CN111823239A - A spherical combined robot - Google Patents

Abstract

The invention discloses a spherical assembly robot which comprises a functional area shell, wherein a controller upper shell and a controller lower shell are symmetrically arranged in the functional area shell from top to bottom, a control mechanism and a power supply mechanism are arranged between the controller upper shell and the controller lower shell, and the power supply mechanism is electrically connected with the control mechanism. The spherical combined robot can independently run and can be remotely controlled by a remote controller to run to complete a certain task load, the combined robot can randomly switch functional areas to diversify the task load, and the robot uses a Zigbee module and a DL-LN32P self-networking module to form a local communication network, so that the functional areas and a control mechanism can be communicated with each other, the control mechanism can be communicated with a visual upper computer at a PC (personal computer) end, and the posture and the task state of the robot can be visualized.

Description

A spherical combined robot

technical field

The invention relates to the technical field of spherical robots, in particular to a spherical combined robot.

Background technique

The existing technical solution is shown in Figure 1. At present, the control of spherical robots is mostly based on closed-loop control based on dynamic models, and the technicians mainly focus on the research of a single spherical robot. The hemispherical shell adopts the magnetic coupling connection technology to connect the two in a small area.

The existing spherical robots have the following deficiencies:

1. The current control theory is immature, and the dynamic models of different robots are different, so the control system designed for one robot is difficult to apply to another robot. Many problems, especially with regard to attitude control;

2. There are few research cases for the cooperative movement of multiple robots.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a spherical composite robot to solve the problems of unstable robot attitude control, inability to communicate between multiple robots, and easy separation of functional areas and motion areas proposed in the above background art.

In order to achieve the above purpose, the present invention provides the following technical solutions: a spherical composite robot, comprising a functional area shell, an upper controller casing and a controller lower casing are arranged symmetrically inside the functional area casing, and the controller A control mechanism and a power supply mechanism are arranged between the upper casing of the device and the lower casing of the controller, and the power supply mechanism and the control mechanism are electrically connected.

Further, a camera mechanism is provided on one side of the upper end of the casing of the functional area, the camera mechanism is a camera head, and the camera head is a miniature camera.

Further, the control mechanism includes a closed-loop controller, an encoder motor, and a gyroscope attitude controller, the output end of the encoder motor is provided with a universal tire, and the input end of the encoder motor is electrically connected to the closed-loop controller. The gyroscope attitude controller includes a gyroscope module, an accelerometer, and a geomagnetic field sensor, and the gyroscope module, the accelerometer, and the geomagnetic field sensor are electrically connected to the closed-loop controller.

Further, the number of the encoder motors is three, and the encoders are distributed between the upper casing of the controller and the lower casing of the controller in a diamond structure.

Further, the gyroscope module is a JY901 gyroscope.

Further, a functional area antenna is provided on one side of the upper end of the functional area shell, a serial port on the closed-loop controller is connected with a receiver instruction identification unit, and an input end of the receiver instruction identification unit is electrically connected to the functional area antenna.

Further, the serial port on the closed-loop controller is connected with a Zigbee data transmission unit for wireless communication with the computer.

Further, the serial port on the closed-loop controller is connected with a DL-LN32P ad hoc network module data transmission unit, which is used to automatically form a wireless multi-hop network with surrounding modules during operation.

Further, the power supply mechanism is a storage battery, and the storage battery is a 18650 type lithium battery.

Further, the outer shell of the functional area, the upper shell of the controller and the lower shell of the controller are all made of acrylic.

Compared with the prior art, the beneficial effects of the present invention are:

By setting up a control mechanism, the present invention adopts an encoder motor, a gyroscope attitude controller, a Zigbee data transmission unit, and a DL-LN32P self-organized network module data transmission unit, which can be remotely controlled by a remote controller and can be operated autonomously. certain task load. The combined robot can switch the functional area at will to diversify the task load. The robot uses the Zigbee module and the DL-LN32P ad hoc network module to form a local communication network, which can not only make the functional area and the motion controller communicate with each other, but also The motion controller and the PC-side visual host computer communicate with each other to visualize the robot's posture and task status.

