CN108481348A - Hexapod Robot control system based on Arduino platforms - Google Patents
Hexapod Robot control system based on Arduino platforms Download PDFInfo
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- CN108481348A CN108481348A CN201810209575.2A CN201810209575A CN108481348A CN 108481348 A CN108481348 A CN 108481348A CN 201810209575 A CN201810209575 A CN 201810209575A CN 108481348 A CN108481348 A CN 108481348A
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- module
- control
- arduino
- hexapod robot
- modules
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The present invention relates to robots and field of speech recognition, provide a kind of Hexapod Robot control system based on Arduino platforms, including Arduino control modules, sound identification module, ultrasonic sensor modules, servos control module, handle controller module, Hexapod Robot steering engine module.Using Arduino control modules as core, each module is connect with the serial communication interface of Arduino control modules, Arduino control modules receive the transmission information of sound identification module and ultrasonic sensor modules, Arduino control modules send to servos control module and instruct, and servos control module controls Hexapod Robot according to instruction.The advantage of the invention is that：The control system R＆D costs are low with exploitation threshold, and control mode is various, easy to maintain, is conducive to improve various control to Hexapod Robot.
Description
Technical field
The present invention relates to a kind of control fields of intelligent robot, more particularly to six based on Arduino platforms foots
Robot control system.
Background technology
With the development of society and science and technology, life becomes more and more convenient, and robot quietly changes our life.
The integration environment perception, real-time dynamic decision, execution and control the integrated robot such as coordination can be engaged in instead of the mankind it is heavy, endanger
Danger, repeated labor.It is presently used in the robot that the mankind are unsuitable, inconvenient or inaccessiable region carries out standalone probe, it is main
It is divided to two kinds, one is the Lun Hang robots driven by wheel, another kind is to be based on bionic walking robot.Take turns row machine
People is disadvantageous in that adaptability is very poor, and walking robot can be in complexity for unknown complicated physical relief
Physical relief in be relatively easy to complete detection mission.Multi-foot robot is that stabilized walking is most easily realized in legged robot
's.Bionic 6-leg structure is the representative in multi-foot robot again, it has walking flat compared with two foots and quadruped robot
Surely, the advantages that flexible is controlled.
Since Hexapod Robot is operated in mostly in unstructured, uncertain environment, it is desirable to it with bigger
Independence and flexibility, so steady control system is most important to Hexapod Robot.
Currently, that there are still Control system architectures is complicated, development difficulty is big, with high costs etc. for the control system of Hexapod Robot
Problem, and have higher correlation theories knowledge horizontal exploitation personnel requirement, cause development cycle length, later maintenance difficult.
And the Open Source Platform control system based on Arduino, the development efficiency of Hexapod Robot can be improved using its characteristic of increasing income, and dropped
The introduction difficulty of low technical personnel easily facilitates the extension and maintenance of later stage system, significantly reduces development cost.
Invention content
Technical problem to be solved by the present invention lies in the biomimetic features degree of freedom height of Hexapod Robot to be difficult to control, intelligence
Autonomous operation system development difficulty is big, control mode unification, the problems such as being not easy to be safeguarded.
The technical solution adopted by the present invention to solve the technical problems is：Provide it is a kind of based on Arduino platforms six
Biped robot control system, including Arduino control modules, sound identification module, ultrasonic sensor modules, servos control mould
Block, handle controller module, Hexapod Robot steering engine module.
The output signal of the sound identification module is connected with 1 second input signal of Arduino control modules.
The output signal of the ultrasonic wave module is connected with the third input signal of Arduino control modules 1.
The input signal of the servos control module is connected with the first output signal of Arduino control modules 1.
The wireless communication output signal of the handle controller module is connected with the Bluetooth input signal of servos control module.
The output signal of the servos control module is connected with Hexapod Robot steering engine module.
The Hexapod Robot steering engine module is made of 18 road steering engines.
