CN109966754A - A kind of wushu ring robot that tail portion ramp type is gone up on the stage - Google Patents

Abstract

The present invention relates to a kind of wushu ring robots that tail portion ramp type is gone up on the stage, it goes up on the stage part, superstructure, scoop attack device, sensor module arrangement, battery portion and control circuit part including chassis portion, inclined-plane, the present invention climbs up the ring of certain altitude using tail portion inclined-plane, and speed of appearing on the stage is fast, success rate is high；The present invention is equipped with several laser sensors and gray-scale sensor, so that ring robot is accurate to ring edge detection, identification opponent is rapid, is quick on the draw.In terms of control, present invention uses the connection types of serial bus formula.In configuration aspects, the present invention, which has, saves material, easy to process, with short production cycle, is easy to the advantages such as transformation.

Description

A kind of wushu ring robot that tail portion ramp type is gone up on the stage

Technical field

The invention belongs to robotic technology field more particularly to a kind of wushu ring robots that inclined-plane is gone up on the stage

Background technique

With the development of robot technology, the annual progress all like a raging fire of every robot match, wherein wushu ring Robot contest item is got growing concern for since its irritation is stronger with ornamental value.

Existing wushu ring robot is mostly external member assembly, and the fixation of external member shape limits the Shape Innovation of robot And motion mode；And it is homemade mostly using materials such as 3D printing part, bakelite, acrylics.The present invention will introduce and use carbon fiber Plate, 3D printing structure are the ring robot of connection assist.

In patent CN201721476914.0, sensor is infrared sensor, and infrared sensor volume is big, is occupied big Quantity space, and the present invention then uses laser sensor, it is small in size and be easily installed；Without self-locking before the patent scoop, and rocker arm is long, Scoop front end directly falls in place, contacts with place for line, is easily scooped up by opponent, rocker arm also frangibility, loses initiative, and this Invention scoop front end and place are face contact, with place have it is better be bonded, scoop front end is tip, and has steering engine locking, easily In scooping up opponent, win victory；It points out to have used mold part in the patent 006, cost is excessively high if single-piece production, and scheme Subsequent more troublesome if necessary to change meeting, the present invention uses acrylic, carbon fiber board and small print part, and processing is held Easily, there is universality.

In patent CN201721146875.8, ring vehicle is appeared on the stage by the way of the support of front and back scoop, and speed of appearing on the stage is slow, Big to the dependence of steering engine control and due to each two small scoops in front and back, steering engine is once asynchronous or failure, can have to match Very big influence, and the present invention is gone up on the stage using inclined-plane shock mode, speed is fast and stablizes；The patent is assembled using external member, to structure Limitation it is very big, and this patent, other than the standard components such as screw, all parts are autonomous Design, and design flexibility is big, wushu The structure of ring robot more optimizes.

In patent CN201610808282.7, there are six wheels for ring vehicle tool, although being not easy Caton when appearing on the stage, more two A motor increases the weight of ring vehicle, and it is not flexible to turn, while occupying bottom space, so that the sky that sensor can occupy Between reduce, and this patent is only there are four motor, and it is ingenious raised chassis, using two wheel parallel connections with increasing friction force, movement Flexibly.

Summary of the invention

Technical problem solved by the present invention is wushu challenge tournament robot be domestic and international robot field research hotspot it One, it is related to a variety of subjects such as information processing, Machine Design and processing and manufacturing, artificial intelligence, bionics.Wushu challenge tournament machine Device people is a complicated Mechatronic Systems, it has the characteristics that, and stability is high, movement is flexible, obstacle avoidance, identification opponent.

For existing wushu ring robot mostly using the plastics external member of purchase or the 3D printing part of bulk, institute of the present invention Technical problems to be solved are as follows:

The design of structure 1. trolley is gone up on the stage: wushu confrontation robot, which needs, independently to be found and logs in certain altitude ring Ability, therefore design a set of firm and easily go up on the stage that structure is particularly important, and inclined-plane is gone up on the stage, have quick characteristic.It is existing to adopt Although 3D printing tail portion is firm, time-consuming in terms of production and waste material, is not easy to be transformed.Thus, it is easy to produce, add Work, the tail portion inclined-plane component of assembly and mounting means are the research emphasis problems of this patent.

2. the layout of trolley center of gravity: due to being gone up on the stage using inclined-plane, if trolley center of gravity layout is unreasonable, it will overturn Or the case where cannot appearing on the stage, reasonable layout is conducive to improve trolley and appears on the stage the security performance of process, and can rationally utilize itself weight It is easy that power makes trolley appear on the stage.

3. the installation and design of attack weapon scoop: existing structure mostly uses bearing and bearing block, leads to scoop part zero When design, the assembly of part take based on bearing size, by biggish limitation, this patent will provide a kind of new mounting means Instead of bearing, increase the flexibility of design, while improving scoop intensity；The shape of existing scoop is mostly one block of plate or two kinds of materials Splicing, formed bending, before band point；And this patent small inclination of the envisaged underneath at tip in front, enable scoop Rigging error is adapted to, with ground good fit.

4. control section: maximum feature has used semi-duplex serial port communication bus and the mating control circuit of separated sensor Plate, so that a variety of multiple sensors and executing agency such as steering engine simultaneously together with carry and compatible efficient operation, can reduce master Control panel task processing load improves the speed of service, complexity and fault-tolerance of circuit control system.(as shown in Figure 9)

5. the selection and layout of sensor: there is check frequency more in existing ring robot on platform, be easy to fall down arena Platform can't detect enemy or rate of going up on the stage is low, and sensor is single, the present invention will provide for a kind of new sensor with And sensor placement and mounting means, so that the movement of robot is more flexible, ring detects up and down, opponent's detection is more accurate Fast.

The technical scheme is that a kind of wushu ring robot that tail portion ramp type is gone up on the stage, including bottom plate, several wheels Son, top plate, scoop plate, tail portion skewback, control circuit, model airplane battery, several laser sensors, several motors, steering engine and Several gray-scale sensors；It is supported between bottom plate and top plate by electric machine support, wheel is symmetrically positioned in bottom plate four corners, and respectively Control campaign is carried out by motor；Tail portion skewback is connected by tail portion skewback and bottom plate connector and bottom plate side, tail portion Skewback passes through the first Caudal connectors simultaneously and connect with two pieces of tail portions inclined-plane support plate, and inclined-plane support plate in tail portion passes through the second tail Portion's connector is connect with electric machine support；Shovel board to face plate directly hinged by the first rocker arm and scoop rocker arm support and top plate, and By steering engine by being connected among intermediate rockers and shovel board, after controlling wushu ring robot scoop front end landing when on platform It is locked；Several laser sensors are distributed on bottom plate, for detecting ring edge, to hand position, wushu ring robot location；Bottom Several gray-scale sensors are distributed with below plate, for detecting the black-white colors under the region champac color lump that sets out, identification ring and platform； Control circuit is mainly fixed on bottom plate intermediate blank region with nylon column.

A further technical solution of the present invention is: several laser sensors are distributed in wushu ring machine in many ways Device people's surrounding, specific arrangement are described as follows: three laser sensors constitute 135 degree of angles at rice word arrangement in front of chassis, expand inspection Range is surveyed, for detecting opponent, auxiliary identifies above and below the stage；Chassis or so laser sensor each one, it is for detecting left and right It is no to have opponent；The laser sensor at chassis rear is then mounted on the skewback of tail portion, is also arranged at rice word.Laser on top plate Sensor, makes it towards obliquely, is in for working as ring vehicle by third laser sensor bracket by each one in front left and right Edge detection is carried out when ring edge, prevents from falling；Before front is there are two relatively high laser sensor face is installed Side, is aligned when being same as appearing on the stage with place edge；There is a laser sensor on the inclined-plane of rear tail portion, when falling back for ring vehicle Detect ring edge.All laser sensors, which pass through respective laser sensor bracket, to be fixed.First laser sensor Bracket has a fixed angle of altitude, is due to finding that laser with certain subtended angle, designs the elevation angle during testing laser sensor To offset the influence of laser subtended angle itself.

A further technical solution of the present invention is: the plate of facing directly of the scoop plate passes through the first rocker arm and scoop rocker arm support It is connect with top plate, is screwed and be attached by plug between the first rocker arm and scoop rocker arm support, left and right rocker arm mirror symmetry； It is connected among scoop plate and by intermediate rockers with steering engine, when wushu ring robot is located on platform, steering engine is in scoop front end Scoop is locked after landing, so that the scoop front end tip being connected with scoop plate is kept patch ground state, prevents opponent from starting scoop； When wushu ring robot is located under platform, steering engine loosens, and releases and locks, so that movement of appearing on the stage is able to carry out.

