CN205113499U - General motion chassis of modularization desktop robot - Google Patents
General motion chassis of modularization desktop robot Download PDFInfo
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- CN205113499U CN205113499U CN201520901515.9U CN201520901515U CN205113499U CN 205113499 U CN205113499 U CN 205113499U CN 201520901515 U CN201520901515 U CN 201520901515U CN 205113499 U CN205113499 U CN 205113499U
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Abstract
The utility model relates to a general motion chassis of modularization desktop robot, the chassis is including moving base, control mainboard, infrared sensor series and the 2nd infrared sensor series, move and be equipped with a pair of drive wheel and an universal wheel on the base, each drive wheel in a pair of drive wheel respectively with the output shaft of a reduction gear, the input shaft and the driving motor of reduction gear are connected, one side of driving motor is equipped with the grating velometer, the control mainboard is the singlechip, is equipped with serial bus interface and power source on the singlechip, and the signal output part of control mainboard is connected with driving motor. The thinking of general motion chassis of modularization desktop robot module based ization is decomposed into master control preparative layer and the two -layer structure of a plurality of executable module with robot system to an integrated independent module is drawed out with the general utility functions in the aspect of the motion control. Between master control preparative layer and the executable module, structural hierarchy is distinct, easily control.
Description
Technical field
The utility model relates to robotics, is specifically related to a kind of modular desktop robot popular motion chassis.
Background technology
Robotics is since birth, and Robot industry just from the robot concept of narrow sense to the Robotics conceptual change of broad sense, changes from industry of industrial robots to service robot direction.At nonmanufacturing industry, robot starts to turn to target around hommization, intelligence, serves the every field of mankind's activity.
In these application scenarios, particularly under the scene such as education, amusement, some basic demands of robot are often tending towards identical, as volume microminiaturization, control simple to operation but precision.In movement executing mechanism, also major requirement possesses and follows, tracking, keeps away the functions such as barrier, desktop be dropproof.
For motion speed measuring module, conventional machines people often adopts ultrasonic, infrared, camera range finding etc. to carry out automatic obstacle avoidance functions.Ultrasonic range finder sensor utilizes transmitting and receiving hypracoustic time difference measuring distance, and super sonic directive property is strong, and that can propagate in media as well is distant, but may be subject to the interference of temperature and wind direction.Infrared distance sensor is pressed certain angle and is launched infrared beam, and the Infrared that detection of reflected is returned, is found range by principle of triangulation, and speed of response is fast, and precision is high, but cannot detect the object of Proximate blackbody.Camera range finding mainly catches realtime graphic based on binocular camera, and by graphical analysis cognitive disorders thing, blind area is little, but technical sophistication, large by external condition restrictions such as illumination.Select suitable metering system and sensor location, the final size realizing effect and robot for robot obstacle-avoiding function has material impact.
Utility model content
The purpose of this utility model is to overcome defect of the prior art, designs a kind ofly can solve that general mobile robot's induction precision is poor, the modular desktop robot popular motion chassis of the inaccuracy that tests the speed problem.
For achieving the above object, the technical scheme that the utility model adopts is:
A kind of modular desktop robot popular motion chassis, described chassis comprises movable base, control mainboard, the first infrared pickoff series and the second infrared pickoff series, described movable base is provided with pair of driving wheels and a cardan wheel, each drive wheel in described pair of driving wheels is connected with the output shaft of one speed reducer respectively, the input shaft of described retarder is connected with drive motor, and the side of described drive motor is provided with grating velometer; Described control mainboard is micro controller system, and described micro controller system is provided with serial bus interface and power interface; Described first infrared pickoff series comprises for judging whether robot is in X the infrared pickoff at desktop edge, and a described X infrared pickoff is laid in tray bottom plane one week respectively; Described second infrared pickoff series comprises Y the infrared pickoff for judging chassis and obstacle distance, and it is anterior that a described Y infrared pickoff is laid in chassis vertical plane respectively; X infrared pickoff in described first infrared pickoff series and Y infrared pickoff in the second infrared pickoff series are connected with the signal input part controlling mainboard respectively, and the signal output part of described control mainboard is connected with drive motor.