As further describing for above-mentioned technical proposal：The model of heretofore described Arduino control modules
Arduino MEGA 2560 are a simple I/O platform controllers based on open source code, are made of two parts：Firmly
Part and software.Hardware components include：Processor core ATmega2560, (wherein it is defeated to can be used as PWM to 54 I/O mouthfuls of railway digitals for 16 tunnels
Go out), 16 tunnel simulation inputs, 4 tunnel UART interfaces, a 16MHz crystal oscillator, a USB port, a power outlet, one
ICSP header and a reset button.Software section includes：Programming interface and language.Crucial work is wherein played in control
, there is processor, crystal oscillator, 4 tunnel UART interfaces etc..
As further describing for above-mentioned technical proposal：Heretofore described servos control module as two-level controller,
The action that robot can be stored directly controls Hexapod Robot steering engine module, robot is made to be transported according to the action of planning
Make.Servos control module can connect upper computer software, in software, can easily debug the rotation that each steering engine is arranged
Angle.
As further describing for above-mentioned technical proposal：Heretofore described speech control module is WEGASUN-M6 voices
Identification module instructs operating mode, the entry of sound identification module using upper computer software and parameters is configured.It should
Sound identification module independent operating can be directly connected with various microcontrollers, be exported using TTL serial ports, be connect by TTL serial modes
It receives instruction and result returns, facility is provided to the user for requiring connect to microcontroller；Module is supported in the direct program request TF card of serial ports
Mp3 files, and increase word synthesis voice play function, the Chinese character received at random (GBK codings) can be become sound
Sound exports, or the voice deposit TF card of the mp3 formats of synthesis is exported again；Set the operating mode of module, artificial voice
Input, module instructs library searching after receiving instruction to backstage entry, and returns to the finger with instructions match to Arduino control modules
Order number；When control panel calls the program of voice, by plug-in identification instruction number, and call corresponding in servos control module
The action command pre-deposited realizes the voice control of robot.
As further describing for above-mentioned technical proposal：Heretofore described ultrasonic wave module passes for HC-SR04 ultrasonic waves
Sensor, shares 4 pins, the power supply and ground wire copolar of Vcc pins and GND pin and Arduino control modules, Trig,
Echo pins are connect with 11, No. 12 pins of Arduino control modules respectively, and start setting up pin in program.Trig draws
Foot is triggering pin, it is necessary to which the high level signal of at least 10 microseconds is inputted from the pin could trigger the ranging work(of ultrasonic wave module
Energy.
As further describing for above-mentioned technical proposal：Heretofore described handle control module will send out signal transmission
To servos control module, servos control module is equipped with signal receiver, and handle control module is carried out for different key combination
Coding, can transfer the action group in servos control module.
As further describing for above-mentioned technical proposal：Heretofore described steering engine is LDX-218 high-precision steering engines, entirely
Metal gear, torsional moment 15kg/cm-17kg/cm, when live line work, using pulse width modulation rotational angle, controllable angle
Degree is 180 degree, and linear.Signal transmission once can keep the angle of steering engine to remain unchanged, and can reduce shake, even
It is plug type to connect mode.
Compared with prior art, advantageous effect possessed by the present invention is：
Based on the control system of Arduino platforms, system structure is simple, increased income using extensive, code, development cost is low and
Study is easy to understand；Steering engine is directly controlled with servos control module, reduces control difficulty, improves control effect
Rate；Sound identification module can accurately identify the voice command of unspecified person, to provide convenient, real-time control effect；Set
The multiple control modes such as handle and wireless blue tooth, realize the diversification of control mode.
Description of the drawings
Fig. 1 is the flow diagram of Hexapod Robot control system of the embodiment of the present invention based on Arduino platforms；
Fig. 2 is the composition schematic diagram of ultrasonic sensor modules of the embodiment of the present invention；
Fig. 3 is the position view of Hexapod Robot steering engine module and 18 steering engines of the embodiment of the present invention.
