CN108279590A - A kind of wireless blue tooth mobile robot trolley - Google Patents
A kind of wireless blue tooth mobile robot trolley Download PDFInfo
- Publication number
- CN108279590A CN108279590A CN201711386357.8A CN201711386357A CN108279590A CN 108279590 A CN108279590 A CN 108279590A CN 201711386357 A CN201711386357 A CN 201711386357A CN 108279590 A CN108279590 A CN 108279590A
- Authority
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- China
- Prior art keywords
- mobile robot
- blue tooth
- drive module
- module
- wireless blue
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/26—Pc applications
- G05B2219/2603—Steering car
Abstract
The present invention relates to a kind of wireless blue tooth mobile robot trolleies, including trolley body (1), the mobile robot trolley further includes controller (3), drive module (2) and bluetooth module (4), the trolley body (1) includes 4 driving wheels, the drive module (2) is separately connected 4 driving wheels, controller (3) the connection drive module (2), the controller (3) also connect control terminal (5) by bluetooth module (4).Compared with prior art, mobile robot vehicle structure of the present invention it is simple, it is stable, can remote control operation.
Description
Technical field
The present invention relates to a kind of mobile robot trolleies, more particularly, to a kind of wireless blue tooth mobile robot trolley.
Background technology
Robot is a product of the scientific technological advances such as electronic information, computer and automation, robotics
Research and development will more and more be paid attention in current or even future.If certain industrial robots are considered as to the mankind
The imitation of action reproduces, then the robot with certain function can be regarded as the simulation and imitation of mankind's locomotive function
.This robot with locomotive function is usually known as mobile robot.
Different from traditional industrial robot (mechanical arm etc.), mobile robot has special structural model and application
Field, mobile robot are the paleocinetic intelligent movable systems of load conditions referred to indoors, outdoor and complicated,
Be it is a kind of by surrounding enviroment detection, real-time status planning navigation, motion control with etc. the intelligent movable that is integrated in one of multiple functions
System.Research contents in this block field is related to view synthesis, computer vision, sensor technology, automatically controls original
Reason, the multidisciplinary theory such as mechanical engineering embody the newest fruits of contemporary science and artificial intelligence technology.
The research of intelligent mobile robot starts from the 69's Mos of last century.At 1966 to 1972, studied by Stamford
Nils Nilssen and the Charles Rosen of institute are researched and developed and have been named intelligent mobile robot.The purpose is to study and answer
Manually intelligence, can robot can be autonomous in different environments carry out path planning, environment measuring, motion control
Deng.
In the later stage sixties, also there was the development to intelligent mobile robot in the U.S. and the former Soviet Union, and foremost is exactly the moon
Talent scout surveys in the works, " surveyor " in the U.S. No. 3 under the manipulation of Earth Segment, complete carried out on the moon detection and other
Business.And " Moonman " of the former Soviet Union No. 20, surface of landing on the moon in the case of unmanned are acquired examination to geology of Moon
It tests, and finally puts container into and take back earth research.
At the initial stage seventies, Japanese Waseda University, which also has to develop, imitates the intelligent mobile robot that the mankind walk.
And in industrial circle, in order to adapt to extreme environment, this kind of robot also develops more fast in the work of atom or ocean
Speed.
And mobile robot is all growing with each passing hour with the replacement in epoch in the application of environment and move mode, research
Method is also different.But it still has basic basic technology not become, and basic fundamental has：Sensor detecting, from
Dynamic control technology, path planning airmanship, artificial intelligence aspect etc..These technologies are equivalent to the eyes, brain, Yi Jisi of people
Limb.Intelligent wheeled mobile robot is divided into wheeled, sufficient formula on move mode, hybrid.Wherein wheeled to be divided into 2 wheels, 3 take turns, and 4
Wheel, 6 wheels, the forms such as more wheels.The autocontrol method of intelligent mobile robot from passive remote control, monitor to autonomous control send out
Exhibition, the technical researches such as artificial intelligence such as integrated application machine vision, path planning, automatic control system are from principal mode moving machine device
People.
