Control device for moving robot based on blue-tooth technology

The present invention relates to a control device based on the bluetooth technology and used for a mobile robot. In the present invention, a DSP+CPLD control mode is adopted, a DSP serves as the master control chip of a robot motion platform, at the same time, a CPLD is used for the phase discrimination of the pulse signal fed back by a motor, for the signal conformity, and for the expanding of the four paths of signals generated by the DSP, so as to reduce the burden of a nuclear controller and make up the deletion thereof, thereby, the nuclear controller is mainly used for the realization of the highlevel control algorithm. The wireless communication is realized based on the bluetooth technology. The present invention mainly comprises a powder pack, a communication unit, a motor driving unit, a nuclear control unit, a CPLD unit and an attitude detecting unit. A mobile robot subsystem prepared by means of the present invention, the sampling period can be very small even in a complicated control process, the control effect is similar to a continuous control process; besides, in the run procedure, the response speed is rapid, the overshoot is small, and the stability is high; furthermore, the control effect can be further improved by combining with the signal of a multiple sensor, the program memory has no need of expanding, the periphery circuit of the nuclear unit is simple, the function of the controller is convenient to be expanded.