A further technical solution of the present invention is: further including tail portion inclined-plane cover plate of upper layer, pass through tail portion inclined-plane cover plate of upper layer It is fixed with tail portion inclined-plane support plate with two double threaded screws with tail portion inclined-plane support plate connector, is used as wushu ring robot tail Encapsulation above portion, and laser sensor as stated in claim 2 is installed with first laser sensor stand.

A further technical solution of the present invention is: the top plate is fixed on electric machine support by four screws, make it It is convenient for disassembly and assembly.Top plate middle opening, opening area slightly larger than area shared by bottom on-board circuitry plate, convenient for plank replacement, Wiring and the burning of control routine.There are four laser sensor in front of top plate, two pass through third laser sensor bracket Top plate two corners are mounted on, are overlooked downwards, are used for edge detection, two are mounted on upper layer by second laser sensor stand Plate, face front, the alignment of when for appearing on the stage and ring edge；It is reserved simultaneously there are many hole location, convenient for sensor angles adjust with And equip other modules.

A further technical solution of the present invention is: several gray-scale sensors are each in the middle position of bottom plate all around Arrangement one, is connected by gray-scale sensor bracket with bottom plate, for identifying the variation of place color, differentiates black-white-gray, champac Etc. colors.

A further technical solution of the present invention is: the tail portion skewback angle with horizontal plane is 140 degree, experiments verify that Herein near value.This angle is limited by the tail portion skewback connecting with tail portion skewback with bottom plate connector, and two pieces Inclined-plane support plate in tail portion carries out Auxiliary support.

A further technical solution of the present invention is: the control circuit includes main control circuit, laser range sensor control Circuit processed, gray scale measurement sensor control circuit, brush direct current motor drive control circuit, monobus digital rudder controller control electricity Road, each circuit pass through semi-duplex serial port communication bus and connect with master control.

A further technical solution of the present invention is: the signal transmitting between the module is as follows: all modules and master control Making sheet all uses 5264 port connector of semi-duplex serial port communication bus and connecting line to connect on a single bus, each module and master By the communications protocol of formulation come strict implement communication between control and each module, master control is set to TP top priority control The transmitting-receiving communication of entire bus.

Invention effect

The technical effects of the invention are that:

(1) for the function of going up on the stage of wushu ring robot, test result is in circuit stability, and sensor parameters adjust nothing In the case where accidentally, success rate of appearing on the stage is close to 100%, and when from zone of departure, time test of appearing on the stage is that average value is 5s, even if in Way falls ring, appears on the stage the time within the time of match request, and the testing time is 6s at this time, and is gone up on the stage far fewer than by scoop Time for needing of the mode of going up on the stage.

(2) for the shovel function of wushu ring robot, steering engine is self-locking due to having, and can play certain protection and make With, attack performance better than only ring vehicle of the one monolithic sheet as scoop, referring to fig. 24.

(3) for the assembling of the rocker arm of wushu ring robot, the rocker arm to screw using bearing and plug has been tested respectively Design, experimental result are bearing installation assembly trouble, and to tolerance height, and interference fit is unfavorable for disassembly and reuses, And fill in then this problem of very good solution that screws.

(4) for the control circuit of wushu ring robot, bus marco makes line clear, and data transmission is quick, small Vehicle reaction is sensitiveer compared with non-bus mode.

(5) for the sensor module of wushu ring robot, 4- laser sensor module is designed, designed, and stability has Wait improve, sensor detection range is also needed to be studied, but due to laser sensor install convenient, small in size, installation number It is more, the detection range of wushu ring robot is greatly expanded, judgement, opponent's recognition accuracy are high above and below the stage.

Detailed description of the invention

Fig. 1 is present apparatus overall diagram

Fig. 2 is present apparatus normal axomometric drawing

Fig. 3 is present apparatus top view

Fig. 4 is present apparatus front view

Fig. 5 is present apparatus left view

Fig. 6 is present apparatus bottom view

Fig. 7 is present apparatus rearview

Fig. 8 is present apparatus tail portion inclined-plane Local map

Fig. 9 is present apparatus control circuit control system total figure

Figure 10 is ring robot master board overall framework schematic diagram figure

Figure 11 is ring robot master control borad main control chip partial schematic diagram

Figure 12 is ring robot master control borad Communication Control partial schematic diagram

Figure 13 is ring robot master control borad power supply power supply partial schematic diagram

Figure 14 is ring robot master control borad PCB figure

Figure 15 is brush direct current motor drive control plate control section schematic diagram

Figure 16 is brush direct current motor drive control plate for electrical drive portion schematic diagram

Figure 17 is brush direct current motor drive control plate PCB figure

Figure 18 is laser range sensor control panel control section schematic diagram

Figure 19 is laser range sensor control panel laser ranging partial schematic diagram

Figure 20 is laser range sensor control panel PCB figure

Figure 21 is gray scale measurement sensor control panel schematic diagram

Figure 22 is gray scale measurement sensor control panel PCB figure

Figure 23 is the catenation principle figure of CDS516 bus type digital rudder controller and semi-duplex serial port communication bus

Figure 24 is scoop effect picture

In figure: 1- wheel (obtains section's technology diameter 68mm hump wheel)；2- bottom plate；3- first laser sensor stand；4- swashs Optical sensor；5- top plate；The first Caudal connectors of 6-；The tail portion 7- inclined-plane support plate；8- double threaded screw；On the inclined-plane of the tail portion 9- Layer cover board；10- model airplane battery 14.8V2600mA；11- battery block；The spare bracket of 12-；13- second laser sensor stand； 14- third laser sensor bracket；15- nylon column M2-15；16- scoop plate；17- scoop front end tip；18- steering engine bracket； 19- intermediate rockers；20- steering engine CDS5516；21- gray-scale Control plate；22- master control；23- motor driven；24- scoop rocker arm support； The first rocker arm of 25-；The 4th laser sensor bracket of 26-；27- gray-scale sensor bracket；28- gray-scale sensor；The tail portion 29- inclined-plane Cover plate of upper layer and tail portion inclined-plane support plate connector；The tail portion 30- skewback；31- electric machine support；The tail portion 32- skewback and bottom plate Connector；33- motor- get Ke DK-DJ-12/2200；The second Caudal connectors of 34-；The 5th laser sensor bracket of 35-

Specific embodiment

Referring to Fig. 1-Figure 23, the composition of robot includes the following aspects: 1. chassis portions, and 2. inclined-planes are gone up on the stage part, 3. superstructure, 4. scoops attack device, the arrangement of 5. sensor modules, 6. battery portions and 7. control circuit parts

Referring to Fig. 1-Fig. 8, it is illustrated respectively below for each section:

1. chassis portion: based on bottom plate 4mm thickness carbon fiber board, each 2 groups of hump wheels 1 in left and right (obtain section's technology diameter on chassis 68mm hump wheel), every group of 2 hump wheel 1 (obtaining section's technology diameter 68mm hump wheel) is in parallel, it is fixed with screw, stop nut, and It is connected by shaft coupling with motor 33, motor 33 is fixed on bottom plate 2 by electric machine support 31, such as Fig. 6 bottom view.

Since ring robot need to be fought, therefore the lower center of gravity the better, but in view of trolley is needed by tail portion inclined-plane The step of certain altitude is climbed up, and diameter of tyres is limited, chassis should improve in right amount again.Therefore special electric machine support 31 is devised, There is downwards protrusion in the bottom surface of 31 opposed bottom 2 of electric machine support, but protrusion, within wheel width, wheel is in chassis institute The area (projected area for referring to the view direction wheel such as Fig. 4 left view) accounted for is fully utilized, and not only increases chassis, but also save Space, such as Fig. 6 bottom view.

Four gray-scale sensors 28 of arranging around chassis are fixed on all around by 27 bracket of gray-scale sensor, such as Fig. 7 Bottom view and three laser sensors 4 are fixed among chassis or so and front by laser sensor bracket 3, before it is left Two laser sensors 4 that the right side multiplies 45 degree are fixed by screws on electric machine support 31 by the 4th laser sensor bracket 26, " rice " font is constituted with the laser sensor among front, is gray-scale Control plate 21, master control among bottom plate 2 such as Fig. 5 front view 22, the installation space that motor 23 drives, on a base plate 2 by nylon column installation, such as Fig. 3 top view.