Even so, also there are many deficiencies in terms of Robot Design.Such as when using four-wheel robot, the steering of four-wheel
Control, the selection of processor, driver, control language, and how to control robot and advance according to set route, had
The human-computer interaction of effect and rational path planning, this is a key points and difficulties of robot research.
Invention content
It is an object of the present invention to overcome the above-mentioned drawbacks of the prior art and provide a kind of wireless blue tooths to move
Robot car.
The purpose of the present invention can be achieved through the following technical solutions：
A kind of wireless blue tooth mobile robot trolley, including trolley body, the mobile robot trolley further include controller,
Drive module and bluetooth module, the trolley body include 4 driving wheels, and the drive module is separately connected 4 drives
Motor car wheel, the controller connect drive module, and the controller also connects control terminal by bluetooth module.
The drive module includes 2 L298N motor drive modules, and a L298N motor drive module connects upper left
Wheel and lower-left is driven to drive wheel, another L298N motor drive module connects upper right driving wheel and bottom right drives wheel,
The L298N motor drive modules are connected to the controller.
The controller includes STC89C52 single chip.
The bluetooth module includes HC05 Bluetooth chips.
The control terminal includes computer, bluetooth host, mobile phone, PDA and PSP.
The control terminal control trolley body is done including moving as follows：Advance, retrogressing, flicker and original place are right
Turn.
Compared with prior art, the invention has the advantages that：
(1) present invention realizes the communication connection of trolley body and control terminal using bluetooth module, is conveniently remotely controlled,
It is easy to control；
(2) present invention is walked using trolley body using 4 driving wheel drivings, reliable and stable；
(3) for the present invention using the driving wheel walking of L298N motor drive modules, driving is reliable and stable；
(4) the HC05 Bluetooth chips that the present invention uses can easily be connect with controller, logical up to maximum 10m indoors
Communication distance meets demand for control.
Description of the drawings
Fig. 1 is the structure diagram of wireless blue tooth mobile robot trolley of the present invention；
Fig. 2 is the principle schematic of differential steering of the present invention.
In figure, 1 is trolley body, and 2 be drive module, 3 devices in order to control, and 4 be bluetooth module, 5 terminals in order to control.
Specific implementation mode
The present invention is described in detail with specific embodiment below in conjunction with the accompanying drawings.
Embodiment
As shown in Figure 1, a kind of wireless blue tooth mobile robot trolley, including trolley body 1, the mobile robot trolley is also
Including controller 3, drive module 2 and bluetooth module 4, trolley body 1 includes 4 driving wheels, and drive module 2 is separately connected 4
A driving wheel, controller 3 connect drive module 2, and controller 3 also connects control terminal 5 by bluetooth module 4.
How much wheel type mobile mechanism can be divided into 1 wheel, 2 wheels, 3 wheels, 4 wheels, 6 wheels according to wheel number and take turns moving machine more
Structure.
1 wheel mobile mechanism, major obstacle is that stability problem not yet solves in realization, and someone is dedicated to directly at present
The research of vertical control.
2 wheel mobile mechanisms, also because upright stability problem difference and fail enter the practical stage, thus with
Motorcycle and bicycle are object, and the current posture of controlled device is detected with gyroscope etc., carries out unmanned walking test.
3 wheel mobile robots have basic stability, and main problem is the control of moving direction.Compare with representative
The car body framework of property is two trailing wheels, one front-wheel steering engine.Certainly two trailing wheels can also be used while driving, lean on the speed discrepancy of two-wheeled
The control method for carrying out steering, at this point, another wheel only serves the effect of support, using this wheeled locomotion mechanism when
It waits, can be by making two driving wheels rotate in the opposite direction, while different speed is adjusted, so as to so that car body is realized
Four sides turns to, or does movement in a curve.
