CN109262584A - A kind of intelligent miniature robot - Google Patents
A kind of intelligent miniature robot Download PDFInfo
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- CN109262584A CN109262584A CN201811381779.0A CN201811381779A CN109262584A CN 109262584 A CN109262584 A CN 109262584A CN 201811381779 A CN201811381779 A CN 201811381779A CN 109262584 A CN109262584 A CN 109262584A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
Abstract
The present invention relates to robotic technology fields, and in particular to a kind of intelligent miniature robot.The development trend of robot is intelligent, micromation, realizes that the above two o'clock needs reliable and stable hardware platform.A kind of four core components of the intelligent miniature robot proposed by the present invention to system hardware: dynamical system, microcontroller peripheral circuit, infrared distance sensor and Inertial Measurement Unit are designed, and the design of these hardware cells is embodied as realizing that the objective function of special-purpose robot is laid a good foundation.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of intelligent miniature robot.
Background technique
Robot has the ability that many dangerous works are engaged in instead of the mankind, such as subsurface investigation, deep earth sampling, rescue
With space probation etc.；With electronics, communication, the further development of computer technology, some miniaturizations, intelligentized robot will
It increasingly participates in logistics transportation, rescue, medical treatment, housekeeping and other social public services work.20th century 70
To the eighties, the rapid development of industrial robot promotes economic fast development, and industrial efficiency has obtained greatly
It improves, during this period, intelligent miniature robot is mainly driven with stepper motor, using computers such as Z80 as controller, uses machine
Tool switch perception environment；To the nineties, embedded technology is gradually developed, and robot controller is converted to i386EX etc.
Device is managed, and environment sensing is carried out using the non-contact detectings such as ultrasonic wave, infrared mode, volume reduces, and the speed of service has obtained very
It is big to be promoted.Microcontroller performance rapid development based on ARM core in recent years, runs intelligent miniature robot more
The search of complexity, control algolithm.
The appearance of novel high-performance microcontroller, high efficiency direct current micromotor and MEMS MEMS sensor is so that machine
Device people miniaturization, intelligence are possibly realized, and are had based on the exploitation that these new devices carry out intelligent miniature robot very big
Development potentiality.Intelligence occupies increasingly consequence in Robot Design.
Summary of the invention
The present invention proposes that a kind of intelligent miniature robot, the intelligent robot have environment sensing ability.
The intelligent miniature robot, including power device, microcontroller and peripheral circuit, infrared distance sensor and used
Property measuring unit.
Power device, including motor, drive mechanism and motor-drive circuit.Drive mechanism uses four-wheel drive structure, makes
It is turned to the differential of two sides wheel；Motor-drive circuit controls the adjustment of DC motor speed and direction, and provides brake
Ability.
Microcontroller and peripheral circuit, including microcontroller, microcontroller peripheral circuit, interaction and debugging interface and extend out
Nonvolatile storage.
Microcontroller, for carrying out control coordination, including operation motor driven, infrared survey to each functional unit of robot
Away from, Inertial Measurement Unit data processing scheduling algorithm.
Microcontroller peripheral circuit includes source crystal oscillator, analog power (AVDD) and digital power (DVDD).It is wherein digital
Power supply (DVDD) is used to power to chip digital core, and analog power (AVDD) is for supplying ADC and internal phaselocked loop.
Interactive and debugging interface, including serially debug bus (Serial Wire Debug, SWD) and generic asynchronous serial
Mouth (UART).When wherein robot is static, serial debugging bus (Serial Wire Debug, SWD) is can be used in microcontroller
Debugging is carried out to download with program；Robot uses generic asynchronous serial mouth (UART) to be connected to wireless module in operation, uses
The equipment such as computer receive the information from robot.
Extend out nonvolatile storage, setup parameter and environmental information of the storage for robot adjustment.
Infrared distance sensor: the distance including non-modulation infrared sensor, for robot measurement apart from barrier.
Inertial Measurement Unit includes yaw rate gyroscope and twin-axis accelerometer.Yaw rate gyroscope is used for
The course angle of robot planar is accurately measured, for accurately turning, and auxiliary robot straight line is walked；Twin-axis accelerometer
It is mainly used for the detection to information such as sideslip, collisions, and the fusion to velocity information.
Further, the duty ratio that microcontroller modulates (PWM) signal by changing pulse width controls the output work of motor
Rate.
Further, there are 6 infrared distance sensors in intelligent miniature robot.
Further, motor-drive circuit control uses proportional integral differential control, controls signal as pulse width modulation
Signal.
