CN102608999A - Novel indoor wheeled robot - Google Patents
Novel indoor wheeled robot Download PDFInfo
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- CN102608999A CN102608999A CN2012100555684A CN201210055568A CN102608999A CN 102608999 A CN102608999 A CN 102608999A CN 2012100555684 A CN2012100555684 A CN 2012100555684A CN 201210055568 A CN201210055568 A CN 201210055568A CN 102608999 A CN102608999 A CN 102608999A
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- computer system
- lower computer
- panel
- lithium battery
- motor
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
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Abstract
The invention relates to a novel indoor wheeled robot which comprises a lithium battery pack, a distribution board, a lower computer system and an upper computer system, wherein the lithium battery pack is connected with the distribution board to perform power conversion; the distribution board is connected with the lower computer system and the upper computer system to supply power; the lower computer system and the upper computer system are connected through a serial port; the lower computer system comprises a two-wheel motion motor, a motor drive circuit, a PWM (pulse width modulation) control circuit, a processor ATMEGA8535 and an encoder; and the upper computer system comprises an RGB-D Camera, an embedded system, a display module, an extension interface and a wireless communication module. The novel indoor wheeled robot provided by the invention not only better realizes the three-dimensional map construction of the indoor environment and the robot self-positioning, but also can be used for assisting the old and disabled people and executing multiple indoor tasks.
Description
Technical field
The present invention relates to a kind of robot, be specifically related to a kind of new indoor wheeled robot.Of many uses, characteristics such as cost is low, degree of modularity height that this robot has have realized that well the three-dimensional map of environment makes up and the robot self poisoning, can be widely used in the automatic intelligent robot of domestic consumer and office space.
Background technology
Along with the progress of science and technology, People more and more hopes that intelligentized day by day mobile service robot can replace artificial some work dry as dust of accomplishing, and reduces physical labor intensity.And the location navigation that moves service robot is very important, and reliable, high-precision location is technological to be one of gordian technique that moves by service robot.Current, the location technology that satisfies indoor mobile service robot bearing accuracy needs realizes that cost is generally higher.
Summary of the invention
The objective of the invention is the defective that exists to prior art, a kind of new indoor wheeled robot is provided, it has realized better that not only the three-dimensional map of environment makes up and the robot self poisoning, and can be used in help the elderly help the disabled, indoor task executions.
In order to solve the existing problem of background technology, the present invention adopts following technical scheme: a kind of new indoor wheeled robot comprises lithium battery group, panel, lower computer system, master system; The lithium battery group is connected with panel, and panel is connected with master system with lower computer system respectively, and lower computer system is connected with master system.The lithium battery group is positioned at rear, robot bottom as general supply supply equipment people electric energy; Panel converts the electric energy of lithium battery group the power supply of the required different parameters of various piece to, accomplishes power supply, is positioned at lithium battery group top; Lower computer system and master system carry out communication through serial ports, and wherein, lower computer system is positioned at the robot bottom, and master system is positioned at robot upper part; Drive two wheel movement by lower computer system.Master system and lower computer system are installed in respectively in two opening boxes that mate up and down, are linked into an integrated entity by some connecting links.
Described lower computer system comprises two wheels, two-wheeled motion motor, motor-drive circuit, pwm control circuit, processor A TMEGA8535, scrambler; The two-wheeled motion motor is connected with motor-drive circuit, and motor-drive circuit is connected with panel, pwm control circuit, processor A TMEGA8535 respectively, and pwm control circuit is connected with processor A TMEGA8535, and processor A TMEGA8535 is connected with scrambler.The odometer data of processor capturing and coding device receive the master system instruction, output signal controlling pwm control circuit and motor-drive circuit simultaneously; Motor-drive circuit output signal controlling two-wheeled motion motor; Two wheels of two-wheel drive motor-driven.
Described master system comprises RGB-D Camera, embedded system, display module, expansion interface, wireless communication module; RGB-D Camera all is connected with panel with embedded system; Embedded system and processor A TMEGA8535 interconnect; RGB-D Camera and embedded system interconnect; Embedded system is connected with expansion interface, and embedded system is connected with display module, and wireless communication module and embedded system interconnect.Embedded system receives the lower computer system processor signal, and gathers RGB-D Camera data and accomplish processing; Embedded system output order control display module; Embedded system and expansion interface and wireless module carry out communication.
In the said system operational process, the lithium battery group is supplied with the required different parameters power supply of various piece operation through panel.RGB-D Camera in the master system gathers the three-dimensional stereoscopic visual data; Input to the ARM9 embedded system; After treatment, extract the characteristic road sign and accomplish self poisoning, and export different instruction respectively; Realize synchronously that display module on-the-spotly shows, wireless communication module sends to client, steering order with information and is sent to the ATMEGA8535 processor of lower computer system through serial ports, wireless communication module can also be accepted the human-machine interactive information that client gives simultaneously; The ATMEGA8535 processor of lower computer system is accepted the steering order that host computer gives; Movable information in conjunction with the input of synchronization scrambler; Handle back output control signal and give pwm control circuit and motor-drive circuit; Drive the two-wheeled motion motor and move on request, realize that the independent navigation of indoor wheeled robot and three-dimensional map make up.This process constantly circulates, and can make robot in indoor continuous, correct operation, realizes functions such as target search, task execution, and can use expansion interface to carry out the expansion of other tasks according to customer requirements.