The part 2. inclined-plane is gone up on the stage: tail portion skewback 30, as main body, is devised counter sink, avoided using carbon fiber sheet Screw is prominent, influences to appear on the stage；The small part of 3D printing is connected as connector by the tail portion skewback 32 and bottom plate of 3D printing Fitting is fixed with bottom plate, and tail portion skewback 32 and bottom plate connector are designed using radian, so that fitting is more perfect, is designed simultaneously One lesser surplus forms protrusion towards ground, can to avoid when appearing on the stage because of connector and plate and chassis Gap caused by Caton.Tail portion both sides are symmetrically equipped with tail portion inclined-plane support plate 7, and are connected by the first tail portion of 3D printing Fitting 6 and tail portion skewback 30 are fixed, the second Caudal connectors 34 of 3D printing and electric machine support 31 are fixed.The support of tail portion inclined-plane Plate 7 is ingenious to utilize electric machine support load, has very high intensity and stability, improves the service life of 3D printing part.3D The connector of printing a total of 5, to improve safety, when accomplishing to have connector damage once in a while in play, overall structure according to It is old to keep complete, safety is improved, as shown in Figure 8.

Since inclined-plane main body is plate, comparing inside the inclined-plane of printout has larger space to be used to place sensor, can also To be used to accommodate mass, facilitate the adjustment of position of centre of gravity, saves the space in a large amount of car portions, be also conducive to the guarantor of sensor Shield, therefore there are three laser sensors 4 for installation in the slashface cavity of tail portion, arrange in " rice " word, pass through laser sensor bracket 35 are connected on tail portion skewback 30, and laser is passed through by the hole that tail portion skewback 30 is reserved, as shown in Fig. 7 rearview.Tail portion Be tail portion inclined-plane cover plate of upper layer 9 above inclined-plane, with two tail portions inclined-plane support plate 7 by two tail portions inclined-plane cover plate of upper layer 29 with Inclined-plane support plate connector in tail portion is connected, fixed with two double threaded screws 8.There is one-laser on tail portion inclined-plane cover plate of upper layer 9 Sensor 4 is fixed in the above by first laser sensor stand 3.

3. superstructure: top plate 5 is fixed on electric machine support 31 by four screws, keeps its convenient for disassembly and assembly.Top plate 5 Middle opening, opening area is slightly larger than area shared by circuit board on bottom plate 2, convenient for the replacement of plank, wiring and control generation The burning of code.There are four laser sensor 4, two are mounted on upper layer by third laser sensor bracket 14 in top plate 5 front 5 two corners of plate, are used for edge detection, and two are mounted on top plate 5 by-second laser sensor stand 13, in front of face, use It is aligned when appearing on the stage with ring edge；Reserved simultaneously there are many hole locations, adjust and equip other modules convenient for sensor angles.

4. scoop attacks device: there are three the rocker arms of scoop: intermediate rockers 19, the first rocker arm 25, another shakes with first 25 mirror symmetry of arm, three rocker arms are connected with scoop plate 16, and scoop plate 16 is screwed with 17 front end tip of scoop.In order to Space shared by bearing block is saved, the bearing and bearing block not used using most ring vehicles are combined, but use Ф 8mm Plug screws (standard component, figure in be not drawn into) as axis, and shimming prevents both sides from wearing, by the first rocker arm and with the first rocker arm mirror As symmetrical rocker arm is fixed on scoop rocker arm support 24, proof strength saves space.Scoop rocker arm support 24 and top plate 5 It is fixed.Intermediate rockers 19 are directly connected with steering engine 20CDS5516, and steering engine 20CDS5516 and steering engine bracket 18 are fixed, steering engine branch Frame 18 is fixed on top plate 5, as shown in Figure 3.Scoop plate 16 uses carbon fiber sheet, and 17 front end tip of scoop is beaten using 3D Material is printed, it is big with place binding face, it is easy to attack and self-protection, 17 front end tip design of scoop has small inclined-plane, it can be fine Receiving rigging error, as shown in Figure 5.

5. sensor module arrange: the centre of chassis all around respectively arrange a gray-scale sensor 28 by gray scale sensing Device bracket 27 is fixed, and black-white-gray, champac, for identifying the variation of ring color, are differentiated as shown in four square holes in Fig. 6 in position Etc. colors.Laser sensor 4 is at rice word arrangement in front of chassis, as shown in figure 4, expand detection range, for detecting opponent, auxiliary It identifies above and below the stage；The laser sensor on chassis or so 4 each one, as shown in figure 5, being used to detect whether left and right has opponent；Bottom The laser sensor 4 at disk rear is then mounted on inclined-plane, is also arranged at rice word, as shown in fig. 7, fixed form is as previously described. Laser sensor 4 on top plate, each one obliquely, front or so, as shown in figure 4, for being in ring side when ring vehicle Edge detection is carried out when edge, prevents from falling；In front there are two in front of relatively high 4 face of laser sensor, it is same as It is aligned when platform with place edge；There is one on the inclined-plane of rear tail portion obliquely, ring edge is detected when falling back for ring vehicle. Fixed form is as previously described.

6. battery portion: 10- model airplane battery 14.8V2600mA is by two battery blocks 11 being fixed on top plate 5 It is limited, and is fixed with band, as shown in Figure 3.

7. control circuit part: ring robot control circuit: including main control circuit；Laser range sensor control electricity Road is sent to main control circuit for measuring the distance between ring robot and peripheral obstacle, and by the information；Gray scale is surveyed Quantity sensor control circuit judges the approximate location of robot, and transmit this information to control for detecting the color on ground Module；Brush direct current motor drive control circuit, for receive control module transmission control signal, drive robot motor with Control the movement of robot；Monobus digital rudder controller control circuit for receiving the control signal of main control circuit, and passes through rudder The lifting of machine control robot scoop.The laser range sensor control circuit, gray scale measurement sensor control circuit, direct current Brush motor drive control circuit, monobus digital rudder controller control circuit pass through semi-duplex serial port communication bus and the master control Circuit connection processed.

This patent and the maximum difference of ring robot patent designed before are the total of electronic hardware and control section The connection of wire type hardware and control section, such as Fig. 2.All modules and master board all use semi-duplex serial port communication bus 5264 port connectors and connecting line connection are on a single bus, logical by what is formulated between each module and master control and each module News agreement carrys out strict implement communication, and master control is set to the transmitting-receiving communication that TP top priority controls entire bus.In this way with biography The circuit structure of the ring robot of system is entirely different, without the independent physical interfaces of peripheral hardwares such as reserved motor, bus on master control borad On can increase at any time/reduce from EM equipment module and meanwhile be not necessarily to reserved physical interface and directly by modification primary control program from setting Standby IP address achievees the purpose that access and control from equipment.To substantially reduce each module board area and volume with Main control chip task amount to be treated and programming facilitate Automatic manual transmission and installation, programming into the size of code of Flash It is debugged with hardware.Up to 2Mbps, communication speed makes ring robot circuit half-duplex bus maximum communication baud rate fastly at present Master control handles sensing data speed faster, and motor/steering engine etc. is rapider from equipment execution, and robot reaction is quicker.It is theoretical It can be with carry arbitrarily mostly from equipment, actual circuit due to the resistance matching problem of bus signal line, governor circuit in upper bus 5264 maternal interface maximums can connect carry 5 from equipment, as shown in figure 23 each of on plate.

1 semi-duplex serial port bus protocol of table instructs packet format

Frame head	ID number	Data length	Instruction	Parameter	Verification and
						0x55 0x55	ID	Length	Cmd	Prm 1…Prm N	Checksum

Using the communication protocol of certain regulation and rule, so that semi-duplex serial port bus receives and dispatches the same of transmission information in high speed When reduce exchange, packet loss, while greatly avoiding transmission confusion in erroneous judgement and maloperation and bus and seizing feelings Condition.

(1) referring to Figure 14, ring robot master control borad (master control):

1. main control circuit: including control module (1)；Interface module (2), for connecting SW downloader, raspberry pie, rudder Machine, power supply and other circuits etc.；Whether indicating lamp module (3), work normally for detection chip and Voltage stabilizing module；Posture inspection It surveys module (4), for detecting the current pose of robot, and transmits signals to control module；Communication module (5), for passing The control signal of main control circuit is sent, and receives the signal from other circuits, power module (6), by the voltage of extraneous power supply It is converted into 3.3 volts and 5 volts of voltages needed for circuit.The interface module (2), indicating lamp module (3), attitude detection module (4), Communication module (5), power module (6) are connect with the control module (1)；The control module (1), interface module (2), Indicating lamp module (3), attitude detection module (4), communication module (5) are connect with the power module (6)；The interface module (2) it is connect with the communication module (5).

