CN107685788A - A kind of Soccer robot - Google Patents
A kind of Soccer robot Download PDFInfo
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- CN107685788A CN107685788A CN201710797577.3A CN201710797577A CN107685788A CN 107685788 A CN107685788 A CN 107685788A CN 201710797577 A CN201710797577 A CN 201710797577A CN 107685788 A CN107685788 A CN 107685788A
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Abstract
The present invention relates to a kind of Soccer robot, and it includes induction system, control system and walking mechanism, and the induction system gathers signal and sends the control system to, and the control system sends control signal and controls the walking mechanism, and the walking mechanism includes：First impact platform, the 3rd impact platform and the driving robot center of gravity tilting gearing, robot movable is flexible, and actuating speed is fast, optimization impact platform design, more motor linkages controls, it is possible to achieve dribbling for a long time is moved, acted blindly, fast reaction etc..
Description
Technical field
Patent of the present invention is related to a kind of Soccer robot, especially realizes the football acted blindly and have excellent antagonism
The turning joint of robot and with lower part.
Background technology
Present Attitude is specialized, intelligentized Soccer robot has emerged, and in world's Soccer robot contest
It is employed, the match of this Soccer robot, such as the international robot combined meetings of FIRA and ROBOTCUP worlds robot soccer
World Cup Competition, with very strong ornamental and interesting, receive liking for the people of the world, especially mechanical engineer, electronics
Engineer's, even Software Engineer has deep love for.The robot of this confrontation football match is participated in, to there is flexible motion
The brain and strong intelligent controlling device of joint and commander's motion.Present robot, mostly it is that apish motion is closed
Save to manufacture, but this theory relative maturity, but be intended to make robot specific between football control and multiple and its people
Coordinate and coordinate, it appears it is very clumsy, because robot is in itself without too many perception, and no flexible mechanical movement
The motion control of ability, especially joint will could be realized along with a series of commander.
In the robot soccer World Cup Competition of the ROBOTCUP worlds, everyone controls a robot, by remote control or
Person's smart handle realizes control of the robot to football, realizes that the football between troop coordinates, this process is still people's
Intellection and limb action are participated in robot soccer contest, are a kind of play sport of people, are like according to football
Rule match toy car, sight are not big enough.In addition, during Soccer robot is controlled, it will usually have allow robot it
Between produce the conflict of collision, this requires robot to have very high flexibility and anti-impact force, the reaction speed being even exceedingly fast
Degree.And in the robot soccer competition after existing upgrading, it is desirable to the complete intelligent control of robot, it is not necessary to which people is as football
The player of robot participates in robot soccer competition, and this is to robot high-speed mobile and the other machines being accurately positioned on court
People etc. proposes very high requirement.Therefore a kind of joint for the Soccer robot for being capable of flexible automatic control is needed, can be at it
In the case that his detection signal provides instruction, Soccer robot is driven according to control using the stepper motor of the sensitive rotation of high speed
Realize the match of Soccer robot.
A kind of apery Soccer robot leg mechanism of connection in series-parallel mixing is disclosed in the prior art, including is hinged successively
Hip joint, two thick links, knee joint, two shank links, ankle-joint and sole, at left and right sides of the bottom of shank link
Ankle-joint driver element, the rotation axis coincident of two ankle-joint driver elements are installed with, its back passes through the first ankle
Joint fastening block and the second ankle-joint fastening block are connected, and pass through bearing phase between the back rotating shaft of two ankle-joint driver elements
Even, etc. mechanical structure, solve the problems, such as that prior art leg mechanism inertia is excessive, rigidity is insufficient；But this robot
Structure Shortcomings still in intelligent and flexibility, can not adapt to the match of modern soccer robot.Further, prior art
In if application publication number is that the U of CN 205022730 are disclosed the leg shape structure-improved of anthropomorphic robot a kind of, mainly by humanoid
The both sides leg shape framework of tool people undercarriage tool composition, is mutually assembled according to parallel bar, and wherein stage casing junction, which sets to fix with electromechanical locks, determines
Position, a knee joint shape is formed, coordinate parallel rod upper end and link bottom with sole, done respectively with servomotor motor not coaxial
To the control that turns link, the bent arc for forming similar leg turns control operation, by the assembling of parallel rod, when making robot frame support positioning
The output of motor, Labor-saving safety can be received and consolidate certain humanoid safety operation control purpose.But this supporting structure, stability
Good flexibility deficiency,
There is very big limitation to the speed of travel of robot.And leg inertia is too big, it is unfavorable for long-time walking situation.
Under prolonged walking, the problem of inertia too conference causes robot energy loss too high, occurs.
In another patent document, a kind of apery with double spherical hip joint mechanisms and 7 freedom legs is disclosed
Robot lower limb structure, wherein 3 frees degree of hip joint, 3 frees degree of ankle-joint, 1 free degree of knee joint, hip joint use
Double spherical mechanism, i.e. six rotary shafts are met at a bit, so when knee joint and ankle-joint are failure to actuate, make apery type machine
People realizes waist function in the case where not increasing joint, and the machine in above chapter patent document is compared in the flexibility of this robot
Device people's flexibility greatly improves, but the increase of the free degree so that the control of the leg of anthropomorphic robot needs more chip meters
The mode and more sensors for calculating position operation carry out control machine people, and manipulation instruction is extremely complex.It is public in the prior art
Another robot leg mechanism opened, including pedestal and motion platform, pedestal are connected by transmission mechanism with motion platform；Transmission
Mechanism includes being fixed on the motor on pedestal and the moving cell with motor connection；Moving cell includes that robot leg mechanism can be made
First moving cell of swing backward and make the second moving cell that motion platform is pushed or above carried；First moving cell includes one
Top is fixed on the support bar on pedestal, determines with first the first screw body of motor connection and one and motion platform is hinged first
Stock；First connecting-rods with constant lengh includes straight bar part and outwardly convex portion, and support bar is hinged with straight bar part, first
Linkage is hinged with convex portion；Second unit includes being hinged with the second screw body of the second motor connection and with motion platform
The second connecting-rods with constant lengh, the second screw body is hinged with the second connecting-rods with constant lengh；The benefit that this robot is used for football match is structure
Simply, the advantages of bearing capacity is strong, small volume, and processing and assembly process process are good, occupies the advantages of certain in confrontation, due to
The leg of this robot does not have knee joint, and exercise performance is dumb, and seem unusual clumsiness in control process, is not suitable with existing
Some football dual meets.