Further, two-axis acceleration is calculated as twin shaft ± 1.7g accelerometer.
Further, infrared distance sensor is non-modulation infrared sensor.
Further, motor-drive circuit includes H- bridge circuit.
Further, motor-drive circuit uses brushed DC motor full-bridge gate driver.
Further, two infrared sensors for front detection respectively deviate 5 ° of central axes, and two of horizontal direction
Infrared sensor is placed at 120 ° of angles.
Further, the three groups of ADC synchronous working integrated in microcontroller, gyroscope and accelerometer data sampling period with
Infrared sensor is identical, and each acquisition channel does not need to change.
A kind of intelligent miniature robot proposed by the present invention, to four core components of system hardware: dynamical system, micro-control
Device peripheral circuit, infrared distance sensor and Inertial Measurement Unit processed are designed.The robot has environment sensing ability, packet
Non-modulation infrared sensor is included, the distance for robot measurement apart from barrier；Comprising yaw rate gyroscope and double
Axis accelerometer can accurately measure the course angle of robot planar, and the detection to information such as sideslip, collisions carries out quasi-
Really turning, and auxiliary robot straight line is walked.The design of these hardware cells is embodied as realizing the target of special-purpose robot
Function is laid a good foundation.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
It obtains other drawings based on these drawings.
Fig. 1 is microcontroller and peripheral circuit in the embodiment of the present invention.
Fig. 2 is infrared sensor number and installation site in the embodiment of the present invention.
Fig. 3 is the labyrinth for carrying out robot testing in the embodiment of the present invention and using.
Specific embodiment
To make the object, technical solutions and advantages of the present invention clearer, technical solution of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
Intelligent miniature robot in the embodiment of the present invention includes power device, microcontroller and peripheral circuit, infrared survey
Away from sensor and Inertial Measurement Unit, Basic Design index are as follows:
(1) size: long to be no more than 150mm, wide to be no more than 100mm, height is no more than 50mm
(2) movement velocity: linear running 3000mm/s or more
(3) weight: it is not more than 350g
In addition to this, robot is powered using battery, need to have environment sensing ability.Robot application in it is indoor flatly
Face, therefore it is designed as in-wheel driving.The volume of robot receives quite stringent limitation, but requires the speed of service high, therefore
Using DC hollow cup motor or brushless motor.
Robot for the miniaturization and lightweight for guaranteeing robot entirety, the embodiment of the present invention uses four-wheel drive knot
Structure is turned to using the differential of two sides wheel, eliminates independent steering mechanism, reduces the complexity of transmission mechanism, and
Improve its reliability.Spur gear is installed on two micro hollow cup motor shafts, drives two wheel hubs with gear of side same
To rotation.A pair of bearings of motor and supporting wheel hub is fixed on pcb board by a bracket.
Unilateral output power of motor is greater than 9.26W, and 1718R-14A- is chosen in the limitation in conjunction with machine human body product to motor
8.0 type motors, having a size of diameter 17mm, long 18mm.Gear reduction ratio is 1:2.625, and gear centre is away from 13.05mm.
The present embodiment motor-drive circuit uses DRV8701P type brushed DC motor full-bridge gate driver, is used for direct current
The adjustment in motor speed and direction simultaneously provides brake function.
The present embodiment selects the STM32F405RGT microcontroller of ST production, is internally integrated timer, analog-to-digital conversion
Device (ADC) and communication bus, program is on piece flash memory (FLASH) running frequency up to 168MHz.Microcontroller and its periphery electricity
Road is as shown in Figure 1.
It is integrated with 192KB random access memory (RAM) and 1MB FLASH in STM32F405RGT microcontroller, can make
With external high-speed oscillator (HSE), use is supported without source crystal and has source crystal oscillator.The present embodiment selection use has source crystal oscillator.
STM32F4 Series of MCU needs analog power (AVDD) and digital power (DVDD).DVDD is used for chip
Digital core power supply, voltage 3.3V, because of less demanding and electric current is larger to ripple, using the switch being made of TPS62132
Reduction voltage circuit power supply, the power supply are also used for supplying other digit chips；AVDD is similarly 3.3V, for supplying ADC and internal lock
Xiang Huan, it is more sensitive to ripple.To improve ADC precision, powered using TPS7A47 low noise low dropout voltage regulator, the power supply
For powering to Sensor Analog Relay System end.