Wherein preferred technical scheme is that described movable base is oblong movable base.
Preferred technical scheme is further, described grating velometer includes infrared transmitting tube, grating encoder and grating read head composition, described grating encoder is arranged on one end of drive motor output shaft, described infrared transmitting tube and grating read head are by support installing on movable base, and wherein infrared transmitting tube is corresponding with the installation site of grating read head and the installation site of grating encoder.
Preferred technical scheme also has further, and described drive motor is servomotor, and described servomotor is connected with control mainboard by driver module.
Preferred technical scheme also has, and a described X infrared pickoff is 6 infrared pickoffs, and a described Y infrared pickoff is 3 infrared pickoffs.
Preferred technical scheme also has, and described control mainboard is provided with communication module, and it is online that described control mainboard passes through communication module and suitable communication protocols and upper computer.
Principle of work of the present utility model is as follows:
Upper computer sends order to control mainboard by universal serial bus according to certain agreement, and micro controller system process also performs, and replys corresponding message indicating operating status.System both directly can control the kinematic velocity on chassis and direction, query sensors state, also can determine to keep away barrier, follow, anti-to fall, the unlatching of the function such as tracking whether, by the data of micro controller system Real-time Collection infrared pickoff, according to the distance of each sensor apart from obstacle, obtain the locus of mobile robot, as whether whether surrounding exist obstacle, robot in information such as desktop edges, determined next step motor behavior by system, control kinematic velocity and the direction on chassis.
Advantage of the present utility model and beneficial effect are: described modular desktop robot popular motion chassis is based on modular thinking, robot system is decomposed into master control preparative layer and several execution module double-layer structures, and the general utility functions of motion control aspect is extracted, an integrated independently module.Between master control preparative layer and execution module, layer of structure is distinct, is easy to control; Separate between module and module, be convenient to expanded function: modular design can realize design reuse, effectively reduce the cost designed and developed, expand maintenance and update of robot system.
Described modular desktop robot popular motion chassis, the desktop machine people built particularly being applicable to various application occasions moves chassis, particularly relate to one can oneself accurately test the speed, possess automatic sensing and dodge obstacle, automatic sensing desktop edge and dropproof, follow mobile object within the specific limits, according to functions such as both fixed track walkings, and have control accurately, interface is succinct, be easy to the features such as expansion.
Described modular desktop robot popular motion chassis uses certain infrared array sensor, photoelectric encoder, adopts pid control algorithm, solves that general mobile robot's induction precision is poor, test the speed coarse problem.This chassis uses dual drive wheel to add the structure of cardan wheel, infrared array sensor is adopted to carry out space exploration, have volume little, be quick on the draw, accurately control, interface is succinct, be easy to the advantage expanded, meanwhile, apparent size meets the requirement of mobile robot's microminiaturization.
Described modular desktop robot popular motion chassis is owing to adopting modular design, and the compact conformation on this chassis, integrated level is high, can realize design reuse, effectively reduce use cost.Effectively utilize the feature that infrared pickoff volume is little, reasonable layout, form two main sensor arraies, can effective sniffing robot surrounding environment, raising keeps away barrier, prevents functional realiey effects such as falling, decreases again the usage quantity of sensor as far as possible, reduces costs and power consumption.Carry Grating Measuring Speed System, accurately testing the speed in error allowed band can be realized under desktop machine people application scenarios, and carry out closed loop control in conjunction with pid algorithm, effectively avoid the situation about losing efficacy that wanders off or turn occurred in opened loop control.The control mainboard on chassis only has universal serial bus and electric source line interface, and interface is succinct, convenient connection, is easy to expand and control.System has normal mode of operation, low-power consumption mode and park mode three kinds of mode of operations to select, and can automatically enter low-power consumption mode or park mode, reduce Energy in use under respective application scene.Meet the motor function demand of general desktop machine people, be very suitable for small table robot.