The present invention has following beneficial effect: the processor of use is with low cost, is easy to realize; The degree of modularity is high, and maintenance and replacing are convenient; The three-dimensional map of not only having realized environment better makes up and the robot self poisoning, and has extendability such as man-machine interaction, and can be used in helps the elderly helps the disabled, indoor task executions.
Description of drawings
Fig. 1 is the outside drawing of one embodiment of the invention.
Fig. 2 is a system construction drawing of the present invention.
Fig. 3 is that structure of the present invention connects block diagram.
Fig. 4 is a panel circuit diagram of the present invention.
Embodiment
The preferred embodiments of the present invention combine detailed description of the drawings following:
Embodiment one:
Referring to Fig. 1 and Fig. 2, this new indoor wheeled robot comprises lithium battery group (1), panel (2), lower computer system (3), master system (4).It is characterized in that lithium battery group (1) is positioned at the lower floor rear, panel (2) is positioned at lithium battery group (1) top, and lower computer system (3) is positioned at lower floor, and master system (4) is positioned at top; Lithium battery group (1) is connected with panel (2), and panel (2) is connected through lead with master system (4) with lower computer system (3), and lower computer system (3) is connected through serial ports with master system (4); Drive two wheels (5) motion by lower computer system (3).
Embodiment two:
Referring to Fig. 2-Fig. 4, present embodiment and embodiment one are basic identical, and special feature is following:
Said lower computer system (3) is as multiple component system; Be positioned at lower floor middle part and anterior, comprise two wheels (5), two-wheeled motion motor (3-1), motor-drive circuit (3-2), pwm control circuit (3-3), processor A TMEGA8535 (3-4), scrambler (3-5).Two-wheeled motion motor (3-1) is positioned at the lower floor middle part, is connected with two wheels (5); Motor-drive circuit (3-2), pwm control circuit (3-3), the integrated lower floor front portion that is installed in of processor A TMEGA8535 (3-4); Scrambler (3-5) is positioned on the driving shaft of lower floor's two wheels in middle part (5).
Described master system (4) is positioned at upper strata and top as multiple component system, comprises RGB-D Camera (4-1), embedded system (4-2), display module (4-3), expansion interface (4-4), wireless communication module (4-5).RGB-D Camera (4-1) is positioned at dead ahead, mobile robot top; Display module (4-3) is positioned at dead astern, robot top; Embedded system (4-2), expansion interface (4-4), wireless communication module (4-5) are positioned at top area.
Master system (4) and lower computer system (3) are installed in respectively in two two opening boxes that mate up and down, are linked into an integrated entity by some connecting links (6).
Referring to Fig. 3, lithium battery group (1) is connected with panel (2), and panel (2) is connected with master system (4) with lower computer system (3) respectively, and lower computer system (3) is connected with master system (4).Lithium battery group (1) is as general supply supply equipment people electric energy; Panel (2) converts the electric energy of lithium battery group (1) power supply of the required different parameters of various piece to, the power supply of completion system; Lower computer system (3) carries out communication with master system (4) through serial ports.
In the described lower computer system (3); Two-wheeled motion motor (3-1) is connected with motor-drive circuit (3-2); Motor-drive circuit (3-2) is connected with panel (2), pwm control circuit (3-3), processor A TMEGA8535 (3-4) respectively; Pwm control circuit (3-3) is connected with processor A TMEGA8535 (3-4), and processor A TMEGA8535 (3-4) is connected with scrambler (3-5).The odometer data of processor (3-4) capturing and coding device (3-5) receive the instruction of master system (4) simultaneously, output signal controlling pwm control circuit (3-3) and motor-drive circuit (3-2); Motor-drive circuit (3-2) output signal controlling two-wheeled motion motor (3-1).
In the described master system (4); RGB-D Camera (4-1) all is connected with panel (2) with embedded system (4-2); Embedded system (4-2) interconnects with processor A TMEGA8535 (3-4), and RGB-D Camera (4-1) interconnects with embedded system (4-2), and embedded system (4-2) is connected with expansion interface (4-4); Embedded system (4-2) is connected with display module (4-3), and wireless communication module (4-5) interconnects with embedded system (4-2).Embedded system (4-2) receives lower computer system processor (3-4) signal, and gathers RGB-D Camera (4-1) data and accomplish processing; Embedded system (4-2) output order control display module (4-3); Embedded system (4-2) is carried out communication with expansion interface (4-4) and wireless module (4-5).
