CN106310665B - Wushu challenge tournament robot - Google Patents

Wushu challenge tournament robot Download PDF

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Publication number
CN106310665B
CN106310665B CN201610808282.7A CN201610808282A CN106310665B CN 106310665 B CN106310665 B CN 106310665B CN 201610808282 A CN201610808282 A CN 201610808282A CN 106310665 B CN106310665 B CN 106310665B
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China
Prior art keywords
infrared proximity
infrared
chassis
robot
proximity transducer
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CN201610808282.7A
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CN106310665A (en
Inventor
姚振静
洪利
韩智明
范业彤
高强
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Institute of Disaster Prevention
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Institute of Disaster Prevention
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    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63HTOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H11/00Self-movable toy figures
    • AHUMAN NECESSITIES
    • A63SPORTS; GAMES; AMUSEMENTS
    • A63HTOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
    • A63H13/00Toy figures with self-moving parts, with or without movement of the toy as a whole
    • A63H13/02Toy 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
    • A63H13/04Mechanical figures imitating the movement of players or workers
    • A63H13/06Mechanical figures imitating the movement of players or workers imitating boxing or fighting
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D61/00Motor vehicles or trailers, characterised by the arrangement or number of wheels, not otherwise provided for, e.g. four wheels in diamond pattern
    • B62D61/10Motor 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

Abstract

The present invention provides a kind of wushu challenge tournament robots, belong to field in intelligent robotics.The wushu challenge tournament robot includes chassis assembly, two groups of infrared proximity transducers, infrared distance sensor, gray-scale sensor, driving mechanism and controller;First group of infrared proximity transducer, infrared distance sensor and gray-scale sensor are respectively positioned on the inside of chassis assembly bottom margin, and second group of infrared proximity transducer is mounted on the top of chassis assembly;The control signal of controller is electrically connected with two groups of infrared proximity transducers, infrared distance sensor and gray-scale sensor respectively, and the control output end of controller is electrically connected with driving mechanism, and driving mechanism is fixedly connected with chassis assembly.Two groups of infrared proximity transducers setting up and down can be comprehensive and accurate acquisition robot near information;First group of infrared proximity transducer is respectively positioned on the inside at chassis assembly edge, will not protrude outward, and can reduce the impaired probability of infrared proximity transducer.

Description

Wushu challenge tournament robot
Technical field
The present invention relates to field in intelligent robotics more particularly to a kind of wushu challenge tournament robots.
Background technology
Robot wushu challenge tournament is a kind of antagonism match, and competition area are short of squares, is ring field on platform Ground.On this ring, the rule of the robot simulation's Chinese tradition ring fistfight for the both sides that take in competition, impact or pushing mutually, such as One side robot of fruit integrally leaves ring region or is got to and cannot be taken action by other side robot, then another party wins.
Wushu challenge tournament robot aims at the robot of robot wushu challenge tournament design as its name suggests.The prior art In wushu challenge tournament robot, mostly use vehicle structure greatly, which can detect vehicle body periphery object and according to opposite Position determines to dodge or attack.
Wushu challenge tournament in the prior art robot, generally existing problems with:
1, sensor and structural member installation be not compact, and there are External protrusions point, are often damaged during ring sports Sensor;
2, there are check frequencies for the detecting system of wushu ring robot, are detected to our robot in enemy robot blind When leading off an attack at area, our robot can not detect that danger approaches;
3, it is unable to judge accurately the direction of marginal position and vehicle body in edge detection problem, falls down ring frequent occurrence Situation;
4, servo motor is installed after being connected with wheel perpendicular to ground, due to there are machine error, ring vehicle advance with It cannot accurately be run according to instruction during steering, there are relatively large deviations.
5, wushu challenge tournament in the prior art robot, crank is easy to be thrown, and then is pushed down ring.
