CN109011623A - A kind of wushu ring robot and its control method that ejectable is gone up on the stage - Google Patents
A kind of wushu ring robot and its control method that ejectable is gone up on the stage Download PDFInfo
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- CN109011623A CN109011623A CN201810883532.2A CN201810883532A CN109011623A CN 109011623 A CN109011623 A CN 109011623A CN 201810883532 A CN201810883532 A CN 201810883532A CN 109011623 A CN109011623 A CN 109011623A
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- distance measuring
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- ejectable
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H17/00—Toy vehicles, e.g. with self-drive; ; Cranes, winches or the like; Accessories therefor
- A63H17/26—Details; Accessories
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Abstract
A kind of wushu ring robot and its control method that ejectable is gone up on the stage.The wushu ring robot that ejectable is gone up on the stage includes scoop component, ejection mechanism, controller, top plate, Power Component, chassis and sensor.The present invention is suitable for basic artificial intelligence education sector, compared with traditional wushu ring robot, robot structure is more simplified, function is more powerful, it is more intelligent, it is more accurate quickly to other side robot, ring limb recognition, it especially joined ejection mechanism, the ring that highest 10cm can independently be climbed up solves traditional martial art ring robot and goes up on the stage difficult problem.
Description
Technical field
The invention belongs to intelligent robot equipment technology fields, more particularly to a kind of wushu ring machine that ejectable is gone up on the stage
Device people and its control method.
Background technique
With the gradually development and application of artificial intelligence, robot also gradually realizes that intelligence, application cover first
Industry, secondary industry, the tertiary industry, therefore robot have become the indispensable important composition portion of human society production and living
Point.But there are own shortcomings for traditional wushu ring robot: structure is complex, and intelligence degree is low, and enemy robot is beaten
Edge of table identification is not precisely quick enough, and difficulty of going up on the stage.
Summary of the invention
To solve the above-mentioned problems, the purpose of the present invention is to provide it is a kind of launch the wushu ring robot gone up on the stage and its
Control method, to realize that autonomous ejection is gone up on the stage, intelligent recognition confrontation.
In order to achieve the above object, the wushu ring robot that ejectable provided by the invention is gone up on the stage include scoop component,
Ejection mechanism, controller, top plate, Power Component, chassis and sensor；Wherein, chassis level is arranged；Power Component is mounted on bottom
On disk, including four groups of wheels, the first to the 5th motor and first are to third motor driver；Four groups of wheels are pacified respectively
The position before and after the two sides on chassis；First motor is mounted on the front side on chassis；Second, third motor is separately mounted to bottom
Position before and after the side of disk, and output shaft is connected with the wheel shaft for two groups of wheels for being located at the same side respectively；Five, the 4th electricity
Machine is separately mounted to position before and after the other side on chassis, and the output shaft wheel shaft with the another two groups of wheels for being located at the same side respectively
It is connected；First is mounted on the middle part on chassis to third motor driver, wherein first motor driver and second, third motor
Electrical connection；Second motor driver is electrically connected with the five, the 4th motors；Third motor driver is electrically connected with first motor；Top
Plate is horizontally set on the top on chassis；
The scoop component includes shovel face, two scoop sled arms and two bearing blocks；The lower end of two of them bearing block
It is separately mounted to the front part sides position of top plate；It is 7 character form structures that scoop, which prizes arm, and bending part is located at upside, two scoop sleds
The rear end of arm is respectively hinged on a bearing block；The dorso-posterior two sides position of shovel face is connected to two scoop sled arms
Front, therefore scoop sled arm and shovel face can be freely rotated around bearing block；
The ejection mechanism is mounted on chassis, including two ejections sled arms, pinion gear, gear wheel, four ring flanges,