2. the control module (1) is 32 8-digit microcontroller chip STM32F103RCT6 of ARM Cortex-M3 kernel.

3. the interface module (2) includes SW download interface, raspberry pie interface simulates steering engine interface, bus interface, power supply Interface.

4. the indicating lamp module includes power supply indicator and debugging indicator light.

5. the power module includes 11.1V drop 9V module, 5V module drops in 9V, and 3.3V module drops in 5V.

6. ring robot main control circuit further includes raspberry pie power supply reversed polarity and current-limiting protection module (7) institute State raspberry pie power supply reversed polarity and current-limiting protection module (7) and the control module (1), interface module (2) connection.

Referring to Figure 11, master control borad kernel control chip is micro- using ST Microelectronics ARM Cortex-M3 kernel 32 Controller chip STM32F103RCT6, is encapsulated using LQFP64N.

Chip pin connection description:

1. No. 5 PD0 pins, No. 6 PD1 pins are that external clock oscillator pin is separately connected master control borad periphery 8MHz crystalline substance Body NX5032GX oscillating circuit clock signal output pin OSC_IN and OSC_OUT.

2. No. 7 NRST pins are that chip hardware reset signal pin connects master control borad hardware reset circuit drop-down reset signal Output pin.

3. No. 10 PC2 pins are that indicator light controls 0603 encapsulation BLUE LED emissions diode D1 of pin push-pull output connection Anode.

4. No. 16 PA2 pins are that full duplex asynchronous 2 output signal U SART2_TX pin of serial ports connects the survey of 9 axis attitude angles The full duplex asynchronous serial ports input signal pin of No. 3 of quantity sensor module J Y901.

No. 17 PA3 pins are that full duplex asynchronous 2 input signal USART2_RX pin of serial ports connects 9 axis attitude angle measurements The full duplex asynchronous serial ports of No. 4 of sensor module JY901 sends signal pins.

5. No. 29 PB10 pins are that full duplex asynchronous 3 output signal U SART2_TX pin of serial ports connection software vision is upper No. 5 Raspberry Pi of general GPIO peripheral hardware 2.54mm socket female seat interface of machine Raspberry Pi 3B+ microcomputer The full duplex asynchronous serial ports input signal pin of 3B+ microcomputer.

No. 30 PB11 pins are that full duplex asynchronous 3 input signal USART2_RX pin of serial ports connects software vision host computer General No. 4 Raspberry Pi 3B+ of GPIO peripheral hardware 2.54mm socket female seat interface of Raspberry Pi 3B+ microcomputer The full duplex asynchronous serial ports output signal pin of microcomputer.

6. No. 39 PC8 pins are that semi-duplex serial port communication bus input signal cable enable signal line USART1_RX_EN draws No. 4 2OE data that foot connects six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126 of SOP-14 encapsulation are enabled Input pin.

No. 40 PC9 pins are semi-duplex serial port communication bus output signal line enable signal line USART1_TX_EN pin No. 1 1OE data that connection SOP-14 encapsulates six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126 enable defeated Enter pin.

7. No. 42 PA9 pins are that semi-duplex serial port communication bus output signal line USART1_TX pin connects SOP-14 envelope Fill No. 2 1A data-out pins of six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126.

No. 43 PA10 pins are that semi-duplex serial port communication bus input signal cable USART1_RX pin connects SOP-14 envelope Fill No. 6 2Y data-out pins of six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126.

8. No. 46 PA13 pins are that JLink ARM downloading simulation debugger SWD debugging interface SWDIO emulation signal is serially double No. 3 pins of simulation debugger 2.54mm socket interface are downloaded to data wire pin connection JLink.No. 49 PA14 pins are JLink ARM downloads simulation debugger SWD debugging interface SWCLK emulation signal serial clock signal wire pin connection JLink downloading emulation Debugger 2.54mm socket No. 2 pins of interface.

9. No. 58 PB6 pins, No. 59 PB7 pins, No. 61 PB8 pins be respectively general 4 output channel 1 of Timer/Counter, Output channel 2,3 pin of output channel are separately connected No. 3 pins of simulation steering engine interface PH2.0-3 base SL3, SL2, SL1.

10. No. 60 BOOT0 pins are that STM32 chip start-up mode selects the connection simulation of pin 0 ground AGND.

Chip power pack:

No. 13 VDDA chip simulation circuit power end pin serial connections 0603 encapsulate 0 Ω chokes magnetic bead UPZ1608E101- Master control borad 3.3V power supply VCC_3.3 is connected to after 3R0TF is in parallel with 0603 encapsulation, 104,106 decoupling filter capacitor simultaneously.

No. 19 VDD_4, No. 32 VDD_1, No. 48 VDD_2, No. 64 VDD_3 chip power voltage end pin serial connections 0603 encapsulate 0 Ω chokes magnetic bead UPZ1608E101-3R0TF respectively simultaneously with 0603 encapsulation 104 decoupling filter capacitors it is in parallel after and with Master control borad 3.3V power supply VCC_3.3 is connected to after 0603 encapsulation, 475 decoupling filter capacitor is in parallel.

No. 12 VSSA chip analog power common ground end pins and No. 18 VSS_4, No. 31 VSS_1, No. 47 VSS_2, No. 63 VSS_3 circuit common ground end pins are all connected with master control borad simulation ground AGND.

Referring to Figure 12, the semi-duplex serial port communication bus controller of master control borad uses six tri-state gate logic chip 74HC126, It is encapsulated using SOP-14.

Chip pin connection description:

No. 1 1OE pin is that data enable input pin connection master control control No. 40 PC9 semi-duplex serial ports communications of chip Bus-out signal line enable signal line USART1_TX_EN pin.

No. 2 1A pins are that data-out pin connection master control control No. 42 PA9 semi-duplex serial port communication buses of chip are defeated Signal wire USART1_TX pin out.

No. 4 2OE pins are that data enable input pin connection master control control No. 39 PC8 semi-duplex serial ports communications of chip Bus-in singal line enable signal line USART1_RX_EN pin.

No. 3 1Y data output pins are connected to master control borad semi-duplex serial port after connecting with No. 5 2A data-out pins logical Interrogate the 3 number wire pins of bus physical port 5264 port AX1, AX2, AX3, AX4, AX5, AX6, AX7, AX8.

No. 6 2Y pins are that data output pins connect master control control No. 43 PA10 semi-duplex serial port communication buses of chip Input signal cable USART1_RX pin.

No. 7 GND pins are that chip power ground terminal pin connects master control borad digitally DGND.

No. 14 VCC pins are that chip power end pin connects master control borad 3.3V power supply VCC_3.3.

Referring to Figure 13, the 9V DC-DC switch voltage-stabilizing module of master control borad uses one hundred sharp scientific & technical corporation DM02-28090008DS Patch inserts encapsulation DC-DC switch voltage-stabilizing 9V voltage reduction module.

Chip pin connection description:

No. 1, No. 2 positive pins of out-put supply connect master control borad 9V power supply VCC_9V simultaneously.

No. 3, No. 4 out-put supplies with reference to ground pins connect master control borad digitally DGND simultaneously.

No. 5, No. 6 input powers with reference to ground pins connect master control borad digitally DGND simultaneously.

No. 7, No. 8 positive pins of input power connect master control borad power supply reversed polarity and current-limiting protection circuit output simultaneously Power end VCC_AX.

One hundred sharp scientific & technical corporation DM02-28050016DS is used referring to the 5V DC-DC switch voltage-stabilizing module of Figure 13 master control borad Patch inserts encapsulation DC-DC switch voltage-stabilizing 5V voltage reduction module.

Chip pin connection description:

21 No. 1, No. 2 positive pins of out-put supply connect master control borad 5V power supply VCC_5V simultaneously.

22 No. 3, No. 4 out-put supplies with reference to ground pins connect master control borad digitally DGND simultaneously.

23 No. 5, No. 6 input powers with reference to ground pins connect master control borad digitally DGND simultaneously.

24 No. 7, No. 8 positive pins of input power connect master control borad 9V power supply VCC_9V simultaneously.

Referring to Figure 13, the 3.3V DC voltage-stabilizing chip of master control borad uses low voltage difference DC voltage-stabilizing chip AMS1117-3.3, makes It is encapsulated with SOT-223.

Chip pin connection description:

25 No. 1 power source references ground pin connection master control borad simulation ground AGND.

26 No. 2, No. 4 out-put supply pins connect master control borad 3.3V power supply VCC_3.3 simultaneously.

27 No. 3 input power pins connect master control borad 5V power supply VCC_5V.

Telesky company JY901 is used referring to 9 axis attitude angle measurement sensor module JY901 of Figure 11 master control borad 9 axis accelerometer gyroscope of serial ports, which pastes, inserts package module.