Invention content
It the purpose of the present invention is to provide a kind of compact-sized, be hardly damaged, be not easy to be thrown, and around can detect 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 measurements pass Sensor, multiple gray-scale sensors, driving mechanism and controller;
First group of infrared proximity transducer and multiple gray-scale sensors are installed in the bottom of chassis assembly, and first Group infrared proximity transducer and multiple gray-scale sensors are respectively positioned on the inside at chassis assembly edge;
Second group of infrared proximity transducer is mounted on the top of chassis assembly;
The infrared distance sensor is separately fixed at the bottom of chassis assembly, and multiple infrared distance sensors symmetrically divide Cloth is in the front-end and back-end of chassis assembly;
The controller is fixedly connected with chassis assembly;The control signal of the controller connects with first group infrared respectively Nearly sensor, second group of infrared proximity transducer, infrared distance sensor and gray-scale sensor electrical connection, the controller Control output end is electrically connected with driving mechanism, and the driving mechanism is mounted on the bottom of chassis assembly.
Preferably, the chassis assembly includes rear end chassis and front end shovel board, and the front end shovel board is solid by digital rudder controller It is scheduled on the front end on rear end chassis, the control output end connection of the digital rudder controller and controller.
Preferably, there are four first group of infrared proximity transducer is total to, after four infrared proximity transducers are installed in It holds the bottom on chassis and is located at four edges on rear end chassis, four infrared proximity transducers are 4cm away from ground;
Effective detection length positioned at two infrared proximity transducers of rear end chassis front end is 25cm, and the infrared proximity The infrared emitting direction of sensor is with the front on rear end chassis to there are 85 degree of angles;
Effective detection length positioned at two infrared proximity transducers of the rear end extreme end of chassis is 15cm, and the infrared proximity The infrared emitting direction of sensor is with the dead astern on rear end chassis to there are 65 degree of angles;
The infrared emitting direction of infrared proximity transducer in second group of infrared proximity transducer horizontal by 45 degree of angles, and tilt downwards, to the outside of chassis assembly.
Preferably, combined gravity, the second group of infrared proximity of first group of infrared proximity transducer as a whole Combined gravity, combined gravity, the multiple ashes of multiple infrared distance sensors as a whole of sensor as a whole The center of gravity of degree sensor combined gravity as a whole and controller overlaps.
Preferably, there are two the infrared distance sensor is total to, rear end and the front end shovel on rear end chassis are separately mounted to The front end of plate;And the detection direction of the infrared distance sensor is level.
Preferably, there are four the gray-scale sensor is total to, four gray-scale sensors are installed in the bottom on rear end chassis;Its In two gray-scale sensors be located on the longitudinal centre line of chassis assembly, longitudinal direction of the another two gray-scale sensor about chassis assembly Center line is symmetrical, and four gray-scale sensors are located at four apexes of a diamond shape.
Preferably, there are four first group of infrared proximity transducer is total to, after four infrared proximity transducers are installed in Hold the bottom on chassis;And it is located at four edges on rear end chassis.
Preferably, there are six second group of infrared proximity transducer is total to, two of which infrared proximity transducer is mounted on The one end of rear end chassis far from front end shovel board, other two infrared proximity transducer are mounted on the middle part on rear end chassis, remaining two A infrared proximity transducer is mounted in the shovel board of front end.
Preferably, the driving mechanism includes six servo motors and the wheel that is adapted to one by one with servo motor;Wherein Four wheels are separately mounted to four edges on rear end chassis, remaining other two wheel is mounted on the both sides of front end shovel board; The output end of the servo motor is drivingly connected with wheel, and the control output end of the controller passes through two multi-function motor tune Examination device is connect with servo motor.
Preferably, there are 2 degree of leaning angles for the wheel;Baffle is installed on the wheel.
Compared to the prior art, the present invention provides wushu challenge tournament robot, has the following advantages that:
1, it is respectively provided with one group of infrared proximity transducer, i.e. first group of infrared proximity in the bottom of chassis assembly and top Sensor and second group of infrared proximity transducer, the acquisition that setting up and down two groups of infrared proximity transducers can be comprehensive and accurate Information near robot;
2, first group of infrared proximity transducer is respectively positioned on the inside at chassis assembly edge, will not protrude outward, and can reduce The impaired probability of infrared proximity transducer;
3, the double check judgement of two groups of infrared proximity transducers and gray-scale sensor makes robot have self-position More accurately positioning has specific judgement to itself direction;
4, the present invention provides wushu challenge tournament robot, and compact-sized, steadily of centre of gravity is not easy to be thrown by other robot.
