CN106310665A - Robot used for martial arts arena contest - Google Patents
Robot used for martial arts arena contest Download PDFInfo
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- CN106310665A CN106310665A CN201610808282.7A CN201610808282A CN106310665A CN 106310665 A CN106310665 A CN 106310665A CN 201610808282 A CN201610808282 A CN 201610808282A CN 106310665 A CN106310665 A CN 106310665A
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- infrared proximity
- chassis
- infrared
- proximity transducer
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
-
- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H13/00—Toy figures with self-moving parts, with or without movement of the toy as a whole
- A63H13/02—Toy figures with self-moving parts, with or without movement of the toy as a whole imitating natural actions, e.g. catching a mouse by a cat, the kicking of an animal
- A63H13/04—Mechanical figures imitating the movement of players or workers
- A63H13/06—Mechanical figures imitating the movement of players or workers imitating boxing or fighting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D61/00—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
- B62D61/10—Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern with more than four wheels
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a robot used for a martial arts arena contest, and belongs to the field of intelligent robots. The robot used for the martial arts arena contest comprises chassis components, two groups of infrared proximity sensors, an infrared distance measuring sensor, a grayscale sensor, a driving mechanism and a controller. The first group of infrared proximity sensors, the infrared distance measuring sensor, and the grayscale sensor are all arranged on the inner side of the margins of the bottom of the chassis components; the second group of infrared proximity sensors are arranged on the top of the chassis components; control input ends of the controller are electrically connected with the two groups of infrared proximity sensors respectively as well as with the infrared distance measuring sensor and the grayscale sensor; control output ends of the controller are electrically connected with the driving mechanism and the driving mechanism is fixedly connected with the chassis components. The two groups of infrared proximity sensors arranged top-and-bottom can collect information around the robot comprehensively and accurately, besides, the first group of the infrared proximity sensors are all arranged on the inner side of the margins of the bottom of the chassis components and do not protrude outside, and therefore the probability that the infrared proximity sensors are damaged is reduced.
Description
Technical field
The present invention relates to field in intelligent robotics, particularly relate to a kind of wushu challenge tournament robot.
Background technology
Robot wushu challenge tournament is a kind of antagonism match, and competition area are short of squares, and platform is ring field
Ground.On this ring, the rule of robot simulation's Chinese tradition ring fistfight of competition both sides, mutually impact or pushing, as
Really a side robot entirety is left ring region or is got to can not take action by the other side robot, then the opposing party wins.
Wushu challenge tournament robot, as the term suggests, i.e. aim at the robot of robot wushu challenge tournament design.Prior art
In wushu challenge tournament robot, mostly use vehicle structure, this dolly can detect vehicle body periphery object and according to relatively
Position determines dodge or attack.
Wushu of the prior art challenge tournament robot, generally there is problems in that
1, sensor is installed the compactest with structural member, there is External protrusions and divides, and often damages during ring is raced
Sensor；
2, there is check frequency in the detecting system of wushu ring robot, blind to the detection of we robot in enemy robot
When leading off an attack at district, we robot cannot detect that danger approaches；
3, rim detection problem cannot accurately judge marginal position and vehicle body towards, often fall down ring
Situation；
4, servomotor be perpendicular to after being connected with wheel ground install, owing to there is machine error, ring car advance with
Relatively large deviation can not be there is accurately according to instruction operation during turning to.
5, wushu of the prior art challenge tournament robot, crank, easily thrown, and then be pushed down ring.
Summary of the invention
It is an object of the invention to provide a kind of compact conformation, be hardly damaged, be difficult to be thrown, and can detect around comprehensively
The wushu challenge tournament robot of environment.
