CN106945005A - Simulation or teaching demonstration intelligent robot and its control method - Google Patents
Simulation or teaching demonstration intelligent robot and its control method Download PDFInfo
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- CN106945005A CN106945005A CN201710237615.XA CN201710237615A CN106945005A CN 106945005 A CN106945005 A CN 106945005A CN 201710237615 A CN201710237615 A CN 201710237615A CN 106945005 A CN106945005 A CN 106945005A
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- controller mechanism
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- 238000004088 simulation Methods 0.000 title claims abstract description 19
- 238000000034 method Methods 0.000 title claims abstract description 13
- 230000007246 mechanism Effects 0.000 claims abstract description 48
- 238000007689 inspection Methods 0.000 claims abstract description 18
- 230000009471 action Effects 0.000 claims description 12
- 101000606504 Drosophila melanogaster Tyrosine-protein kinase-like otk Proteins 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims description 6
- 238000005259 measurement Methods 0.000 abstract description 4
- 230000006872 improvement Effects 0.000 description 5
- 230000004888 barrier function Effects 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 3
- 230000008054 signal transmission Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000002349 favourable effect Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000009466 transformation Effects 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- G—PHYSICS
- G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
- G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
- G09B25/00—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes
- G09B25/02—Models for purposes not provided for in G09B23/00, e.g. full-sized devices for demonstration purposes of industrial processes; of machinery
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Business, Economics & Management (AREA)
- Physics & Mathematics (AREA)
- Educational Administration (AREA)
- Educational Technology (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses one kind simulation or teaching demonstration intelligent robot and its control method, intelligent robot includes chassis, revolver motor, right wheel motor, left road wheel and right road wheel, and steering wheel, ultrasonic sensor and controller mechanism are maked an inspection tour in the chassis provided with infrared sensor, some gray-scale sensors being set up in parallel, avoidance；Control method comprises the following steps, step 1, starts；Step 2, determine whether infrared obstacle avoidance pattern, carry out steering avoidance；Step 3, determine whether the driving mode that tracks, rectified a deviation；Step 4, determine whether avoiding obstacles by supersonic wave pattern, carry out steering avoidance.Step 5, repeat step 2, step 3 and step 4, until receiving stop signal, stop.The present invention is conducive to function and the realization of student's Understanding Module, and functional independence reaches preferably teaching demonstration purpose, it is possible to increase the experience of reality sense of student, calculates measurement accuracy, and control is accurate.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of simulation or teaching demonstration intelligent robot and its control
Method processed.
Background technology
Robot be it is a kind of can simulate the machine automatization control machine of human behavior or other biological, it is certain for completing
Task.The robot for being presently used for teaching demonstration is generally grafting external member, and computing capability is weak, and unitary function is simple, demonstrating effect compared with
Difference, it is impossible to bring preferable experience of reality sense to student.
The content of the invention
The present invention provides a kind of simulation or teaching demonstration intelligent robot, is conducive to the function and reality of student's Understanding Module
Existing, functional independence reaches preferably teaching demonstration purpose, it is possible to increase the experience of reality sense of student, calculates measurement accuracy, control
Precisely.
In order to solve the above technical problems, the technical scheme is that：One kind simulation or teaching demonstration intelligent robot,
Including chassis, the bottom on the chassis is provided with revolver motor and right wheel motor, the revolver motor and described
Right wheel motor is connected to left road wheel and right road wheel positioned at chassis both sides, and the front portion on the chassis is provided with infrared
Sensor, the bottom on the chassis is additionally provided with some gray-scale sensors being set up in parallel, and the top on the chassis is patrolled provided with avoidance
Depending on steering wheel, the output shaft that the avoidance makes an inspection tour steering wheel has connected up ultrasonic sensor, and the rear portion on the chassis is provided with control
Device mechanism, signal input part and the infrared sensor, the gray-scale sensor and the ultrasonic wave of the controller mechanism
The signal output part connection of sensor, the signal output part control connection revolver motor of the controller mechanism, institute
State right wheel motor and the avoidance makes an inspection tour steering wheel.