Description of the drawings
It, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical solution in the prior art Embodiment or attached drawing needed to be used in the description of the prior art are briefly described, it should be apparent that, in being described below Attached drawing is some embodiments of the present invention, for those of ordinary skill in the art, before not making the creative labor It puts, other drawings may also be obtained based on these drawings.
Fig. 1 is the block diagram of wushu challenge tournament provided by the invention robot;
Fig. 2 is the upward view of wushu challenge tournament provided by the invention robot;
Fig. 3 is the left view of wushu challenge tournament provided by the invention robot;
Fig. 4 is the front view of wushu challenge tournament provided by the invention robot;
Fig. 5 is the vertical view of the front end shovel board of wushu challenge tournament provided by the invention robot.
Reference numeral:
1- chassis assemblies;First group of infrared proximity transducer of 2-;
Second group of infrared proximity transducer of 3-;4- infrared distance sensors;
5- gray-scale sensors;6- controllers;
7- driving mechanisms;8- digital rudder controllers;
9- multi-function motor debuggers;
The chassis 11-;The front ends 12- shovel board;
The left front infrared proximity transducer in the bottoms 21-;Infrared proximity transducer before 22- bottom, rights;
The left back infrared proximity transducer in the bottoms 23-;Infrared proximity transducer after 24- bottom, rights;
Infrared proximity transducer before 31- top lefts;Infrared proximity transducer before 32- top rights;
33- top left side infrared proximity transducers;34- top right side infrared proximity transducers;
Infrared proximity transducer after 35- top lefts;The front ends 41- infrared distance sensor;
The rear ends 42- infrared distance sensor;Gray-scale sensor on the left of 51-;
Gray-scale sensor on the right side of 52-;Gray-scale sensor in front of 53-;
The rears 54- gray-scale sensor;71- servo motors;
72- wheels;
10- detecting systems;20- control systems;
30- executes system.
Specific implementation mode
Technical scheme of the present invention is clearly and completely described below in conjunction with attached drawing, it is clear that described implementation Example is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill The every other embodiment that personnel are obtained without making creative work, shall fall within the protection scope of the present invention.
In the description of the present invention, it should be noted that term "center", "upper", "lower", "left", "right", "vertical", The orientation or positional relationship of the instructions such as "horizontal", "inner", "outside" be based on the orientation or positional relationship shown in the drawings, merely to Convenient for the description present invention and simplify description, do not indicate or imply the indicated device or element must have a particular orientation, With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ", " third " is used for description purposes only, and is not understood to indicate or imply relative importance.
In the description of the present invention, it should be noted that unless otherwise clearly defined and limited, term " installation ", " phase Even ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or be integrally connected;It can Can also be electrical connection to be mechanical connection;It can be directly connected, can also indirectly connected through an intermediary, Ke Yishi Connection inside two elements.For the ordinary skill in the art, above-mentioned term can be understood at this with concrete condition Concrete meaning in invention.
Fig. 1 is the block diagram of wushu challenge tournament provided by the invention robot;Fig. 2 beats for wushu provided by the invention The upward view of Tai Sai robots;Fig. 3 is the left view of wushu challenge tournament provided by the invention robot;Fig. 4 provides for the present invention Wushu challenge tournament robot front view;Fig. 5 is the vertical view of the front end shovel board of wushu challenge tournament provided by the invention robot Figure.
As shown in Figure 2-5, the present invention provides a kind of wushu challenge tournament robot, including:
1, first group of chassis assembly, 2, second groups of infrared proximity transducer infrared proximity transducer 3, at least two infrared surveys Away from sensor 4, multiple gray-scale sensors 5, driving mechanism 7 and controller 6;
First group of infrared proximity transducer 2 and multiple gray-scale sensors 5 are installed in the bottom of chassis assembly 1, and first Group infrared proximity transducer 2 and multiple gray-scale sensors 5 are respectively positioned on the inside at 1 edge of chassis assembly;
Second group of infrared proximity transducer 3 is mounted on the top of chassis assembly 1;
Infrared distance sensor 4 is separately fixed at the bottom of chassis assembly 1, and multiple infrared distance sensors 4 symmetrically divide Cloth is in the front-end and back-end of chassis assembly 1;
Controller 6 is fixedly connected with chassis assembly 1;The control signal of controller 6 is passed with first group of infrared proximity respectively 2, second groups of infrared proximity transducers 3 of sensor, infrared distance sensor 4 and gray-scale sensor 5 are electrically connected, the control of controller 6 Output end processed is electrically connected with driving mechanism 7, and driving mechanism 7 is mounted on the bottom of chassis assembly 1.