In the prior art, a kind of machine based on ant group algorithm is disclosed in Chinese patent 2014102998879
People's football dynamic decision devices and methods therefor, superiority and ant group algorithm based on mankind's football strategy theory are in dynamic environment
Find the high efficiency of optimal path, it is proposed that a kind of robot soccer dynamic decision devices and methods therefor based on ant group algorithm,
By the way that competition field situation and state carried out into analysis refinement, and using robot tactical mission effect as feedback, with decision-making, assessment,
The mode of decision-making again, the strategy of most suitable current situation is made, is advantageous to improve the specific aim and validity of one's own side's tactics strategy,
With certain dynamic self-adapting ability；A kind of robot soccer dynamic decision device based on ant group algorithm is disclosed, including
Following module：Information monitoring and extraction module, Situation Assessment module, action decision-making module and recruitment evaluation and feedback
Module, information monitoring are used to complete the extraction to court information, court information of the Situation Assessment module to extraction with extraction module
Data process＆analysis is carried out, makes total evaluation to court situation, assessment result is divided into offensive, compared with offensive, equilibrium, relatively keep
Gesture, defensive and crisis, assessment result of the decision-making module based on Situation Assessment module is acted, in limited robot car action group
In, action decision-making is carried out with certain probability, chooses the action scheme of next progress.
The present invention is the structure of the leg of apish flexible joint, and joint is controlled using stepper motor or controlled motor
Activity, under corresponding activity ratio, the advance and retreat of the paces of strict control machine people, the control of this motor is built upon accordingly
Control structure and computing mode under realize, can so ensure that Soccer robot is flexibly moved and hidden in confrontation
Impact, and the sensor on head produces preferable space judgement so as to obtain good visual effect, and football chases after
Track ability, can be in simple structure, lower completion intelligent control, or even produces information sharing between other Soccer robots, complete
Into the cooperation of team, and this robot uses new structure design, and easy to manufacture, cost is not high.
The content of the invention
It is an object of the invention to provide a kind of simple in construction, easy to manufacture, flexible motion, cost is not high, simple to operate
Robot architecture, coordinated using the installation between good joint designs and stepper motor, and motor control, information gathering
With excellent computerized algorithm etc., it is difficult to overcome operation in the prior art, and its people is dumb, it is impossible to precisely control in operation
System, complete dribbling and run, hide the effects such as opponent's impact.
Soccer robot includes induction system, control system and walking mechanism, and the induction system gathers signal and transmitted
To the control system, the control system sends control signal and controls the walking mechanism, it is characterised in that the vehicle with walking machine
Structure is knee and its included with lower portion, the walking mechanism：First impact platform, the 3rd impact platform and the driving machine
People's center of gravity tilting gearing, there are the foot parts for being provided with multi-motor synchronous control under the first impact platform.
For patent of the present invention compared with similar intelligent robot, patent of the present invention employs the knee joint for having imitated mankind's activity
And one roller of dual drive mode activated is used with lower component, actuating speed is fast, and robot movable is flexible, is swift in response；Optimization
Impact platform designs, it is possible to achieve dribbling motion for a long time；Design of acting blindly is employed, reaction is flexible；Employ vision system with
Pressure capsule system monitors simultaneously, and sets monitoring to have selected priority signal according to the distance between football and robot and set
Mode, realize and act blindly with automatically controlling；Good circuit for controlling motor is employed, more motor linkage controls can be realized,
Realize fast reaction of Soccer robot, etc..
Brief description of the drawings
Fig. 1 is a kind of Soccer robot of the prior art.Fig. 2 is the knee and knee of the Soccer robot of patent of the present invention
The following modular construction schematic diagram in portion.Fig. 3, Fig. 4 are Soccer robot knee and the part of shank rotatable parts of patent of the present invention
Diagrammatic cross-section.Fig. 5 is Soccer robot partial schematic diagram.Fig. 6 is Soccer Robot Control Circuit schematic diagram of the present invention.Fig. 7
It is Soccer robot of the present invention to vision system mirror image schematic diagram.Fig. 8 is the visual spatial attention system of Soccer robot of the present invention
System frame diagram.Fig. 9 is the network schematic diagram of the control system of Soccer robot of the present invention.Figure 10 is Soccer robot of the present invention
Vision system and control principle drawing.Figure 11 is the circuit for controlling motor schematic diagram of Soccer robot of the present invention.
Embodiment
Fig. 1 is a kind of Wheeled Soccer Robot of the prior art, and Soccer robot is included between upper plate and lower plate
Motion motor mechanism, the flat fire mechanism being fixed in lower plate and inhale ball machine structure, be fixed on upper plate, choosing among upper plate
Mechanism is penetrated, upper plate be arranged in parallel with lower plate, couples by cylindrical support, and flip shot mechanism includes being fixed on the flip shot pull bar of upper plate
Component and the flip shot shovel component for being fixed on lower plate, flip shot rod assembly are flexibly connected by flip shot balladeur train with flip shot shovel component, put down
The shuttle batting mouth formed in flip shot shovel component or shuttle of flat fire scoop for penetrating mechanism is configured in suction ball machine
Ball suction mouth.Motor is connected by reduction box with omni-directional wheel passes to omni-directional wheel motion, so that omni-directional wheel can be transported smoothly
Turn；The present invention provides the Soccer robot of a kind of small volume and perfect in shape and function, and Omni-mobile can be achieved, and inhales ball, flat fire, flip shot etc.
Action, and integrated level is higher, compact-sized, effective utilization space.The shortcomings that this robot is that function is excessive, central processing
Device can not separate computations, and sensor sensing is not sensitive enough, the cooperation such as sensor and motor it is corresponding not fast enough, can not be in foot
Faster realize is scored in ball match.
The present invention is a kind of Soccer robot, including induction system, control system, walking mechanism, walking mechanism master
To include having imitated the knee of mankind's activity and its with lower portion, as shown in Fig. 2 the knee and knee of the present invention be with lower component,
Specifically include, soft shell 123, the first impact platform 1, drive component 2 (including 21,22,23), worm screw (including are arrived from above
Under three scroll bars (bottom worm screw 120, top worm screw 121, middle worm screw 123), the second workbench 4, (including the whirlpool of turbine 5
Wheel 51,52), the 3rd impact platform 6, the first workbench 7.Part between first impact platform 1 and the 3rd impact platform 6
(worm gear, worm screw, drive component, the first workbench, second workbench etc.) composition robot center of gravity tilting gearing, accelerates
Robot quickly starts.
It is embodied in robot, a pair of 1 font upper support arm (first pair of upper supports is fixed with the first impact platform 1
Arm), this is provided with the first worm screw to being provided with the first T-shaped support frame between upper support arm on first support frame
120, the first worm screw 120 connection bottom drive component 23, bottom drive component 23 drives the rotation of the first worm screw, the first worm screw 120
The first worm gear 52 is driven to rotate.First worm gear 52 drives the first worm-wheel shaft 32 to rotate, and the is installed with the first turbine wheel shaft 32
1 font first of the second workbench 4 of one worm gear 52 and support is to lower support arm, and the second workbench 4 is with first lower
Brace rotation and left-right rotation, realize that robot rolls.