Chip pin connection description:

28 No. 2 modular power source ends connect master control borad 5V power supply VCC_5V.

29 No. 3 full duplex asynchronous serial ports input signal pin connection master controls control No. 16 full duplex asynchronous serial ports of PA2 of chip 2 output signal U SART2_TX pins.

30 No. 4 full duplex asynchronous serial ports output signal pin connection master controls control No. 17 full duplex asynchronous serial ports of PA3 of chip 2 input signal USART2_RX pins.

31 No. 5 modular power source ground terminal connection master control borad simulation ground AGND.

(2) referring to Figure 17, brush direct current motor drive control plate (driving):

1. drive control circuit: including control module (1)；Communication module (2), the control for receiving main control circuit are believed Number；Interface module (3), for connecting SW downloader, encoder, power supply and other circuits etc.；Drive module (4), for driving Mobile robot motor (generates PWM wave control motor by the channel 1 of control chip TIM3 and channel 2 with the movement for controlling robot Revolving speed)；Indicating lamp module (5), for detecting whether driving circuit works normally；Power module (6) is used for external power supply Voltage is converted into various voltages needed for driving circuit.The communication module (2), interface module (3), drive module (4), instruction Lamp module (5), power module (6) are connect with the control module (1)；The control module (1), communication module (2), interface Module (3), drive module (4), indicating lamp module (5) are connect with the power module (6)；The interface module (3) and institute State communication module (2) connection；The indicating lamp module (5) connect with the drive module (4).

2. the control module (1) is 32 8-digit microcontroller chip STM32F030F4P6 of ARM Cortex-M0 kernel.

3. the interface module (3) includes SW download interface, encoder interfaces, bus interface, power interface.

4. the indicating lamp module includes debugging indicator light and driving indicator light.

5. the power module includes 9 volts of liters, 12 volts of modules, 8.4 volts of drops, 5 volts of modules, 5 volts of drops, 3.3 volts of modules.Referring to figure 15, the kernel control chip of driving plate uses 32 8-digit microcontroller chip of ST Microelectronics ARM Cortex-M0 kernel STM32F030F4P6 is encapsulated using TSSOP-20.

Chip pin connection description:

No. 2 PF0 pins, No. 3 PF1 pins are that external clock oscillator pin is separately connected driving plate periphery 8MHz crystal NX5032GX oscillating circuit clock signal output pin OSC_IN and OSC_OUT.

1. No. 4 NRST pins are that chip hardware reset signal pin connects driving plate hardware reset circuit drop-down reset signal Output pin.

2. No. 5 VDDA pins are that chip simulates the 0 Ω chokes magnetic bead of encapsulation of circuit power end pin serial connection 0603 Driving plate 3.3V power supply is connected to after UPZ1608E101-3R0TF is in parallel with 0603 encapsulation 1uF, 10nF decoupling filter capacitor simultaneously Power supply VCC_3.3.

3. No. 6 PA0 pins are semi-duplex serial port communication bus input signal cable enable signal line USART1_RX_EN pin It connects VSSOP-8 and encapsulates ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU No. 7 2OE data enable input pin.

No. 7 PA1 pins are semi-duplex serial port communication bus output signal line enable signal line USART1_TX_EN pin company Connect the 1 of VSSOP-8 encapsulation ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU Number 1OE data enable output pin.

4. No. 8 PA2 pins are that semi-duplex serial port communication bus output signal line USART1_TX pin connects VSSOP-8 envelope No. 2 1A data for filling ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU are defeated Enter pin.

No. 9 PA3 pins are that semi-duplex serial port communication bus input signal cable USART1_RX pin connects VSSOP-8 encapsulation No. 3 2Y data of ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU export Pin.

5. No. 12 PA6 pins are that general 3 output channel 2TIM3_CH2 pin of Timer/Counter connects U2SOIC-8 encapsulation No. 2 high-low sides of high-voltage high-speed half-bridge high power device driving chip IR2104S draw along the logic input that gate drivers export Foot IN.

No. 13 PA7 pins are that general 3 output channel 1TIM3_CH1 pin of Timer/Counter connects U1SOIC-8 encapsulation height The logic input pin that No. 2 high-low sides of pressure high speed half-bridge high power device driving chip IR2104S are exported along gate drivers IN.

6. No. 14 PB1 pins are that indicator light controls 0603 encapsulation green LEDs diode D4 of pin push-pull output connection Anode.

7. No. 15 VSS pins are that chip analog power common ground end pin connects driving plate digitally DGND.

8. No. 16 VDD pins are that chip power voltage end pin serial connection 0603 encapsulates 0 Ω chokes magnetic bead UPZ1608E101- Connect after 3R0TF is in parallel with 0603 encapsulation, 104 decoupling filter capacitor simultaneously and after in parallel with 0603 encapsulation 4.7uF decoupling filter capacitor It is connected to driving plate 3.3V power supply VCC_3.3.

9. No. 17 PA9 pins are that advanced 1 input channel 1TIM1_CH1 pin of Timer/Counter connects XH2.54-4 base The pin ENCODER_P of encoder connectivity port 3.

No. 18 PA10 pins are that advanced 1 input channel 3TIM1_CH3 pin of Timer/Counter connects XH2.54-4 base The pin ENCODER_N. of encoder connectivity port 4

10. No. 19 PA13 pins are that JLink ARM downloading simulation debugger SWD debugging interface SWDIO emulation signal is serially double It is JLink to the data wire pin connection JLink downloading PA14 pin of pin 20 of simulation debugger 2.54mm socket interface 3 ARM downloads simulation debugger SWD debugging interface SWCLK emulation signal serial clock signal wire pin connection JLink downloading emulation Debugger 2.54mm socket No. 2 pins of interface.Referring to Figure 16, driven by Brush-Less DC motor chip U1, U2 of driving plate use English Fei Ling company high-voltage high-speed half-bridge high power device driving chip IR2104S, is encapsulated using SOIC-8.

Chip pin connection description:

No. 1 VCC pin is that low edge fixed logic supply input pin connects driving plate 12V power supply.

No. 2 IN pins are separately connected driving plate control along the logic input pin that gate drivers export for high-low side Chip 13 general 3 output channel of Timer/Counter, 1 TIM3_CH1 pins and No. 12 general 3 output channels of Timer/Counter 2 TIM3_CH2 pins.

No. 3 SD pins are to connect driving plate after stopping 0603 encapsulation 10uF polar capacitor C5 of logic input pin series winding Digitally DGND.

No. 4 COM pins are that low edge returns to input pin connection driving plate digitally DGND.

No. 5 LO pins are to connect after low edge gate drivers output pin series connection 0603 encapsulates 20 Ω resistance TO-252AA encapsulates HEXFET N channel power MOS driving tube IRLR7843PbF1 gate lead.

No. 6 VS pins are connected to for flash along floating power return pins to be led to by 2 TO-252AA encapsulation HEXFET N The driving circuit half-bridge mid point of road power MOS driving tube IRLR7843PbF1 source electrode and drain electrode connection composition.

No. 7 HQ pins are that flash connects after 0,603 20 Ω resistance of encapsulation of gate drivers output pin series connection TO-252AA encapsulates HEXFET N channel power MOS driving tube IRLR7843PbF1 gate lead.

No. 8 VB pins are that flash is connected to after the encapsulation 1uF capacitor of floating power pin serial connection 0603 by 2 TO- 252AA encapsulates the driving circuit half of HEXFET N channel power MOS driving tube IRLR7843PbF1 source electrode and drain electrode connection composition Bridge midpoint, while driving plate 12V power supply VCC_12 is connected after DO-214 encapsulation Schottky diode SS14 cathode of connecting.

Referring to Figure 16, the booster circuit of driving plate is Texas Instruments' peak value step-up/down/inverse switch using chip Voltage stabilizing chip MC34063, is encapsulated using SOIC-8.

Chip pin connection description:

No. 1 SWC pin is that collector switchs input pin connection 7*7*4 patch encapsulation 330uH electricity inside high current Sense.

No. 2 SWE pins are that high current internal emitter switchs 0603 encapsulation 470pF capacitor C2 of output pin connection.

21 No. 3 TC pins are 0603 encapsulation 470pF capacitor C2 of timing capacitor pin connection.

22 No. 4 GND pins are that chip power ground terminal pin connects driving plate digitally DGND.

23 No. 5 CII pins are that the reversed input pin of comparator is connected to 0603 encapsulation 1.2K Ω resistance R9 and 0603 envelope Fill the midpoint 10K Ω resistance R10.

