CN103777634A - Large-size spherical robot control system - Google Patents

Large-size spherical robot control system Download PDF

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Publication number
CN103777634A
CN103777634A CN201410011463.8A CN201410011463A CN103777634A CN 103777634 A CN103777634 A CN 103777634A CN 201410011463 A CN201410011463 A CN 201410011463A CN 103777634 A CN103777634 A CN 103777634A
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China
Prior art keywords
ball shape
shape robot
chip microcomputer
control system
relay
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CN201410011463.8A
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Chinese (zh)
Inventor
谢少荣
陈继清
罗均
姚骏峰
邹旭东
祝川
冯凯
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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Priority to CN201410011463.8A priority Critical patent/CN103777634A/en
Publication of CN103777634A publication Critical patent/CN103777634A/en
Pending legal-status Critical Current

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Abstract

The invention discloses a large-size spherical robot control system comprising an upper computer part and a spherical robot part. The upper computer part comprises a computer, a single chip microcomputer and a wireless communication module and is responsible for functions such as system management, human-machine interface, task planning and action instruction generation. The spherical robot part comprises a main controller, a single chip microcomputer, an attitude sensor, an obstacle avoidance sensor, a servo motor controller, a wireless communication module, a 24V lithium battery, a 5V lithium battery, a 24V relay and a 5V relay. The computer of the upper computer part operates the single chip microcomputer and the wireless communication module to send an instruction to the spherical robot, the wireless communication module of the spherical robot part receives the instruction, the single chip microcomputer of the spherical robot part communicates with the main controller according to the instruction, and the main controller causes the relays and the servo motor controller to act and adjusts the motion of the robot according to feedback of the attitude sensor and the obstacle avoidance sensor so as to realize linear and steering motion of the robot.

Description

Large scale ball shape robot control system
Technical field
The present invention relates to large scale ball shape robot control system, be particularly applicable to the large scale ball shape robot control system of environment detection.
Background technology
In environment detection process, conventionally can run into rugged and rough, wetland, marsh, the rugged environment such as very hot or extremely cold, is restricting carrying out of scientific investigation greatly, therefore robot replacement is manually surveyed, and becomes a kind of new trend.At present, occurred that the robot application such as wheeled, leg formula or crawler type are in scientific investigation activity.
Due to ball shape robot have simple in structure, control convenient, motion flexibly, and efficiency is high, energy consumption is little, and have good dynamically and the advantage such as static balancing, obtained in the last few years development fast, be widely used in environment detection, scientific research, the fields such as amusement, all do a large amount of research both at home and abroad, and obtained good achievement.But, comparative analysis research both domestic and external, ball shape robot drives and is mainly divided into interior driving and outer driving.For the ball shape robot of interior driving, conventionally do smallerly both at home and abroad at present, the BYQ series of Beijing University of Post & Telecommunication, the ball shape robot of Harbin Institute of Technology's development, the BHQ of Beijing Institute of Aeronautics etc., general diameter is at 320mm ~ 600mm, differ in size, be mainly used in simple environment detection, therefore corresponding control system adopts single single-chip microcomputer, DSP or ARM class control module.The ball shape robot of outer driving, is Puffer-type or framed structure simple in structure mostly, relies on wind drive, the device of inner structure configuration acquisition environment data, and control section is little, and independence is poor, can not move according to projected path.
For the ball shape robot for environment detection, to overcome obstacle detouring difficulty, be absorbed in all difficulties in rough gap, and can adjust according to the parameter of environment, there is independence.These requirements have restricted size ball shape robot less than normal and the application of outer drive ball anthropomorphic robot.In order to be applicable to the detection of rugged surroundings, develop a diameter and be the large scale ball shape robot of 1 meter.Ball shape robot, by drive motor and steer motor, drives fork and configuration block motion, changes the centroid position of robot, produces eccentric moment, and drive machines people's motion, realizes rectilinear motion and divertical motion.In order to realize this autonomous motion, for large-sized ball shape robot, the control system that a set of large scale ball shape robot has been invented in design.