Description of drawings

1 is a schematic diagram of the overall structure of a spherical composite robot of the present invention;

Fig. 2 is a flow chart of the closed-loop controller of the encoder position of a spherical assembly robot according to the present invention;

Fig. 3 is a flow chart of the gyroscope attitude controller of a spherical composite robot of the present invention;

Fig. 4 is a flow chart of a spherical assembly robot receiver instruction recognition unit of the present invention;

5 is a flow chart of a Zigbee data transmission unit of a spherical combined robot of the present invention;

Fig. 6 is a flow chart of the data transmission unit of a spherical combined robot DL-LN32P ad hoc network module of the present invention;

7 is a flow chart of a spherical combined robot system of the present invention;

FIG. 8 is a schematic diagram of a spherical combined robot JY901 gyroscope of the present invention;

Fig. 9 is a Zigbee frame diagram of a spherical composite robot of the present invention;

FIG. 10 is a schematic diagram of a spherical combined robot DN-LN32P ad hoc network module of the present invention.

In the figure: 1-function area shell; 2-controller upper case; 3-controller lower case; 4-control mechanism; 5-camera mechanism; 6-function area antenna.

Detailed ways

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

1-10, the present invention provides a technical solution: a spherical composite robot, comprising a functional area housing 1, characterized in that: the functional area housing 1 is internally symmetrically arranged with a controller upper housing 2 With the controller lower casing 3 , a control mechanism 4 and a power supply mechanism are arranged between the controller upper casing 2 and the controller lower casing 3 , and the power supply mechanism and the control mechanism 4 are electrically connected.

A camera mechanism 5 is provided on one side of the upper end of the functional area housing 1 , and the camera mechanism 5 is a camera head, and the camera head is a miniature camera.

The control mechanism 4 includes a closed-loop controller, an encoder motor, and a gyroscope attitude controller. The output end of the encoder motor is provided with a universal tire, and the input end of the encoder motor is electrically connected to the closed-loop controller. The gyroscope attitude controller includes a gyroscope module, an accelerometer, and a geomagnetic field sensor, and the gyroscope module, the accelerometer, and the geomagnetic field sensor are electrically connected to the closed-loop controller.

The number of the encoder motors is three, and the encoder motors are distributed between the upper casing 2 of the controller and the lower casing 3 of the controller in a diamond structure.

The gyroscope module is a JY901 gyroscope, which adopts a high-performance microprocessor and advanced dynamic calculation and Kalman dynamic filtering algorithm, which can accurately output the current attitude of the module in a dynamic environment, with an attitude measurement accuracy of 0.05 degrees, and Using advanced digital filtering technology can effectively reduce measurement noise and improve measurement accuracy.

A functional area antenna 6 is provided on the upper end side of the functional area housing 1, the serial port on the closed-loop controller is connected with a receiver instruction identification unit, and the input end of the receiver instruction identification unit is electrically connected with the functional area antenna 6, The spherical combined robot can run both autonomously and remotely by using a remote controller.

The serial port on the closed-loop controller is connected with a Zigbee data transmission unit, which is used for wireless communication with the computer. Zigbee is a wireless data transmission network platform composed of up to 65,000 wireless data transmission modules. The module is similar to a base station in a mobile network, and they can communicate with each other within the entire network range. In addition, the entire Zigbee network can also be connected with other existing networks. The Zigbee protocol stack (Figure 9) is divided into layers, and the layers are closely linked together, and each layer provides specific services for the upper layer.

The serial port on the closed-loop controller is connected with a DL-LN32P ad hoc network module data transmission unit, which is used to automatically form a wireless multi-hop network with surrounding modules during operation. The wireless frequency of the DL-LN32 module (Figure 10) is 2.4G ～2.45GHz, using IPEX interface, visual distance communication single hop 100m. The module divides the frequency between 2.4G and 2.45GHz into 16 channels, each module can work on one of the channels, and modules with different channels will not interfere with each other. When working, it will automatically form a wireless multi-hop network with the surrounding modules. The MCU tells the module the target address and the data to be sent through Uart. The module will select the optimal path through the network and transmit the information to the target module, and the target module will Output source address and data through Uart.

The power supply mechanism is a storage battery, and the storage battery is a 18650 type lithium battery.