The present invention provides a kind of wushu challenge tournament robot, including:
Chassis assembly, first group of infrared proximity transducer, second group of infrared proximity transducer, at least two infrared distance measurement pass
Sensor, multiple gray-scale sensor, drive mechanism and controller；
Described first group of infrared proximity transducer and multiple gray-scale sensor are installed in the bottom of chassis assembly, and first
Group infrared proximity transducer and multiple gray-scale sensor are respectively positioned on the inner side at chassis assembly edge；
Second group of infrared proximity transducer is arranged on the top of chassis assembly；
Described infrared distance sensor is separately fixed at the bottom of chassis assembly, and multiple infrared distance sensor symmetry is divided
Cloth is in the front-end and back-end of chassis assembly；
Described controller is fixing with chassis assembly to be connected；The control input of described controller is infrared with first group respectively to be connect
Nearly sensor, second group of infrared proximity transducer, infrared distance sensor and gray-scale sensor electrical connection, described controller
Control output end electrically connects with drive mechanism, and described drive mechanism is arranged on the bottom of chassis assembly.
Preferably, described chassis assembly includes chassis, rear end and front end shovel board, and described front end shovel board is solid by digital rudder controller
Being scheduled on the front end on chassis, rear end, described digital rudder controller is connected with the control output end of controller.
Preferably, described first group of infrared proximity transducer has four, after four infrared proximity transducers are installed in
The bottom of bottom dish and lay respectively at four edges on chassis, rear end, four infrared proximity transducers are 4cm away from ground；
It is positioned at a length of 25cm of effectively detection of two infrared proximity transducers of rear end chassis front end, and this infrared proximity
The infrared emitting direction of sensor and the dead ahead on chassis, rear end are to there are 85 degree of angles；
It is positioned at a length of 15cm of effectively detection of two infrared proximity transducers of the rear end extreme end of chassis, and this infrared proximity
The infrared emitting direction of sensor and the dead astern on chassis, rear end are to there are 65 degree of angles；
The infrared emitting direction of the infrared proximity transducer in described second group of infrared proximity transducer horizontal by
45 degree of angles, and downwards, to the outside of chassis assembly tilt.
Preferably, described first group of infrared proximity transducer is as an overall combined gravity, second group of infrared proximity
Sensor as an overall combined gravity, multiple infrared distance sensor as an overall combined gravity, multiple ash
Degree sensor overlaps as the center of gravity of an overall combined gravity and controller.
Preferably, described infrared distance sensor has two, is separately mounted to rear end and the front end shovel on chassis, rear end
The front end of plate；And the detection direction of described infrared distance sensor is level.
Preferably, described gray-scale sensor has four, and four gray-scale sensors are installed in the bottom on chassis, rear end；Its
In two gray-scale sensors be positioned on the longitudinal centre line of chassis assembly, another two gray-scale sensor is about the longitudinal direction of chassis assembly
Centrage is symmetrical, and four gray-scale sensors lay respectively at four apex of a rhombus.
Preferably, described first group of infrared proximity transducer has four, after four infrared proximity transducers are installed in
The bottom of bottom dish；And lay respectively at four edges on chassis, rear end.
Preferably, described second group of infrared proximity transducer has six, and two of which infrared proximity transducer is arranged on
Chassis, rear end is arranged on the middle part on chassis, rear end away from one end of front end shovel board, two other infrared proximity transducer, and remaining is two years old
Individual infrared proximity transducer is arranged in the shovel board of front end.
Preferably, described drive mechanism includes six servomotors and the wheel adaptive one by one with servomotor；Wherein
Four wheels are separately mounted to four edges on chassis, rear end, and remaining two other wheel is arranged on the both sides of front end shovel board；
The outfan of described servomotor and wheel drive connection, the control output end of described controller is adjusted by two multi-function motors
Examination device is connected with servomotor.
Preferably, there is the leaning angle of 2 degree in described wheel；On described wheel, baffle plate is installed.
Compared to prior art, the present invention provides wushu challenge tournament robot, has the advantage that
1, the bottom of chassis assembly and above be respectively provided with one group of infrared proximity transducer, i.e. first group infrared proximity
Sensor and second group of infrared proximity transducer, the collection that two groups of infrared proximity transducers setting up and down can be comprehensive and accurate
Information near robot；
2, first group of infrared proximity transducer is respectively positioned on the inner side at chassis assembly edge, will not be outwardly, it is possible to reduce
The impaired probability of infrared proximity transducer；
3, the double check of two groups of infrared proximity transducers and gray-scale sensor judges to make robot have self-position
Position more accurately, to self towards there being clear and definite judgement；
4, the present invention provides wushu challenge tournament robot, compact conformation, steadily of centre of gravity, is difficult to be thrown by other robot.