When robot is static, microcontroller STM32F4 can be used serial debugging bus (Serial Wire Debug,
SWD debugging) is carried out to download with program.In order to guarantee that robot can return to correct information in actual operation, one has been used
A generic asynchronous serial mouth (UART) is connected to nRF51822 wireless module.NRF51822 is a to be integrated with 2.4G channel radio
The wireless on-chip system of the Cortex-M0 of telecommunication function, inside modules used herein, which have cured, realizes UART transparent transmission function
Program, the equipment such as computer can be used, the information from robot are received.
EEPROM type number is AT24C512C, is used IC bus (I2C, Inter-Integrated Circuit)
It is communicated with microcontroller, maximum transmission bandwidth 1Mbps, removing the actual transfer rates such as protocol overhead is about 33KB/s,
For storing motor closed loop, the parameters such as infrared sensor and Inertial Measurement Unit look-up table.Data are stored in after each correction parameter
EEPROM reads information into microcontroller RAM when powering on every time and uses.
FRAM model FM25V20, memory capacity 256KB, for saving the environmental information frequently changed.FRAM is used
The Serial Peripheral Interface (SPI) of 40MHz is communicated with microcontroller, and communication protocol is identical as common SPI interface FLASH.
Non-modulation infrared sensor is eliminated environment shadow and is rung through software realization, and the infrared emission end of the circuit is selected
SFH4550, receiving end TPS601A guarantee that the direction of the two is consistent using a plastic stent, and the two are assisted to be fixed to
On PCB.
Inhibit to interfere between sensor since non-modulation infrared sensor cannot rely on the different of modulating frequency, wherein being used for
The two sensors of front detection can interfere with each other.The sensor that improved sensor places previous level is pressed from both sides at 120 °
Angle is placed, and two groups of front sensors respectively deviate 5 ° of central axes and the hot spot of each group sensor is not had mutually with detection range
It is overlapping, it is eliminated through being interfered between measurement sensor, 6 groups of sensors realize the synchronous working of Lothrus apterus.
Inertial Measurement Unit (IMU) includes gyroscope and accelerometer.Yaw rate gyroscope is for accurately measuring machine
The course angle of device people planar, for accurately turning, and auxiliary robot straight line is walked.ADXRS642 is a technical grade
Yaw rate gyroscope, zero bias stability are 20 °/hour, and angle random walk is 0.02 °/s, can be in three axial directions
Upper offer shakes rejection ability.
Twin-axis accelerometer is mainly used for the detection to information such as sideslip, collisions, and the fusion to velocity information.Here
Select ADXL203 twin shaft ± 1.7g accelerometer.
The present embodiment motor control is controlled using proportional-integral-differential (PID), controls signal as pulse width modulation
(PWM) signal.Pulse width modulation (PWM) signal is generated by STM32F405RGT microcontroller timer.Control two motors
It needs two groups of PWM waveforms to generate, can be completed by two channels of a timer.
The speed feedback of motor derives from AS5145B magnetic coder, the orthogonal increment interface that output is A, B.
The input capture mode of STM32F4 timer can be configured to quadrature decoder mode.
It is integrated with the ADC of 3 groups of 12bit, 2.4Msps in STM32F4 microcontroller, 14 external channels can be acquired, here
Used 11 channels therein: 6 groups of infrared distance sensors occupy 6 channels, and Inertial Measurement Unit occupies 4 channels
(1 channel of gyroscope+2 channels of accelerometer+1 channel of gyroscope built-in temperature sensor), in addition there are a channels for examining
Survey cell voltage.
The data conversion of ADC takes a long time, and the present embodiment is by the way of selection ADC and DMA associated working.?
Here DMA is set as the mark converted every time by ADC triggering, array ADC change data being carried in memory
In the middle, the programs such as subsequent filtering algorithm extract untreated data from this array.DMA data will be to DMA after the completion of carrying
Complement mark position carries out set, this flag bit is read in principal function and carries out data processing.
Three groups of ADC of STM32 can cooperate, and single triggers the at most convertible 16 default channels each ADC, can be with
Multiple repairing weld is carried out to a channel.Here set three groups of ADC synchronous operation, by a timer interruption carry out triggering ADC1 and
ADC2 is for acquiring infrared distance sensor information；ADC3 is for acquiring Inertial Measurement Unit information.
Infrared sensor measurement method: intelligent miniature robot has used 6 infrared sensors altogether, is divided into three pairs: forward,
Left and right, oblique 45 °, as shown in Figure 2.
The numerical value for measuring 6 sensors must be by 4 measurements:
(1) all infrared LEDs are closed, ADC1 presses 1. 2. 3. sequential sampling 5 times, then acquires primary power source voltage (for mending
Neat 16 samplings)；ADC2 presses 4. 5. 6. sequential sampling 5 times, then acquires a gyroscope temperature (polishing sampling).