In the said system operational process, lithium battery group (1) is supplied with the required different parameters power supply of various piece operation through panel (2).RGB-D Camera (4-1) in the master system (4) gathers the three-dimensional stereoscopic visual data; Input to ARM9 embedded system (4-2); After treatment; Extract the characteristic road sign and accomplish self poisoning; And export different instruction respectively, realize synchronously that display module (4-3) on-the-spot shows, wireless communication module (4-5) sends to client, steering order with information and be sent to the ATMEGA8535 processor (3-4) of lower computer system (3) through serial ports, wireless communication module (4-5) can also be accepted the human-machine interactive information that client gives simultaneously; The ATMEGA8535 processor (3-4) of lower computer system (3) is accepted the steering order that master system (4) gives; Movable information in conjunction with synchronization scrambler (3-5) input; Handle back output control signal and give pwm control circuit (3-3) and motor-drive circuit (3-2); Drive two-wheeled motion motor (3-1) and move on request, realize that the independent navigation of indoor wheeled robot and three-dimensional map make up.This process constantly circulates, and can make robot in indoor continuous, correct operation, realizes functions such as target search, task execution, and can use expansion interface (4-4) to carry out the expansion of other tasks according to customer requirements.
Referring to Fig. 4, this is panel (a 2) circuit.Adopt LM2576 and 7805 chips.Lithium battery group (1) input 24V voltage can obtain the different parameters power supply that the entire machine people needs through panel (2), comprises 24V, 12V, 5V voltage, realizes Signal Spacing at grounded part simultaneously.
This embodiment has realized better that not only the three-dimensional map of environment makes up and the robot self poisoning, and can be used in help the elderly help the disabled, indoor task executions.
Claims (5)
1. new indoor wheeled robot, it comprises lithium battery group (1), panel (2), lower computer system (3), master system (4); It is characterized in that lithium battery group (1) is positioned at the lower floor rear, panel (2) is positioned at lithium battery group (1) top, and lower computer system (3) is positioned at lower floor, and master system (4) is positioned at top; Lithium battery group (1) is connected with panel (2), and panel (2) is connected through lead with master system (4) with lower computer system (3), and lower computer system (3) is connected through serial ports with master system (4); Drive two wheels (5) motion by lower computer system (3).
2. according to the new indoor wheeled robot described in the claim 1, it is characterized in that described lower computer system (3) comprises two wheels (5), two-wheeled motion motor (3-1), motor-drive circuit (3-2), pwm control circuit (3-3), processor A TMEGA8535 (3-4), scrambler (3-5); Two-wheeled motion motor (3-1) is connected with motor-drive circuit (3-2); Motor-drive circuit (3-2) is connected with panel (2), pwm control circuit (3-3), ATMEGA8535 (3-4) respectively; Pwm control circuit (3-3) is connected with ATMEGA8535 (3-4), and ATMEGA8535 (3-4) is connected with scrambler (3-5); Two-wheel drive motor (3-1) drives two wheels (5).
3. according to the new indoor wheeled robot described in the claim 1, it is characterized in that described master system (4) comprises RGB-D Camera (4-1), embedded system (4-2), display module (4-3), expansion interface (4-4), wireless communication module (4-5); RGB-D Camera (4-1) all is connected with panel (2) with embedded system (4-2); Embedded system (4-2) interconnects with ATMEGA8535 (3-4); RGB-D Camera (4-1) interconnects with embedded system (4-2); Embedded system (4-2) is connected with expansion interface (4-4), and embedded system (4-2) is connected with display module (4-3), and wireless communication module (4-5) interconnects with embedded system (4-2).
4. according to the new indoor wheeled robot described in the claim 1; It is characterized in that described panel (2) adopts LM2576 and 7805 chips; Can be with the 24V voltage of lithium battery group (1) input; Convert the different parameters power supply that the entire machine people needs into, realize Signal Spacing at grounded part simultaneously.
5. new indoor wheeled robot according to claim 1; It is characterized in that said master system (4) and lower computer system (3) are installed in respectively in two two opening boxes that mate up and down; Linked into an integrated entity by some connecting links (6), said two wheels (5) are positioned at the both sides of following box and are fixedly mounted on respectively on the output shaft at said two-wheel drive motor (3-2) two ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100555684A CN102608999A (en) | 2012-03-06 | 2012-03-06 | Novel indoor wheeled robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2012100555684A CN102608999A (en) | 2012-03-06 | 2012-03-06 | Novel indoor wheeled robot |
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| Publication Number | Publication Date |
|---|---|
| CN102608999A true CN102608999A (en) | 2012-07-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2012100555684A Pending CN102608999A (en) | 2012-03-06 | 2012-03-06 | Novel indoor wheeled robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236540A (en) * | 2014-06-24 | 2014-12-24 | 上海大学 | Indoor passive navigation and positioning system and indoor passive navigation and positioning method |
| CN104647344A (en) * | 2015-03-18 | 2015-05-27 | 重庆交通大学 | Operating robot for three-dimensional map building |
-
2012
- 2012-03-06 CN CN2012100555684A patent/CN102608999A/en active Pending
Non-Patent Citations (1)
| Title |
|---|
| 王晓宇: "两轮自平衡机器人的研究", 《中国博士学位论文全文数据库》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104236540A (en) * | 2014-06-24 | 2014-12-24 | 上海大学 | Indoor passive navigation and positioning system and indoor passive navigation and positioning method |
| CN104647344A (en) * | 2015-03-18 | 2015-05-27 | 重庆交通大学 | Operating robot for three-dimensional map building |
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Application publication date: 20120725 |