Middle part worm screw 122 is driven by drive component 22, and middle part worm screw 122 is arranged on the second support frame of inverted T-shape shape
On, second support frame is fixedly mounted on the second workbench 4, is provided with a pair 1 fonts the on the second workbench 4 simultaneously
Two support arms (non-label, figure in have shown that), cross is arranged at second support arm each other with the second T-shaped support frame
On second workbench, wherein the height of 1 the second support frame of font is higher than the support arm of T fonts second.Assembled on 1 font support frame
There is the second worm-wheel shaft 31, second turbine wheel shaft rotates on 1 font support frame drives double-arm the of the first workbench 7 of support
Two pairs of lower support arms rotate, forward lean or layback with mobile robot.
The both ends of top worm screw 121 are fixed on the L-type support of bearing 30 by bearing, and top worm screw 121 being capable of relative branch
Frame rotates clockwise or counterclockwise, and its middle and upper part worm screw 121 is connected to bearing branch in one end away from top drive component 21
Frame 30, the top of the support of bearing 30 connect the 3rd impact platform 6, and the bottom of the support of bearing 30 connects the first workbench 7, top worm screw
The second worm gear 51 is driven to rotate by bevel planet gear structure (not shown) between 121 and worm gear 5, for quick response,
Its middle and upper part worm screw 121 and middle part worm screw 122 can drive worm gear 51 to rotate simultaneously, ensure promptness and the accuracy rotated.
The rotation of wherein the second worm gear 51 clockwise and anticlockwise can drive the second turbine wheel shaft 31 to rotate, two on the second turbine wheel shaft
Double-arm support arm supports the first workbench 7, and the second worm gear wheel side is to tackling the front and back of robot, and ensures
One of important measures that robot quickly moves forward, moves afterwards.
Drive component 21,22,23 includes, motor, motor rack and motor control assembly, can be achieved around X, Y, Z tri-
The rotary motion of individual axle；The signal of wherein motor control assembly is signal (vision system signal and the sensing according to induction system
Device signal) it is controlled, the content of specific control mode carries out independent description below.Central processing unit is in visual response system
In the case of not issuing an order, the order of driving foot movement is made, the order sends the rotating wheel of foot to, allows it to make
Corresponding motion, specific mode of operation illustrate in the drive circuit below.
First impact platform 1 and the 3rd impact platform 6 are rounded square, are fitted with pressure sensing in each direction
Device, the sensor 111 on the first impact platform 1, the sensor 311 on the 3rd impact platform 6 are pressure sensor, these pressures
Force snesor can be common sensing electronics.The number of sensor is set generally according to the size of impact platform, and
Central processing unit is to the numbering of sensor, Data processing reference as computer programming of this numbering in central processing unit
Value.Pressure sensor 111,311 can perceive the strength and direction when football hits, wherein strength and direction by shock
Judge football hit after the direction of motion.
When football strikes the first impact platform, three impact platforms during exercise, it may occur that elastic deformation, wherein
The process reaction of deformation goes out the size of stress, and football hits initial stage, is compressive deformation, and its movement velocity gradually subtracts during being somebody's turn to do
Small, after speed is reduced to 0, deformation that football expands gradually recovers spherical, football does the fortune of opposite direction in the deformation
Dynamic, the speed of the bigger ejection of deformation is faster.The deformation process of football is taken full advantage of in the present invention, is reached most in pressure sensor
When big pressure, according to pressure direction, central processing unit driving robot motion, this mode make it that the motion of robot will
Just moved earlier than visually seeing after football changes, therefore this robot can only rely on the robot of visual movement than other
Reaction speed it is sensitiveer, fully imitated inspired football player.
Shell 123 is flexible pleat material, is connected between the first impact platform 1 and the 3rd impact platform 6.Shell 123
All device features between the first impact platform 1 and the 3rd impact platform 6 are coated so that knee rotatable parts are in rotation
Not hit by football is influenceed, and ensure that the action such as fall down to the ground of other Soccer robots is placed in football have impact on,
For the activity between the first impact platform 1 and the 3rd impact platform 6, safety protection function is served.Especially, flexible material can
To prevent from wherein controlling the circuit of driving part to be knocked, the failure such as signal errors or short circuit is produced, overcomes common football
Robot in confrontation of robot meets with the situation of unexpected failure after shock.
First impact platform 1 is the square of fillet, and the angle of positive direction is that the radian of fillet is very with cambered fillet
It is small, for the ease of control, sensor is no longer set at fillet.3rd impact platform 6 is also the square of fillet, the angle of positive direction
With cambered fillet, the radian very little of fillet, for the ease of control, sensor no longer to be set at fillet.Due to arc
The width of the fillet of degree is maximum, is shown in experimental data, the probability and football that the cambered fillet of this band hits with opponent
The ratio of hit probability substantially 11:1；In Computer Simulation, or even the shock between Soccer robot in some experiments
It is far to have exceeded the probability hit with football, due to bigger among the setting generally of other footballs machine people, therefore
The probability that 3rd impact platform 6 hits other Soccer robots hits the general of other Soccer robots more than the first impact platform 1
Rate.First impact platform 1 of approximating square or the 3rd impact platform 6, ensure that in the confrontation of football match, can make
Other footballs machine people is hit with the 3rd impact platform 6, uses the more shock football of the first impact platform；Therefore the
The area of three impact platforms 6 will be slightly larger than the area of the first impact platform 1.In countermeasures simulation experiment, the football of above-mentioned design
Robot, it can preferably meet football confrontation and score.
In the present invention, in another embodiment, the thickness of the 3rd impact platform 6 is designed as it is thicker than the first impact platform 1,
About 2 times of the first impact platform thickness.The size of the upper surface of first impact platform 1 and the 3rd impact platform 6 omits
There is difference, the length of side of the periphery of the first impact platform 6 is merely greater than 1 peripheral 2-5 centimetres of the length of side of the 3rd impact platform；Between the two not
Different with only in the thickness also in striking face, other aspects are all identicals.First impact platform 1 and the 3rd impact platform 6 it
Between distance be less than the diameter of football, provide that the size of robot is less than 18 centimetres for diameter in small-sized group of laws of the game, height
Less than 15 centimetres, football is prevented to be stuck between the two, and the position for ensuring to hit football is in the first impact platform 1 or the 3rd
Impact platform 6.The area of second platform 4 is less than the area of the first impact platform 1 or the 3rd impact platform 6, and football is bouncing
Or the second platform will not be struck in air walk.This design ensure that football only hits the first impact platform 1, Huo Zhetong
When hit the first impact platform 1 and the 3rd impact platform 6, or only hit the 3rd impact platform 6.
When hitting the first impact platform 1 and the 3rd impact platform 6 simultaneously, because the area of the 3rd impact platform 6 is more than
The area of first impact platform, football can the impact platform 6 of preferential contact the 3rd under most probability so that the direction of motion of football is
Forward downward moves, and is advantageous to robot control football and advances；Realize the situation of robot dribbling motion.Before this design is
The function that does not have of Soccer robot.