The present invention provides wushu challenge tournament robot, and operation principle is as follows:
Refering to fig. 1,2, second groups of infrared proximity transducers 3, at least two infrared distance measurements of first group of infrared proximity transducer Sensor 4, multiple gray-scale sensors 5 constitute detecting system 10, and chassis assembly 1 is mechanical support system (not shown), driving machine Structure 7 is execution system 30, system 20 in order to control of controller 6.
First group of infrared proximity transducer, 2, second groups of infrared proximity transducers 3 are for having monitored whether that enemy robot connects Closely;Infrared distance sensor 4 is used to judge the distance of enemy robot;The average gray value that multiple gray-scale sensors 5 measure, should Value obtains size with the default gray value in place and judges robot present position.
Driving mechanism 7 is connected with controller 6, and first group of infrared proximity transducer, 2, second groups of infrared proximity transducers 3 are equal It is connected with 6 digital interfaces of controller, that is, I/O port, infrared distance sensor 4 and gray-scale sensor 5 then connect with 6 analog quantity of controller Mouth i.e. AD mouthfuls are connected.
The data that detecting system is acquired are transferred to controller 6, instruction control execution system 30 is sent out by controller 6, To make robot move different situations accordingly.
Compared to the prior art, the present invention provides wushu challenge tournament robot, has the following advantages that:
1, be respectively provided with one group of infrared proximity transducer in the bottom of chassis assembly 1 and top, i.e., it is first group infrared to connect Nearly sensor 2 and second group of infrared proximity transducer 3, setting up and down two groups of infrared proximity transducers can be comprehensive and accurate Acquire the information near robot;
2, first group of infrared proximity transducer 2 is respectively positioned on the inside at 1 edge of chassis assembly, will not protrude outward, and can drop The low impaired probability of infrared proximity transducer;
3, it is more accurate that the double check judgement of infrared proximity transducer and gray-scale sensor 5 makes robot have self-position True positioning has specific judgement to itself direction;
4, the present invention provides wushu challenge tournament robot, and compact-sized, steadily of centre of gravity is not easy to be thrown by other robot.
Refering to 5, in the present embodiment, chassis assembly 1 includes rear end chassis 11 and front end shovel board 12, and front end shovel board 12 passes through CDS5516 digital rudder controllers 8 are fixed on the front end on rear end chassis 11, the control output end of CDS5516 digital rudder controllers 8 and controller 6 Connection.
Divide chassis assembly 1 to two parts for flexible connection, it can be according to different road conditions, by front end shovel board 12 and peace Driving mechanism 7 in front end shovel board 12 lifts different angles, climbs or pass through obstacle to realize to stablize.
Moreover, after the front end shovel board 12 provided with patch ground, can prevent from being scooped up by enemy in head-on collision, and can be lighter Enemy is scooped up and is pushed ring by pine.
In order to further increase crashworthiness, also it is mounted with that baffle, baffle can stop enemy robot on wheel 72 Attack from ground, it is not easy to be scooped up.
Referring to Fig.2, in the present embodiment, first group of infrared proximity transducer 2 altogether there are four, respectively bottom is left front infrared It is red after infrared proximity transducer 22, the left back infrared proximity transducer 23 in bottom and bottom, right before proximity sensor 21, bottom, right Outer proximity sensor 24;After infrared proximity transducer 22 is separately mounted to before the left front infrared proximity transducer 21 in bottom and bottom, right The front end both sides for holding 11 bottom of chassis, infrared proximity transducer 24 is distinguished after the left back infrared proximity transducer 23 in bottom and bottom, right Rear end both sides mounted on 11 bottom of rear end chassis.