Summary of the invention
The object of the invention is to solve the problem that existing technology exists, for large scale ball shape robot provides a kind of large scale ball shape robot control system that can realize rectilinear motion and divertical motion.
For solving the problems of the technologies described above, the invention provides a kind of large scale ball shape robot control system, comprise epigynous computer section and ball shape robot part.Described epigynous computer section comprises computing machine, and single-chip microcomputer and wireless communication module are responsible for the functions such as system management, man-machine interface, mission planning and action command generation.Described ball shape robot part comprise master controller, single-chip microcomputer and attitude sensor, keep away barrier sensor, servomotor controller, wireless communication module, 24V lithium battery, 5V lithium battery, 24V relay, 5V relay.Described controller connects servomotor controller, single-chip microcomputer, attitude sensor, keeps away barrier sensor and 5V relay, described 24V lithium battery is connected servomotor through 24V relay with servomotor controller, and described single-chip microcomputer connects 24V relay, wireless communication module, 5V lithium battery and 5V relay;
Epigynous computer section wireless communication module comprises reception and two radio frequency chips of transmitting.
Ball shape robot part wireless communication module comprises reception and two radio frequency chips of transmitting.
The master controller of described ball shape robot part is integrated on a development board.
The control system of large scale ball shape robot, computer operation sends instruction by single-chip microcomputer and wireless communication module to ball shape robot, the wireless communication module of robot receives instruction, single-chip microcomputer is communicated by letter with master controller according to instruction, master controller, pilot relay, servomotor controller action, and hinder sensor feedback adjustment robot motion according to attitude sensor with keeping away, realize robot straight line and divertical motion; Master controller is the status information to computing machine distribution of machine people by single-chip microcomputer.
The single-chip microcomputer of epigynous computer section, model is STM32, with SPI interface, adopts serial ports to turn USB chip, connects computing machine by USB.For controlling reception and the transmission of radio communication.
Two radio frequency chips of described epigynous computer section, model is nRF24L01, is connected with single-chip microcomputer.For launching and accept the signal of computing machine and master controller
Epigynous computer section is that the mode of communicating by letter by wireless transmission is connected with ball shape robot part.
The master controller model of described ball shape robot part is S3C6410 processor, and predominant frequency is 667MHz, runs on Linux2.6 platform.Be installed on development board.For calculating robot's various attitude informations and the exercises of control, carry out control algolithm, send status information etc.
The development board of ball shape robot is to be installed in the control enclosure of inside casing of ball shape robot.For Speeding up development speed.
The single-chip microcomputer of ball shape robot part, model is STM32.Be connected with main control by USB interface, be installed in the inside casing control enclosure of ball shape robot.Complete and the simple advantage of programming of main its peripheral hardware of performance, and share some tasks for master controller.
Two radio frequency chips of described ball shape robot part, are connected with single-chip microcomputer, the information of the information command of receiving computer and transmitting ball shape robot.
The attitude sensor of ball shape robot part,, inside comprises three-axis gyroscope, and 3-axis acceleration and triaxial magnetic field sensor, for measuring the attitude data of ball shape robot.By USB interface, be connected with primary controller, it is installed on the side plate of ball shape robot.
Ball shape robot part keep away barrier sensor, for judging whether front has obstacle, to adjust athletic posture.Connect and turn USB chip, by USB interface, be connected with master controller, it is installed on the side plate of ball shape robot.
Ball shape robot part servomotor controller, selects the EPOS2 24/5 of Maxon company, is arranged on servomotor, is connected by 24V electric wire with servomotor.Servomotor controller is connected with master controller by mini USB interface.
The 24V relay of ball shape robot part and 5V relay, model is Omron G5SB-14 series.Be connected with single-chip microcomputer by control line, single-chip microcomputer is according to instruction pilot relay break-make.It is characterized in that being installed on the inside casing of ball shape robot.
The 24V lithium battery of ball shape robot part and 5V lithium battery, the single-chip microcomputer, the development board that are respectively servomotor and ball shape robot provide power supply, are arranged in the configuration block of ball shape robot.