Rotary shaft and two rotating shaft bearing seats；Wherein, two rotating shaft bearing seats are mounted on the front part sides position on chassis；Rotary shaft
Two sides position be separately mounted in two rotating shaft bearing seats；The centre bore of pinion gear is mounted on the output shaft of first motor
On；The centre bore of gear wheel is mounted on the middle part of rotary shaft and is meshed with pinion gear；Two ring flanges are separately fixed at two
The outer end face of rotating shaft bearing seat, for limiting the axial movement of rotary shaft；Ejection sled arm is the arc panel being bent upwards, two
One end of ejection sled arm passes through the both ends that another two ring flange is fixed on rotary shaft respectively, and the other end is free end；
The sensor includes 14 distance measuring sensors and 4 photoelectric sensors, wherein 14 distance measuring sensor difference
For be mounted on the left front direction in chassis, front to, right front to, left-front corner, right anterior angle, right side central, right back is to, dead astern
To the left front distance measuring sensor of, left back direction and left direction, just before distance measuring sensor, it is right before distance measuring sensor, left-front corner survey
Away from distance measuring sensor, just rear distance measuring sensor, a left side behind sensor, right anterior angle distance measuring sensor, three right side distance measuring sensors, the right sides
Distance measuring sensor and three left side distance measuring sensors afterwards；Two photoelectric sensors are separately mounted to the back side two sides position of shovel face,
Another two photoelectric sensor is separately mounted to top rear two sides position；
The controller is mounted on top rear, and with all distance measuring sensors, photoelectric sensor and first to
The electrical connection of three motor drivers.
The wushu ring robot that the ejectable is gone up on the stage further includes guard assembly, and guard assembly is frame structure, under
End is mounted on the top plate on the outside of controller.
The wushu ring robot that the ejectable is gone up on the stage further includes the radiating subassembly for being mounted on top plate front.
First to the 5th motor uses stepper motor, direct current generator or brushless motor.
The control method for the wushu ring robot that ejectable provided by the invention is gone up on the stage include carry out in order it is following
Step:
Step 1: the wushu robot that this ejectable is gone up on the stage is placed under ring and is started；
Step 2: under the control of the controller, being sensed using distance measuring sensor, just rear ranging before left front distance measuring sensor, the right side
Device or two photoelectric sensors for being located at top rear then will test signal apart from detection and send controller to, if
Distance measuring sensor, just rear distance measuring sensor or two photoelectric sensors for being located at top rear are same before left front distance measuring sensor, the right side
When detect signal, the wushu robot that controller determines that ejectable is gone up on the stage is under ring and starts program of going up on the stage；
Step 3: the part electricity in the second to the 5th motor is driven using first motor driver and the second motor driver
Machine rotation, thus drives part vehicle wheel rotation, the wushu robot for making ejectable go up on the stage is rotated in place to adjust orientation, when left front
Distance measuring sensor, just rear distance measuring sensor, two photoelectric sensors for being located at top rear detect simultaneously before distance measuring sensor, the right side
When to signal, controller determines immediately ahead of wushu robot that ejectable is gone up on the stage to alignment ring；
Step 4: if distance measuring sensor does not detect other side robot before just, the wushu robot that ejectable is gone up on the stage is stepped on
Platform, if distance measuring sensor detects other side robot before just, before the wushu robot that ejectable is gone up on the stage rotates in place 90 degree simultaneously
Row a distance repeats step 3 step and starts to go up on the stage when distance measuring sensor does not detect other side robot before just；
Step 5: controller control third motor driver rotates first motor, thus successively drives pinion gear and canine tooth
Wheel rotates towards each other, and then rotary shaft is driven also to rotate together, and revolves two ejection sled arms at a high speed clockwise around two bearings seat
It circles, moment supports the wushu robot front that ejectable is gone up on the stage；