The functional area casing 1, the controller upper casing 2 and the controller lower casing 3 are all made of acrylic.

Working principle: The spherical assembly robot in the present invention uses the control mechanism 4 in the ball to control the three encoder motors of the diamond-like structure, and drives the universal tire through the motor to cause friction with the inner wall of the acrylic spherical shell to form a relative displacement. , which in turn causes the position of the center of gravity of the counterweight of the entire robot to change. Under the action of the gravitational moment, the robot can achieve stable translation in the front, back, left, and right directions. Under the action of the rotational moment, the stable rotational motion of the entire robot is realized. The motion state of the robot is controlled by receiver commands. Recognition unit, so that the spherical combined robot can run autonomously, and can use the remote control to remotely control the robot to run to complete a certain task load. The combined robot can switch functional areas at will to diversify the task load. This robot uses Zigbee modules and The DL-LN32P ad hoc network module constitutes a bureau communication network, which not only enables the functional area and the control mechanism 4 to communicate with each other, but also enables the control mechanism 4 to communicate with the PC-side visual host computer, so that the robot's posture and task status can be visualized.

It should be noted that, in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any relationship between these entities or operations. any such actual relationship or sequence exists. Moreover, the terms "comprising", "comprising" or any other variation thereof are intended to encompass a non-exclusive inclusion such that a process, method, article or device that includes a list of elements includes not only those elements, but also includes not explicitly listed or other elements inherent to such a process, method, article or apparatus.

Although embodiments of the present invention have been shown and described, it will be understood by those skilled in the art that various changes, modifications, and substitutions can be made in these embodiments without departing from the principle and spirit of the invention and modifications, the scope of the present invention is defined by the appended claims and their equivalents.

Claims (10)

1. The utility model provides a spherical assembly robot, includes functional area shell (1), its characterized in that: the utility model discloses a control device of a motor vehicle, including functional area shell (1), casing (2) and casing (3) under the controller on the controller, be provided with control mechanism (4) and power supply mechanism between casing (3) under casing (2) and the controller on the controller, power supply mechanism and control mechanism (4) electric connection under functional area shell (1) inside is the upper and lower symmetry.

2. A spherical-combination robot as claimed in claim 1, wherein: one side of the upper end of the functional area shell (1) is provided with a camera shooting mechanism (5), the camera shooting mechanism (5) is a camera, and the camera is a miniature camera.

3. A spherical-combination robot as claimed in claim 1, wherein: control mechanism (4) are including closed-loop controller, encoder motor, gyroscope attitude controller, the output of encoder motor is provided with universal tire, the input and the closed-loop controller electric connection of encoder motor, gyroscope attitude controller includes gyroscope module, accelerometer, geomagnetic field sensor, gyroscope module, accelerometer, geomagnetic field sensor and closed-loop controller electric connection.

4. A spherical-combination robot as claimed in claim 3, wherein: the number of the encoder motors is three, and the encoder motors are distributed between the controller upper shell (2) and the controller lower shell (3) in a diamond structure.

5. A spherical-combination robot as claimed in claim 3, wherein: the gyroscope module is a JY901 gyroscope.

6. A spherical-combination robot as claimed in claim 3, wherein: one side of the upper end of the functional area shell (1) is provided with a functional area antenna (6), a receiver instruction identification unit is connected to the closed-loop controller through a serial port, and the input end of the receiver instruction identification unit is electrically connected with the functional area antenna (6).

7. A spherical-combination robot as claimed in claim 3, wherein: and a Zigbee data transmission unit is connected to the serial port of the closed-loop controller and is used for carrying out wireless communication with a computer.

8. A spherical-combination robot as claimed in claim 3, wherein: and a DL-LN32P ad hoc network module data transmission unit is connected to a serial port on the closed-loop controller and is used for automatically forming a wireless multi-hop network with surrounding modules during working.

9. A spherical-combination robot as claimed in claim 1, wherein: the power supply mechanism is a storage battery, and the storage battery is a 18650 type lithium battery.

10. A spherical-combination robot as claimed in claim 1, wherein: the functional area shell (1), the controller upper shell (2) and the controller lower shell (3) are made of acrylic materials.

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