficult for skidding; By FPGA(A3P50) process the independent servocontrol of four direct current generators of micro computer mouse, give full play to FPGA(A3P50) speciality and the program portable function of control aspect, make to control fairly simple, greatly improve arithmetic speed, solve the slower bottleneck of scm software operation, shortened the construction cycle short, and program transportability ability is strong.
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 (9)
1. one kind based on double-core four-wheel micro computer mouse full Digitized Servo Control device, it is characterized in that, comprise control center unit, four motion driver elements and four motors, each motion driver element is electrically connected with a motor respectively, described control center unit comprises the first controller and second controller, described the first controller and second controller are electrically connected, and described second controller is electrically connected with each motion driver element respectively.
2. according to claim 1ly it is characterized in that based on double-core four-wheel 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 control center unit are electrically connected.
3. according to claim 2ly it is characterized in that based on double-core four-wheel 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 four-wheel micro computer mouse full Digitized Servo Control device, described the first controller is ARM920T, and described second controller is FPGA.
5. according to claim 1ly it is characterized in that based on double-core four-wheel micro computer mouse full Digitized Servo Control device, described motor is High-speed DC motor, in the rotating shaft of described motor, is equipped with photoelectric encoder, and described photoelectric encoder is optical code disk.
6. a four-wheel micro computer mouse, it is characterized in that, comprise the arbitrary described full Digitized Servo Control device of claim 1 to 5, described four-wheel micro computer mouse further comprises housing, described full Digitized Servo Control device is arranged on described enclosure interior, the first side of described housing and the 3rd side are respectively equipped with two wheels, and the first side of described housing is just to the 3rd side, and described each motor is connected with a wheel respectively.
7. four-wheel micro computer mouse according to claim 6, it is characterized in that, described four-wheel micro computer mouse further comprises opto-electronic compensation sensor and voltage sensor, and described opto-electronic compensation sensor and voltage sensor are electrically connected with described control center unit respectively.
8. four-wheel micro computer mouse according to claim 6, is characterized in that, the type of drive of described four-wheel micro computer mouse comprises two kinds of two-wheel drive and four-wheel drives.
9. four-wheel micro computer mouse according to claim 6, 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 the first 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 direction of motion angle of described wheel be 45 °.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103472833A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Full-digital servo controller of four-wheel micro-mouse based on dual processors |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103472833A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Full-digital servo controller of four-wheel micro-mouse based on dual processors |
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