Accompanying drawing explanation
In order to be illustrated more clearly that the specific embodiment of the invention or technical scheme of the prior art, below will be to specifically
In embodiment or description of the prior art, the required accompanying drawing used is briefly described, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not paying creative work
Put, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The block diagram of Fig. 1 provides for the present invention wushu challenge tournament robot；
The upward view of Fig. 2 provides for the present invention wushu challenge tournament robot；
The left view of Fig. 3 provides for the present invention wushu challenge tournament robot；
The front view of Fig. 4 provides for the present invention wushu challenge tournament robot；
The top view of the front end shovel board of Fig. 5 provides for the present invention wushu challenge tournament robot.
Reference:
1-chassis assembly；First group of infrared proximity transducer of 2-；
Second group of infrared proximity transducer of 3-；4-infrared distance sensor；
5-gray-scale sensor；6-controller；
7-drive mechanism；8-digital rudder controller；
9-multi-function motor debugger；
11-chassis；12-front end shovel board；
Left front infrared proximity transducer bottom 21-；Infrared proximity transducer before 22-bottom, right；
Left back infrared proximity transducer bottom 23-；Infrared proximity transducer after 24-bottom, right；
Infrared proximity transducer before 31-top left；Infrared proximity transducer before 32-top right；
33-top left side infrared proximity transducer；34-top right side infrared proximity transducer；
Infrared proximity transducer after 35-top left；41-front end infrared distance sensor；
42-rear end infrared distance sensor；Gray-scale sensor on the left of 51-；
Gray-scale sensor on the right side of 52-；53-front gray-scale sensor；
54-rear gray-scale sensor；71-servomotor；
72-wheel；
10-detecting system；20-control system；
30-performs system.
Detailed description of the invention
Below in conjunction with accompanying drawing, technical scheme is clearly and completely described, it is clear that described enforcement
Example is a part of embodiment of the present invention rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under not making creative work premise, broadly falls into the scope of protection of the invention.
In describing the invention, it should be noted that term " " center ", " on ", D score, "left", "right", " vertically ",
Orientation or the position relationship of the instruction such as " level ", " interior ", " outward " they are based on orientation shown in the drawings or position relationship, merely to
Be easy to describe the present invention and simplifying describe rather than instruction or the hint device of indication or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that indicate or hint relative importance.
In describing the invention, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be fixing connection, it is also possible to be to removably connect, or be integrally connected；Can
To be mechanical connection, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, can understand that above-mentioned term is at this with concrete condition
Concrete meaning in invention.
The block diagram of Fig. 1 provides for the present invention wushu challenge tournament robot；The wushu that Fig. 2 provides for the present invention is beaten
The upward view of Tai Sai robot；The left view of Fig. 3 provides for the present invention wushu challenge tournament robot；Fig. 4 provides for the present invention
The front view of wushu challenge tournament robot；The vertical view of the front end shovel board of Fig. 5 provides for the present invention wushu challenge tournament robot
Figure.
As shown in Figure 2-5, the present invention provides a kind of wushu challenge tournament robot, including:
Chassis assembly 2, second group of infrared proximity transducer 3 of 1, first group of infrared proximity transducer, the infrared survey of at least two
Away from sensor 4, multiple gray-scale sensor 5, drive mechanism 7 and controller 6；
First group of infrared proximity transducer 2 and multiple gray-scale sensor 5 are installed in the bottom of chassis assembly 1, and first
Group infrared proximity transducer 2 and multiple gray-scale sensor 5 are respectively positioned on the inner side at chassis assembly 1 edge；
Second group of infrared proximity transducer 3 is arranged on the top of chassis assembly 1；
Infrared distance sensor 4 is separately fixed at the bottom of chassis assembly 1, and symmetrical point of multiple infrared distance sensor 4
Cloth is in the front-end and back-end of chassis assembly 1；
Controller 6 is fixing with chassis assembly 1 to be connected；The control input of controller 6 passes with first group of infrared proximity respectively
2, second group of infrared proximity transducer 3 of sensor, infrared distance sensor 4 and gray-scale sensor 5 electrically connect, the control of controller 6
Outfan processed electrically connects with drive mechanism 7, and drive mechanism 7 is arranged on the bottom of chassis assembly 1.