Fig. 2 is the general configuration schematic diagram that Soccer robot bottom is overall in another embodiment of the present invention.In other reality
To apply in example, there is aggressive robot for some, the shell 123 of knee rotatable parts is the shell of two sections of stainless steel,
Ensure not bad by card in confrontation, this leg for causing the leg of robot more like people that designs.Figure 2 illustrates this knot
Structure.In Fig. 2, it is approximate rectangular also by foot of robot part design, is the outside that protective cover has been placed on to roller, in machine
It is still roller close to the inner portion in people's motion to move, this design causes robot more like the mankind.Robot foot parts
Structure illustrates below.
Knee rotatable parts of the present invention employ turbine and worm drive system, and the knee rotatable parts utilize turbine and worm
It is big, compact-sized to be driven single staged transmission ratio, it is stable drive, noiseless, there is auto-lock function, greatly improve space utilization
Rate, mechanism quality is reduced, so as to reach the purpose for reducing drive device burden.
First impact platform 1 of Soccer robot is mounted below robot foot parts, is driving robot ambulation
Major part, the part include the parts such as roller 101, stepper motor 103, universal joint 104, protective cover 102.Foot of robot
Part carries four rolling 101, when being separately positioned on below the first impact platform 1, and looked at straight from above, does not expose
First impact platform 1, figure 2 illustrates three.It is, in football, it is ensured that do not have football and strike roller.
Being driven above each roller 101 by stepper motor 103, universal joint 104 connects the impact platform 1 of stepper motor 103 and first,
Four rolling is designed on four angles of the first impact platform 1, under the driving of stepper motor 103, can drive roller simultaneously
101 rotate (roller is omni-directional wheel), drive Soccer robot to move toward the direction, and this Soccer robot is typically logical
Cross and hit football during exercise, or football is hit in other Soccer robots so that after football, strike the first shock
On the impact platform 6 of platform 1 or the 3rd so that football.Because current Soccer robot hits the dynamics of football not
Greatly, the size of football is more much smaller than in general football and in robot soccer game, so most of football activity can strike
First impact platform 1.Protective cover 102 is arranged on the side of universal joint 104, for protecting universal joint 104, stepper motor 103,
And house portions roller 101.In a preferred embodiment, can be arranged on selected section visual response system in protective cover,
The direction of motion of visual response systematic observation football, directly makes drive command to stepper motor 103.In this patent, it is central
Processor is in the signal that visual response system provides, and when football is not in court and in net, central processing unit is given
The signal gone out is exactly that Soccer robot abuts football, allows football constantly to advance under the shock of robot to the net of other side.
It is exactly to imitate the activity of football player's dribbling, these activities are made by the instruction of central processing unit to complete.It is therein
Stepper motor can be replaced with the more preferable brshless DC motor of control performance, but this replacing can be obviously improved cost.
In another embodiment, the first impact platform 1, the 3rd impact platform 6 are the high materials of the light intensity of quality, and protective cover is
The high alloy material of intensity, such as aluminium alloy；Roller uses omni-directional wheel, Soccer robot can be made to keep itself in motion process
Posture is constant, and roller is provided with anticollision block, can effectively prevent omni-directional wheel from failing and deforming caused by collision in confrontation.
In an alternative embodiment of the invention, the height h of foot parts1It is slightly lower than football height h2(√ 5-1)/2
Times, it is being superimposed with the thickness h of the first impact platform 13Half when, i.e. the centre distance ground of the first impact platform 1
Height H=h1+h3/ 2=(√ 5-1) h2/ 2, when the first impact platform of football percussion 1, the center of gravity of football is in foot parts
Below, so that the Impact direction of football can cause football always certainly in ground, this robot diagonally downward
Near oneself, without away from Soccer robot, when the running speed of Soccer robot is set, according to the stress of football and
The coefficient of elasticity of football, can be in the experiment of Computer Simulation by founding mathematical models, can be clear and definite by sensor
Determine the speed and angle of leaving the first impact platform 1 of football, the solution of this mathematical modeling, checking, analyze again, change vacation
And if because parameter is fewer in the iteration of solution, data are with respect to determination.
In the football match of simulation, football hits the first impact platform 1, or hit simultaneously the first impact platform 1 with
3rd impact platform 6, or the probability of only the 3rd impact platform 6 of shock are substantially stablized:27：2:1.This statistics it is general
Rate, make preferential specific motor for central processing unit and give selection, as long as therefore the first impact platform 1 of football shock just
Variety of priority driven stepper motor 103, rather than other transmission mechanisms, ensure that the motion of Soccer robot and football is synchronous.If
The judgement made is wrong, then the football position provided according to visual sensing system, is made adjustment.
Fig. 3, Fig. 4 are the partial cutaway schematic view of knee and shank rotatable parts, robot knee of the invention and shank
Rotatable parts have imitated the mode of mankind's activity, employ the gear mechanism of multistage, and here is for the present invention in emulation experiment
Modeling, following modeling is advantageous to understand the present invention.Rotatable parts are respectively θ in motion input quantity1, θ2And θ3, output quantity is
ψ1, ψ2And ψ3, the motion input quantity of the rotation of its middle and upper part worm screw 121 is respectively θ1, driving lower cone pinion rotation drive worm gear
51 rotations, the support arm being fixed on the second turbine wheel shaft rotate with axle, output quantity ψ1, this input quantity is to drive accordingly
What motor provided, and exporting is provided for the change of turbine 51 following corresponding to top worm screw 121, this structure is corresponding
The gear structure of the Tu2Zhong the superiors.Same structure causes the motion input component θ of middle part worm screw 1222Corresponding turbine 51
The output quantity of second worm-wheel shaft is ψ2；The corresponding input quantity of bottom worm gear 120 is θ3The output quantity of corresponding turbine is ψ3.These are right
The change that should be measured is by specific differential equations, is realized in the formula that substantial amounts of experimental data Imitating calculates.Knee
And shank rotatable parts drive path is as follows：Move input quantity θ1The spur gear z of knee rotatable parts is implemented separately1Around support axle
The rotation ψ of line1, motion input quantity θ2Pass through worm movement amount L2The spur gear motion z of drive2Z is moved with spur gear1, turbine fortune
Dynamic z5Pass motion to bevel planet gear motion z6；Input quantity θ3Pass through worm movement L3The spur gear motion z of drive3With it is straight
Gear movement z2, turbines into motion z10Pass motion to bevel planet gear motion z11Transmission turbine will be moved and given the differential of composition
Mechanism, realize the rotation ψ of knee rotatable parts2And ψ3, make two output campaigns gone down on one's knees.Fig. 5 is that Soccer robot part shows
It is intended to.The movement relation formula of the foundation of laboratory simulations formula based on this structure, input quantity and output quantity：
ψ1=θ1……(3.111)
ψ2=1/2 (θ2-θ1)z1 z2 z5 z6/L2……(3.112)
ψ3=1/2 [(θ3-θ2)z3 z2 z10 z11/L3-1/4(θ2-θ1)z1 z2 z5 z6/L2] ……(3.113)
The Matrix Formula of this robot leg conversion is：R=R [ψ1(θ1),ψ2(θ2),ψ3(θ3)] below emulated in laboratory
A part of data calculated, for understanding robot motion.Computer corresponds to general velocityLimiting solution Fθ1For
Computer corresponds to general velocityLimiting solution Fθ2For
Computer corresponds to general velocityLimiting solution Fθ3For
Then, calculate and correspond to general velocityGeneral inertial forceGiven data is substituted into according to (4-11)
Calculate to obtain general velocity
Caused General inertial forceFor
Calculating corresponds to general velocityLimiting solutionFor：
Calculating corresponds to general velocityLimiting solutionFor：
The Limiting solution F that will be tried to achieveθ1~Fθ3And General inertial forceSubstitution formula (4-13) can obtain machine
The kinetics equation of people：
Solve (4-13) and obtain the driving moment in joint and be：
Required according to the real work of Soccer robot, set the maximum angular acceleration of knee joint 1~3 asMaximum angular rate isCan be with Solidworks softwares
It is automatic to calculate connecting rod L1~L3Inertial parameter shown in, by above-mentioned given value substitution (4-14) each joint is obtained by numerical simulation
Driving moment τ1~τ3.With software emulation obtain the driving moment in each joint simultaneously, it was found that Numerical Simulation Results and
Software emulation result no significant difference, illustrate that the kinetics equation that this section is established is correct.