Accompanying drawing explanation
Fig. 1 is the perspective view on the utility model modular desktop robot popular motion chassis;
Fig. 2 is the control circuit schematic diagram on the utility model modular desktop robot popular motion chassis.
In figure: 1, movable base; 11, drive wheel; 12, cardan wheel; 13, upper shell; 14, retarder; 15, drive motor; 2, mainboard is controlled; 3, the first infrared pickoff series; 4, the second infrared pickoff series; 5, grating velometer; 51, infrared transmitting tube; 52, grating encoder; 53, grating read head; 6, serial bus interface; 7, power interface.
Detailed description of the invention
Below in conjunction with drawings and Examples, detailed description of the invention of the present utility model is further described.Following examples only for clearly the technical solution of the utility model being described, and can not limit protection domain of the present utility model with this.
As shown in accompanying drawing 1 ~ 2: the utility model is a kind of modular desktop robot popular motion chassis, described chassis comprises movable base 1, controls mainboard 2, first infrared pickoff series 3 and the second infrared pickoff series 4, described movable base 1 is provided with pair of driving wheels 11 and a cardan wheel 12, movable base 1 is provided with upper shell 13, each drive wheel in described pair of driving wheels 11 is connected with the output shaft of one speed reducer 14 respectively, the input shaft of described retarder 14 is connected with drive motor 15, and the side of described drive motor 15 is provided with grating velometer 5; Described control mainboard 2 is micro controller system, and described micro controller system is provided with serial bus interface 6 and power interface 7; Described first infrared pickoff series 3 comprises for judging whether robot is in 6 infrared pickoffs at desktop edge, and described 6 infrared pickoffs are laid in tray bottom plane one week respectively; Described second infrared pickoff series 4 comprises 3 infrared pickoffs for judging chassis and obstacle distance, and it is anterior that described 3 infrared pickoffs are laid in chassis vertical plane respectively; 6 infrared pickoffs in described first infrared pickoff series 3 and 3 infrared pickoffs in the second infrared pickoff series are connected with the signal input part controlling mainboard 2 respectively, and the signal output part of described control mainboard 2 is connected with drive motor.
The preferred technical scheme of the utility model is, described movable base 1 is oblong movable base.
The utility model further preferred embodiment is, described grating velometer 5 includes infrared transmitting tube 51, grating encoder 52 and grating read head 53 and forms, described grating encoder 52 is arranged on one end of drive motor 15 output shaft, described infrared transmitting tube 51 and grating read head 53 are by support installing on movable base 1, and wherein infrared transmitting tube 51 is corresponding with the installation site of grating read head 53 and the installation site of grating encoder 52.
The utility model further preferred embodiment also has, and described drive motor 15 is servomotor, and described servomotor is connected with control mainboard 2 by driver module.
The preferred embodiment of the utility model also has, and described control mainboard 2 is provided with communication module, and it is online that described control mainboard 2 passes through communication module and suitable communication protocols and upper computer.
Embodiment 1
This example mainly comprises three part-structures, is movable base 1 respectively, controls mainboard 2 and two infrared array sensors 3,4.Movable base 1 mainly comprises and adds the mobile module that cardan wheel 12 forms and the speed measuring module be made up of infrared transmitting tube 51, grating encoder 52 and grating read head 53 by dual drive wheel 11.Dual drive wheel 11 is by two micro speed reducing drive motor 15, the rotation of wheel will drive grating encoder 52, and speed periodically blocks the light path between speed measuring module infrared transmitting tube 51 and grating read head 53 pro rata, produce orthogonal intersection code signal, after being decoded by micro controller system, coordinate drop-gear box reduction ratio and wheel diameter to obtain speed or displacement.