The present invention provides wushu challenge tournament robot, and its operation principle is as follows:
Refering to Fig. 1, first group of infrared proximity transducer 2, second group of infrared proximity transducer 3, at least two infrared distance measurement
Sensor 4, multiple gray-scale sensor 5 constitute detecting system 10, and chassis assembly 1 is mechanical support system (not shown), drive machine
Structure 7 is execution system 30, and controller 6 is control system 20.
2, second group of infrared proximity transducer 3 of first group of infrared proximity transducer is used for having monitored whether that enemy robot connects
Closely；Infrared distance sensor 4 is for judging the distance of enemy robot；The average gray value that multiple gray-scale sensors 5 record, should
Value and place are preset gray value and are obtained size and judge robot present position.
Drive mechanism 7 is connected with controller 6, and 2, second group of infrared proximity transducer 3 of first group of infrared proximity transducer is equal
Being connected with the controller 6 i.e. I/O port of digital quantity interface, infrared distance sensor 4 and gray-scale sensor 5 then connect with controller 6 analog quantity
Mouth i.e. AD mouth is connected.
Data detecting system gathered are transferred to controller 6, controller 6 send instruction and control execution system 30,
So that different situations is moved by robot accordingly.
Compared to prior art, the present invention provides wushu challenge tournament robot, has the advantage that
1, the bottom of chassis assembly 1 and above be respectively provided with one group of infrared proximity transducer, i.e. first group infrared connects
Nearly sensor 2 and second group of infrared proximity transducer 3, two groups of infrared proximity transducers setting up and down can be comprehensive and accurate
Gather the information near robot；
2, first group of infrared proximity transducer 2 is respectively positioned on the inner side at chassis assembly 1 edge, will not be outwardly, it is possible to fall
The impaired probability of low infrared proximity transducer；
3, it is more accurate that infrared proximity transducer and the double check of gray-scale sensor 5 judge to make robot have self-position
True location, to self towards there being clear and definite judgement；
4, the present invention provides wushu challenge tournament robot, compact conformation, steadily of centre of gravity, is difficult to be thrown by other robot.
Refering to 5, in the present embodiment, chassis assembly 1 includes chassis, rear end 11 and front end shovel board 12, and front end shovel board 12 is passed through
CDS5516 digital rudder controller 8 is fixed on the front end on chassis, rear end 11, CDS5516 digital rudder controller 8 and the control output end of controller 6
Connect.
Chassis assembly 1 is divided into two parts of flexible connection, can be according to different road conditions, by front end shovel board 12 and peace
The drive mechanism 7 being contained in front end shovel board 12 lifts different angles, thus realizes stably climbing or passing through obstacle.
And, after being provided with the front end shovel board 12 on patch ground, it is possible to prevent from being scooped up by enemy when head-on collision, and can be lighter
Loose scoops up enemy and pushes ring.
In order to improve crashworthiness further, being also mounted with baffle plate on wheel 72, baffle plate can stop enemy robot
Attack from ground, it is not easy to scooped up.
Refering to Fig. 2, in the present embodiment, first group of infrared proximity transducer 2 has four, is respectively bottom left front infrared
Before proximity transducer 21, bottom, right red after infrared proximity transducer 22, the left back infrared proximity transducer in bottom 23 and bottom, right
Outer proximity transducer 24；After before the left front infrared proximity transducer 21 in bottom and bottom, right, infrared proximity transducer 22 is separately mounted to
Both sides, front end bottom bottom dish 11, after the left back infrared proximity transducer in bottom 23 and bottom, right, infrared proximity transducer 24 is respectively
It is arranged on the both sides, rear end bottom chassis, rear end 11.