Act blindly design
The present invention's has used conventional mathematical modeling soft SA S during modeling, under this software not multiple
It is achieved that also using MATLAB softwares to realize in experiment, the data analysis of this implementation does not have under miscellaneous programming
Have that SAS data analysis is simple, both experiment effects because the setting of this robot is more excellent, rob by Soccer robot
Disconnected and dribbling effect is all better than other robot.While hitting, the portion of foot of central processing unit can robot command
The quick response of stepper motor 103 of part, gives one signal of communication every time, allow stepper motor 103 rotate two weeks or more,
Roller is driven to rotate at least one week, mobile robot, this to act blindly in advance, i.e., no longer under the instruction of visual response system, only
Robot motion is just adjusted by the sensing of sensor so that machine person's development is faster than nearly half of the body of common Soccer robot
Position, it is ensured that in dribbling is moved, the long-term control to football can be kept.The design of acting blindly of robot, the performance present invention
Another inventive point on, visual signal that signal priority that pressure sensor is given gathers in visual response system.If
Pressure comes from football, what the track of this and then motion of football will be appreciated that, and is easily realized by software programming
's.But during the first impact platform 1 and the 3rd impact platform collide simultaneously, then set on the first impact platform 1
Sensor signal is prior to the sensor signal on the 3rd impact platform, the preferential signal for performing the first simulation platform, stepping electricity
Direction serpentine locomotion of the machine driving tube wheel towards football.Only it is that the 3rd impact platform strikes other robot, then according to vision
The football position provided in induction system, the signal provided prior to performing visual response system.The judgement of this signal is base
In the target using football as rank at first, football is pursued, dribbling, football is hit, avoids the design of other barriers, maximum journey
The satisfaction of degree is controlled ball for a long time, rather than tangling between other Soccer robots.
Fig. 6 is Soccer Robot Control Circuit schematic diagram of the present invention.The figure clearly describes the knee of Soccer robot
Control principle and process below portion.The visual signal provided in visual response system depending on recoil simulator sends Soccer robot to
Central processing unit (CPU), central processing unit preferentially according to pressure capsule system provide pressure signal make driving knee joint
The instruction of motion, in embodiment, if after the impact platform of Soccer robot first receives anterior pressure sensor stress, pressure passes
Sensor sends electric signal to central processing unit, and central processing unit sends the signal to travel forward to top drive component, and top is driven
The clockwise movement of motor 411 in dynamic component, drives the second worm gear wheel, the effect for causing robot upper body to turn forward；Meanwhile
Visual response system judges distance of the football apart from robot in a football distance, the pressure that as football is brought；Depending on
Feel that induction system sends the first signal to central processing unit, driving middle part driving group is made according to the first signal central processing unit
First drive signal of motor in part, middle part drive component is set also to drive the second worm gear, Soccer robot leans forward rapidly, before center of gravity
Move, above barrier can be collided in time and follow football to travel forward；Central processing unit passes according to the first signal and pressure
Sensor signal, drive signal is sent to driving robot foot parts 401,402,403,404, starts stepper motor, stepper motor
Roller is driven to rotate, robot moves forward.
The present invention realizes the multi_motor control of variable-frequency governor using PLC, and specific control mode is specially situated between later
Continue.During driving, after the impact platform of Soccer robot first receives anterior pressure sensor stress, pressure sensor is sent
For electric signal to central processing unit, central processing unit sends the signal to travel forward to top drive component, in the drive component of top
The clockwise movement of motor 411, drive the second worm gear wheel, the effect for causing robot upper body to turn forward, this effect is in machine
It is also beneficial to keep balance in device people confrontation, is not knocked down；If visual response system judge football apart from robot away from
It is pressure caused by other impacts, it may be possible to the collision with other Soccer robots more than with a distance from two footballs；Vision
Induction system sends secondary signal to central processing unit, and driving middle part drive component is made according to the secondary signal central processing unit
Second drive signal of middle motor, make middle part drive component drive the second worm gear to be transferred to opposite direction, while stop top driving
The motor movement of part, Soccer robot stop leaning forward rapidly, are moved after center of gravity, keep robot center of gravity perpendicular to the ground；Centre
Device is managed according to secondary signal and pressure sensor signal, does not make driving robot foot parts 401,402,403,404 temporarily
Drive signal, stepper motor stops, and roller stops operating, and robot keeps as you were.
During driving, the first impact platform, the 3rd impact platform of Soccer robot do not have pressure signal input, depending on
Feel that induction system judges distance of the football apart from robot more than two football distances, central processing unit is according to visual response
The signal (secondary signal) that system provides, sends the 3rd drive signal to middle part drive component or bottom drive component, causes
Robot knee above body tilts to football position direction or football direction；Meanwhile central processing unit is to machine
Device people foot parts 401,402,403,404 send the 3rd enabling signal, the stepping electricity in foot parts 401,402,403,404
Machine starts, and roller follows robot body inclination direction to rotate, and Soccer robot is transported to football position direction or football
Dynamic direction movement.
The execution step of central processing unit, step 1, receive the signal of visual response system and pressure capsule system；
Step 2, pressure sensor signal is determined whether；It is pressure sensor signal, starts the driving electricity of top drive component
Machine, drive the part above knee of Soccer robot to be tilted to pressure direction, realize that robot acts blindly for the first time；It is not that pressure passes
Feel signal, do not drive top drive component.