As preferred technical scheme, the controller mechanism includes the mainboard being arranged on the chassis, the mainboard
Chip is provided with, the chip is connected with some external interfaces.
As the improvement to above-mentioned technical proposal, also including wireless remote control handle, the wireless remote control handle is connected
There is the wireless receiver on the chassis, the output signal of the wireless receiver is connected to the external interface.
The present invention provides the control method of a kind of above-mentioned simulation or teaching demonstration intelligent robot.
In order to solve the above technical problems, the technical scheme is that：One kind simulation or teaching demonstration intelligent robot
Control method, comprise the following steps,
Step 1, enabling signal is received, startup transport condition is initialized into；
Step 2, determine whether infrared obstacle avoidance pattern, be used for detecting front region if it is, performing infrared sensor
Signal, and transmit signals to controller mechanism, the action of controller mechanism controls revolver motor and right wheel motor,
Carry out steering avoidance；
Step 3, the driving mode that tracks is determined whether, if it is, gray-scale sensor detection signal is performed, and will detection
Signal transmission judges whether that off-track is identified, control signal is sent if the deviation from then controller mechanism, control to controller mechanism
Revolver motor and right wheel motor processed are rectified a deviation；
Step 4, avoiding obstacles by supersonic wave pattern is determined whether, if it is, performing controller mechanism controls avoidance makes an inspection tour rudder
Motor-driven work, drives ultrasonic sensor to be used for detecting the week side of boss regional signal, and transmit signals to controller mechanism, controller machine
Structure controls the action of revolver motor and right wheel motor, carries out steering avoidance.
Step 5, repeat step 2, step 3 and step 4, until receiving stop signal, stop.
As preferred technical scheme, step 4, judge whether that off-track is identified specifically, calculating the track detected
The width of mark, value median judges whether the central point of median and robot is consistent, is judged as if consistent not inclined
From, be judged as if inconsistent deviate.
As the improvement to above-mentioned technical proposal, step 1, the enabling signal is wireless signal.
As the further improvement to above-mentioned technical proposal, step 5, the stop signal is wireless signal.
As the further improvement to above-mentioned technical proposal, infrared obstacle avoidance pattern, driving mode is tracked and ultrasonic wave is kept away
Barrier pattern is default control signal.
By adopting the above-described technical solution, infrared obstacle avoidance pattern, infrared sensor is used for detecting front region signal, and
Controller mechanism is transmitted signals to, the action of controller mechanism controls revolver motor and right wheel motor can hide
Obstacle avoidance thing.Track driving mode, and ground surface is provided with the track identification of black, and gray-scale sensor is used for detecting track identification, and
Transmit signals to controller mechanism, the action of controller mechanism controls revolver motor and right wheel motor, Neng Gouzun
Track identification motion is followed, can interpolate that whether institute's travel route is correct, runs out of racing track and makes respective reaction.Avoiding obstacles by supersonic wave mould
Formula, ultrasonic sensor is used for detecting the week side of boss regional signal, and transmits signals to controller mechanism, and controller mechanism controls are left
The action of wheel drive motor and right wheel motor, can avoiding barrier, avoidance make an inspection tour steering wheel drive under, detection zone
It is relatively wide, judge that robot is adapted to the direction advanced.Controller mechanism can send PWM pulse width signals to revolver motor, the right side
Wheel drive motor and avoidance make an inspection tour steering wheel, realize controlled motor direction of rotation and speed, are driven by revolver motor, right wheel
The otherness that motor driving is adjusted between left road wheel and right road wheel reaches the purpose in adjustment robot direction.It is of the invention favourable
Function and realization in student's Understanding Module, functional independence reach preferably teaching demonstration purpose, it is possible to increase the reality of student
Experience sense, calculates measurement accuracy, and control is accurate, is different from simple interpolation external member on the market.
Brief description of the drawings
The following drawings is only intended to, in doing schematic illustration and explanation to the present invention, not delimit the scope of the invention.Wherein：
Fig. 1 is the structural representation of the embodiment of the present invention；
Fig. 2 is the upward view of the embodiment of the present invention；
Fig. 3 is the control flow chart of the embodiment of the present invention.