For four main wheels of 4 wheeled robots respectively by two electric motor starting module drives (L298N), every motor drives mould
Block 2 is separately connected the positive and negative terminals of motor, forms an open-loop control system, is being received to come from microcontroller respectively by input terminal
Level, to control wheel rotating forward, reversion and rotating speed size adjustment.
The present invention uses 4 wheel type mobile structures, without steering engine, so the forward method used is differential steering.Due to 4 wheels
Differential steering with 2 wheel and indifference.The present embodiment illustrates the principle of differential steering by taking 2 wheel differential steerings as an example：
As shown in Fig. 2, V1And V2The rotating speed of respectively 2 wheels, VcIndicate V1And V2Sum velocity：
And then have：
Wherein：
In formula：ω is the angular speed of robot, and R is the radius of circular motion, and l is O1O2Between length.
By the equation of simultaneous, ω, R are considered as dependent variable, you can solve equation and obtain：
It can be seen that by (3)：Work as V1=V2When, ω=0, trolley moves in a straight line.Work as V1=-V2When, Vc=R=0, trolley
Original place rotation.Work as V1≠V2And V1≠-V2When,It moves in a circle.
Drive module 2 includes 2 L298N motor drive modules 2, and a L298N motor drive module 2 connects upper left driving
Wheel and lower-left drive wheel, another L298N motor drive module 2 connects upper right driving wheel and bottom right drives wheel,
L298N motor drive modules 2 are connected to controller 3.L298N is a motor drive module 2 produced by ST companies, the mould
Block is adaptable, can bear the voltage of 46V and the electric current of 4A.The driving has 15 pin packages, and wherein classification is divided into defeated
Enter output, power supply, PWM enables module, and characteristic is that have there are one the power supply port of 5V conversions, can just provide the confession of microcontroller
Electricity, and it is cheap, it is the ideal equipment of experiment.L298N drive modules 2 have 4 output output pins, if to control respectively
So two pins control a motor if 4 wheels of system are operated alone, then need to use 2 L298N modules altogether, due to
The motor requirement 12V power supplys that the present invention drives, L298N also comply with this requirement, and price is also relatively cheap.
Controller 3 includes STC89C52 single chip, and STC89C52 single chip chip is the microcontroller produced by STC Corporation
3, there is 8K byte systems may be programmed flash storage.Has the characteristics that a kind of low-power consumption, high performance.The microcontroller uses warp
The MCS-51 kernels of allusion quotation, but grow with each passing hour and done many technical improvement so that there are chip traditional 51 microcontrollers not have
Standby function.On chip, which can be as the selection of many embedded systems.
Standard feature is as follows：Highest operation frequency 35MHz, 6T/12T is optional.512 byte RAM, WatchDog Timer, 8k
Bytes Flash, 32 I/O mouth lines, 3 16 bit timing devices/counters, 4 external interrupts, one 7 vectorial 4 grades of interrupt structures
(5 vectorial 2 grades of interrupt structures of compatible tradition 51), full duplex serial port.In addition STC89C52 can be down to 0Hz static logics behaviour
Make, supports 2 kinds of softwares that energy-saving mode may be selected.Under idle mode, CPU is stopped, and allows RAM, timer/counter, string
Mouth, interruption work on, built-in 4KB EEPROM, MAX810 reset circuits.The case where power down, RAM contents are saved, oscillator
Frozen, all work of microcontroller stop, until next interruption or hardware reset.