Infrared proximity transducer 22 is for before detecting robot side before the left front infrared proximity transducer 21 in bottom and bottom, right Square environment, two infrared proximity transducers are away from ground 4cm, and the front in the infrared emitting direction and rear end chassis 11 of the two To there are 85 degree of angles;This angle be collide occur when the two infrared proximity transducers are unaffected and the maximum that can rotate The case where angle, above-mentioned height and infrared emitting direction away from ground can be detected as early as possible in front of side;
Moreover, before the left front infrared proximity transducer 21 in bottom and bottom, right infrared proximity transducer 22 effective detection length For 25cm, when the left front infrared proximity transducer in bottom 21 detects the object for being close to robot, a wheel can be retreated 72 distance then, along impacting object, examine at a distance to the right of front end shovel board 12 when in farthest detecting distance 25cm by flicker When measuring object, robot can retreat the distance of a wheel 72 and then flicker is hit to the left margin of front end shovel board 12 Object.Therefore, can be made at object by the operation of robot after the left front infrared proximity transducer in bottom 21 detects object Be not in the case where passing each other so close that they almost rubbed each other in the front of front end shovel board 12.
The work of the left front infrared proximity transducer of the operation principle of infrared proximity transducer 22 and bottom 21 is former before bottom, right Manage identical, details are not described herein.
Infrared proximity transducer 24 is for detecting robot side after the left back infrared proximity transducer 23 in bottom and bottom, right Rear environment, two infrared proximity transducers away from ground 4cm, and the infrared emitting direction of the two and rear end chassis 11 just after There are 65 degree of angles in direction, and it is 15cm effectively to detect length;Doing so can detect that the dangerous of side rear exists and produce Raw erroneous judgement.
Refering to Fig. 3, in the present embodiment, infrared distance sensor 4 altogether there are two, respectively front end infrared distance sensor 41 and rear end infrared distance sensor 42, the two be separately mounted to the rear end on rear end chassis 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 immediately ahead of detection robot With dead astern environment.
The present invention provides wushu challenge tournament robot, there are two types of motion state, roaming state and spurt state, in roaming shape Under state, the speed of service is set as the half of spurt state.
Under roaming state, infrared proximity transducer 24 is examined after the left back infrared proximity transducer 23 in bottom and bottom, right When measuring danger, robot can full speed ahead and turn to, to make 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 pre-determined distance value, judgement robot rear is dangerous, and robot accelerates to turn at this time It escapes;
Under roaming state, infrared proximity transducer 22 is examined before the left front infrared proximity transducer 21 in bottom and bottom, right When measuring danger, robot is to detecting that dangerous direction rotates, to make front end shovel board 12 be right against danger;Then before inquiring The detected value of square infrared distance sensor 4 is determined as the firing area into robot if numerical value is less than a certain preset value, this When robot will lead off an attack.
There is enemy robot on whichever direction after being arranged so, robot provided by the invention can all detect simultaneously Take corresponding countermeasure.
Four infrared proximity transducers of first group of infrared proximity transducer 2 and two infrared distance sensors 4 are mutual Cooperation, it can be ensured that check frequency is not present around robot.
Refering to Fig. 4, second group of infrared proximity transducer 3 above chassis assembly 1 shares 6 infrared proximity sensings Device, infrared proximity transducer 32, top left side infrared proximity pass before infrared proximity transducer 31, top right respectively before top left 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), effect are detection ring edge;The infrared emitting direction of 6 infrared proximity transducers and level Face is in 45 degree of angles, and is tilted downwards, to the outside of chassis assembly 1, can be controlled by the difference of mounting height and detect edge When distance of the robot away from edge, at this time distance L of the robot far from ring edge be equal to the height that infrared proximity transducer is placed H。
The value that this 6 infrared proximity transducers return when driving in safety zone is 0, when some infrared proximity passes When the value that sensor returns becomes 1, judges that side is to side thus, while inquiring the detection data value of gray-scale sensor 5, judge robot Direction, then order robot to far from edge direction running.
In the present embodiment, first group of infrared proximity transducer 2 combined gravity as a whole, second group infrared connect It is the combined gravity as a whole of nearly sensor 3, multiple infrared distance sensors 4 combined gravity as a whole, more The center of gravity of the combined gravity as a whole of a gray-scale sensor 5 and controller 6 overlaps.