Step 6: while two ejection sled arm rotations, controller passes through first motor driver and the second motor driven
Device drives the second to the 5th motor and four groups of wheel high speed rotations, so that the wushu robot acquisition that ejectable is gone up on the stage is enough
Forward acceleration, and lift front and be accelerated forwardly movement；
Step 7: when chassis touches ring edge, the wushu robot rear portion that ejectable is gone up on the stage will be bounced moment, preceding
Two groups of wheels in portion, which land, obtains road holding, continues to move forward by the trend to travel forward, completes to go up on the stage；
Step 8: controller self-test, if distance measuring sensor, just rear distance measuring sensor before left front distance measuring sensor, the right side, or
Right side distance measuring sensor, left side distance measuring sensor are not simultaneously detected signal, then the wushu robot that ejectable is gone up on the stage goes up on the stage
Success, on the contrary return to step 3；
Step 9: after the wushu robot that ejectable is gone up on the stage goes up on the stage successfully, controller starts adversary procedure, freely travels
On ring, controller identifies ring edge by being installed on two photoelectric sensors at the shovel face back side, to prevent ejectable from going up on the stage
Wushu robot fall platform；
Step 10: controller by left front distance measuring sensor, just before distance measuring sensor, it is right before distance measuring sensor, left-front corner
Distance measuring sensor, right anterior angle distance measuring sensor, right side distance measuring sensor, it is right after distance measuring sensor, just after distance measuring sensor, left back
The movement for the wushu robot that distance measuring sensor and left side distance measuring sensor control ejectable are gone up on the stage, it is no matter above-mentioned positioned at which side
The distance measuring sensor of position detects other side robot, the wushu robot that this ejectable is gone up on the stage will by first motor driver and
Second motor driver drives the second to the 5th motor and four groups of rapid adjustment directions of wheel, by front to alignment other side's machine
Device people and quick washing, other side robot is scooped up and push down ring using shovel face；
Step 11: after other side robot is pushed down ring, controller starts platform program of defending the ring, and is sensed by left front ranging
Distance measuring sensor, right side ranging pass before device, just preceding distance measuring sensor, left-front corner distance measuring sensor, right anterior angle distance measuring sensor, the right side
Distance measuring sensor, just rear distance measuring sensor, left back distance measuring sensor and left side distance measuring sensor perceive other side's machine behind sensor, the right side
People position out of office, and constantly track, to prevent other side robot from going up on the stage again；
Step 12: if the wushu robot that this ejectable is gone up on the stage falls ring, return step 2.
The wushu ring robot and its control method that ejectable provided by the invention is gone up on the stage are suitable for basic artificial intelligence
Education sector, compared with traditional wushu ring robot, robot structure is more simplified, and function is more powerful, more intelligence
Energyization, it is more accurate quickly to other side robot, ring limb recognition, it especially joined ejection mechanism, can independently climb up most
The ring of high 10cm solves traditional martial art ring robot and goes up on the stage difficult problem.
Detailed description of the invention
Structural schematic diagram when Fig. 1 is the wushu ring robot nature provided by the invention launched and gone up on the stage.
Fig. 2 is Power Component scheme of installation in the wushu ring robot provided by the invention for launching and going up on the stage.
Fig. 3 is scoop component scheme of installation in the wushu ring robot provided by the invention for launching and going up on the stage.
Fig. 4 is to launch mechanism structure schematic diagram in the wushu ring robot provided by the invention for launching and going up on the stage.
Fig. 5 is sensor placement schematic diagram in the wushu ring robot provided by the invention for launching and going up on the stage.
Fig. 6-Fig. 8 is that the wushu ring robot provided by the invention that go up on the stage that launches launches process schematic of going up on the stage.
Specific embodiment
The principle and features of the present invention will be described below with reference to the accompanying drawings.