In figure：1- chassis；2- revolver motors；3- right wheel motors；The left road wheels of 4-；The right road wheels of 5-；6- is red
Outer sensor；7- gray-scale sensors；8- avoidances make an inspection tour steering wheel；9- ultrasonic sensors；10- controllers mechanism.
Embodiment
With reference to the accompanying drawings and examples, the present invention is expanded on further.In the following detailed description, only explanation is passed through
Mode describes some one exemplary embodiments of the present invention.Undoubtedly, one of ordinary skill in the art will recognize,
In the case of without departing from the spirit and scope of the present invention, described embodiment can be repaiied with a variety of modes
Just.Therefore, accompanying drawing and description are inherently illustrative, are not intended to limit the scope of the claims.
As long as in addition, technical characteristic involved in each embodiment of invention described below non-structure each other
It can be just mutually combined into conflict.
As depicted in figs. 1 and 2, a kind of simulation or teaching demonstration intelligent robot, including chassis 1, the bottom on chassis 1 is set
There are revolver motor 2 and right wheel motor 3, revolver motor 2 and right wheel motor 3 are connected to positioned at chassis
The left road wheel 4 and right road wheel 5 of 1 both sides, the front portion on chassis 1 are provided with infrared sensor 6, and the bottom on chassis 1 is additionally provided with some
Steering wheel 8 is maked an inspection tour in the gray-scale sensor 7 being set up in parallel, the top on chassis 1 provided with avoidance, and the output shaft that avoidance makes an inspection tour steering wheel 8 is upward
Be connected with ultrasonic sensor 9, the rear portion on chassis 1 is provided with controller mechanism 10, the signal input part of controller mechanism 10 with it is red
The signal output part connection of outer sensor 6, gray-scale sensor 7 and ultrasonic sensor 9, the signal output part of controller mechanism 10
Control connection revolver motor 2, right wheel motor 3 and avoidance make an inspection tour steering wheel 8.
Controller mechanism 10 includes being arranged on the One On The Chassis mainboard, and mainboard is provided with chip, and chip is connected with some external
Interface.Chip can use ATMEGA328P 8-bit microprocessors, and external interface can be digital quantity input and output I/O port, simulation
Amount input port, preparation power pin, for USB interface and power interface for downloading etc..The external driving change-over panel collection of mainboard
All lower floor's pins are closed, external power supply is equipped with comprising 7805 transformation chips and is converted into normal voltage used by chip, with raising one's voice
The integrated equipments such as device infrared transceiver, are to those skilled in the art known technology, will not be repeated here.
Also include wireless remote control handle, wireless remote control handle is connected with installed in the One On The Chassis wireless receiver, nothing
The output signal of line receiver is connected to external interface.Wireless remote control handle can use PS2 handles, and wireless receiver can be
PS2 receivers, can realize sending and receiving for control signal, and be delivered to chip progress signal transacting by external interface,
Realize remote control.In addition, the signal transmission between wireless remote control handle and wireless receiver can also use bluetooth or infrared shape
Formula.
As shown in figure 3, the control method of a kind of simulation or teaching demonstration intelligent robot, comprises the following steps,
Step 1, enabling signal is received, startup transport condition is initialized into；
Step 2, determine whether infrared obstacle avoidance pattern, be used for detecting front region if it is, performing infrared sensor 6
Signal, and transmit signals to controller mechanism 10, the control revolver motor of controller mechanism 10 2 and right wheel motor 3
Action, carry out steering avoidance；
Step 3, the driving mode that tracks is determined whether, if it is, the detection signal of gray-scale sensor 7 is performed, and will inspection
Signal transmission is surveyed to controller mechanism 10, judges whether that off-track is identified, control is sent if the deviation from then controller mechanism 10
Signal, control revolver motor 2 and right wheel motor 3 are rectified a deviation；
Step 4, determine whether avoiding obstacles by supersonic wave pattern, control avoidance to make an inspection tour if it is, performing controller mechanism 10
Steering wheel 8 is acted, and drives ultrasonic sensor 9 to be used for detecting the week side of boss regional signal, and transmits signals to controller mechanism 10, is controlled
The action of the control revolver motor of Zhi Qi mechanisms 10 2 and right wheel motor 3, carries out steering avoidance.