(2) infrared LED 1. 4. is opened, ADC1 continuous sampling 1. 16 times, ADC2 continuous sampling 4. 16 times, closes LED.
(3) infrared LED 2. 5. is opened, ADC1 continuous sampling 2. 16 times, ADC2 continuous sampling 5. 16 times, closes LED.
(4) infrared LED 3. 6. is opened, ADC1 continuous sampling 3. 16 times, ADC2 continuous sampling 6. 16 times, closes LED.
The sensor values that measurement process (1) obtains is environmental light intensity, and the value that (2) (3) (4) sample acquisition three times is band environment
Each sensor measurement distance of optical biasing.Due to phototriode output and light intensity be under logarithmic coordinates it is linear,
It will can directly subtract each other after sampled value mean filter, true reflective light intensity be obtained, for calculating distance.
Since three groups of ADC are synchronous workings, the sampling period of ADC3 is identical as infrared sensor, and each acquisition channel is not
It needs to change, is sequentially accelerometer X-axis 4 times+accelerometer Y-axis 4 times+gyroscope 8 times.Single group 16 times samplings are done respective
After mean filter, by formula (1) and formula (2), integral operation, the rotation angle and advance of calculating robot are carried out according to the sampling interval
Speed.
The rotation angle of formula ZhongΔθShi robot, ω are angular velocity of rotation, Δ VxIt is the velocity variations of X-direction, aX
It is the acceleration of X-direction, Δ VYIt is the velocity variations of Y direction, aYIt is the acceleration of Y direction, t0For initial time, Ts
For the sampling period.
In Disgrete Time Domain, using the method for trapezoidal integration, formula (1), (2) and formula (3) are converted into formula (4), (5) and formula
(6):
θ (n) is n moment, the rotation angle of robot in formula；ω (n) is n moment, angular velocity of rotation；VxIt (n) is n
Moment, the speed of X-direction；aXIt (n) is n moment, the acceleration of X-direction；VY(n) be n moment Y direction speed；aY
(n) be n moment Y direction acceleration；TsFor the sampling period.
It should additionally provide initial value θ (0)=0, V (X, Y) (0)=0 when starting.
To test intelligent miniature robot, a labyrinth is set as using test scene.Labyrinth is set as 16 ×
16 grids, each grid are 18cm, block board thickness 1.2cm.By starting point setting one jiao of labyrinth, terminal is arranged in labyrinth
Centre indicates as shown in Figure 3.
When robot reaches a grid, be up to four direction is optional: straight trip turns left, turns right, reversing end for end to return.For
When having the crossing grid of the two or more option in addition to u-turn, selected according to the searching algorithm of setting, it is common to pass through
Allusion quotation searching algorithm has following 5 kinds:
(1) right-hand rule: encountering crossing, and preferential selection is turned right, and secondly keeps straight on, turns left again；
(2) right rule in: encountering crossing, secondly preferential selection straight trip turns right, turns left again；
(3) lefft-hand rule: encountering crossing, and preferential selection is turned left, and secondly keeps straight on, turns right again；
(4) left rule in: encountering crossing, secondly preferential selection straight trip turns left, turns right again；
(5) rule of mutual attraction: encountering crossing, preferentially turns to the direction at the center of direction, secondly keeps straight on, again to far from center
Direction turning.
The algorithm of class binary tree search can be converted into for the search in labyrinth, the A* searching algorithm that the present embodiment uses is
A kind of heuristic path planning algorithm, compared to classical searching algorithm, the method that heuristic information guides search can
The solution section for simplifying problem, efficiently reduces search range, embodies the intelligence of robot.A* algorithm complexity is low, is suitble to
It is applied on microcontroller, evaluation function is formula (7)
F (k)=G (k)+H (k) (7)
In formula, G (k) is the consuming generated, i.e., arrives the lattice number currently respectively passed by from the off；H (k) is pre-
The consuming estimated, F (k) are evaluation function.System assesses node according to F (k), carries out Path selection.
The selection of H (k) determines the efficiency of search, used here as manhatton distance as H (k), formula (8) be Manhattan away from
From calculation method
DManhattan=| xG-x0|+|yG-y0| (8)
(x in formula0,y0) it is current point coordinate, (xG,yG) it is terminal point coordinate.Manhatton distance can guarantee that calculated value is little
It is reasonable in actual distance, therefore as H (k).Robot encounters crossing every time and then calculates the F (k) to advance to all directions
Value, to the value, lesser branch advances；Instantly when all F (k) values at a crossing are all larger than the result at a crossing, robot is returned
Go back to the branch that F (k) second is small in upper crossing selection last computation.Robot, which encounters dead end, can equally return to a crossing.