24 No. 6 VCC pins are that chip power input terminal pin is connected to driving plate 9V power supply VCC_9.

25 No. 7 IPK pins are that current limliting detects 0,603 0.22 Ω resistance R8 of encapsulation of input pin connection.

26 No. 8 DRC pins are that Darlington transistor drives transistor collector input pin to be connected to 0603 encapsulation, 180 Ω electricity Hinder R7.

Referring to Figure 15, the semi-duplex serial port communication bus controller of driving plate is double total using Texas Instruments' ternary output Line buffer door chip SN74LVC2G126DCU, is encapsulated using VSSOP-8.

Chip pin connection description:

27 No. 1 1OE pins are that data enable input pin connection driving plate control No. 6 PA0 semi-duplex serial ports communications of chip Bus-out signal line enable signal line USART1_TX_EN pin.

28 No. 2 1A pins are that data-out pin connects driving plate control No. 8 PA2 semi-duplex serial port communication buses of chip Output signal line USART1_TX pin.

29 No. 3 2Y pins are that data output pins connect driving plate control No. 9 PA3 semi-duplex serial port communication buses of chip Input signal cable USART1_RX pin.

30 No. 4 GND pins are that chip power ground terminal pin connects driving plate digitally DGND.

It is logical that driving plate semi-duplex serial port is connected to after 31 No. 5 2A data-out pins and No. 6 1Y data output pins connections Interrogate No. 3 USART1_DATA data wire pins of bus physical port 5264 port AX1, AX2.

32 No. 7 2OE pins are that data enable output pin connection driving plate control No. 7 PA1 semi-duplex serial ports communications of chip Bus-in singal line enable signal line USART1_RX_EN pin.

33 No. 8 VCC pins are that chip power input terminal pin connects driving plate 5V power supply VCC_5.

Referring to Figure 16, the power tube chip of driving plate uses company, Infineon HEXFET N channel power MOS driving tube IRLR7843PbF1 is encapsulated using TO-252AA.

Chip pin connection description:

The source electrode and drain electrode of every two power tube connect into after half-bridge drive circuit with motor port looper socket One end pin connection of H5T08R-2P encapsulates high-voltage high-speed half-bridge high power device driving chip IR2104S with SOIC-8 simultaneously No. 6 VS flash along floating power return pins connect.The grid of two power tubes all connect 0603 encapsulation 20 Ω resistance.Wherein The positive horizontal port pinout of XT30 of source electrode connection driving plate battery power supply of one power tube, the drain electrode connection of another power tube The negative horizontal port pinout of XT30 of driving plate battery power supply.

Referring to Figure 16, the 3.3V DC voltage-stabilizing chip of driving plate uses low voltage difference DC voltage-stabilizing chip AMS1117-3.3, makes It is encapsulated with SOT-223.

Chip pin connection description:

34 No. 1 power source references ground pin connection driving plate simulation ground AGND.

35 No. 2, No. 4 out-put supply pins connect driving plate 3.3V power supply VCC_3.3 simultaneously.

36 No. 3 input power pins connect driving plate 5V power supply VCC_5.

Referring to Figure 16, the 5V DC voltage-stabilizing chip of driving plate uses low voltage difference DC voltage-stabilizing chip AMS1117-5, uses SOT-223 encapsulation.

Chip pin connection description:

37 No. 1 power source references ground pin connection driving plate simulation ground AGND.

38 No. 2, No. 4 out-put supply pins connect driving plate 5V power supply VCC_5 simultaneously.

39 No. 3 input power pins connect driving plate 9V power supply VCC_9 to semi-duplex serial port communication bus 5264 The VCC energization pins of port 2.

(2) referring to fig. 20, laser range sensor control panel (abbreviation laser module):

1. laser ranging circuit: including control module (1)；Communication module (2), the control for receiving main control circuit are believed Number, and laser distance data are sent to main control circuit；Interface module (3), for connecting SW downloader, power supply and other circuits Etc.；Laser ranging module (4), for measuring the distance between ring robot and peripheral obstacle, and sends the signal to Control module (1)；Indicating lamp module (5), for detecting whether laser ranging circuit works normally；Power module (6), being used for will External power supply voltage is converted into various voltages needed for driving circuit.The communication module (2), interface module (3), laser ranging Module (4), indicating lamp module (5), power module (6) are connect with the control module (1)；The control module (1) is led to It interrogates module (2), interface module (3), laser ranging module (4), indicating lamp module (5) is connect with the power module (6)；Institute Interface module (3) is stated to connect with the communication module (2).

2. the control module (1) is 32 8-digit microcontroller chip STM32F103C8T6 of ARM Cortex-M3 kernel.

3. the interface module (3) includes SW download interface, bus interface, power interface.

4. the indicating lamp module (5) includes debugging indicator light and power supply indicator.

5. the power module (6) includes 8.4 volts of drops, 5 volts of modules, 5 volts of drops, 3.3 volts of modules.

6. the laser ranging module (4) is Xing Yi electronics scientific technology co ATK-VL53L0X laser ranging module, there is body Product is small, measurement accuracy is high, measures operating mode more, is arranged and interrupts with supporting IIC slave, be compatible with 3.3V/5V system, use The features such as facilitating.

Referring to Figure 18, the kernel control chip of Laser Slabs uses ST Microelectronics ARM Cortex-M3 kernel 32 Microcontroller chip STM32F103C8T6, is encapsulated using LQFP48N.

Chip pin connection description:

1. No. 5 PD0 pins, No. 6 PD1 pins are that external clock oscillator pin is separately connected Laser Slabs periphery 8MHz crystal NX5032GX oscillating circuit clock signal output pin OSC_IN and OSC_OUT.

2. No. 7 NRST pins are that chip hardware reset signal pin connects Laser Slabs hardware reset circuit drop-down reset signal Output pin.

3. No. 12 PA2 pins are that dedicated serial ports object is debugged in the connection of full duplex asynchronous 2 output signal U SART2_TX pin of serial ports Manage No. 2 serial ports input signal pins of port 2.54mm 4Pin socket interface.

No. 13 PA3 pins are that dedicated serial ports physics is debugged in the connection of full duplex asynchronous 2 input signal USART2_RX pin of serial ports Port 2.54mm 4Pin socket No. 3 serial ports output signal pins of interface.

4. No. 17 PA7 pins are to connect after indicator light controls 0805 encapsulation 10K Ω resistance R8 of pin push-pull output series connection 0603 encapsulation green LEDs diode L2 anode.

5. No. 21 PB10 pins are that software simulates IIC communication bus serial clock signal line LASER_IIC_SCL pin company Connect No. 4 SCL IIC communication bus serial clock signal wire pins of laser ranging module.

No. 22 PB11 pins are that software simulates the connection of IIC communication bus serial data signal line LASER_IIC_SDA pin No. 3 SDA IIC communication bus serial data signal wire pins of laser ranging module.

No. 27 PB14 pins are that modules interrupts signal input INT pin connection No. 2 INT chip interrupts of laser ranging module are defeated Pin out.

No. 28 PB15 pins are that module piece selects enabled No. 1 XSH chip slapper choosing of XSH pin connection laser ranging module is enabled to draw Foot.

6. No. 34 PA13 pins are that JLink ARM downloading simulation debugger SWD debugging interface SWDIO emulation signal is serially double No. 3 pins of simulation debugger 2.54mm socket interface are downloaded to data wire pin connection JLink.

No. 37 PA14 pins are that JLink ARM downloads simulation debugger SWD debugging interface SWCLK emulation signal serial clock Signal wire pin connects JLink and downloads No. 2 pins of simulation debugger 2.54mm socket interface.

7. No. 39 PB3 pins are semi-duplex serial port communication bus input signal cable enable signal line USART1_RX_EN pin It connects VSSOP-8 and encapsulates ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU No. 7 2OE data enable input pin.

No. 40 PB4 pins are semi-duplex serial port communication bus output signal line enable signal line USART1_TX_EN pin company Meet VSSOP-8 encapsulation ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU No. 1 1OE data enable output pin.

8. No. 42 PB6 pins are that semi-duplex serial port communication bus output signal line USART1_TX pin connects VSSOP-8 envelope No. 2 1A data for filling ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU are defeated Enter pin.

No. 43 PB7 pins are that semi-duplex serial port communication bus input signal cable USART1_RX pin connects VSSOP-8 encapsulation No. 3 2Y data of ternary output dual bus buffer door chip semi-duplex serial port bus control unit SN74LVC2G126DCU export Pin.