Step 5, repeat step 2, step 3 and step 4, until receiving stop signal, stop.
Step 4, judge whether that off-track is identified specifically, calculating in the middle of the width of the track identification detected, value
Value, judges whether the central point of median and robot is consistent, is judged as if unanimously without departing from judging if inconsistent
To deviate.
Step 1, enabling signal is wireless signal；Step 5, stop signal is wireless signal.By wireless remote control handle and
Wireless receiver realizes the transmission of wireless signal.
Infrared obstacle avoidance pattern, driving mode and the avoiding obstacles by supersonic wave pattern of tracking are default control signal, pass through default control
Signal, can automatically select the function of demonstration.
The quantity of gray-scale sensor 7 is 5, can be expanded the coverage area, and to detect track identification, improves tracking movement
Accuracy.
Infrared obstacle avoidance pattern, infrared sensor 6 is used for detecting front region signal, and transmits signals to controller mechanism
10, the action of the control revolver motor of controller mechanism 10 2 and right wheel motor 3 being capable of avoiding barrier.Track traveling
Pattern, ground surface is provided with the track identification of black, and gray-scale sensor 7 is used for detecting track identification, and transmits signals to control
Device mechanism 10, the action of the control revolver motor of controller mechanism 10 2 and right wheel motor 3, can follow track identification
Motion, can interpolate that whether institute's travel route is correct, runs out of racing track and makes respective reaction.Avoiding obstacles by supersonic wave pattern, ultrasonic wave is passed
Sensor 9 is used for detecting the week side of boss regional signal, and transmits signals to controller mechanism 10, the control revolver driving of controller mechanism 10
The action of motor 2 and right wheel motor 3, can avoiding barrier, avoidance make an inspection tour steering wheel 8 drive under, detection zone compared with
Extensively, judge that robot is adapted to the direction advanced.Controller mechanism 10 can send PWM pulse width signals to revolver motor 2, the right side
Wheel drive motor 3 and avoidance make an inspection tour steering wheel 8, realize controlled motor direction of rotation and speed, pass through revolver motor 2, right wheel
Otherness between the left road wheel 4 of driving regulation of motor 3 and right road wheel 5 reaches the purpose in adjustment robot direction.
The present embodiment is conducive to function and the realization of student's Understanding Module, and functional independence reaches preferably teaching demonstration mesh
, it is possible to increase the experience of reality sense of student, measurement accuracy is calculated, control is accurate, is different from simple interpolation external member on the market.
General principle, principal character and the advantages of the present invention of the present invention has been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and the simply explanation described in above-described embodiment and specification is originally
The principle of invention, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes
Change and improvement all fall within the protetion scope of the claimed invention.The claimed scope of the invention by appending claims and its
Equivalent thereof.
Claims (8)
1. one kind simulation or teaching demonstration intelligent robot, including chassis, it is characterised in that：The bottom on the chassis is provided with a left side
Wheel drive motor and right wheel motor, the revolver motor and the right wheel motor are connected to positioned at chassis
The left road wheel and right road wheel of both sides, the front portion on the chassis are provided with infrared sensor, if the bottom on the chassis is additionally provided with
Steering wheel is maked an inspection tour in the dry gray-scale sensor being set up in parallel, the top on the chassis provided with avoidance, and the avoidance makes an inspection tour the output of steering wheel
Ultrasonic sensor is connected with axial direction, the rear portion on the chassis is provided with controller mechanism, and the signal of the controller mechanism is defeated
Enter end to be connected with the signal output part of the infrared sensor, the gray-scale sensor and the ultrasonic sensor, the control
The signal output part control connection revolver motor, the right wheel motor and the avoidance of Zhi Qi mechanisms make an inspection tour rudder
Machine.
2. simulation as claimed in claim 1 or teaching demonstration intelligent robot, it is characterised in that：Controller mechanism bag
The mainboard being arranged on the chassis is included, the mainboard is provided with chip, and the chip is connected with some external interfaces.