Specifically, multiple gray-scale sensors 5 and multiple driving mechanisms 7 are mounted on chassis assembly with central symmetry principle 1 bottom, installation site are drawn close under the premise of being independent of each other its normal work to centre, to being stayed at four angles under chassis 11 Go out space, on this space by first group of installation of infrared proximity transducer 2.
The final purpose of above-mentioned layout is, it is ensured that the combined gravity of each system overlaps, and the center of gravity is close to chassis 11 Center makes robot have stable center of gravity, more stablizes in confrontation, it is not easy to overturn.
In the present embodiment, there are four gray-scale sensor 5 is total to, respectively left side gray-scale sensor 51, right side gray scale sense Device 52, front gray-scale sensor 53 and rear gray-scale sensor 54;Four gray-scale sensors 5 are installed in rear end chassis 11 Bottom;Front gray-scale sensor 53 and rear gray-scale sensor 54 are located 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 distinguished Positioned at four apexes of a diamond shape.
It can be seen that four gray-scale sensors 5 are distributed in 11 lower section of chassis on the basis of four vertex of diamond shape, while in satisfaction Heart line symmetric relation.
Pass through formula ave=(ad[51]+ad[52]+ad[53]+ad[54])/4 calculate gray value, 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 ad[53]And ad[54]And the gray value ad&#91 of two gray-scale sensors 5 of robot or so;51]And ad[52], to judge machine The direction of people.
It is more acurrate that the double check judgement of infrared proximity transducer and gray-scale sensor 5 makes robot have self-position Positioning, to itself towards there is specific judgement.
In the present embodiment, driving mechanism 7 includes six servo motors 71 and the vehicle being adapted to one by one with servo motor 71 Wheel 72, driving mechanism 7 are also adapted to two multi-function motor debuggers 9, and installation meets center of gravity symmetry principle.
It is symmetrical that two multi-function motor debuggers 9 press center line on chassis 11, two multi-function motor debuggers 9 Mounted on the rear of chassis assembly 1;
Wherein four wheels 72 are separately mounted to four edges on rear end chassis 11, the installation of remaining other two wheel 72 The both sides of shovel board 12 in front end;The output end of servo motor 71 is drivingly connected with wheel 72, and the control output end of controller 6 passes through Multi-function motor debugger 9 is connect with servo motor 71.
In the present embodiment, controller 6 is MultiFLEXTM2-AVR controllers, MultiFLEXTM2-AVR controllers connect Mouth is placed on side to the rear on chassis 11 towards rear side, and switch protection module is vertically-mounted, with MultiFLEXTM6 bottom of 2-AVR controllers Face is closely coupled;The shaft of two CDS5516 digital rudder controllers 8 facing away from the side to the front on chassis 11 outwardly; There are spaces on CDS5516 digital rudder controllers 8, to place external replaceable power supply.Except power switch protection module and it is external can be more It changes outside the installation of power supply, the installation of other components is satisfied by symmetrical principle.
In the present embodiment, there are 2 degree of angles with vertical direction for wheel 72, that is, there is 2 degree of leaning angle;Compared to wheel 72 perpendicular to ground robot, the present invention provides wushu challenge tournament robot, and that is walked during straight-line travelling is more straight, is turning It is more stable quick during curved, the influence smaller that vehicle body is subject to when colliding.
Finally it should be noted that:The above embodiments are only used to illustrate the technical solution of the present invention., rather than its limitations;To the greatest extent Present invention has been described in detail with reference to the aforementioned embodiments for pipe, it will be understood by those of ordinary skill in the art that:Its according to So can with technical scheme described in the above embodiments is modified, either to which part or all technical features into Row equivalent replacement;And these modifications or replacements, various embodiments of the present invention technology that it does not separate the essence of the corresponding technical solution The range of scheme.