Step 3, judge signal whether be visual perception system signal, preferentially judge whether signal is secondary signal, i.e.,
Whether Soccer robot is more than 2 football diameters distance apart from the length of football；
Step 4, in step 3, it is the secondary signal of visual perception system, central processing unit determines whether pressure sensing
Signal；
There is no pressure sensor signal, step 4.1, send the 3rd driving to middle part drive component or bottom drive component and believe
Number, according to the direction of visual signal, the knee above body of robot is caused to football position direction or football
Direction is tilted, and realization is acted blindly for the second time；Meanwhile central processing unit sends the 3rd enabling signal to robot foot parts, roller with
Random device human body incline direction rotates, and Soccer robot moves to football position direction or football direction.
There is pressure sensor signal, step 4.2, central processing unit sends the second drive signal to middle part drive component, in making
Portion's drive component drives the second worm gear to be transferred to opposite direction, while stops the motor movement of top driving part, Soccer robot
Rapid to keep robot center of gravity perpendicular to the ground, robot keeps as you were, realizes marking an opponent in conflicting mode, that is, football
Defence.
Step 5, in step 3, it is not the secondary signal of visual perception system, central processing unit judges football distance immediately
Whether whether the distance of robot in a football distance, i.e., be the first signal,
It is the first signal, make motor in the drive component of driving middle part according to the first signal central processing unit first drives
Dynamic signal, middle part drive component is set also to drive the second worm gear, Soccer robot leans forward rapidly, center of gravity reach, can collide in time
Above barrier and football is followed to travel forward；Central processing unit is according to the first signal and pressure sensor signal, to driving
Robot foot parts send the 1st enabling signal, and whole Soccer robot moves forward.
It is not the first signal, no longer determines whether pressure sensor signal, central processing unit starts middle part or bottom and driven
Dynamic component is moved to football direction, and the 2nd enabling signal is sent to driving robot foot parts, and whole Soccer robot is to football
Position is moved, and ensures Soccer robot dribbling motion.
In design, it is contemplated that in step 5, middle football apart from robot distance 1-2 football distance, when other side's machine
Device people and first or the 3rd simulation platform situation about contacting, in this case, regardless of whether pressure sensor signal is produced, center
Processor all directly can send drive signal to middle part or bottom drive component, drive it to be moved to football direction or football
Direction is quickly moved, and when necessary, can be given top motor drive signal, be realized center of gravity more quickly to football direction
Or football moving direction tilts, and continuously go out pulsewidth enabling signal to robot foot parts, it is ensured that stepping electricity below
Machine or permanent magnetic brushless are rapidly completed startup, it is ensured that most short speed reaches football position, controls football.
Vision system
Because image information is the main source of robot perception environment, so, the design requirement of vision system is higher,
The requirement of range of observation first, according to the place of real racetrack, vision subsystem it is observed that scope should be
16mX12m, just it is observed that the environment in whole place.Next to that the requirement of positioning precision, because vision subsystem output is determined
Position information directly influences the processing of data fusion, decision-making subsystem, if position error is larger, the action and walking of robot
Mistake can all occur in route, be finally the requirement of real-time, only position fast system, office that just can accurately be on reacting field
Gesture, machine person's development are also very fast.
Present invention employs visual servo conceptual system of the prior art, utilizes visual information control machine human knee joint
And relative position and posture (position and orientation) between lower component and target object (football), its
In, camera sets camera respectively at robot four sides, head and the first impact platform and the 3rd impact platform per one side
Between be provided with least two cameras, while eye-in-hand and eye-to-hand hybrid mode are make use of, plus pressure
The information that force snesor provides, realize three kinds of servo control modes based on position, based on image and mixing vision.
The camera set between the first impact platform and the 3rd impact platform is installed to overlook, and causes its sighting distance to ensure
In the position of 2 football diameters, it is particularly conducive to judge the position of football, that is, football is in the camera image pickup scope
It is interior, the control model in step 5 can be directly initiated, central processing unit directly sends driving to middle part or bottom drive component
Signal, drive it quickly to be moved to football direction or football moving direction, and continuously go out pulsewidth to robot foot parts
Enabling signal, it is ensured that stepper motor or permanent magnetic brushless below is rapidly completed startup, it is ensured that most short speed reaches football
Position, control football.The single camera imaging general principle of the present invention is that incident ray is reflexed into shooting by mirror surface
Machine camera lens and then CCD chip imaging, on the basis of optical path analysis, give the limitation formula for reflexing to planar imaging, it is indicated that
Under the conditions of single view, the pixel of panoramic picture can be projected in some plane from viewpoint any distance and form plane throwing
Shadow image, obtained image seems the image obtained with common camera and indifference, and observation visual angle is bigger, so as to
Graphical analysis and processing are carried out using the method for in general processing perspective view.The vision of the present invention is panoramic vision, mainly by group
Close equal proportion omnidirectional reflector, quartz glass lens barrel, digital camera, camera mount and governor motion composition.It is a whole set of
Equipment can install fixation after adjusting, to ensure being not in that loosening, displacement etc. influence omnidirectional vision in use
The phenomenon of system calibrating parameter, it is completely suitable for the needs of the fierce confrontation of medium-sized group of match.
Fig. 7 is Soccer robot of the present invention to vision system mirror image schematic diagram.According to robot soccer competition to regarding
The requirement of feel system, shooting mode using level etc. than minute surface, level etc. than minute surface refer to horizontal plane and into pair in image
It is linear that the distance between should put relation, and mirror image schematic diagram is as shown in Figure 6.The input path of Fig. 6 midpoints is through minute surface
Catoptric imaging on video camera CCD at optical axis x.
The angle of Φ-reflection light and vertical line；The angle of θ-mirror normal and vertical line；
- incidence angle；Y (t)-minute surface bus equation；
F- focal length of camera；H- image planes with the distance between flatly.
Minute surface bus equation Y (t) can be provided by such as drag.
D=ax+b, a ＞ ＞ b 1- (2)
A differential equation is obtained after 1- (2), 1- (3), 1- (4) formula are substituted into 1- (1) formula, can be obtained using numerical solution
To minute surface bus equation Y (t) numerical solution；By this calculation, the meter of football distance and robot distance is realized
Calculate, t (x) can be obtained.
The tracing task that visual feedback completes remote mobile football, tracking speed are employed in visual sensing system of the present invention
Degree is in 5 meter per seconds, and the fixing camera stereo visual system that frequency of use is 60HZ tracks, and this set is in prior art
On the basis of make.Because the movement between robot on football pitch is more, in order to prevent interference from imaging, employing to mark
Determine object of reference, be the camera self-calibration method demarcated, this method merely with the restriction relation between camera parameter itself
Using the windproof self-calibrating methods of KRUPPPA, also tested using quadric self-calibration method and based on active vision from
Standardization.These self-calibrating methods are not the innovation of the present invention in itself, and innovation of the invention is this vision system and control
System processed combines, and realizes the quick response of Soccer robot.Camera installed in head utilizes camera acquisition football
The image information of motion, is analyzed and processed to image in real time, calculates position and the posture of football, and these information are entered
Row processing, sends central processing unit (CPU), the information that central processing unit provides according to vision system, with reference to Soccer robot to
Motion mode and location, control drive component and foot parts, make its high speed execution.The vision of the present invention
The main function of system is to obtain the image information for having certain distance with robot, such as goal, court, white line, other machines
People and have with robot certain distance ball image information, and by handling these information, obtain the position of target object
Confidence ceases, such as robot itself, other robot and robot have the positional information of the ball of certain distance, panoramic vision
The advantages of be once just can obtain whole scene information, the real-time of information is preferable.