When after power connection, the STM32 single-chip microcomputer work of ball shape robot.STM32 single-chip microcomputer is connected radio frequency chip, master controller, the relay module that electric machine controller is attached.Master controller starts self check, completes initialization, creates and shares content, set up two processes, a process judges whether whether motor starts, complete initialization, whether relay is closed, and another process, by enumerating after serial equipment, transmits attitude sensor and keeps away the image data that hinders sensor.Serial equipment and attitude sensor with keep away barrier sensor and compare, its collection be instruction, do not need to respond extremely rapidly, and attitude sensor and keep away barrier sensor and need to gather and calculating robot's related data, therefore serial equipment adopts and postpones 100ms, then scanning has or not new data.Master controller reads attitude sensor and keeps away the data of barrier sensor, and conversion data form, and calculating robot's rotational angular velocity, obtain attitude data and the position data of robot, carries out sensor control algolithm, update instruction parameter.Servomotor controller is connected with master controller, carries out the Electric Machine Control instruction in shared drive, gathers the position of motor simultaneously, speed and the in real time current information of output, and be sent to master controller.Master controller is by the sensor information collecting, and the information of servomotor controller, contacts by serial communication process and host computer.Communication module completes by the subcontrol STM32 single-chip microcomputer of two associated treatment information, and by the two pairs of radio frequency chip transmission of data with carry out instruction, a pair of for wireless transmit task, and another is to for wireless receiving task.After master controller completes the instruction task of host computer, disconnect relay module by serial ports control subcontrol STM32 single-chip microcomputer, robot can enter standby mode.
The present invention compared with prior art, has following apparent outstanding substantive distinguishing features and significantly technical progress:
Control system of the present invention, the device that can realize large scale ball shape robot is many, and the state that load is large is realized rectilinear motion and divertical motion under complex environment.Can, in the process of motion, according to attitude sensor and the feedback of keeping away barrier sensor, constantly adjust athletic posture, overcome rugged surroundings.
Accompanying drawing explanation
Fig. 1 is the block diagram of ball shape robot control system
Fig. 2 is the contour structures structure of ball shape robot
Fig. 3 is ball shape robot control assembly layout (1)
Fig. 4 is ball shape robot control assembly layout (2)
Fig. 5 is ball shape robot control flow chart.
Embodiment
Details are as follows for preferred embodiment set accompanying drawing of the present invention:
Embodiment mono-:
Referring to Fig. 1-Fig. 5, this large scale ball shape robot control system, comprise epigynous computer section (114) and ball shape robot part (115), it is characterized in that: described epigynous computer section (114) is that a computing machine (101) connects a wireless communication module (103) through a single-chip microcomputer (102), is responsible for system management, man-machine interface, mission planning and action command and generates.Described ball shape robot part (115) comprise master controller (106), single-chip microcomputer (105), attitude sensor (107), keep away barrier sensor (108), servomotor controller (111), wireless communication module (104), 24V lithium battery (109), 5V lithium battery (112), 24V relay (110) and 5V relay (113), described controller (106) connects servomotor controller, single-chip microcomputer (105), attitude sensor (107), keep away barrier sensor (108) and 5V relay (113), described 24V lithium battery (109) is connected servomotor (117) through 24V relay (110) with servomotor controller (111), described single-chip microcomputer (105) connects 24V relay (110), wireless communication module (104), 5V lithium battery (112) and 5V relay (113),
Described epigynous computer section (114) wireless communication module (103) comprises reception and two radio frequency chips of transmitting (103-1,103-2)
Described ball shape robot part (115) wireless communication module (104) comprises reception and two radio frequency chips of transmitting (104-1,104-2)
The master controller (106) of described ball shape robot part is integrated on a development board (116).