Control mainboard 2 based on micro controller system, be connected with external power supply by power interface 7, for the chip in system, miniature motor and infrared pickoff are powered, communicated according to given protocol with upper computer by serial bus interface 6.Micro controller system drives minitype speed reducing motor by motor drive module, simultaneously, micro controller system is also connected with infrared array sensor, and the change changing the infrared pickoff analog signal caused because of obstacle distance can utilize for micro controller system after digital sample, the correlated judgment of instruct and keep away barrier, preventing behaviors such as falling.
6 sensors of the first infrared pickoff series 3 are distributed in left and right, left front, right front, left back, the right back position of movable base bottom surface respectively.3 sensors of the second infrared pickoff series 4 are distributed in the position of the left, center, right of movable base vertical plane front portion respectively.
Reasonable layout sensor station, can cover desktop rim detection and the preceding object surveyed area of robot all directions as far as possible, reduces detection blind area.Wherein, the first infrared pickoff series 3 of bottom surface, the infrared external reflection light intensity received under being positioned at desktop and being in unsettled two states is different, thus return of value is different, can be in the situation at desktop edge by Timeliness coverage robot thus, avoid falling; The infrared external reflection light intensity received under being positioned at light desktop and being in black trace two states is different, can find that robot departs from the situation of definitive orbit thus, adjust back initial trace in time.
Use universal serial bus between motion chassis and higher level's key-course, communicate according to certain control protocol.Generally speaking, every frame message structure comprises the several part of frame head, command word, length, data and postamble, and table 1 gives wherein a kind of example.
Table 1
| 55 | AA | 03 | 03 | 01 | 00 | 00 | … | FE |
| Frame head 1 | Frame head 2 | Command word | Length | Data 1 | Data 2 | Data 3 | Data n | Postamble |
Described command word essentially dictates the type of data division, thus determines the type of instruction.According to the command word provided, control module will switch to the states such as opened loop control, closed loop control, sensor information inquiry, sensor information feedback respectively, or determine to keep away barrier, follow, prevent falling, the unlatching of the function such as tracking whether.
Described length essentially dictates the figure place of data division.Under different control commands, the variable that need transmit or number of parameters are not identical, so need to distinguish data length.Such as, in open loop motion control instruction, need definition revolver speed, right wheel speed and time three parameters; And in function selection instruction, as long as a data determines that whether function opens.
Described data mainly refer to the variable of the required parameter that arranges or transmission under corresponding control command, parameter and type of variables relevant with instruction.As under closed loop displacement commands, the parameter arranged is needed to be designated displacement and speed; Under closed loop angle command, the parameter needing setting is angle direction and specified angle; In sensor information feedback instruction, the variable of transmission is the state value of sensor.
After start, chassis is operated in normal mode of operation, as required, switches to disparate modules and realizes corresponding switching mode, performed by chassis by control command:
Switching mode one: switch to open loop motion module, arranges left and right wheels speed and run duration;
Switching mode two: switch to closed-loop speed module, arranges left and right wheels speed and run duration;
Switching mode three: switch to closed loop displacement module, arranges displacement and speed;
Switching mode four: switch to closed loop angle module, arranges angle direction and angle value;
Switching mode five: switch to keep away and hinder/follow function selecting module, arranges to keep away and hinders/follow function open/close states;
Switching mode six: switch to and prevent falling/tracking function selecting module, arranges and prevents falling/tracking function open/close states;
In mode once, open loop campaign is carried out on chassis, according to the left and right wheels speed arranged and run duration, controls mainboard and the PWM ripple sending corresponding dutycycle is driven minitype speed reducing motor running, move at the appointed time.