A kind of intelligent miniature robot that the embodiment of the present invention proposes, to four core components of system hardware: dynamical system
System, microcontroller peripheral circuit, infrared distance sensor and Inertial Measurement Unit are designed.The robot includes 3 pairs of non-tune
The infrared sensor of system, the distance for robot measurement apart from barrier, has environment sensing ability；Include ADXRS642 work
Industry grade yaw rate gyroscope and ADXL203 twin shaft ± 1.7g twin-axis accelerometer, can accurately measure robot in plane
Interior course angle, the detection to information such as sideslip, collisions, is accurately turned, and auxiliary robot straight line is walked.These hardware
The design of unit is embodied as realizing that the objective function of special-purpose robot is laid a good foundation.Using labyrinth as answering
With in the test of scene, intelligent miniature robot can smoothly be reached home using intelligent search algorithm, pass through test.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of intelligent miniature robot, which is characterized in that including power device, microcontroller and peripheral circuit, infrared distance measurement
Sensor and Inertial Measurement Unit；
Power device, including motor, drive mechanism and motor-drive circuit；Drive mechanism uses four-wheel drive structure, uses two
The differential of side wheel is turned to；Motor-drive circuit controls the adjustment of DC motor speed and direction, and has braking ability；
Microcontroller and peripheral circuit, including microcontroller, microcontroller peripheral circuit, interaction and debugging interface and extend out it is non-easily
Lose memory；
Microcontroller, for carrying out control coordination to each functional unit of robot, including it is operation motor driven, infrared distance measurement, used
Property measuring unit data processing scheduling algorithm；
Microcontroller peripheral circuit includes source crystal oscillator, analog power and digital power；The digital power is used for chip-count
The power supply of word core, analog power is for supplying ADC and internal phaselocked loop；
Interactive and debugging interface, including serially debug bus and generic asynchronous serial mouth, when wherein robot is static, microcontroller
Serial debugging bus can be used and carry out debugging and program downloading；Robot is connected to using generic asynchronous serial mouth in operation
Wireless module；
Extend out nonvolatile storage, setup parameter and environmental information of the storage for robot adjustment；
Infrared distance sensor, the distance for robot measurement apart from barrier；
Inertial Measurement Unit includes yaw rate gyroscope and twin-axis accelerometer, and yaw rate gyroscope is for accurate
The course angle of robot measurement planar, for accurately turning, and auxiliary robot straight line is walked；Twin-axis accelerometer is used for
Information including breakking away, colliding is detected, and the fusion to velocity information.
2. intelligent miniature robot according to claim 1, which is characterized in that microcontroller output pulse width modulation letter
The output power of number control motor.
3. intelligent miniature robot according to claim 1, which is characterized in that there is 6 infrared distance sensors.
4. intelligent miniature robot according to claim 1, which is characterized in that motor-drive circuit control uses ratio-
Integrated Derivative control, control signal are pulse width modulating signal.
5. intelligent miniature robot according to claim 1, which is characterized in that two-axis acceleration is calculated as twin shaft ± 1.7g and adds
Speedometer.
6. intelligent miniature robot according to claim 1, which is characterized in that infrared distance sensor is non-modulation red
Outer sensor.
7. intelligent miniature robot according to claim 1, which is characterized in that motor-drive circuit includes H- bridge circuit.
8. intelligent miniature robot according to claim 1, which is characterized in that motor-drive circuit uses brushed DC electricity
Machine full-bridge gate driver.
9. intelligent miniature robot according to claim 1, which is characterized in that two infrared biographies for front detection
Sensor respectively deviates 5 ° of central axes, and two infrared sensors of horizontal direction are placed at 120 ° of angles.
10. intelligent miniature robot according to claim 1, which is characterized in that the synchronous work of the ADC integrated in microcontroller
Make, gyroscope and accelerometer data sampling period are identical as infrared sensor, and each acquisition channel does not need to change.
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| CN112296981A (en) * | 2019-07-26 | 2021-02-02 | 湖南早晨纳米机器人有限公司 | Driving system and driving method of micro-nano robot |
| CN114952839A (en) * | 2022-05-27 | 2022-08-30 | 西南交通大学 | Cloud edge cooperation-based two-stage robot motion decision technology framework |
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Application publication date: 20190125 |