Fig. 8 is the vision control system frame diagram of Soccer robot of the present invention.Visual control device transmits signals to place
Device, processor control control drive component and foot parts motion are managed, wherein causing Soccer robot environment to become control process
Change, be filmed by the camera of ccd video camera, send image processor in time, image processor sends a signal to control
Visual control device, form the visual spatial attention loop of closure.
Fig. 9 is the network schematic diagram of the control system of Soccer robot of the present invention.Fig. 9 is that this design of image control is adopted
It is total by PCI using motion control card and image pick-up card with the control system system hardware Interface design based on PCI chips
The communication with the central processor CPU of Soccer robot, the figure used among ccd video camera and image pick-up card are realized in line design
As the connection of line standard, the rate signal that motion control card is converted to the control instruction of Soccer robot in motor sends motor to
Drive control device, and position feed back signal is provided, while the I/O mouths of motion control card receive the telecommunications of the feedback of external sensor
Number, the work orders such as initial setting up adjustment are completed, specific mode of operation, the controllers of this area can be by providing in figure
Circuit signal graph of a relation realize.It should be noted that the control device and Soccer robot of vision system are using simultaneously
The mechanism of row operation, two modules are not disturbed mutually, and it is whole that the cache resources provided in system can be made full use of to realize
The stable coordination work of robot system.Figure 10 is the vision system and control principle drawing of Soccer robot of the present invention.
In Figure 10 after robot graphics' collection, the control circuit moved in embodiment by IMAQ controlled motor.Its
Middle pci bus be for by information transfer, wherein controlling bus PCI be connected in parallel respectively motion control card PCI7358 with
And image pick-up card PCI1426, both chips are due to preferable periphery circuit design feature, easily realizing control programming
Control.By ccd video camera IMAQ, image pick-up card PCI1426 is delivered directly to, during IMAQ, triggering
The acquisition of signal is realized by the football of tracing movement.When football is static, state is followed the trail of in incomplete, at this time
The control of light is cut off, saves electricity consumption.The signal of IMAQ is transferred to control unit CPU by pci bus, and control unit passes through
Controlling bus transmits a signal to control parts of motion (motion control card), and motion control card control servo-controlled motor is realized and regarded
Feel system unit control.In the present invention, in Serve Motor Control, introducing proximity switch, after close contact football, especially
It is the first impact platform and when the 3rd impact platform constantly transmits pressure sensor signal, that is, Soccer robot distance
The distance of football is less than the distance of a football diameter, and proximity switch closes the input of vision system signal, with pressure sensor signal
Command Soccer robot motion；Other are designed as those skilled in the art can realize according to above-mentioned schematic diagram, repeat no more.
Need to have thought better of the smoothing denoising of video camera, image sharpening etc. in the Computer Simulation of visual spatial attention module and ask
Topic, benefit of the invention is, as a result of the tracking compared with low velocity in image procossing, the meter per second of football speed 5, because
The problems such as because of above-mentioned reason image definition will not being brought to decline substantially in the image of this collection, therefore tolerance is relatively good.
Motor control
The control technology of single motor is very perfect, multiple motors is used in Soccer robot, these motor can
Can share out the work and help one another one action of completion, such as the motor 21 in the drive component of top combines the motor in the drive component 22 of middle part
Collective effect, the selection of the 2nd worm gear is realized, realize the position adjustment of the 3rd simulation platform, that is, completed more than robot knee
The change in location of body.It is also likely to be that motor is respectively completed respective rotation in the present invention, no any contact between each other, this
Just need robot go control multiple electric motors, make its coordinated operation, for a motor control Soccer robot movement in
It can not meet that its dribbling, defence etc. require, and need to control multiple electric motors, allow its preferably coordinated operation, the present invention adopts
With multi-motor synchronous control.The motor in the driving part of top is wherein set as main order electromotor, the rotating speed of decision systems, middle part
Motor in driving part is slave motor, and the speed of slave motor is dressed to main order electromotor.
Two motors are shown a case that in Fig. 9, multiple motors can be accessed in dotted portion.The first of Soccer robot
Impact platform 1 is mounted below, and the major part for driving robot ambulation is 4 identical parts, in robot foot parts
The middle motor that sets is main order electromotor, the rotating speed of decision systems, and other three motors are slave motor, the speed of slave motor to
Main order electromotor is dressed.Multi-motor synchronous control network is used in electric machine control system, using Siemens S7-200PLC as master control
Unit, connected by RS-485 bus communications with frequency converter.This two frequency converters 1, frequency converter 2 control a main motor and one respectively
From motor, two motors all feed back rotating speed with rotary encoder, while rotary encoder feeds back tach signal to frequency converter
PLC is fed back to, PLC is interior to do data processing according to the tach signal of feedback, and draws actual speed,
And according to the offset obtained by actual speed.Host computer monitoring software is connected in network by RS-485 buses, is realized
The connection of network, and the state of slave computer can be monitored, data exchange is realized, sends command adapted thereto.In the synchronization control of multiple motors
In network processed, three are employed from electric machine structure.
In the present invention in synchronous control system for multiple motors, in order to ensure production equipment run well, it is desirable to each motor it
Between must coordinated operation, rotating speed or linear velocity between each motor is remained certain proportionate relationship.It is so-called to coordinate control,
It is exactly in multivariable control system, using certain control method, the control process of each controlled quatity is cooperated and " coordination ",
And then make to keep certain rapport between each variable, the multi_motor control of variable-frequency governor is realized using PLC, there is body
Product is small, and in light weight, starting current is low, PLC, has abundant input/output interface, it is possible to achieve software is compiled
Journey, appropriate adjustment programme can be carried out according to the movement law of other side robot on football pitch, realize that relative other side robot is anti-
Answer the characteristics of sensitive.PLC includes CPU module, I/O mouth molds block, the module such as power module, programming device, is
Also match somebody with somebody in system and put some special modules such as host computer, operation and control interface, digital-to-analog amount expansion module, communication module.These are hard
Part structure is not the proprietary of the present invention in itself, but how wherein motor control can be realized to the function of robot.
Motor in the drive component of top combines the control system of the motor in the drive component of middle part, and this system can be used
The control of four motors in robot foot parts.Using two motor controls as example, the control system includes：Two electronic
Machine, frequency converter, PC, wherein, motor is two motors, frequency converter is entered using Liang Tai Siemens MM Series Frequency Converters to motor
Row variable frequency regulating speed control, the control of 0.12~11Kw low-power machines, all frequency converters are all to be gone here and there by S7PLC by RS485
Row communication port, come what is controlled, is enhanced the control performance of system and reduces system wiring and debug time using USS agreements.