3. simulation as claimed in claim 1 or 2 or teaching demonstration intelligent robot, it is characterised in that：Also include wireless remote
Handle is controlled, the wireless remote control handle is connected with the wireless receiver on the chassis, the wireless receiver
Output signal be connected to the external interface.
4. the control method of the simulation or teaching demonstration intelligent robot as described in any one of claims 1 to 3, its feature exists
In：Comprise the following steps,
Step 1, enabling signal is received, startup transport condition is initialized into；
Step 2, determine whether infrared obstacle avoidance pattern, be used for detecting front region signal if it is, performing infrared sensor,
And controller mechanism is transmitted signals to, the action of controller mechanism controls revolver motor and right wheel motor is carried out
Turn to avoidance；
Step 3, determine whether the driving mode that tracks, if it is, performing gray-scale sensor detection signal, and signal will be detected
Controller mechanism is delivered to, judges whether that off-track is identified, control signal is sent if the deviation from then controller mechanism, control is left
Wheel drive motor and right wheel motor are rectified a deviation；
Step 4, determine whether avoiding obstacles by supersonic wave pattern, moved if it is, performing controller mechanism controls avoidance and making an inspection tour steering wheel
Make, drive ultrasonic sensor to be used for detecting the week side of boss regional signal, and transmit signals to controller mechanism, the control of controller mechanism
The action of revolver motor and right wheel motor processed, carries out steering avoidance.
Step 5, repeat step 2, step 3 and step 4, until receiving stop signal, stop.
5. simulation as claimed in claim 4 or the control method of teaching demonstration intelligent robot, it is characterised in that：Step 4,
Judge whether that off-track is identified specifically, calculate the width of track identification detected, value median, judge median and
Whether the central point of robot is consistent, is judged as if consistent without departing from being judged as deviateing if inconsistent.
6. simulation as claimed in claim 4 or the control method of teaching demonstration intelligent robot, it is characterised in that：Step 1,
The enabling signal is wireless signal.
7. simulation as claimed in claim 4 or the control method of teaching demonstration intelligent robot, it is characterised in that：Step 5,
The stop signal is wireless signal.
8. the control method of the simulation or teaching demonstration intelligent robot as described in any one of claim 4 to 7, its feature exists
In：Infrared obstacle avoidance pattern, driving mode and the avoiding obstacles by supersonic wave pattern of tracking are default control signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710237615.XA CN106945005A (en) | 2017-04-12 | 2017-04-12 | Simulation or teaching demonstration intelligent robot and its control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710237615.XA CN106945005A (en) | 2017-04-12 | 2017-04-12 | Simulation or teaching demonstration intelligent robot and its control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106945005A true CN106945005A (en) | 2017-07-14 |
Family
ID=59474548
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710237615.XA Withdrawn CN106945005A (en) | 2017-04-12 | 2017-04-12 | Simulation or teaching demonstration intelligent robot and its control method |
Country Status (1)
| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110206978A (en) * | 2019-07-08 | 2019-09-06 | 沙洲职业工学院 | A kind of voice-control smart television table |
| CN112435567A (en) * | 2020-12-02 | 2021-03-02 | 武汉喻家元创科技有限公司 | Obstacle avoidance robot for teaching |
-
2017
- 2017-04-12 CN CN201710237615.XA patent/CN106945005A/en not_active Withdrawn
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110206978A (en) * | 2019-07-08 | 2019-09-06 | 沙洲职业工学院 | A kind of voice-control smart television table |
| CN112435567A (en) * | 2020-12-02 | 2021-03-02 | 武汉喻家元创科技有限公司 | Obstacle avoidance robot for teaching |
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| TA01 | Transfer of patent application right |
Effective date of registration: 20180518 Address after: 261031 the third floor of No. 1 building, R & D workshop, No. 13426, Yuqing East Street, Xinqing street, new high tech Zone, Weifang, Shandong. Applicant after: SHANDONG GAOZHIBO EDUCATION & TECHNOLOGY CO., LTD. Address before: 261061, third floor, 1 building, second accelerator, hi tech Zone, Weifang, Shandong. Applicant before: Yang Lingang |
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| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170714 |
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