Specific implementation mode
The specific implementation mode of the present invention is described in detail below in conjunction with attached drawing.It should be understood that this place is retouched
The specific implementation mode stated is merely to illustrate and explain the present invention, and is not intended to restrict the invention.
As shown in Figure 1, the Hexapod Robot control system based on Arduino platforms, including Arduino control modules 1, language
Sound identification module 2, ultrasonic sensor modules 3, servos control module 4, handle controller module 5, Hexapod Robot steering engine mould
Block 6.
The output signal of the sound identification module 2 is connected with 1 second input signal of Arduino control modules.
The output signal of the ultrasonic wave module 3 is connected with the third input signal of Arduino control modules 1.
The input signal of the servos control module 4 is connected with the first output signal of Arduino control modules 1.
The wireless communication output signal of the handle controller module 5 and the Bluetooth input signal of servos control module 4 connect
It connects.
The output signal and Hexapod Robot steering engine module 6 of the servos control module 4 connect.
The Hexapod Robot steering engine module 6 is made of 18 road steering engines.
The Arduino control modules 1 pass through 2 in Arduino control modules 1 with ultrasonic sensor modules 3
Digital I/O interfaces carry out data interaction.
The ultrasonic sensor modules 3 are detected the distance of the barrier in front of it using ultrasonic wave, and detection obtains
Distance values be the ultrasonic wave that is sent by ultrasonic sensor modules 3 between ultrasonic sensor modules 3 and barrier
The distance that round trip is undergone.
The distance values detected are transmitted to Arduino control modules 1 and are calculated in binary form, supersonic sensing
Device module 3 sends a distance values every 100 milliseconds to Arduino control modules 1, so as to rapidly obtain six sufficient machines
There is clear in device people front of advancing, if detecting, obstacle distance is less than certain numerical value, and Arduino control modules 1 are to steering engine
Control module 4 sends the instruction that halts, and driving steering engine makes Hexapod Robot stop after servos control module 4 receives the instruction
Advance.
Small-sized steering machine in the ultrasonic sensor modules 3 drives ultrasonic sensor to be rotated by 90 ° counterclockwise, to machine
Barrier is detected on the left of people, if not finding obstacle, robot executes left-hand rotation action；If left side finds obstacle, small-sized rudder
Machine drives ultrasonic sensor to rotate clockwise 180 °, is detected to barrier on the right side of robot, if not finding obstacle, machine
Device people executes right-hand rotation action；If right side also finds that obstacle, small-sized steering machine drive ultrasonic sensor to be rotated by 90 ° counterclockwise, and
Robot executes backward movement, and the autonomous barrier avoiding function realized in traveling process can cope with more complex walking environment, realize
The adjustment of Hexapod Robot track route.
The first serial that Arduino control modules 1 pass through 2560 controllers of Arduino MEGA with servos control module 4
(RX1/TX1) it connects.It is 48MHz that servos control module 4 is used as main control chip, operation dominant frequency using STM32, using DC5V or
TTL3.3V powers.Servos control module 4 can control Hexapod Robot steering engine module 6 simultaneously, and PWM control accuracies are up to
0.1us.Possess USB or TTL port communication modes simultaneously, supports the baud frequency of 115200~2400Kps.Servos control module
4 be used as two-level controller, the action of robot can be stored, directly control Hexapod Robot steering engine module 6, make robot according to
The action of planning is operated.The bluetooth of handle control module 5 is also integrated in servos control module 4, bluetooth is a insertion
Formula bluetooth serial ports communication module works in the full-duplex mode after coordinating with handle control module 5.When bluetooth receives handle control
After the instruction of module 5, command signal directly is sent to servos control module 4, calls the action command of Hexapod Robot.