Described computing machine (101) operation sends instruction by single-chip microcomputer (102) and wireless communication module (103) to ball shape robot, the wireless communication module (104) of ball shape robot (115) receives instruction, single-chip microcomputer (105) is communicated by letter with master controller (106) according to instruction, master controller (106) pilot relay (110,113), servomotor controller (111) action, and according to attitude sensor (107) with keep away barrier sensor (108) feedback adjusting robot motion, realize robot straight line and divertical motion; Master controller (106) sends status information by single-chip microcomputer (105) to computing machine (101).
Embodiment bis-
The present embodiment and embodiment mono-are basic identical, special feature is: single-chip microcomputer (102) model of described epigynous computer section (114) is STM32, with SPI interface, adopts serial ports to turn USB chip, connect computing machine (101) by USB, for controlling reception and the transmission of radio communication.Two radio frequency chips (103-1,103-2) model of described epigynous computer section (114) is nRF24L01, is connected with single-chip microcomputer (102) by SPI interface.For launching and accept the signal of computing machine (101) and master controller (106).Described epigynous computer section (114) is that the mode of communicating by letter by wireless transmission is connected with ball shape robot part (115).The master controller (106) of described ball shape robot part adopts S3C6410 type processor, and predominant frequency is 667MHz, runs on Linux2.6 platform; This processor is installed in development board (116), and this development board (116) is arranged in a control enclosure (3), for calculating robot's various attitude informations and the exercises of control, carries out control algolithm, sends status information.Development board (116) model of described ball shape robot part is OK6410, is installed in an inside casing (2) control enclosure (3) of ball shape robot part (115).The single-chip microcomputer (105) of described ball shape robot part, its model is STM32, is connected with main control (106) by USB interface, is installed in the control enclosure (3) of inside casing of ball shape robot (115); Complete and the simple advantage of programming of main its peripheral hardware of performance, and share some tasks for master controller (106).Two radio frequency chips (104-1,104-2) model of described ball shape robot part (115) is nRF24L01, is connected, for launching and accept the signal of computing machine (101) and master controller (106) by SPI interface with single-chip microcomputer (105).Attitude sensor (107) model of described ball shape robot part (115) is xsensMTi, and inside comprises three-axis gyroscope, and 3-axis acceleration and triaxial magnetic field sensor, for measuring the attitude data of ball shape robot; By USB interface, be connected with primary controller (106), it is installed on a side plate (9) of ball shape robot (115).Barrier sensor (108) model of keeping away of described ball shape robot part (115) is: E18-D80NK, for judging whether front has obstacle, to adjust athletic posture; It connects USB chip, by USB interface, is connected with master controller (106), is installed on a side plate (9) of ball shape robot (115).Described ball shape robot part (115) servomotor controller (111), selects the EPOS2 24/5 of Maxon company, is arranged on servomotor (117) upper, is connected by 24V electric wire with servomotor (117); Servomotor controller (111) is connected with master controller (106) by mini USB interface.The 24V relay (110) of described ball shape robot part (115) and 5V relay (113), model is Omron G5SB-14 series; Be connected with single-chip microcomputer (105) by control line, single-chip microcomputer (105) is according to instruction pilot relay break-make; Be installed on the inside casing (2) of ball shape robot part (115).The 24V lithium battery (109) of described ball shape robot part and 5V lithium battery (112) are respectively servomotor (117) and single-chip microcomputer (105), development board (116) are powered, and is arranged on the balancing disk (6) of ball shape robot.