Before the left front infrared proximity transducer 21 in bottom and bottom, right, infrared proximity transducer 22 is before measuring robots side
Side's environment, two infrared proximity transducers are away from ground 4cm, and the dead ahead on the infrared emitting direction of the two and chassis, rear end 11
To there are 85 degree of angles；This angle is that when collision occurs, the two infrared proximity transducer is unaffected and the maximum that can rotate
Angle, above-mentioned height away from ground and infrared emitting direction can detect the situation in front, side as early as possible；
And, before the left front infrared proximity transducer in bottom 21 and bottom, right, infrared proximity transducer 22 effectively detects length
For 25cm, when the left front infrared proximity transducer in bottom 21 detects the object being close to robot, meeting slow astern wheel
The distance of 72 then flicker to the right of front end shovel board 12 along impacting object, when in farthest detecting distance 25cm inspection at a distance
When measuring object, the distance then flicker of robot meeting slow astern wheel 72 hits to the left margin of front end shovel board 12
Hit object.Therefore, after the left front infrared proximity transducer in bottom 21 detects object, all object can be made by the operation of robot
It is in the front of front end shovel board 12, does not haves situation about passing each other so close that they almost rubbed each other.
Before bottom, right, the work of the left front infrared proximity transducer of operation principle and bottom 21 of infrared proximity transducer 22 is former
Manage identical, do not repeat them here.
After the left back infrared proximity transducer 23 in bottom and bottom, right, infrared proximity transducer 24 is for measuring robots side
Rear environment, two infrared proximity transducers away from ground 4cm, and the infrared emitting direction of the two and chassis, rear end 11 just after
There are 65 degree of angles in direction, effectively detects a length of 15cm；Do so can detect the dangerous existence of rear flank side, will not produce again
Raw erroneous judgement.
Refering to Fig. 3, in the present embodiment, infrared distance sensor 4 has two, respectively front end infrared distance sensor
41 and rear end infrared distance sensor 42, the two rear end being separately mounted to chassis, rear end 11 and the front end of front end shovel board 12；
And the detection direction of infrared distance sensor 4 is level, two infrared distance sensors 4 are respectively used to measuring robots dead ahead
With dead astern environment.
The present invention provides wushu challenge tournament robot, has two kinds of kinestates, roaming state and spurt state, at roaming shape
Under state, the speed of service is set as the half of spurt state.
Under roaming state, when after the left back infrared proximity transducer in bottom 23 and bottom, right, infrared proximity transducer 24 is examined
When measuring danger, robot can full speed ahead and turn to, so that robot will not be back in danger；Rear infrared distance measurement sensing
When the detection return value of device 4 is less than a certain predeterminable range value, it is determined that robot rear is dangerous, now robot accelerates to turn to
Escape；
Under roaming state, when before the left front infrared proximity transducer in bottom 21 and bottom, right, infrared proximity transducer 22 is examined
When measuring danger, robot rotates, so that front end shovel board 12 is right against danger to direction danger being detected；Then before inquiry
The detected value of side's infrared distance sensor 4, if numerical value is less than a certain preset value, is judged to enter the firing area of robot, this
Time robot will lead off an attack.
Occurring enemy robot after being arranged so as on whichever direction, the robot that the present invention provides all can detect also
Take corresponding countermeasure.
Four infrared proximity transducers and two infrared distance sensors 4 of first group of infrared proximity transducer 2 are mutual
Coordinate, it can be ensured that around robot, there is not check frequency.
Refering to Fig. 4, it is arranged on above chassis assembly 1 second group of infrared proximity transducer 3 and has 6 infrared proximity sensings
Before device, respectively top left, before infrared proximity transducer 31, top right, infrared proximity transducer 32, top left side infrared proximity pass
Infrared proximity after infrared proximity transducer 35 and top right after sensor 33, top right side infrared proximity transducer 34, top left
Sensor (not shown), its effect is detection ring edge；The infrared emitting direction of 6 infrared proximity transducers and level
Face is 45 degree of angles, and downwards, to the outside of chassis assembly 1 tilt, can control edge to be detected by the difference of setting height(from bottom)
Time the robot distance away from edge, the height that now robot distance L far from ring edge is laid equal to infrared proximity transducer
H。
The value that when travelling in safety zone, these 6 infrared proximity transducers return is 0, when some infrared proximity passes
When the value that sensor returns becomes 1, it is judged that for this side to limit, inquire about the detection data value of gray-scale sensor 5, it is judged that robot simultaneously
Towards, then order robot is to the direction running away from edge.