As Figure 1-Figure 5, the wushu ring robot that ejectable provided by the invention is gone up on the stage include scoop component 10,
Ejection mechanism 11, controller 14, top plate 15, Power Component 16, chassis 17 and sensor 18；Wherein, chassis 17 is horizontally disposed；It is dynamic
Power component 16 is mounted on chassis 17, including the 1601, first to the 5th motor 1600 of four groups of wheels, 1602,1605,1606,
1610 and first to third motor driver 1603,1608,1609；Four groups of wheels 1601 are separately mounted to chassis 17
Two sides before and after position；First motor 1600 is mounted on the front side on chassis 17；Second, third motor 1602,1605 difference
It is mounted on the side front and back position on chassis 17, and output shaft is connected with the wheel shaft for two groups of wheels 1601 for being located at the same side respectively
It connects；Five, the 4th motors 1610,1606 are separately mounted to position before and after the other side on chassis 17, and output shaft respectively with position
It is connected in the wheel shaft of another two groups of wheels 1601 of the same side；First is mounted on to third motor driver 1603,1608,1609
The middle part on chassis 17, wherein first motor driver 1603 is electrically connected with second, third motor 1602,1605；Second motor drives
Dynamic device 1608 is electrically connected with the five, the 4th motors 1610,1606；Third motor driver is electrically connected with first motor 1600；Top
Plate 15 is horizontally set on the top on chassis 17；
The scoop component 10 includes 1000, two scoop sled arms 1001 of shovel face and two bearing blocks 1002；Wherein two
The lower end of a bearing block 1002 is separately mounted to the front part sides position of top plate 15；It is 7 character form structures, bending that scoop, which prizes arm 1001,
Position is located at upside, and the rear end of two scoop sled arms 1001 is respectively hinged on a bearing block 1002；The back side of shovel face 1000
Rear portion two sides position is connected to the front of two scoop sled arms 1001, therefore scoop sled arm 1001 and shovel face 1000 can
It is freely rotated around bearing block 1002；
The ejection mechanism 11 is mounted on chassis 17, including arm 1100, pinion gear 1101, gear wheel are prized in two ejections
1102, four ring flanges 1104, rotary shaft 1107 and two rotating shaft bearing seats 1106；Wherein, two rotating shaft bearing seats
1106 are mounted on the front part sides position on chassis 17；The two sides position of rotary shaft 1107 is separately mounted to two rotating shaft bearing seats
In 1106；The centre bore of pinion gear 1101 is mounted on the output shaft of first motor 1600；The centre bore of gear wheel 1102 is installed
Rotary shaft 1107 middle part and be meshed with pinion gear 1101；Two ring flanges 1104 are separately fixed at two rotating shaft bearings
The outer end face of seat 1106, for limiting the axial movement of rotary shaft 1107；Ejection sled arm 1100 is the arc panel being bent upwards, two
One end of a ejection sled arm 1100 passes through the both ends that another two ring flange 1104 is fixed on rotary shaft 1107 respectively, and the other end is certainly
By holding；
The sensor 18 includes 14 distance measuring sensors and 4 photoelectric sensors 1800, wherein 14 ranging sensings
Device be respectively be mounted on the left front direction in chassis 17, front to, right front to, left-front corner, right anterior angle, right side central, right back
To, dead astern to the left front distance measuring sensor 1802 of, left back direction and left direction, just before distance measuring sensor 1803, it is right before survey
Away from 1805, three sensor 1804, left-front corner distance measuring sensor 1801, right anterior angle distance measuring sensor right side distance measuring sensors
1807, distance measuring sensor 1811, just rear distance measuring sensor 1812, left back distance measuring sensor 1813 and three left side rangings pass behind the right side
Sensor 1817；Two photoelectric sensors 1800 are separately mounted to the back side two sides position of shovel face 1000, another two photoelectric sensor
1800 are separately mounted to 15 rear portion two sides position of top plate；
The controller 14 is mounted on 15 rear portion of top plate, and with all distance measuring sensors, photoelectric sensor 1800 and
First to third motor driver 1603,1608,1609 be electrically connected.
The wushu ring robot that the ejectable is gone up on the stage further includes guard assembly 13, and guard assembly 13 is frame knot
Structure, lower end is mounted on the top plate 15 in 14 outside of controller, for preventing controller 14 from damaging because of collision.
The wushu ring robot that the ejectable is gone up on the stage further includes the radiating subassembly 11 for being mounted on 15 front of top plate, is used
It radiates in hot-end component.
First to the 5th motor 1600,1602,1605,1606,1610 is using stepper motor, direct current generator or nothing
Brush motor.