When after power connection, ball shape robot (115) is connected STM32 single-chip microcomputer (105).STM32 single-chip microcomputer is connected radio frequency chip (104-1 104-2), master controller (106), servomotor controller (111) and relay (110,113).Master controller (106) starts self check, complete initialization, create and share content, set up two processes, a process judges whether whether motor starts, complete initialization, relay (110,113) whether closed, another process, by enumerating after serial equipment, transmits attitude sensor (107) and keeps away the image data that hinders sensor (108).Serial equipment and attitude sensor (107) with keep away barrier sensor (108) and compare, its collection be instruction, do not need to respond extremely rapidly, and attitude sensor (107) and keep away barrier sensor (108) and need to gather and calculating robot's related data, therefore serial equipment adopts and postpones 100ms, then scanning has or not new data.Master controller (106) reads attitude sensor (107) and keeps away the data of barrier sensor (108), conversion data form, and calculating robot's rotational angular velocity, obtain attitude data and the position data of robot, carry out sensor control algolithm, update instruction parameter.Servomotor controller (111) is connected with master controller (106), carries out the Electric Machine Control instruction in shared drive, gathers the position of motor simultaneously, speed and the in real time current information of output, and be sent to master controller (106).Master controller (106) is by the attitude sensor collecting (107) and keep away barrier sensor (108) information, and the information of servomotor controller (111), by serial communication process and host computer (114) contact.Wireless communication module (103,104) is by by two pairs of radio frequency chips (103-1,103-2,104-1,104-2) transmission data with carry out instruction, a pair of for wireless transmit task, and another is to for wireless receiving task.After master controller (106) completes the instruction task of host computer (114), disconnect relay module (110,113) by the STM32 single-chip microcomputer (105) of serial ports control ball shape robot, robot can enter standby mode.
In conjunction with Fig. 5, the flow process of control module:
A) opening switch, control module initialization, shared drive
B) create subprocess, judge whether motor starts, whether initialization, and enumerate equipment initialization sensor assembly
C) judge whether initialization completes motor
D) serial port communication thread time delay 100ms
E) master controller reads attitude sensor and keeps away barrier sensing data, and conversion data form, and calculating robot's attitude data and position data are carried out control algolithm, judge whether to need update instruction parameter, readjust robot pose.
F) motor initialization completes, and master controller reads two motor instructions, gathers the status data of two motors, judges motor status, whether needs to send new movement instruction.
G) master controller is by serial communication, to host computer distribution of machine people status information, and receives steering order in conjunction with subcontrol, judges whether new instruction, if had, carries out new instruction.
H) judged whether terminator, if had, robot ends task.

Claims (13)

1. a large scale ball shape robot control system, comprise epigynous computer section (114) and ball shape robot part (115), it is characterized in that: described epigynous computer section (114) is that a computing machine (101) connects a wireless communication module (103) through a single-chip microcomputer (102), is responsible for system management, man-machine interface, mission planning and action command and generates, described ball shape robot part (115) comprise master controller (106), single-chip microcomputer (105), attitude sensor (107), keep away barrier sensor (108), servomotor controller (111), wireless communication module (104), 24V lithium battery (109), 5V lithium battery (112), 24V relay (110) and 5V relay (113), described controller (106) connects servomotor controller, single-chip microcomputer (105), attitude sensor (107), keep away barrier sensor (108) and 5V relay (113), described 24V lithium battery (109) is connected servomotor (117) through 24V relay (110) with servomotor controller (111), described single-chip microcomputer (105) connects 24V relay (110), wireless communication module (104), 5V lithium battery (112) and 5V relay (113),
Described epigynous computer section (114) wireless communication module (103) comprises reception and two radio frequency chips of transmitting (103-1,103-2)
Described ball shape robot part (115) wireless communication module (104) comprises reception and two radio frequency chips of transmitting (104-1,104-2)
The master controller (106) of described ball shape robot part is integrated on a development board (116); Described computing machine (101) operation sends instruction by single-chip microcomputer (102) and wireless communication module (103) to ball shape robot, the wireless communication module (104) of ball shape robot (115) receives instruction, single-chip microcomputer (105) is communicated by letter with master controller (106) according to instruction, master controller (106) pilot relay (110,113), servomotor controller (111) action, and according to attitude sensor (107) with keep away barrier sensor (108) feedback adjusting robot motion, realize robot straight line and divertical motion; Master controller (106) sends status information by single-chip microcomputer (105) to computing machine (101).
2. large scale ball shape robot control system according to claim 1, it is characterized in that: single-chip microcomputer (102) model of described epigynous computer section (114) is STM32, with SPI interface, adopt serial ports to turn USB chip, connect computing machine (101) by USB, for controlling reception and the transmission of radio communication.