In the present embodiment, first group of infrared proximity transducer 2 as an overall combined gravity, second group infrared connect
Nearly sensor 3 as an overall combined gravity, multiple infrared distance sensor 4 as an overall combined gravity, many
Individual gray-scale sensor 5 overlaps as the center of gravity of an overall combined gravity and controller 6.
Specifically, multiple gray-scale sensors 5 and multiple drive mechanism 7 are arranged on chassis assembly with centrosymmetry principle
The bottom of 1, installation site is drawn close to centre, at four angles under chassis 11 on the premise of its normal work that is independent of each other
Slot milling, installs first group of infrared proximity transducer 2 on this space.
The final purpose of above-mentioned layout is, it is ensured that the combined gravity of each system overlaps, and this center of gravity is close to chassis 11
Center, makes robot have stable center of gravity, more stable in antagonism, it is not easy to overturning.
In the present embodiment, gray-scale sensor 5 has four, is respectively left side gray-scale sensor 51, right side gray scale sensing
Device 52, front gray-scale sensor 53 and rear gray-scale sensor 54；Four gray-scale sensors 5 are installed in chassis, rear end 11
Bottom；Front gray-scale sensor 53 and rear gray-scale sensor 54 are positioned on the longitudinal centre line of chassis assembly 1, left side gray scale
Sensor 51, right side gray-scale sensor 52 are symmetrical about the longitudinal centre line of chassis assembly 1, and four gray-scale sensors 5 are respectively
It is positioned at four apex of a rhombus.
Visible four gray-scale sensors 5 are distributed in below chassis 11 on the basis of four summits of rhombus, in meeting simultaneously
Heart line symmetrical relations.
Calculate gray value by formula ave=(ad [51]+ad [52]+ad [53]+ad [54])/4, compare ave and place
Default gray value obtains size and judges robot present position.By comparing the gray value of former and later two gray-scale sensors 5 of robot
The gray value ad [51] and ad [52] of two gray-scale sensors 5 of about ad [53] and ad [54] and robot, judges machine
People towards.
It is more accurate that infrared proximity transducer and the double check of gray-scale sensor 5 judge to make robot have self-position
Location, to self towards there being clear and definite judgement.
In the present embodiment, drive mechanism 7 includes six servomotors 71 and the car adaptive one by one with servomotor 71
Wheel 72, the most adaptive two the multi-function motor debuggers 9 of drive mechanism 7, its installation meets center of gravity symmetry principle.
It is symmetrical that two multi-function motor debuggers 9 press centrage on chassis 11, two multi-function motor debuggers
9 rears being arranged on chassis assembly 1；
Wherein four wheels 72 are separately mounted to four edges on chassis, rear end 11, and remaining two other wheel 72 is installed
Both sides in front end shovel board 12；The outfan of servomotor 71 and wheel 72 drive connection, the control output end of controller 6 is passed through
Multi-function motor debugger 9 is connected with servomotor 71.
In the present embodiment, controller 6 is MultiFLEXTM2-AVR controller, MultiFLEXTM2-AVR controller connects
Mouth is placed on side to the rear on chassis 11 towards rear side, and switch protection module is vertically-mounted, with MultiFLEXTM2-AVR controller 6 end
Face is closely coupled；The rotating shaft of two CDS5516 digital rudder controllers 8 facing away from outwardly and is arranged on side to the front on chassis 11；?
Space is left, to place external replaceable power supply on CDS5516 digital rudder controller 8.Except on and off switch protection module and external can be more
Changing outside the installation of power supply, the installation of other assembly is satisfied by symmetrical principle.
In the present embodiment, there are 2 degree of angles in wheel 72 and vertical direction, i.e. there is the leaning angle of 2 degree；Compared to wheel
72 robots being perpendicular to ground, the present invention provides wushu challenge tournament robot, and that walks during straight-line travelling is more straight, is turning
During curved more stable quickly, when colliding, vehicle body influence is less.