As shown in Fig. 6-Fig. 8, the control method for the wushu ring robot that ejectable provided by the invention is gone up on the stage include by
The following steps that sequence carries out:
Step 1: the wushu robot that this ejectable is gone up on the stage is placed under ring and is started；
Step 2: under control of the controller 14, using left front distance measuring sensor 1802, it is right before distance measuring sensor 1804, just
Distance measuring sensor 1812 or two photoelectric sensors 1800 for being located at 15 rear portion of top plate then will test apart from detection afterwards
Signal sends controller 14 to, if distance measuring sensor 1804, just rear distance measuring sensor before left front distance measuring sensor 1802, the right side
1812 or two photoelectric sensors 1800 for being located at 15 rear portion of top plate be detected simultaneously by signal, controller 14 determines that ejectable is stepped on
The wushu robot of platform is under ring and starts program of going up on the stage；
Step 3: driving the second to the 5th motor using first motor driver 1603 and the second motor driver 1608
1602, the part motor rotation in 1605,1606,1610, thus drives piece wheel 1601 to rotate, the force for making ejectable go up on the stage
Art robot is rotated in place to adjust orientation, before left front distance measuring sensor 1802, right distance measuring sensor 1804, just after ranging biography
When sensor 1812, two photoelectric sensors 1800 for being located at 15 rear portion of top plate are detected simultaneously by signal, the judgement of controller 14 can bullet
It penetrates immediately ahead of the wushu robot gone up on the stage to alignment ring；
Step 4: if distance measuring sensor 1803 does not detect other side robot, the wushu machine that ejectable is gone up on the stage before just
People goes up on the stage, if distance measuring sensor 1803 detects other side robot before just, the wushu robot that ejectable is gone up on the stage is rotated in place
90 degree and a distance that moves ahead repeat step 3 step when just preceding distance measuring sensor 1803 does not detect other side robot
Start to go up on the stage；
Step 5: controller 14, which controls third motor driver, rotates first motor 1600, thus successively drives pinion gear
1101 and gear wheel 1102 rotate towards each other, then rotary shaft 1107 is driven also to rotate together, two ejections is finally made to prize arms 1100
Around 1106 high speed rotation clockwise of two bearings seat one week, moment supported the wushu robot front that ejectable is gone up on the stage；
Step 6: while two ejections sled arms 1100 rotate, controller 14 passes through first motor driver 1603 and the
Two motor drivers 1608 drive the second to the 5th motor 1602,1605,1606,1610 and four groups of wheels 1601 to revolve at a high speed
Turn, so that the wushu robot that ejectable is gone up on the stage obtains enough forward accelerations, and lifts front and be accelerated forwardly movement；
Step 7: when chassis 17 touches ring edge, the wushu robot rear portion that ejectable is gone up on the stage will be bounced moment,
Two groups of wheels 1601 of front, which land, obtains road holding, continues to move forward by the trend to travel forward, completes to go up on the stage；
Step 8: 14 self-test of controller, if distance measuring sensor 1804, just rear ranging before left front distance measuring sensor 1802, the right side
Sensor 1812 or right side distance measuring sensor 1807, left side distance measuring sensor 1817 are not simultaneously detected signal, then ejectable
The wushu robot gone up on the stage goes up on the stage success, otherwise returns to step 3；
Step 9: after the wushu robot that ejectable is gone up on the stage goes up on the stage successfully, controller 14 starts adversary procedure, freely travels
On ring, controller 14 identifies ring edge by being installed on two photoelectric sensors 1800 at 10 back side of shovel face, to prevent
The wushu robot that ejectable is gone up on the stage falls platform；
Step 10: controller 14 by left front distance measuring sensor 1802, just before distance measuring sensor 1803, it is right before ranging sense
Ranging behind device 1804, left-front corner distance measuring sensor 1801, right anterior angle distance measuring sensor 1805, right side distance measuring sensor 1807, the right side
Sensor 1811, just rear distance measuring sensor 1812, left back distance measuring sensor 1813 and the control of left side distance measuring sensor 1817 can bullets
The movement for the wushu robot gone up on the stage is penetrated, no matter the above-mentioned distance measuring sensor positioned at which orientation detects other side robot, this
The wushu robot that ejectable is gone up on the stage will by first motor driver 1603 and the second motor driver 1608 driving second to
5th motor 1602,1605,1606,1610 and four groups of rapid adjustment directions of wheel 1601, by front to alignment other side's machine
Device people and quick washing, other side robot is scooped up and push down ring using shovel face 1000；
Step 11: after other side robot is pushed down ring, controller 14 starts platform program of defending the ring, and is sensed by left front ranging
Ranging before device 1802, just preceding distance measuring sensor 1803, left-front corner distance measuring sensor 1801, right anterior angle distance measuring sensor 1805, the right side
Distance measuring sensor 1811, just rear distance measuring sensor 1812, left back ranging behind sensor 1804, right side distance measuring sensor 1807, the right side
Sensor 1813 and left side distance measuring sensor 1817 perceive other side robot position out of office, and constantly track, with prevention pair
Square robot goes up on the stage again；
Step 12: if the wushu robot that this ejectable is gone up on the stage falls ring, return step 2.