3. large scale ball shape robot control system according to claim 1, is characterized in that: two radio frequency chips (103-1,103-2) model of described epigynous computer section (114) is nRF24L01, is connected with single-chip microcomputer (102) by SPI interface; For launching and accept the signal of computing machine (101) and master controller (106).
4. large scale ball shape robot control system according to claim 1, is characterized in that: described epigynous computer section (114) is that the mode of communicating by letter by wireless transmission is connected with ball shape robot part (115).
5. large scale ball shape robot control system according to claim 1, is characterized in that: the master controller (106) of described ball shape robot part adopts S3C6410 type processor, and predominant frequency is 667MHz, runs on Linux2.6 platform; This processor is installed in development board (116), and this development board (116) is arranged in a control enclosure (3), for calculating robot's various attitude informations and the exercises of control, carries out control algolithm, sends status information.
6. large scale ball shape robot control system according to claim 1, is characterized in that: development board (116) model of described ball shape robot part is OK6410, is installed in an inside casing (2) control enclosure (3) of ball shape robot part (115).
7. large scale ball shape robot control system according to claim 1, it is characterized in that: the single-chip microcomputer (105) of described ball shape robot part, its model is STM32, be connected with main control (106) by USB interface, be installed in the control enclosure (3) of inside casing of ball shape robot (115); Complete and the simple advantage of programming of main its peripheral hardware of performance, and share some tasks for master controller (106).
8. large scale ball shape robot control system according to claim 1, it is characterized in that: two radio frequency chip (104-1 of described ball shape robot part (115), 104-2) model is nRF24L01, be connected with single-chip microcomputer (105) by SPI interface, for launching and accept the signal of computing machine (101) and master controller (106).
9. large scale ball shape robot control system according to claim 1, it is characterized by: attitude sensor (107) model of described ball shape robot part (115) is xsensMTi, inside comprises three-axis gyroscope, 3-axis acceleration and triaxial magnetic field sensor, for measuring the attitude data of ball shape robot; By USB interface, be connected with primary controller (106), it is installed on a side plate (9) of ball shape robot (115).
10. large scale ball shape robot control system according to claim 1, is characterized in that: barrier sensor (108) model of keeping away of described ball shape robot part (115) is: E18-D80NK, for judging whether front has obstacle, to adjust athletic posture; It connects USB chip, by USB interface, is connected with master controller (106), is installed on a side plate (9) of ball shape robot (115).
11. large scale ball shape robot control system according to claim 1, it is characterized in that: described ball shape robot part (115) servomotor controller (111), select the EPOS2 24/5 of Maxon company, be arranged on servomotor (117) upper, be connected by 24V electric wire with servomotor (117); Servomotor controller (111) is connected with master controller (106) by mini USB interface.
12. large scale ball shape robot control system according to claim 1, is characterized in that: the 24V relay (110) of described ball shape robot part (115) and 5V relay (113), and model is Omron G5SB-14 series; Be connected with single-chip microcomputer (105) by control line, single-chip microcomputer (105) is according to instruction pilot relay break-make; Be installed on the inside casing (2) of ball shape robot part (115).
13. large scale ball shape robot control system according to claim 1, it is characterized in that: the 24V lithium battery (109) of described ball shape robot part and 5V lithium battery (112) are respectively servomotor (117) and single-chip microcomputer (105), development board (116) are powered, and is arranged on the balancing disk (6) of ball shape robot.
CN201410011463.8A 2014-01-10 2014-01-10 Large-size spherical robot control system Pending CN103777634A (en)

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CN106584452A (en) * 2015-10-19 2017-04-26 沈阳新松机器人自动化股份有限公司 Universal robot safety control device
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CN111347432A (en) * 2018-12-20 2020-06-30 沈阳新松机器人自动化股份有限公司 Two-wheel drive intelligent spherical robot
CN110349480A (en) * 2019-06-11 2019-10-18 深圳市优必选科技有限公司 Instructional Development plate and robot

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Application publication date: 20140507