9. No. 9 VDDA chip simulation circuit power end pins and No. 24 VDD_1, No. 36 VDD_2, No. 48 VDD_3 chips Laser Slabs 3.3V power supply VCC3.3 is connected after 0,805 0 Ω chokes magnetic bead of encapsulation of power voltage terminal pin series connection simultaneously.

Referring to Figure 19, the laser ranging module of Laser Slabs uses the ATK-VL53L0X laser ranging of Xing Yi electronics scientific technology co Module uses inline package.Carry ST Microelectronics 2.4*4.4*1 encapsulation flight time and attitude-measuring sensor core Piece VL53L0X.

Chip pin connection description:

1. No. 1 XSH pin is that chip slapper selects No. 28 PB15 module piece choosings of enabled pin connection Laser Slabs control chip enabled XSH pin.

2. No. 2 INT pins are that chip interrupt output pin connects Laser Slabs control No. 27 PB14 modules interrupts signals of chip Input INT pin.

3. No. 3 SDA pins are IIC communication bus serial data signal wire pin connection control No. 22 PB11 software moulds of chip Quasi- IIC communication bus serial data signal line LASER_IIC_SDA pin.

4. No. 4 SCL pins are that IIC communication bus serial clock signal wire pin connection control No. 21 PB10IIC of chip are logical Interrogate bus serial clock signal wire pin.

5. No. 5 GND pins are that chip power ground terminal pin connects Laser Slabs digitally DGND.

6. No. 6 VCC pins are that chip power input terminal pin connects Laser Slabs 5V power supply VCC5.

Referring to Figure 19, the semi-duplex serial port communication bus controller of Laser Slabs is double total using Texas Instruments' ternary output Line buffer door chip SN74LVC2G126DCU, is encapsulated using VSSOP-8.

Chip pin connection description:

1. No. 1 1OE pin is that data enable input pin connection Laser Slabs control No. 40 PB4 semi-duplex serial ports communications of chip Bus-out signal line enable signal line USART1_TX_EN pin.

2. No. 2 1A pins are that data-out pin connects Laser Slabs control No. 42 PB6 semi-duplex serial port communication buses of chip Output signal line USART1_TX pin.

3. No. 3 2Y pins are that data output pins connect Laser Slabs control No. 43 PB7 semi-duplex serial port communication buses of chip Input signal cable USART1_RX pin.

4. No. 4 GND pins are that chip power ground terminal pin connects Laser Slabs digitally DGND.

5. it is logical to be connected to Laser Slabs semi-duplex serial port after No. 5 2A data-out pins and No. 6 1Y data output pins connections Interrogate No. 3 USART1_DATA data wire pins of bus physical port 5264 port AX1, AX2.

6. No. 7 2OE pins are that data enable output pin connection Laser Slabs control No. 39 PB3 semi-duplex serial ports communications of chip Bus-in singal line enable signal line USART1_RX_EN pin.

No. 8 VCC pins are that chip power input terminal pin connects Laser Slabs 5V power supply VCC5.

Referring to Figure 19, the 5V DC voltage-stabilizing chip of Laser Slabs uses low voltage difference DC voltage-stabilizing chip AMS1117-5, uses SOT-223 encapsulation.

Chip pin connection description:

1. No. 1 power source reference ground pin connection Laser Slabs digitally DGND.

2. No. 2, No. 4 out-put supply pins connect Laser Slabs 5V power supply VCC5 simultaneously.

3. No. 3 input power pins connect driving plate 8.4V power supply VCC8.4 to semi-duplex serial port communication bus 5264 The VCC energization pins of port 2.

Referring to Figure 19, the 3.3V DC voltage-stabilizing chip of Laser Slabs uses low voltage difference DC voltage-stabilizing chip AMS1117-3.3, makes It is encapsulated with SOT-223.

Chip pin connection description:

1. No. 1 power source reference ground pin connection driving plate simulation ground AGND.

2. No. 2, No. 4 out-put supply pins connect driving plate 3.3V power supply VCC3.3 simultaneously.

40 No. 3 input power pins connect driving plate 5V power supply VCC_5.

(3) referring to fig. 22, gray scale measurement sensor control panel (gray scale module):

1. gray scale measuring circuit: including control module (1)；Communication module (2), the control for receiving main control circuit are believed Number, and gradation data is sent to main control circuit；Interface module (3), for connecting SW downloader, gray scale module, power supply and its Its circuit etc.；Gray scale module (4) for detecting ground color, and transmits the signal to control module (1)；Indicator light mould Block (5), for detecting whether gray scale measuring circuit works normally；Power module (6), for external power supply voltage to be converted into Various voltages needed for gray scale measuring circuit.The communication module (2), interface module (3), gray scale module (4), indicating lamp module (5), power module (6) is connect with the control module (1)；The control module (1), communication module (2), interface module (3), gray scale module (4), indicating lamp module (5) are connect with the power module (6)；The interface module (3) is led to described Interrogate module (2) connection.

2. the control module (1) is 32 8-digit microcontroller chip STM32F070F4P6 of ARM Cortex-M0 kernel.

3. the interface module (3) includes SW download interface, gray scale module interface, bus interface, power interface.

4. the indicating lamp module includes debugging indicator light and power supply indicator.

5. the power module (6) is 5 volts of drops, 3.3 volts of modules.

6. the gray scale module (4) is KXCT thunder and lightning scientific & technical corporation KXCT1LED analog gray scale sensor module.

Referring to fig. 21, the kernel control chip of gray scale plate uses ST Microelectronics ARM Cortex-M0 kernel 32 Microcontroller chip STM32F070F4P6, is encapsulated using TSSOP-20.

Chip pin connection description:

1. No. 2 PF0 pins, No. 3 PF1 pins are that external clock oscillator pin is separately connected gray scale plate periphery 8MHz crystalline substance Body NX5032GX oscillating circuit clock signal output pin OSC_IN and OSC_OUT

2. No. 4 NRST pins are that chip hardware reset signal pin connects gray scale plate hardware reset circuit drop-down reset signal Output pin.

3. No. 5 VDDA pins are that chip simulates the 0 Ω chokes magnetic bead of encapsulation of circuit power end pin serial connection 0603 Gray scale plate 3.3V power supply is connected to after UPZ1608E101-3R0TF is in parallel with 0603 encapsulation, 106,104 decoupling filter capacitor simultaneously Power supply VCC_3.3.

4. No. 71 pins of PA1 chip ADC analog signal input channel, No. 8 PA2 chip ADC analog signal input channels 2 are drawn Foot, No. 93 pins of PA3 chip ADC analog signal input channel, No. 10 4 input pins of PA4 chip ADC analog signal input channel It is separately connected the analogue measurement signal output of gray value measurement sensor physical connection port PH2.0-3 base G1, G2, G3, G4 Pin GRAY1, GRAY2, GRAY3, GRAY4.

5. No. 11 PA5 pins are that indicator light controls 0603 encapsulation green LEDs diode D2 of pin push-pull output connection Anode.

6. No. 12 PA6 pins are that semi-duplex serial port communication bus output signal line enable signal line USART1_TX_EN draws No. 1 1OE data that foot connects six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126 of SOP-14 encapsulation are enabled Input pin.

No. 13 PA7 pins are semi-duplex serial port communication bus input signal cable enable signal line USART1_RX_EN pin No. 4 2OE data that connection SOP-14 encapsulates six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126 enable defeated Enter pin.

7. No. 15 VSS pins are that chip analog power common ground end pin connects Laser Slabs simulation ground AGND.

8. No. 16 VDD pins are that chip power voltage end pin serial connection 0603 encapsulates 0 Ω chokes magnetic bead UPZ1608E101- It is connected after 3R0TF is in parallel with 0603 encapsulation, 104 decoupling filter capacitor simultaneously and after in parallel with 0603 encapsulation, 475 decoupling filter capacitors To driving plate 3.3V power supply VCC_3.3.

9. No. 17 PA9 pins are that semi-duplex serial port communication bus output signal line USART1_TX pin connects SOP-14 envelope Fill No. 2 1A data-out pins of six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126.

No. 18 PA10 pins are that semi-duplex serial port communication bus input signal cable USART1_RX pin connects SOP-14 envelope Fill No. 6 2Y data-out pins of six tri-state gate logic chip semi-duplex serial port bus control unit 74HC126.

10. No. 19 PA13 pins are that JLink ARM downloading simulation debugger SWD debugging interface SWDIO emulation signal is serially double No. 3 pins of simulation debugger 2.54mm socket interface are downloaded to data wire pin connection JLink.