Bluetooth module 4 includes HC05 Bluetooth chips, and Hc05 is the Bluetooth chip that a principal and subordinate can be integrally arranged, and has and passes
The function for Bluetooth technology of uniting, the interface of module have serial ports, spi interfaces, usb interfaces, have selected serial ports to be led in product development
Letter.It can be matched with the intelligent terminals such as the various computers with Bluetooth function, bluetooth host, mobile phone, PDA, PSP, which supports
Very wide baud rate scope：4800~1382400, and the SCM system of module compatibility 5V or 3.3V, it can be very square
Just it is attached with it.Using flexible, conveniently.Hc05 is by test indoors up to the communication distance within 10m.HC05 modules
Very small and exquisite (16mm*32mm), the row's needle and external connection that module passes through 6 2.54mm spacing.In addition, bluetooth module 4 is included
One status indicator lamp：STA.The lamp has three state, respectively：
(1) while module powers on (before can also being allowed to), KEY is set to high level (meeting VCC), STA is slow at this time
It dodges, dodges once within one second, module enters AT states, and baud rate is fixed as 38400 at this time.
(2) KEY is hanging or meet GND when module powers on, STA quick flashings at this time, 1 second 2 times, representation module into
Enter pairing state.If at this time drawn high KEY again, module can also enter AT states, but STA still keeps quick flashing.
(3) module pairs success, STA is bis- at this time dodges, and under a mountain 2, dodges within 2 seconds.There are STA indicator lights, so that it may with
The very easily current state of judgment module, it is easy to use.
By HC05 bluetooth serial ports modules, any microcontroller (3.3V/5V power supplys) all can very easily realize Bluetooth communication,
To be connect with including the various equipment with bluetooth such as computer, mobile phone, tablet computer.
Control terminal 5 includes computer, bluetooth host, mobile phone, PDA and PSP.It is flat that secondary development is used in control terminal 5
Platform Wex5 carries out the design of apk programs, and control trolley body 1 does including moving as follows：Advance, retrogressing, flicker and original
Ground is turned right, and then path planning and the control of robot may be implemented, and 1~9 button on the right of APP control interfaces is pwm pulse
Wide button is adjusted, speed governing can be carried out.The reason of selecting WeX5 mainly has：
(1) it increases income pattern
WeX5 increases income pattern using Apache licensings, and business is friendly, completely free.The application that developed, often
For line code all in your hand, publication deployment is without any restrictions, freely, freely.
(2) app, web and wechat application quickly exploitation are supported in cross-platform more front end applications exploitations
(3) efficient exquisite UI component architectures, based entirely on mainstream standard and technology
The UI component architectures of WeX5 are based entirely on html5+css3+js, very clean standard.The UI component technologies of WeX5
It is entirely open mainstream, is based on jquery and bootstrap technologies, through WeX5 height optimizations, doing well in movement connects
It is close primary.
The UI of WeX5 is based on Development of Modular, and design is pulled using the RequireJS modular technologies visualization of enhancing
A large amount of abundant UI components have been provided in component technology, WeX5, and support to introduce and extend third party's component, greatly promote
The efficiency of interface development and reduce difficulty.Style design library is based on bootstrap technologies, big on the basis of bootstrap
It is big to enhance the pattern and component for being suitble to movement, it can easily introduce a large amount of abundant pattern resources of bootstrap and arbitrarily change skin.
The bi-directional data binding technology and data package of high efficient and flexible, it is powerful using simple ability.Height optimization, performance is close to primary.
Operate it is smooth, pull, transition and animation effect it is fine.
(4) the machine API framework (Native APIFramework)
WeX5 applies (hybrid app) development mode using mixing.The system and hardware energy of the light calling mobile phone equipment of energy
Power, such as camera, map, LBS positioning, compass, address list, file, voice, battery.Deng.This respect, phonegap/
Cordova is almost the standard of the fact, and many major companies all use.On this machine frame, WeX5 has based on phonegap
(cordova) frame.Acquiescence embeds high performance browser, greatly promotes performance, especially android low sides machine.Wechat is provided
Etc. light applications frame.Provide abundant primary plug-in unit.It supports to introduce and extension third side plug, any primary app can be realized
Ability can all be realized by expansion plugin.
