CN108731701A - Biped robot's mileage travelled metering device - Google Patents
Biped robot's mileage travelled metering device Download PDFInfo
- Publication number
- CN108731701A CN108731701A CN201810536330.0A CN201810536330A CN108731701A CN 108731701 A CN108731701 A CN 108731701A CN 201810536330 A CN201810536330 A CN 201810536330A CN 108731701 A CN108731701 A CN 108731701A
- Authority
- CN
- China
- Prior art keywords
- circuit
- microcontroller
- biped robot
- metering device
- mileage travelled
- Prior art date
- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
Abstract
The invention discloses biped robot's mileage travelled metering device, including single-chip minimum system, power circuit, sensor circuit, display circuit, warning circuit, motor-drive circuit, helm control circuit, the power circuit provides power supply for whole device；The single-chip minimum system is made of microcontroller, crystal oscillating circuit, reset circuit, and the microcontroller is connected with crystal oscillating circuit, reset circuit；Travel speed is changed into pulse signal transmission to microcontroller by the sensor circuit by Hall element, and microcontroller shows obtained data transmission to display circuit.The present invention is easy to operate, and metering is accurate, has multiple functional, and easy to carry, the smaller feature of power consumption, other mileage measurement fields other than biped robot being capable of extensive use.
Description
Technical field
The present invention relates to singlechip technology field, more particularly to a kind of is travelled by the biped robot of core of microcontroller
Mileage measurement device.
Background technology
Robot is automation equipment in fact, he is still machine, but he can imitate people complete it is certain specific
Work.Why robot technology is developed.It is briefly to have three aspect reasons：1, it does people and is reluctant dry thing.2, people from
It is toxic, it is harmful to, is freed in dangerous environment.3, ensure the efficiency and accuracy of work.People can tire out, and machine will not.This becomes
Phase improves productivity, has liberated labour.
With the development of the times, robot technology is also with rapid changepl. never-ending changes and improvements, from pair of traditional caterpillar type robot by now
Sufficient walking robot, robot will be used wider and wider.Nowadays robot is provided to people as scientific and technological product
More and more convenient, they can do the thing that the mankind can not accomplish, people can also be replaced to do some dangerous work.Two
Foot walk upright robot be future robot developing direction.Compared to more traditional robot, they can be better, more square
Just it is mankind's service, the place that more traditional robots can not reach can be reached by imitating the characteristic that the mankind two walk enough.
Biped robot not only possesses open working space, and very low to pedestrian environment requirement, adapts in all kinds of
Ground and have the higher ability for overstating obstacle-overpass, walking performance, which is other walking configuration, to be compared.Study biped row
Robot walking has great importance, and during biped robot travels, operating personnel can be allowed to be apparent from traveling
The physical quantitys such as speed, mileage, can more accurately manipulate.
Invention content
In view of the deficienciess of the prior art, the purpose of the present invention, which is that, provides the metering of biped robot's mileage travelled
Device has multiple functional, easy to carry, the smaller feature of power consumption.
To achieve the goals above, the technical solution adopted by the present invention is such：Biped robot's mileage travelled is measured
Device, including single-chip minimum system, power circuit, sensor circuit, display circuit, warning circuit, motor-drive circuit, rudder
Machine control circuit, the power circuit provide power supply for whole device；The single-chip minimum system is by microcontroller, crystal oscillator electricity
Road, reset circuit composition, the microcontroller are connected with crystal oscillating circuit, reset circuit；The sensor circuit passes through Hall member
Travel speed is changed into pulse signal transmission to microcontroller by part, and microcontroller shows obtained data transmission to display circuit
Show, the data that the warning circuit receives microcontroller are alarmed；The motor-drive circuit is used for amplified signal, forms forceful electric power
Signal；The helm control circuit is made of steering engine controller and serial communication circuit, and the steering engine controller is logical by serial ports
Letter circuit is connected on microcontroller.
As a preferred embodiment, the microcontroller prefers to use AT89C51 microcontrollers.
As a preferred embodiment, the reset circuit uses key reset circuit.
As a preferred embodiment, the crystal oscillating circuit uses the crystal oscillator of 12M.
As a preferred embodiment, the display circuit is shown using LED charactrons.
As a preferred embodiment, the warning circuit is alarmed using audible-visual annunciator.
Compared with prior art, beneficial effects of the present invention：The present invention is easy to operate, and metering is accurate, have it is multiple functional,
Easy to carry, the smaller feature of power consumption, other mileage measurement fields other than biped robot being capable of extensive use.
Description of the drawings
Fig. 1 is the principle of the present invention block diagram；
Fig. 2 is the circuit diagram one of the present invention；
Fig. 3 is the circuit diagram two of the present invention；
Fig. 4 is the circuit diagram three of the present invention.