The second serial that Arduino control modules 1 pass through 2560 controllers of Arduino MEGA with sound identification module 2
(RX2/TX2) it connects.Sound identification module 2 is WEGASUN-M6 sound identification modules, using upper computer software to identification module
Operating mode, entry instruction and parameters be configured.2 independent operating of sound identification module is exported using TTL serial ports,
Instruction is received by TTL serial modes and result returns, and is returned the result and is transmitted to Arduino control modules for instruction form
1.When Arduino control modules 1 receive difference and return the result, different action commands is sent to servos control module 4, with this
Different action groups is called, realizes the voice interactive function of Hexapod Robot.
As shown in Fig. 2, ultrasonic sensor 7 and one of the ultrasonic sensor modules 3 including a model HC-SR04
Model SG90 steering engines 8.SG90 steering engines 8 are pwm pulse control, are gathered around there are three pin, GND, VCC, pwm signal line.The rudder
Machine 8 can generate the torque of 1.6kg/cm, and HC-SR04 ultrasonic sensors 7 are mechanically connect with SG90 steering engines 8, energy
Drive the rotation of HC-SR04 ultrasonic sensors.
Fig. 3 is the position view of Hexapod Robot steering engine module 6 and 18 steering engines 8, every foot of Hexapod Robot
On be fitted with three steering engines 8.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement etc., should be included in protection scope of the present invention made by within refreshing and principle.
Claims (8)
1. the Hexapod Robot control system based on Arduino platforms, it is characterised in that：Including Arduino control modules (1),
Sound identification module (2), ultrasonic sensor modules (3), servos control module (4), handle controller module (5), six sufficient machines
Device people's steering engine module (6)；(1) second input signal of output signal and Arduino control modules of the sound identification module (2)
Connection；The output signal of the ultrasonic wave module (3) is connected with the third input signal of Arduino control modules (1)；It is described
The input signal of servos control module (4) is connected with the first output signal of Arduino control modules (1)；The handle control
The wireless communication output signal of device module (5) is connected with the Bluetooth input signal of servos control module (4)；The servos control mould
The output signal and Hexapod Robot steering engine module (6) of block (4) connect；The Hexapod Robot steering engine module (6) is by Shi Balu
Steering engine (8) forms.
2. the Hexapod Robot control system according to claim 1 based on Arduino platforms, it is characterised in that：Voice
Identification module (2) is WEGASUN-M6 sound identification modules, using upper computer software to the Working mould of sound identification module (2)
Formula, entry instruction and parameters are configured, and sound identification module (2) independent operating is exported using TTL serial ports, passes through TTL
Serial mode receives instruction and result returns, and returns the result and is transmitted to Arduino control modules (1) for instruction type.
3. the Hexapod Robot control system according to claim 1 based on Arduino platforms, it is characterised in that：Ultrasound
Wave sensor module (3) includes ultrasonic sensor (7) and a model SG90 steering engine (8) of a model HC-SR04,
SG90 steering engines (8) control for pwm pulse, gather around there are three pin, and GND, VCC, pwm signal line generate the torque of 1.6kg/cm,
HC-SR04 ultrasonic sensors (7) are mechanically connect with SG90 steering engines (8).
4. the Hexapod Robot control system according to claim 3 based on Arduino platforms, it is characterised in that：It is described
HC-SR04 ultrasonic sensors (7) in ultrasonic sensor modules (3), a total of 4 pins, Vcc pins and GND pin
With the power supply and ground wire copolar of Arduino control modules (1), Trig, Echo pin respectively with Arduino control modules (1)
11, No. 12 pin connections, and in the pin that starts setting up of program, Trig pins are triggering pin, it is necessary to are input to from the pin
The high level signal of few 10 microseconds could trigger the distance measurement function of ultrasonic sensor modules (3).
5. the Hexapod Robot control system according to claim 1 based on Arduino platforms, it is characterised in that：It is described
Servos control module (4) is used as two-level controller, can store the action of robot, directly control Hexapod Robot steering engine module
(6), robot is made to be operated according to the action of planning；Servos control module (4) can connect upper computer software, adjust in software
The rotational angle of each steering engine (8) is arranged in examination.