Claims (10)

1. a kind of wushu challenge tournament robot, including chassis assembly, at least two infrared distance sensors, multiple gray scales sensing Device, driving mechanism and controller, which is characterized in that further include:First group of infrared proximity transducer and second group of infrared proximity Sensor;
First group of infrared proximity transducer and multiple gray-scale sensors are installed in the bottom of chassis assembly, and first group red Outer proximity sensor and multiple gray-scale sensors are respectively positioned on the inside at chassis assembly edge;
Second group of infrared proximity transducer is mounted on the top of chassis assembly;
The infrared distance sensor is separately fixed at the bottom of chassis assembly, and multiple infrared distance sensors are symmetrically distributed in The front-end and back-end of chassis assembly;
The controller is fixedly connected with chassis assembly;The control signal of the controller is passed 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 the controller Output end is electrically connected with driving mechanism, and the driving mechanism is mounted on the bottom of chassis assembly.
2. wushu challenge tournament according to claim 1 robot, which is characterized in that the chassis assembly includes rear end chassis With front end shovel board, the front end shovel board is fixed on the front end on rear end chassis, the digital rudder controller and controller by digital rudder controller Control output end connection.
3. wushu challenge tournament according to claim 2 robot, which is characterized in that first group of infrared proximity transducer There are four altogether, four infrared proximity transducers are installed in the bottom on rear end chassis and are located at four corners on rear end chassis Place, four infrared proximity transducers are 4cm away from ground;
Effective detection length positioned at two infrared proximity transducers of rear end chassis front end is 25cm, and the infrared proximity senses The infrared emitting direction of device is with the front on rear end chassis to there are 85 degree of angles;
Effective detection length positioned at two infrared proximity transducers of the rear end extreme end of chassis is 15cm, and the infrared proximity senses The infrared emitting direction of device is with the dead astern on rear end chassis to there are 65 degree of angles;
The infrared emitting direction of infrared proximity transducer in second group of infrared proximity transducer is horizontal by 45 degree Angle, and tilt downwards, to the outside of chassis assembly.
4. wushu challenge tournament according to claim 2 robot, which is characterized in that first group of infrared proximity transducer Combined gravity as a whole, second group of infrared proximity transducer combined gravity as a whole, multiple infrared surveys Combined gravity, the combined gravity and controller of multiple gray-scale sensors as a whole away from sensor as a whole Center of gravity overlap.
5. wushu challenge tournament according to claim 4 robot, which is characterized in that the infrared distance sensor shares two It is a, it is separately mounted to the rear end on rear end chassis and the front end of front end shovel board;And the detection direction of the infrared distance sensor For level.
6. wushu challenge tournament according to claim 4 robot, which is characterized in that there are four the gray-scale sensor is total, Four gray-scale sensors are installed in the bottom on rear end chassis;Two of which gray-scale sensor is located 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 are located at one Four apexes of diamond shape.
7. wushu challenge tournament according to claim 4 robot, which is characterized in that first group of infrared proximity transducer There are four altogether, four infrared proximity transducers are installed in the bottom on rear end chassis;And it is located at four sides on rear end chassis At angle.
8. wushu challenge tournament according to claim 7 robot, which is characterized in that second group of infrared proximity transducer There are six altogether, two of which infrared proximity transducer is mounted on the one end of rear end chassis far from front end shovel board, other two is infrared Proximity sensor is mounted on the middle part on rear end chassis, and other two infrared proximity transducer is mounted in the shovel board of front end.
9. wushu challenge tournament according to claim 4 robot, which is characterized in that the driving mechanism includes six servos Motor and the wheel being adapted to one by one with servo motor;Wherein four wheels are separately mounted to four edges on rear end chassis, Remaining other two wheel is mounted on the both sides of front end shovel board;The output end of the servo motor is drivingly connected with wheel, described The control output end of controller is connect by two multi-function motor debuggers with servo motor.
10. wushu challenge tournament according to claim 9 robot, which is characterized in that there are 2 degree of introversions for the wheel Angle;Baffle is installed on the wheel.
CN201610808282.7A 2016-09-07 2016-09-07 Wushu challenge tournament robot Active CN106310665B (en)

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Application Number Priority Date Filing Date Title
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
CN201610808282.7A CN106310665B (en) 2016-09-07 2016-09-07 Wushu challenge tournament robot

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CN106310665A CN106310665A (en) 2017-01-11
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CN106965185B (en) * 2017-05-17 2020-03-10 许昌学院 Anti-falling control method for martial art arena competition robot
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
CN110815246B (en) * 2019-11-19 2021-01-15 重庆工程职业技术学院 Robot for martial art arena contest

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