Mode two times, closed-loop speed adjustment is carried out on chassis, in setting-up time, mainly comprises the steps:
Step S21, according to the left and right wheels speed arranged, controls the PWM ripple driving minitype speed reducing motor running that mainboard sends corresponding dutycycle;
Step S22, the speed measuring module on wheel measures real-world operation speed;
Step S23, PID speed adjusting module carries out speed governing according to the setting value of speed and actual value, if actual value is identical with setting value, system reaches stable state, otherwise the dutycycle of adjustment PWM ripple, proceed to step S22;
Mode three times, the designated displacement of closed loop and the movement of speed are carried out in chassis, mainly comprise the steps:
Step S31, according to the left and right wheels speed arranged, controls the PWM ripple driving minitype speed reducing motor running that mainboard sends corresponding dutycycle;
Step S32, the speed measuring module on wheel measures real-world operation speed, and calculates actual displacement thus, and actual displacement is less than designated displacement and then proceeds to step S33, otherwise stops;
Step S33, PID speed adjusting module carries out speed governing according to the setting value of speed and actual value, if actual value is identical with setting value, system reaches stable state, otherwise the dutycycle of adjustment PWM ripple, proceed to step S32;
Mode four times, closed loop angular adjustment is carried out on chassis, mainly comprises the steps:
Step S41, according to the angle direction arranged and angle value, controls mainboard and controls two drive wheels respectively, if clickwise, proceed to step 42, if left-hand revolution, proceed to step 43;
Step S42, the PWM ripple sending corresponding dutycycle drives the running of revolver minitype speed reducing motor, and right wheel remains unchanged, and proceeds to step 44;
Step S43, the PWM ripple sending corresponding dutycycle drives right minitype speed reducing motor of taking turns to operate, and revolver remains unchanged, and proceeds to step 44;
Step S44, speed measuring module on wheel measures real-world operation speed, and the actual angle that turns over of binding chassis Structure Calculation wheel thus, actual angle is less than the angle value of setting, proceeds to step S45, otherwise stops;
Step S45, PID speed adjusting module carries out speed governing according to the setting value of speed and actual value, if actual value is identical with setting value, system reaches stable state, otherwise the dutycycle of adjustment PWM ripple, proceed to step S44;
Mode five times, chassis arranges to keep away and hinders/follow function open/close states, have closedown to keep away under which to hinder/follow function, keep away barrier pattern, follow the mode three kinds of mode of operations, if open and keep away barrier pattern or follow the mode, to the second infrared pickoff series being positioned at vertical plane before chassis be enabled, the obstacle in detection front, chassis.
Mode six times, chassis is arranged prevents falling/tracking function open/close states, have under which to close and prevent falling/tracking function, preventing falling pattern, tracking pattern three kinds of mode of operations, prevent falling pattern or tracking pattern if open, to the first infrared pickoff series being positioned at undersurface of bottom disc be enabled, the desktop edge below detection chassis or track.
The above is only preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite not departing from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (6)
1. a modular desktop robot popular motion chassis, it is characterized in that, described chassis comprises movable base, control mainboard, the first infrared pickoff series and the second infrared pickoff series, described movable base is provided with pair of driving wheels and a cardan wheel, each drive wheel in described pair of driving wheels is connected with the output shaft of one speed reducer respectively, the input shaft of described retarder is connected with drive motor, and the side of described drive motor is provided with grating velometer; Described control mainboard is micro controller system, and described micro controller system is provided with serial bus interface and power interface; Described first infrared pickoff series comprises for judging whether robot is in X the infrared pickoff at desktop edge, and a described X infrared pickoff is laid in tray bottom plane one week respectively; Described second infrared pickoff series comprises Y the infrared pickoff for judging chassis and obstacle distance, and it is anterior that a described Y infrared pickoff is laid in chassis vertical plane respectively; X infrared pickoff in described first infrared pickoff series and Y infrared pickoff in the second infrared pickoff series are connected with the signal input part controlling mainboard respectively, and the signal output part of described control mainboard is connected with drive motor.
2. modular desktop robot popular motion chassis as claimed in claim 1, it is characterized in that, described movable base is oblong movable base.
3. modular desktop robot popular motion chassis as claimed in claim 2, it is characterized in that, described grating velometer includes infrared transmitting tube, grating encoder and grating read head, described grating encoder is arranged on one end of drive motor output shaft, described infrared transmitting tube and grating read head are by support installing on movable base, and wherein infrared transmitting tube is corresponding with the installation site of grating read head and the installation site of grating encoder.