Claims (5)
1. a kind of wushu ring robot that ejectable is gone up on the stage, it is characterised in that: it includes scoop component (10), ejection mechanism
(11), controller (14), top plate (15), Power Component (16), chassis (17) and sensor (18)；Wherein, chassis (17) are horizontal
Setting；Power Component (16) is mounted on chassis (17), including four groups of wheels (1601), the first to the 5th motor (1600,
1602,1605,1606,1610) and first to third motor driver (1603,1608,1609)；Four groups of wheels
(1601) it is separately mounted to the two sides front and back position on chassis (17)；First motor (1600) is mounted on the front one on chassis (17)
Side；Second, third motor (1602,1605) is separately mounted to position before and after the side on chassis (17), and output shaft respectively with
Wheel shaft positioned at two groups of wheels (1601) of the same side is connected；Five, the 4th motors (1610,1606) are separately mounted to chassis
(17) position before and after the other side, and output shaft is connected with the wheel shaft for the another two groups of wheels (1601) for being located at the same side respectively
It connects；First is mounted on the middle part of chassis (17) to third motor driver (1603,1608,1609), and wherein first motor drives
Device (1603) is electrically connected with second, third motor (1602,1605)；Second motor driver (1608) and the five, the 4th motors
(1610,1606) it is electrically connected；Third motor driver is electrically connected with first motor (1600)；Top plate (15) is horizontally set on chassis
(17) top；
The scoop component (10) includes shovel face (1000), two scoop sleds arm (1001) and two bearing blocks (1002)；Its
In the lower ends of two bearing blocks (1002) be separately mounted to the front part sides position of top plate (15)；It is 7 words that scoop, which prizes arm (1001),
Shape structure, bending part are located at upside, and the rear end of two scoop sleds arm (1001) is respectively hinged on a bearing block (1002)；
The dorso-posterior two sides position of shovel face (1000) is connected to the front of two scoop sleds arm (1001), therefore scoop prizes arm
(1001) and shovel face (1000) can be freely rotated around bearing block (1002)；
The ejection mechanism (11) is mounted on chassis (17), including two ejections sled arm (1100), pinion gear (1101), big
Gear (1102), four ring flanges (1104), rotary shaft (1107) and two rotating shaft bearing seats (1106)；Wherein, two rotations
Shaft bearing seat (1106) is mounted on the front part sides position on chassis (17)；The two sides position of rotary shaft (1107) is separately mounted to
In two rotating shaft bearing seats (1106)；The centre bore of pinion gear (1101) is mounted on the output shaft of first motor (1600)；
The centre bore of gear wheel (1102) is mounted on the middle part of rotary shaft (1107) and is meshed with pinion gear (1101)；Two ring flanges
(1104) it is separately fixed at the outer end face of two rotating shaft bearing seats (1106), is moved for limiting the axial of rotary shaft (1107)
It is dynamic；Ejection sled arm (1100) is the arc panel being bent upwards, and one end of two ejection sleds arm (1100) passes through another two method respectively
Blue disk (1104) is fixed on the both ends of rotary shaft (1107), and the other end is free end；
The sensor (18) includes 14 distance measuring sensors and 4 photoelectric sensors (1800), wherein 14 ranging sensings
Device be respectively be mounted on the left front direction in chassis (17), front to, right front to, left-front corner, right anterior angle, right side central, it is right after
Direction, dead astern to the left front distance measuring sensor (1802) of, left back direction and left direction, just before distance measuring sensor (1803),
Distance measuring sensor (1804), left-front corner distance measuring sensor (1801), right anterior angle distance measuring sensor (1805), three right sides are surveyed before the right side
Away from distance measuring sensor (1811), just rear distance measuring sensor (1812), left back distance measuring sensor (1813) behind sensor (1807), the right side
With three left side distance measuring sensors (1817)；Two photoelectric sensors (1800) are separately mounted to the back side two sides of shovel face (1000)
Position, another two photoelectric sensor (1800) are separately mounted to top plate (15) rear portion two sides position；
The controller (14) is mounted on top plate (15) rear portion, and with all distance measuring sensors, photoelectric sensor (1800)
It is electrically connected with first to third motor driver (1603,1608,1609).