6. the Hexapod Robot control system according to claim 5 based on Arduino platforms, it is characterised in that：Steering engine
Control module (4) is using STM32 as main control chip, and operation dominant frequency is 48MHz, is powered using DC5V or TTL3.3V, steering engine
Control module (4) can control Hexapod Robot steering engine module (6) simultaneously, and PWM control accuracies are up to 0.1us, have USB or
TTL port communication modes support the baud frequency of 115200~2400Kps.
7. the Hexapod Robot control system according to claim 1 based on Arduino platforms, it is characterised in that：It is described
Handle control module (5) signal transmission will be sent out to servos control module (4), servos control module (4) is equipped with signal and connects
Device is received, handle control module (5) is encoded for different key combination, transfers the action group in servos control module (4).
8. the Hexapod Robot control system according to claim 1 or 3 based on Arduino platforms, it is characterised in that：This
Steering engine (8) described in invention is LDX-218 high-precision steering engines, all-metal gear, torsional moment 15kg/cm-17kg/cm,
When live line work, using pulse width modulation rotational angle, controllable angle is 180 degree, and linear, and signal sends primary
The angle of steering engine (8) can be kept to remain unchanged, shake can be reduced, connection type is plug type.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810209575.2A CN108481348A (en) | 2018-03-14 | 2018-03-14 | Hexapod Robot control system based on Arduino platforms |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810209575.2A CN108481348A (en) | 2018-03-14 | 2018-03-14 | Hexapod Robot control system based on Arduino platforms |
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| CN108481348A true CN108481348A (en) | 2018-09-04 |
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| CN201810209575.2A Withdrawn CN108481348A (en) | 2018-03-14 | 2018-03-14 | Hexapod Robot control system based on Arduino platforms |
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Cited By (8)
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| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
| CN110010129A (en) * | 2019-04-09 | 2019-07-12 | 山东师范大学 | A kind of voice interactive system based on hexapod robot |
| CN110032109A (en) * | 2019-04-17 | 2019-07-19 | 苏州工业职业技术学院 | A kind of full landform intelligent robot |
| CN110377042A (en) * | 2019-08-12 | 2019-10-25 | 吉林大学 | A kind of hexapod robot control system of hydraulic-driven |
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| CN112526996A (en) * | 2020-12-03 | 2021-03-19 | 太原科技大学 | Arduino-based walking robot and control method thereof |
| CN113183167A (en) * | 2021-04-30 | 2021-07-30 | 智能移动机器人(中山)研究院 | Motion control system of foot type robot |
| CN114393580A (en) * | 2022-01-16 | 2022-04-26 | 西安石油大学 | STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109848963A (en) * | 2019-01-10 | 2019-06-07 | 武汉职业技术学院 | A kind of toxic gas detection robot |
| CN110010129A (en) * | 2019-04-09 | 2019-07-12 | 山东师范大学 | A kind of voice interactive system based on hexapod robot |
| CN110032109A (en) * | 2019-04-17 | 2019-07-19 | 苏州工业职业技术学院 | A kind of full landform intelligent robot |
| CN110377042A (en) * | 2019-08-12 | 2019-10-25 | 吉林大学 | A kind of hexapod robot control system of hydraulic-driven |
| CN111195909A (en) * | 2019-12-27 | 2020-05-26 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| CN111195909B (en) * | 2019-12-27 | 2021-12-17 | 深圳市优必选科技股份有限公司 | Steering engine control method and device for robot, terminal and computer storage medium |
| CN112526996A (en) * | 2020-12-03 | 2021-03-19 | 太原科技大学 | Arduino-based walking robot and control method thereof |
| CN113183167A (en) * | 2021-04-30 | 2021-07-30 | 智能移动机器人(中山)研究院 | Motion control system of foot type robot |
| CN114393580A (en) * | 2022-01-16 | 2022-04-26 | 西安石油大学 | STM 32-based four-degree-of-freedom multi-control-mode carrying mechanical arm |
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Application publication date: 20180904 |