4. modular desktop robot popular motion chassis as claimed in claim 3, it is characterized in that, described drive motor is servomotor, and described servomotor is connected with control mainboard by driver module.
5. modular desktop robot popular motion chassis as claimed in claim 1, it is characterized in that, a described X infrared pickoff is 6 infrared pickoffs, and a described Y infrared pickoff is 3 infrared pickoffs.
6. modular desktop robot popular motion chassis as claimed in claim 1, it is characterized in that, described control mainboard is provided with communication module, and it is online that described control mainboard passes through communication module and suitable communication protocols and upper computer.
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| CN107198495A (en) * | 2016-10-25 | 2017-09-26 | 上海耐柯环保科技有限公司 | Storage battery industrial dust collector |
| CN107791254A (en) * | 2016-09-06 | 2018-03-13 | 吴战车 | The mobile phone robot that can be moved can be walked |
| CN109106564A (en) * | 2018-07-23 | 2019-01-01 | 华南理工大学 | A kind of intelligence companion seeing-eye dog |
| CN109901571A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robotically-driven mode conversion device |
| CN110116688A (en) * | 2019-04-30 | 2019-08-13 | 北京云迹科技有限公司 | Mobile chassis and robot |
| CN110695953A (en) * | 2019-09-09 | 2020-01-17 | 深圳市优必选科技股份有限公司 | Three-wheeled robot and chassis thereof |
| CN111673737A (en) * | 2020-05-13 | 2020-09-18 | 北京理工大学 | A robot information sending method, receiving method, device and storage medium |
| CN112589799A (en) * | 2020-12-10 | 2021-04-02 | 西北工业大学 | Miniature desktop robot facing to cluster |
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| CN107791254A (en) * | 2016-09-06 | 2018-03-13 | 吴战车 | The mobile phone robot that can be moved can be walked |
| CN107198495A (en) * | 2016-10-25 | 2017-09-26 | 上海耐柯环保科技有限公司 | Storage battery industrial dust collector |
| CN107198495B (en) * | 2016-10-25 | 2022-08-02 | 上海耐柯环保科技有限公司 | Battery industrial dust collector |
| CN109901571A (en) * | 2017-12-10 | 2019-06-18 | 湘潭宏远电子科技有限公司 | A kind of robotically-driven mode conversion device |
| CN109106564A (en) * | 2018-07-23 | 2019-01-01 | 华南理工大学 | A kind of intelligence companion seeing-eye dog |
| CN110116688A (en) * | 2019-04-30 | 2019-08-13 | 北京云迹科技有限公司 | Mobile chassis and robot |
| CN110695953A (en) * | 2019-09-09 | 2020-01-17 | 深圳市优必选科技股份有限公司 | Three-wheeled robot and chassis thereof |
| CN112975995A (en) * | 2019-12-17 | 2021-06-18 | 沈阳新松机器人自动化股份有限公司 | Service robot chassis anti-falling array device and anti-falling method |
| CN111673737A (en) * | 2020-05-13 | 2020-09-18 | 北京理工大学 | A robot information sending method, receiving method, device and storage medium |
| CN112589799A (en) * | 2020-12-10 | 2021-04-02 | 西北工业大学 | Miniature desktop robot facing to cluster |
| CN112589799B (en) * | 2020-12-10 | 2022-07-26 | 西北工业大学 | A cluster-oriented miniature desktop robot |
| CN112947468A (en) * | 2021-03-11 | 2021-06-11 | 深圳市九码云科技有限公司 | Robot for telephone sales |
| CN112947468B (en) * | 2021-03-11 | 2023-08-22 | 深圳进行时电子科技有限公司 | Robot for telephone sales |
| CN113359739A (en) * | 2021-06-17 | 2021-09-07 | 天津中德应用技术大学 | Intelligent movement device based on energy substitution technology and movement control method thereof |
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