(5) visualization towed Integrated Development Environment IDE
The IDE of WeX5 is based on eclipse, and the groundwork of WeX5 is to enhance visualization quickly exploitation.Provide one
Complete visualization, modularization, towed development environment.Being increased income based on eclipse, IDE is visualized, modularization pulls design, completely
What You See Is What You Get.The tools such as guide, templated quickly generate common application scenarios interface.
(6) the debugging support of all-round power and smart code prompt
Mobile phone app is developed, simulative debugging is critical capability, extremely important to developer, and this is also that industry is existing
The weakness of hybrid app developing instruments.WeX5 provides the most powerful debugging of industry to hybrid app exploitations and supports, performance
It is really perfect.
There is provided all-round power, the simulative debugging that a station integrates is supported.Mobile phone app is developed, daily debugging is nearly all simulation
Debugging is debugged using the far super prototype of frequency, and WeX5 provides comprehensive, complete simulative debugging and supports, shows really perfection
The simulative debugging effect and prototype operational effect of WeX5 is nearly identical.Since the UI component architectures of WeX5 are thorough
Based on html+css+js, and using high emulation local equipment app simulations, simulative debugging operational effect and prototype operational effect are several
It is identical, prevent dry run and prototype runs inconsistent problem.
WeX5 has opened all UI frames and component source code so that developer can track in browser enters each
Every line code of component finds and investigates real bottom reason, and system debug is thoroughly transparent, no black box, no dead angle.
It supports prototype debugging, authentic machine and quick prototype debugging mode is provided, it is maximum convenient to be provided for developer.
WeX5 has opened whole primary app frames source codes and the machine api plug-in unit source codes, and developer can be in primary exploitation ring
In border (Android ADT and XCode), trace debug enters in every line code of app.
Comprehensive code intelligent prompt, this respect WeX5 have been done many time, UI components all WeX5 or even mobile phone sheet
Machine transplanting of rice part API can realize code intelligent prompt in the IDE of WeX5, and it is greatly convenient to be provided to developer.
(7) without limitation, multimode, can encrypted App applications packing and issuing
WeX5 uses Apache licensing open source protocols, business friendly.Moreover, in opening, that also walks is extreme thorough,
This point is packaged in app applications and finds full expression：
Packing and issuing is without any restrictions, is not necessarily to any expense.WeX5 thoroughly increases income, and every line code of application is all in your hand
In, freely it is packaged, it is unrestrained.Light packing and issuing includes the apk of Android Android, apple at high performance primary app
The ipa of ios.
The encryption of whole web resources (html+css+js) is supported in the app of WeX5 packing and issuings and application, and WeX5 is using high
Dynamic changes of strength key, compiling can use different dynamic key to each app every time, be truly realized a packet first secretary.
It supports that local quick packing, remote service are packaged, primitive environment compiling is packaged isotype, is beaten to you are all desired
Packet mode and convenience.
It thoroughly increases income, supports primary code adjustment, plug-in unit self-defined and plug-in unit selection is packaged, really freely.
(8) the App applications back-end technology and deployment way thoroughly opened
The road that WeX5 firmly walks to increase income, open, WeX5 are supporting back-end technology, rear end to dispose, are embodying extremely thorough
The opening at bottom.
Open back-end technology supports that the rear end of WeX5 is completely open, can be connected by agreements such as http, Websocket
Various rear end middlewares or cloud service (java, node, php .net etc.).
The deployment of unconfined rear end can be deployed in the public cloud of oneself any selection, on privately owned Cloud Server, WeX5's
Deployment is completely open free, and without any restrictions to sum up, WeX5 operations are simple, left-hand seat is easy, and is the ideal of this secondary design
Choosing.
Claims (6)
1. a kind of wireless blue tooth mobile robot trolley, including trolley body (1), which is characterized in that the mobile robot trolley
Further include controller (3), drive module (2) and bluetooth module (4), the trolley body (1) includes 4 driving wheels, institute
The drive module (2) stated is separately connected 4 driving wheels, and the controller (3) connects drive module (2), the control
Device (3) also connects control terminal (5) by bluetooth module (4).