Specific implementation mode
With reference to specific embodiment, the invention will be further described.Following embodiment is only used for clearly illustrating
Technical scheme of the present invention, and not intended to limit the protection scope of the present invention.
Embodiment：
As shown in Fig. 1 ~ 4, biped robot's mileage travelled metering device, including single-chip minimum system, power circuit, sensor
Circuit, display circuit, warning circuit, motor-drive circuit, helm control circuit, the power circuit provide electricity for whole device
Source；The single-chip minimum system is made of microcontroller, crystal oscillating circuit, reset circuit, the microcontroller and crystal oscillating circuit, reset
Circuit is connected；Travel speed is changed into pulse signal transmission to microcontroller, list by the sensor circuit by Hall element
Obtained data transmission to display circuit is shown that the data that the warning circuit receives microcontroller are alarmed by piece machine；
The motor-drive circuit is used for amplified signal, forms forceful electric power signal；The helm control circuit is by steering engine controller and serial ports
Telecommunication circuit forms, and the steering engine controller is connected to by serial communication circuit on microcontroller.
Specifically, in order to ensure the voltage stabilization of offer, so with the DC voltage level of energy offer+12V, then design
One simple level shifting circuit, 5V is fallen to by voltage.
Specifically, the microcontroller prefers to use AT89C51 microcontrollers, electric pulse is by the Hall element of sensor circuit by biped
The number of revolute traveling is converted, and after being converted to standard signal, is transmitted to microcontroller and is carried out data processing.By list
The Timer/Counter of piece machine measures the time number of every circle and total umber of pulse, is handled using microcontroller and is transmitted to display circuit
It displays, here it is the measurements of biped robot's speed and mileage.
Specifically, the reset circuit uses key reset circuit.After single chip circuit work, microcontroller is first to carry out
Begin to reset, then the necessary high level there are two more than machine on RET pins.As long as RET persistently keeps high level, then
AT89C51 microcontroller cycle resets.Generating high level reset by a button K1 of microcontroller, here it is hand-resets.It is powered
When, capacitance C5 is equal to short circuit, and the ends RET are coupled with the voltage of+5V, AT89C51 microcontrollers is made to automatically reset at once；Only need
Button press K1, system can reset, this process is the process of hand-reset.After reset, P0 to P3 and I/
O mouthfuls are all high level, and the only working condition of SBUF registers is uncertain, remaining all resets.More specifically, power on
When, system charges, and high level occurs on the RST pins of microcontroller, it is only necessary to have the high level of 10ms, microcontroller
It can be resetted.
Specifically, the crystal oscillating circuit uses the crystal oscillator of 12M.More specifically, the main function of crystal oscillating circuit is in week
In time phase, crystal oscillator output pulse signal to microcontroller, with this microcontroller can be completed according to the instruction of clock signal
Action.
Specifically, the display circuit is shown using LED charactrons.The LED display of the LED charactrons stroke is in list
It is generally used to show various characters in piece machine, since his service life is long, display is clear, is hardly damaged, so using very wide
It is general.There are two types of different forms for LED charactrons：One of which is called common-anode light-emitting diode display；Another is referred to as common cathode
Light-emitting diode display.The present invention is using second of commoncathode.Dynamic and static status display are two kinds of display modes of LED, this
Invention is using the Dynamic Announce interface circuit that eight stroke section a-h Same Name of Ends of whole displays connect together, I/0 line traffic controls
The public pole COM of each display.When CPU exports output font code to field, whole displays can all receive equally
Font code, finally determined by COM with which display.It can allow each display can by time-sharing approach in other words
To light successively.In this process, each display all only can bright seldom time.
Specifically, the warning circuit is alarmed using audible-visual annunciator, it is exactly instantaneous velocity once being higher than first fixed number value, bee
Ring device alarm will be sounded, and warning light jump, warning needs to slow down.
More specifically, the present invention is additionally provided with 24C02 storage circuits, for storing data.
Specifically, the serial communication circuit uses the DC-DC module of two pieces of LM2596S chips, the module to have wiring
Simply, at low cost, the characteristics of stability is good, high conversion efficiency.Avoid because battery it is unstable caused by influence to robot.
Meanwhile the steady operation that supply voltage is conducive to microcontroller is reduced, prolong the service life.It is supplied to the suitable voltage ability of steering engine
Steering engine is set to be operated in optimum state.Good power supply system all plays very crucial effect to the use of entire robot.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. biped robot's mileage travelled metering device, it is characterised in that：Including single-chip minimum system, power circuit, sensing
Device circuit, display circuit, warning circuit, motor-drive circuit, helm control circuit, the power circuit provide for whole device
Power supply；The single-chip minimum system is made of microcontroller, crystal oscillating circuit, reset circuit, and the microcontroller and crystal oscillating circuit are answered
Position circuit is connected；Travel speed is changed into pulse signal transmission to microcontroller by the sensor circuit by Hall element,
Obtained data transmission to display circuit is shown that the data that the warning circuit receives microcontroller are reported by microcontroller
It is alert；The motor-drive circuit is used for amplified signal, forms forceful electric power signal；The helm control circuit is by steering engine controller and string
Port communications circuit forms, and the steering engine controller is connected to by serial communication circuit on microcontroller.
2. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The microcontroller is preferred to use
AT89C51 microcontrollers.
3. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The reset circuit is adopted
Use key reset circuit.
4. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The crystal oscillating circuit is adopted
With the crystal oscillator of 12M.
5. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The display circuit is adopted
It is shown with LED charactrons.
6. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The warning circuit is adopted
It is alarmed with audible-visual annunciator.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810536330.0A CN108731701A (en) | 2018-05-30 | 2018-05-30 | Biped robot's mileage travelled metering device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810536330.0A CN108731701A (en) | 2018-05-30 | 2018-05-30 | Biped robot's mileage travelled metering device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108731701A true CN108731701A (en) | 2018-11-02 |
Family
ID=63935779
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810536330.0A Pending CN108731701A (en) | 2018-05-30 | 2018-05-30 | Biped robot's mileage travelled metering device |
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Citations (10)
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|---|---|---|---|---|
| US20120155775A1 (en) * | 2010-12-21 | 2012-06-21 | Samsung Electronics Co., Ltd. | Walking robot and simultaneous localization and mapping method thereof |
| CN202630964U (en) * | 2012-07-10 | 2012-12-26 | 南京信息工程大学 | Speed odometer based on Hall element |
| CN202854898U (en) * | 2012-10-27 | 2013-04-03 | 长安大学 | Taximeter based on single chip microcomputer |
| CN203490242U (en) * | 2013-09-15 | 2014-03-19 | 陕西亚泰电器科技有限公司 | A motor rotating speed measuring apparatus based on a single chip microcomputer ATmega8L |
| CN104006824A (en) * | 2014-06-16 | 2014-08-27 | 苏州南斗专利服务有限公司 | Speed and mileage measuring instrument based on single-chip microcomputer |
| CN204719537U (en) * | 2015-06-18 | 2015-10-21 | 国网山东临邑县供电公司 | The long-range inspecting robot of communications equipment room |
| CN204718614U (en) * | 2015-06-24 | 2015-10-21 | 湖南科技学院 | A kind of bicycle speed mileage electronic watch |
| CN205120734U (en) * | 2015-11-17 | 2016-03-30 | 南京信息工程大学 | Speed mileage display device with hall sensor |
| US9618937B1 (en) * | 2014-08-25 | 2017-04-11 | Google Inc. | Slip detection using robotic limbs |
| CN107116549A (en) * | 2017-03-15 | 2017-09-01 | 广东工业大学 | A kind of method for planning track of robot and anthropomorphic robot platform based on quadravalence cubic B-spline function |
-
2018
- 2018-05-30 CN CN201810536330.0A patent/CN108731701A/en active Pending
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20120155775A1 (en) * | 2010-12-21 | 2012-06-21 | Samsung Electronics Co., Ltd. | Walking robot and simultaneous localization and mapping method thereof |
| CN202630964U (en) * | 2012-07-10 | 2012-12-26 | 南京信息工程大学 | Speed odometer based on Hall element |
| CN202854898U (en) * | 2012-10-27 | 2013-04-03 | 长安大学 | Taximeter based on single chip microcomputer |
| CN203490242U (en) * | 2013-09-15 | 2014-03-19 | 陕西亚泰电器科技有限公司 | A motor rotating speed measuring apparatus based on a single chip microcomputer ATmega8L |
| CN104006824A (en) * | 2014-06-16 | 2014-08-27 | 苏州南斗专利服务有限公司 | Speed and mileage measuring instrument based on single-chip microcomputer |
| US9618937B1 (en) * | 2014-08-25 | 2017-04-11 | Google Inc. | Slip detection using robotic limbs |
| CN204719537U (en) * | 2015-06-18 | 2015-10-21 | 国网山东临邑县供电公司 | The long-range inspecting robot of communications equipment room |
| CN204718614U (en) * | 2015-06-24 | 2015-10-21 | 湖南科技学院 | A kind of bicycle speed mileage electronic watch |
| CN205120734U (en) * | 2015-11-17 | 2016-03-30 | 南京信息工程大学 | Speed mileage display device with hall sensor |
| CN107116549A (en) * | 2017-03-15 | 2017-09-01 | 广东工业大学 | A kind of method for planning track of robot and anthropomorphic robot platform based on quadravalence cubic B-spline function |
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| 胡楠 等: "配电房轨道式自动巡检机器人控制系统设计与实现", 计算机测量与控, vol. 24, no. 3, pages 98 - 102 * |
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