2. the wushu ring robot that ejectable according to claim 1 is gone up on the stage, it is characterised in that: the ejectable is stepped on
The wushu ring robot of platform further includes guard assembly (13), and guard assembly (13) is frame structure, and lower end is mounted on control
On top plate (15) on the outside of device (14) processed.
3. the wushu ring robot that ejectable according to claim 1 is gone up on the stage, it is characterised in that: the ejectable is stepped on
The wushu ring robot of platform further includes the radiating subassembly (11) for being mounted on top plate (15) front.
4. the wushu ring robot that ejectable according to claim 1 is gone up on the stage, it is characterised in that: described first to
Five motors (1600,1602,1605,1606,1610) use stepper motor, direct current generator or brushless motor.
5. a kind of control method for the wushu ring robot that ejectable as described in claim 1 is gone up on the stage, it is characterised in that: institute
The control method stated includes the following steps carried out in order:
Step 1: the wushu robot that this ejectable is gone up on the stage is placed under ring and is started；
Step 2: under the control of controller (14), using left front distance measuring sensor (1802), it is right before distance measuring sensor (1804),
Distance measuring sensor (1812) or two photoelectric sensors (1800) for being located at top plate (15) rear portion are carried out apart from detection, so after just
After will test signal and send controller (14) to, if left front distance measuring sensor (1802), it is right before distance measuring sensor (1804), just
Distance measuring sensor (1812) or two photoelectric sensors (1800) for being located at top plate (15) rear portion are detected simultaneously by signal afterwards, control
The wushu robot that device (14) processed determines that ejectable is gone up on the stage is under ring and starts program of going up on the stage；
Step 3: driving the second to the 5th motor using first motor driver (1603) and the second motor driver (1608)
Part motor rotation in (1602,1605,1606,1610), thus drives piece wheel (1601) rotation, ejectable is made to go up on the stage
Wushu robot rotate in place to adjust orientation, the distance measuring sensor (1804), just before left front distance measuring sensor (1802), right
When distance measuring sensor (1812), two photoelectric sensors (1800) for being located at top plate (15) rear portion are detected simultaneously by signal afterwards, control
To alignment ring immediately ahead of the wushu robot that device (14) judgement ejectable processed is gone up on the stage；
Step 4: if distance measuring sensor (1803) does not detect other side robot, the wushu robot that ejectable is gone up on the stage before just
It goes up on the stage, if distance measuring sensor (1803) detects other side robot before just, the wushu robot that ejectable is gone up on the stage is rotated in place
90 degree and a distance that moves ahead repeat step 3 step distance measuring sensor (1803) before just and do not detect other side robot
When start to go up on the stage；
Step 5: controller (14) control third motor driver rotates first motor (1600), thus successively drives pinion gear
(1101) it is rotated towards each other with gear wheel (1102), then rotary shaft (1107) is driven also to rotate together, finally make two ejection sleds
Arm (1100) was around two bearings seat (1106) high speed rotation one week clockwise, before moment supports the wushu robot that ejectable is gone up on the stage
Portion；
Step 6: while two ejections sled arm (1100) rotates, controller (14) by first motor driver (1603) and
Second motor driver (1608) drives the second to the 5th motor (1602,1605,1606,1610) and four groups of wheels (1601)
High speed rotation so that the wushu robot that ejectable is gone up on the stage obtains enough forward accelerations, and lifts front and is accelerated forwardly shifting
It is dynamic；
Step 7: when chassis (17) touch ring edge, the wushu robot rear portion that ejectable is gone up on the stage will be bounced moment, preceding