PC uses S7-200 programming softwares STEP7.
Figure 11 is the circuit for controlling motor schematic diagram of Soccer robot of the present invention.Specific motor control chip employs bag
51 model single-chip microcomputers of a 4K byte FLASH memory are contained, there are 32 two-way I/O mouths.Control principle drawing, wherein singly
The main function of piece machine is to receive the dial-up value obtained in dial-up dish, then again by keys interrupt, so that software program is opened
Beginning startup optimization.Wherein power-supply controller of electric U4, U5, U7 connects controlling switch Q1-Q3 respectively, and three controlling transistors are drawn
Pin 4,6, realizes power supply；Then the time sequential pulse of stepper motor is transmitted by port P1.0, P1.1 and P1.2 again, is formed
Pulse power source control circuit, distribution to pulse is carried out by software program by Phototube Coupling, by IGBT drive module,
The pulse signal that single-chip microcomputer is exported is by power amplification so that Driving Stepping Motor, three pull-up resistors are connected to core
Piece controlling switch P1.0, P1.1 and P1.2 so that reach the power needed for motor operation so as to controlled motor normal operation.
Circuit may be programmed by the connection signals of PSEN (29) connection external program holders, this signal from PLC
Controller includes CPU modules, and signal is that visual signal gives caused control signal after CPU.In Figure 10, K1, K2 is coupled with
P2.7 and P2.5.R1, R2 are pull-up resistor, connect 5V power supplys.NOT gate 74LS04 is connect by NAND gate 74LS00 and is connected to INT0 interruptions
Mouthful.This annexation, form ON-OFF control circuit.Under working condition, two 30PF electric capacity (C4 and C5) crystalline substance in parallel
Shake (X1) composition external crystal oscillator, the wherein frequency of the crystal oscillator is 12Hz.Both ends are coupled with Clock Signal pin
On XTAL1 and XTAL2, crystal oscillating circuit is formed.A high level signal is exported in the process of running, is then delayed the regular hour
Afterwards, then a low level signal is inputted, and can be delayed the regular hour, so circulation is gone down.So as to which as long as we pass through
Changing delay time just can change the pulse period, and frequency during motor normal operation determines the pulse period.P2 mouths (21-28) are
Accurate two-way I/0 mouths.
It is so as to controlled motor according to the power-up sequence or step mode for changing winding in stepper motor running
The direction of rotation.For three-phase six-beat working method：Positive rotates：A→AB→B→BC→C→CA.Anti-phase rotation：CA→C→
CB→B→BA→A.This control sequential is common in motor control, and the step motor control of Soccer robot employs
Conventional control sequential.P0 mouth corresponding pins 39-32：Two-way I/O mouths；Mouthful 1-8 is defined two-way I/0 mouths；Wherein by drawing
Preceding four pins connect four inputs U9B, U9A, U2F, U2E pin composition common pin in pin P0.0-P0.7, and
The controller switches 8 of parallel connection, 4,2,1 four pins, six phase buffers of open collector High voltage output are formed, to be acted on
It is for choosing dial-up dish but also high current can be absorbed.8th, the conducting state of 4,2,1 four pins and common pin, wherein
Its four 1K resistance R17, R18, R19, R20 have been metering functions.
The circuit that XTL1 connects with XTL2 forms oscillating circuit, is made up of electric capacity C4, C5 and inductor X1, wherein electric capacity is
It is grounded after being connected in parallel.Above-mentioned control mode realizes stopping power down function, can during Soccer robot is no motion of,
Realization automatically powers off, and can greatly reduce power supply weight, realizes Soccer robot weight device, starts the characteristics of fast, can be fabulous
The interception for breaking away from other side and grab.System program is as follows：
Any specific for being not limited only to technical scheme, advantage and characteristic selection or combination disclosed in patent of the present invention etc.
Deng those skilled in the art can think various groups of technical scheme, advantage and the characteristic illustrated in patent of the present invention
Close and modification, simple transformation are constituted in the technical scheme disclosed in patent of the present invention.
Claims (8)
1. a kind of Soccer robot, including induction system, control system and walking mechanism, the induction system gathers signal and passed
The control system is given, the control system sends control signal and controls the walking mechanism, it is characterised in that the walking
Mechanism is knee and its included with lower portion, the walking mechanism：First impact platform, the 3rd impact platform and the driving machine
Device people's center of gravity tilting gearing, the 3rd impact platform area are more than the first platform and positioned at the tops of the first platform.
2. Soccer robot according to claim 1, the center of gravity tilting gearing also includes worm screw, worm gear, drive component,
The worm screw includes the first worm screw, the second worm screw, the 3rd worm screw；The worm gear includes the first worm gear and the second worm gear；The drive
Dynamic component includes top drive component, middle part drive component and bottom drive component.
3. Soccer robot according to claim 2, in addition to, first impact platform is installed above to be had on first pair
Support arm, first pair of upper support arm are provided with the first worm-wheel shaft, the first worm gear are installed with first turbine wheel shaft (32)
(52) and support the second workbench first pair of lower support arm；T-shaped is installed between described a pair of support arms
One support frame, the bottom drive component of bottom worm screw (120) and driving first worm screw is installed on first support frame
(23)。
4. Soccer robot according to claim 3, in addition to, second pair of upper branch is installed on second workbench
Brace, second pair of upper support arm are provided with the second worm-wheel shaft (31), the second worm gear are installed with second turbine wheel shaft
(51) and support the first workbench (7) second pair of lower support arm；It is provided between second pair of support arm T-shaped
Second support frame, middle part worm screw (122) is installed on second support frame and drives the middle part driving group of the middle part worm screw
Part (22).
5. Soccer robot according to claim 4, in addition to, the support of bearing (30) on first workbench is even
Connect the 3rd impact platform, the top drive component (21) on the support of bearing drives the top worm screw to be bored by planet
Gear drives second worm gear；The soft shell be connected to first impact platform and the 3rd impact platform it
Between, wrap up the center of gravity tilting gearing.
6. first impact platform of Soccer robot according to claim 5, wherein rounded square and the described 3rd
Impact platform is fitted with the induction system in each direction, and the control system is according to the pressure side of the induction system
To driving robot motion.
7. Soccer robot according to claim 6, in addition to, multi- drive synchronization is installed under first impact platform
The foot parts of control, each motor in the foot parts carry a control circuit, and the control circuit includes control
The pulse power source control circuit of power supply sequential, the ON-OFF control circuit of regulation motor operation, the crystal oscillator for ensureing motor stabilizing driving
Circuit, the motor timings control circuit with six buffers of open collector High voltage output；Wherein described motor timings control
Circuit connects current-limiting resistance respectively.
8. Soccer robot according to claim 7, the crystalline substance being made up of two electric capacity (C4, C5) and inductor (X1)
The circuit that shakes connects clock circuit pin, and the electric capacity is grounded after being connected in parallel；The pulse power source control circuit and chip controls
Connection electrical connection pull-up resistor between pin.
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