Last it is noted that various embodiments above is only in order to illustrate technical scheme, it is not intended to limit；To the greatest extent
The present invention has been described in detail by pipe with reference to foregoing embodiments, it will be understood by those within the art that: it depends on
So the technical scheme described in foregoing embodiments can be modified, or the most some or all of technical characteristic is entered
Row equivalent；And these amendments or replacement, do not make the essence of appropriate technical solution depart from various embodiments of the present invention technology
The scope of scheme.
Claims (10)
1. a wushu challenge tournament robot, it is characterised in that including:
Chassis assembly, first group of infrared proximity transducer, second group of infrared proximity transducer, at least two infrared distance measurement sensing
Device, multiple gray-scale sensor, drive mechanism and controller；
Described first group of infrared proximity transducer and multiple gray-scale sensor are installed in the bottom of chassis assembly, and first group red
Outer proximity transducer and multiple gray-scale sensor are respectively positioned on the inner side at chassis assembly edge；
Second group of infrared proximity transducer is arranged on the top of chassis assembly；
Described infrared distance sensor is separately fixed at the bottom of chassis assembly, and multiple infrared distance sensor is symmetrically distributed in
The front-end and back-end of chassis assembly；
Described controller is fixing with chassis assembly to be connected；The control input of described controller passes with first group of infrared proximity respectively
Sensor, second group of infrared proximity transducer, infrared distance sensor and gray-scale sensor electrical connection, the control of described controller
Outfan electrically connects with drive mechanism, and described drive mechanism is arranged on the bottom of chassis assembly.
Wushu the most according to claim 1 challenge tournament robot, it is characterised in that described chassis assembly includes chassis, rear end
With front end shovel board, described front end shovel board is fixed on the front end on chassis, rear end, described digital rudder controller and controller by digital rudder controller
Control output end connect.
Wushu the most according to claim 2 challenge tournament robot, it is characterised in that described first group of infrared proximity transducer
Having four, four infrared proximity transducers are installed in the bottom on chassis, rear end and lay respectively at four corners on chassis, rear end
Place, four infrared proximity transducers are 4cm away from ground；
It is positioned at a length of 25cm of effectively detection of two infrared proximity transducers of rear end chassis front end, and this infrared proximity sensing
The infrared emitting direction of device and the dead ahead on chassis, rear end are to there are 85 degree of angles；
It is positioned at a length of 15cm of effectively detection of two infrared proximity transducers of the rear end extreme end of chassis, and this infrared proximity sensing
The infrared emitting direction of device and the dead astern on chassis, rear end are to there are 65 degree of angles；
The infrared emitting direction of the infrared proximity transducer in described second group of infrared proximity transducer is horizontal by 45 degree
Angle, and downwards, to the outside of chassis assembly tilt.
Wushu the most according to claim 2 challenge tournament robot, it is characterised in that described first group of infrared proximity transducer
As an overall combined gravity, second group of infrared proximity transducer as an overall combined gravity, multiple infrared survey
Away from sensor as an overall combined gravity, multiple gray-scale sensor as an overall combined gravity and controller
Center of gravity overlap.
Wushu the most according to claim 4 challenge tournament robot, it is characterised in that described infrared distance sensor has two
Individual, it is separately mounted to rear end and the front end of front end shovel board on chassis, rear end；And the detection direction of described infrared distance sensor
For level.
Wushu the most according to claim 4 challenge tournament robot, it is characterised in that described gray-scale sensor has four,
Four gray-scale sensors are installed in the bottom on chassis, rear end；Two of which gray-scale sensor is positioned at the longitudinal center of chassis assembly
On line, another two gray-scale sensor is symmetrical about the longitudinal centre line of chassis assembly, and four gray-scale sensors lay respectively at one
Four apex of rhombus.
Wushu the most according to claim 4 challenge tournament robot, it is characterised in that described first group of infrared proximity transducer
Having four, four infrared proximity transducers are installed in the bottom on chassis, rear end；And lay respectively at four limits on chassis, rear end
At angle.
Wushu the most according to claim 7 challenge tournament robot, it is characterised in that described second group of infrared proximity transducer
Having six, two of which infrared proximity transducer is arranged on one end away from front end shovel board, chassis, rear end, and two other is infrared
Proximity transducer is arranged on the middle part on chassis, rear end, and other two infrared proximity transducer is arranged in the shovel board of front end.