Two groups of wheels (1601) in portion, which land, obtains road holding, continues to move forward by the trend to travel forward, completes to go up on the stage；
Step 8: controller (14) self-test, if left front distance measuring sensor (1802), it is right before distance measuring sensor (1804), just surveying afterwards
It is not simultaneously detected signal away from sensor (1812) or right side distance measuring sensor (1807), left side distance measuring sensor (1817),
The wushu robot that then ejectable is gone up on the stage goes up on the stage success, otherwise returns to step 3；
Step 9: after the wushu robot that ejectable is gone up on the stage goes up on the stage successfully, controller (14) starts adversary procedure, freely travels
On ring, controller (14) identifies ring edge by being installed on two photoelectric sensors (1800) at shovel face (10) back side, with
The wushu robot for preventing ejectable from going up on the stage falls platform；
Step 10: controller (14) by left front distance measuring sensor (1802), just before distance measuring sensor (1803), it is right before ranging pass
Sensor (1804), left-front corner distance measuring sensor (1801), right anterior angle distance measuring sensor (1805), right side distance measuring sensor
(1807), distance measuring sensor (1811), just rear distance measuring sensor (1812), left back distance measuring sensor (1813) and left side are surveyed behind the right side
Movement away from the wushu robot that sensor (1817) control ejectable is gone up on the stage, no matter the above-mentioned ranging positioned at which orientation senses
Device detects that other side robot, the wushu robot that this ejectable is gone up on the stage will pass through first motor driver (1603) and the second electricity
Machine driver (1608) drives the second to the 5th motor (1602,1605,1606,1610) and four groups of wheels (1601) to adjust rapidly
Perfect square is to scooping up other side robot and push away using shovel face (1000) by front to alignment other side robot and quick washing
Lower ring；
Step 11: after other side robot is pushed down ring, controller (14) starts platform program of defending the ring, and passes through left front distance measuring sensor
(1802), just preceding distance measuring sensor (1803), left-front corner distance measuring sensor (1801), right anterior angle distance measuring sensor (1805), the right side
Distance measuring sensor (1811), just rear distance measuring sensor behind preceding distance measuring sensor (1804), right side distance measuring sensor (1807), the right side
(1812), left back distance measuring sensor (1813) and left side distance measuring sensor (1817) perceive other side robot position out of office,
And constantly track, to prevent other side robot from going up on the stage again；
Step 12: if the wushu robot that this ejectable is gone up on the stage falls ring, return step 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810883532.2A CN109011623A (en) | 2018-08-06 | 2018-08-06 | A kind of wushu ring robot and its control method that ejectable is gone up on the stage |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810883532.2A CN109011623A (en) | 2018-08-06 | 2018-08-06 | A kind of wushu ring robot and its control method that ejectable is gone up on the stage |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109011623A true CN109011623A (en) | 2018-12-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810883532.2A Pending CN109011623A (en) | 2018-08-06 | 2018-08-06 | A kind of wushu ring robot and its control method that ejectable is gone up on the stage |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113043294A (en) * | 2021-03-30 | 2021-06-29 | 中国民航大学 | Martial art arena robot based on indoor laser positioning |
| CN115384657A (en) * | 2022-09-16 | 2022-11-25 | 中国民航大学 | Intelligent robot based on laser positioning |
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Application publication date: 20181218 |