2. a kind of wireless blue tooth mobile robot trolley according to claim 1, which is characterized in that the drive module
(2) include 2 L298N motor drive modules (2), L298N motor drive modules (2) connection upper left driving wheel and lower-left
Wheel is driven, another L298N motor drive module (2) connects upper right driving wheel and bottom right drives wheel, the L298N
Motor drive module (2) is connected to the controller (3).
3. a kind of wireless blue tooth mobile robot trolley according to claim 1, which is characterized in that the controller
(3) include STC89C52 single chip.
4. a kind of wireless blue tooth mobile robot trolley according to claim 1, which is characterized in that the bluetooth module
(4) include HC05 Bluetooth chips.
5. a kind of wireless blue tooth mobile robot trolley according to claim 1, which is characterized in that the control terminal
(5) include computer, bluetooth host, mobile phone, PDA and PSP.
6. a kind of wireless blue tooth mobile robot trolley according to claim 1, which is characterized in that the control terminal
(5) control trolley body (1) is done including moving as follows：Advance, retrogressing, flicker and flicker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711386357.8A CN108279590A (en) | 2017-12-20 | 2017-12-20 | A kind of wireless blue tooth mobile robot trolley |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201711386357.8A CN108279590A (en) | 2017-12-20 | 2017-12-20 | A kind of wireless blue tooth mobile robot trolley |
Publications (1)
| Publication Number | Publication Date |
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| CN108279590A true CN108279590A (en) | 2018-07-13 |
Family
ID=62801908
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| CN201711386357.8A Pending CN108279590A (en) | 2017-12-20 | 2017-12-20 | A kind of wireless blue tooth mobile robot trolley |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327736A (en) * | 2020-09-14 | 2021-02-05 | 广东联凯智能科技有限公司 | Embedded programmable module for electronic products |
| CN112506188A (en) * | 2020-11-18 | 2021-03-16 | 广东开放大学（广东理工职业学院） | Intelligent trolley data automatic acquisition system and method |
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|---|---|---|---|---|
| CN202133908U (en) * | 2011-06-28 | 2012-02-01 | 河海大学 | Wireless monitoring robot based on bluetooth technology |
| CN104670350A (en) * | 2015-02-12 | 2015-06-03 | 北京邮电大学 | Vehicle fault warning robot |
| CN105216887A (en) * | 2015-09-28 | 2016-01-06 | 苑雪山 | A kind of portable remote is ridden instead of walk and is followed robot |
| CN106477257A (en) * | 2015-12-28 | 2017-03-08 | 北方工业大学 | Trolley controlled by Android smart phone |
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2017
- 2017-12-20 CN CN201711386357.8A patent/CN108279590A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202133908U (en) * | 2011-06-28 | 2012-02-01 | 河海大学 | Wireless monitoring robot based on bluetooth technology |
| CN104670350A (en) * | 2015-02-12 | 2015-06-03 | 北京邮电大学 | Vehicle fault warning robot |
| CN105216887A (en) * | 2015-09-28 | 2016-01-06 | 苑雪山 | A kind of portable remote is ridden instead of walk and is followed robot |
| CN106477257A (en) * | 2015-12-28 | 2017-03-08 | 北方工业大学 | Trolley controlled by Android smart phone |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112327736A (en) * | 2020-09-14 | 2021-02-05 | 广东联凯智能科技有限公司 | Embedded programmable module for electronic products |
| CN112327736B (en) * | 2020-09-14 | 2022-05-31 | 广东联凯智能科技有限公司 | Embedded programmable module for electronic products |
| CN112506188A (en) * | 2020-11-18 | 2021-03-16 | 广东开放大学（广东理工职业学院） | Intelligent trolley data automatic acquisition system and method |
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Application publication date: 20180713 |
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