Wushu the most according to claim 4 challenge tournament robot, it is characterised in that described drive mechanism includes six servos
Motor and the wheel adaptive one by one with servomotor；Wherein four wheels are separately mounted to four edges on chassis, rear end,
Remaining two other wheel is arranged on the both sides of front end shovel board；The outfan of described servomotor and wheel drive connection, described
The control output end of controller is connected with servomotor by two multi-function motor debuggers.
Wushu the most according to claim 9 challenge tournament robot, it is characterised in that described wheel exists the introversion of 2 degree
Angle；On described wheel, baffle plate is installed.
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| CN201610808282.7A CN106310665B (en) | 2016-09-07 | 2016-09-07 | Wushu challenge tournament robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201610808282.7A CN106310665B (en) | 2016-09-07 | 2016-09-07 | Wushu challenge tournament robot |
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| CN106310665B CN106310665B (en) | 2018-10-23 |
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Cited By (9)
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| CN106965185A (en) * | 2017-05-17 | 2017-07-21 | 许昌学院 | A kind of anti-lost control method of wushu challenge tournament robot |
| CN106976087A (en) * | 2017-05-17 | 2017-07-25 | 许昌学院 | A kind of attack control method of wushu challenge tournament robot |
| CN107398081A (en) * | 2017-09-07 | 2017-11-28 | 防灾科技学院 | Wushu ring robot and wushu ring robot manipulation's method |
| CN107639639A (en) * | 2017-10-23 | 2018-01-30 | 山西大学 | A kind of a broad-rimmed hat made of indocalamus splints and leaves shape wushu ring robot |
| CN107678423A (en) * | 2017-08-17 | 2018-02-09 | 防灾科技学院 | A kind of wushu ring dolly and its control method |
| CN109746924A (en) * | 2017-11-08 | 2019-05-14 | 天津职业技术师范大学 | Wushu ring fights vehicle |
| CN109966754A (en) * | 2019-03-25 | 2019-07-05 | 西北工业大学 | A kind of wushu ring robot that tail portion ramp type is gone up on the stage |
| CN110815246A (en) * | 2019-11-19 | 2020-02-21 | 重庆工程职业技术学院 | Robot for martial art arena contest |
| CN115888130A (en) * | 2022-12-01 | 2023-04-04 | 河北体育学院 | Martial art arena trolley and control method thereof |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106965185A (en) * | 2017-05-17 | 2017-07-21 | 许昌学院 | A kind of anti-lost control method of wushu challenge tournament robot |
| CN106976087A (en) * | 2017-05-17 | 2017-07-25 | 许昌学院 | A kind of attack control method of wushu challenge tournament robot |
| CN106976087B (en) * | 2017-05-17 | 2020-01-14 | 许昌学院 | Attack control method of martial art arena competition robot |
| CN106965185B (en) * | 2017-05-17 | 2020-03-10 | 许昌学院 | Anti-falling control method for martial art arena competition robot |
| CN107678423A (en) * | 2017-08-17 | 2018-02-09 | 防灾科技学院 | A kind of wushu ring dolly and its control method |
| CN107398081A (en) * | 2017-09-07 | 2017-11-28 | 防灾科技学院 | Wushu ring robot and wushu ring robot manipulation's method |
| CN107639639A (en) * | 2017-10-23 | 2018-01-30 | 山西大学 | A kind of a broad-rimmed hat made of indocalamus splints and leaves shape wushu ring robot |
| CN109746924A (en) * | 2017-11-08 | 2019-05-14 | 天津职业技术师范大学 | Wushu ring fights vehicle |
| CN109966754A (en) * | 2019-03-25 | 2019-07-05 | 西北工业大学 | A kind of wushu ring robot that tail portion ramp type is gone up on the stage |
| CN110815246A (en) * | 2019-11-19 | 2020-02-21 | 重庆工程职业技术学院 | Robot for martial art arena contest |
| CN115888130A (en) * | 2022-12-01 | 2023-04-04 | 河北体育学院 | Martial art arena trolley and control method thereof |
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| Publication number | Publication date |
|---|---|
| CN106310665B (en) | 2018-10-23 |
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