No. 20 PA14 pins are that JLink ARM downloads simulation debugger SWD debugging interface SWCLK emulation signal serial clock Signal wire pin connects JLink and downloads No. 2 pins of simulation debugger 2.54mm socket interface.

Referring to fig. 21, the gray value measurement sensor module of gray scale plate uses KXCT thunder and lightning scientific & technical corporation KXCT1LED simulation Gray-scale sensor module uses PH2.0-3 male seat interface.

Module pin connection description:

1. No. 1 GND pin is that modular power source ground terminal pin connects gray scale template die quasi- ground AGND.

2. No. 2 VCC pins are that modular power source input terminal pin connects gray scale plate 5V power supply VCC_5.

3. No. 3 SIG pins are that module simulation gray value measures No. 7 that output pin is separately connected gray scale plate control chip 1 pin of PA1 chip ADC analog signal input channel, No. 82 pins of PA2 chip ADC analog signal input channel, No. 9 PA3 chips 3 pin of ADC analog signal input channel, No. 10 4 pins of PA4 chip ADC analog signal input channel.

Referring to fig. 21, the semi-duplex serial port communication bus controller of gray scale plate uses six tri-state gate logic chip 74HC126, It is encapsulated using SOP-14.

Chip pin connection description:

1. No. 1 1OE pin is that data enable No. 12 PA6 semi-duplex serial ports communications of input pin connection gray-scale Control chip always Line output signal line enable signal line USART1_TX_EN pin.

2. No. 2 1A pins are that data-out pin connection No. 17 PA9 semi-duplex serial port communication buses of gray-scale Control chip are defeated Signal wire USART1_TX pin out.

3. No. 4 2OE pins are that data enable No. 13 PA7 semi-duplex serial ports communications of input pin connection gray-scale Control chip always Line input signal cable enable signal line USART1_RX_EN pin.

4. No. 3 1Y data output pins are connected to gray scale plate semi-duplex serial port after connecting with No. 5 2A data-out pins logical Interrogate the 3 number wire pins of bus physical port 5264 port AX1, AX2.

5. No. 6 2Y pins are that data output pins connection No. 18 PA10 semi-duplex serial port communication buses of gray-scale Control chip are defeated Enter signal wire USART1_RX pin.

6. No. 7 GND pins are that chip power ground terminal pin connects gray scale plate digitally DGND.

No. 14 VCC pins are that chip power end pin connects gray scale plate 3.3V power supply VCC_3.3.

Referring to fig. 21, the 5V DC voltage-stabilizing chip of gray scale plate uses low voltage difference DC voltage-stabilizing chip AMS1117-5, uses SOT-223 encapsulation.

Chip pin connection description:

1. No. 1 power source reference ground pin connection gray scale plate digitally DGND.

2. No. 2, No. 4 out-put supply pins connect gray scale plate 5V power supply VCC_5 simultaneously.

3. No. 3 input power pins connect gray scale plate 9V power supply VCC_9 to 5264 end of semi-duplex serial port communication bus No. 2 VCC energization pins of mouth

Referring to fig. 21, the 3.3V DC voltage-stabilizing chip of gray scale plate uses low voltage difference DC voltage-stabilizing chip AMS1117-3.3, makes It is encapsulated with SOT-223.

Chip pin connection description:

1. No. 1 power source reference ground pin connection gray scale plate digitally DGND.

2. No. 2, No. 4 out-put supply pins connect gray scale plate 3.3V power supply VCC_3.3 simultaneously.

3. No. 3 input power pins connect gray scale plate 5V power supply VCC_5

(5) digital rudder controller control (steering engine module):

Pin connection description:

Bus type digital rudder controller uses the CDS5516 series digit steering engine of UPTECH Robotics company.

Two 5264 ports of digital rudder controller pass through three twisted wire cable of bus physical and master control borad or other hang at half pair 5264 ports connection on circuit board on work serial communication bus, makes bus type digital rudder controller in electrically carry in half-duplex On serial communication bus.

1. 5264 port data wire pin of signal port SIG connection semi-duplex serial port communication bus physical port.

2. 5264 port 9V energization pins of power supply port VCC connection semi-duplex serial port communication bus physical port.

3. digitally 5264 port number of port GND connection semi-duplex serial port communication bus physical port ground pin.

Three, ring vehicle motion process

Ring parking stall zone of departure under platform when starting, scoop is thought to be placed on before ring vehicle is placed to zone of departure lifts shape State, writes gesture startup program in code, that is, pre-selects a laser sensor, and manpower is detected when being used as starting to sensing Device optical path is blocked, which detects block after, trolley voluntarily starts, and tail portion is towards ring after moving, and apart from arena Platform certain distance, then rushes at ring at the appropriate speed, is gone up on the stage using inclined-plane, and scoop is beaten since vibration is voluntarily fallen forward Trolley is locked using steering engine after stablizing.

When on ring, the position of ring vehicle is judged using gray-scale sensor, is detected with laser sensor to hand position, is sentenced Disconnected ring edge etc..

If under ring vehicle falling platform, steering engine is locked to be unclamped, ring robot repeats to appear on the stage step until smoothly stepping on automatically Platform.

Edge detection effect: after opponent is pushed down platform, wushu ring robot of the invention can be because detecting edge then It moves back, will not be fallen with opponent.

Position detection effect: by the tight fit of gray-scale sensor and laser sensor, wushu ring machine of the invention Device people can be retracted in time at edge with accurate judgement position, ring can be quickly found out under platform and is appeared on the stage.

Appear on the stage effect: due to the rational deployment of center of gravity of the present invention, the present invention can appear on the stage by own wt auxiliary when appearing on the stage, Process of appearing on the stage is steady.

Claims (9)

1. a kind of wushu ring robot that tail portion ramp type is gone up on the stage, which is characterized in that including bottom plate (2), several wheels (1), Top plate (5), scoop plate (16), tail portion skewback (30), control circuit, model airplane battery (10), several laser sensors (4), Several motors (33), steering engine (20) and several gray-scale sensors；Pass through electric machine support (31) between bottom plate (2) and top plate (5) Support, wheel (1) are symmetrically positioned in bottom plate (2) four corners, and carry out control campaign by motor (33) respectively；Tail portion skewback (30) it is connected by tail portion skewback (30) and bottom plate connector (32) and bottom plate (2) side, tail portion skewback (30) leads to simultaneously It crosses the first Caudal connectors (6) to connect with two pieces of tail portions inclined-plane support plate (7), tail portion inclined-plane support plate (7) passes through the second tail portion Connector (34) is connect with electric machine support (31)；The plate of facing directly of shovel board (16) passes through the first rocker arm (25) and scoop rocker arm support (24) hingedly with top plate (5), and by steering engine (20) by connecting among intermediate rockers (19) and shovel board (16), wushu is controlled Ring robot is locked after scoop front end lands when on platform；Several laser sensors (4) are distributed on bottom plate (2), for examining Survey ring edge, to hand position, wushu ring robot location；Several gray-scale sensors are distributed with below bottom plate, for detecting The black-white colors to set out under region champac color lump, identification ring and platform；Control circuit is mainly fixed in bottom plate (2) with nylon column Between white space.

2. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as described in claim 1, which is characterized in that described several Laser sensor (4) is distributed in wushu ring robot surrounding in many ways, and specific arrangement is described as follows:

Three laser sensors (4) constitute 135 degree of angles at rice word arrangement in front of chassis (2), expand detection range, for detecting Opponent, auxiliary identify above and below the stage；Chassis or so laser sensor (4) each one, for detecting whether left and right has opponent；Chassis The laser sensor (4) at rear is then mounted on tail portion skewback (30), is also arranged at rice word.Laser on top plate (5) Sensor (4), makes its direction obliquely by third laser sensor bracket (14), for working as ring by each one in front left and right Vehicle carries out edge detection when being in ring edge, prevents from falling；In front, there are two install relatively high laser sensor (4) it in front of face, is aligned when being same as appearing on the stage with place edge；There is a laser sensor (4) on the inclined-plane of rear tail portion, is used for Ring edge is detected when ring vehicle is fallen back.

All laser sensors (4) are fixed by respective laser sensor bracket.First laser sensor stand (3) With a fixed angle of altitude, be due to finding laser during testing laser sensor (4) with certain subtended angle, design the elevation angle with Offset the influence of laser subtended angle itself.

3. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as described in claim 1, which is characterized in that the scoop The plate of facing directly of plate (16) is connect by the first rocker arm (25) and scoop rocker arm support (24) with top plate (5), the first rocker arm (25) And screwed and be attached by plug between scoop rocker arm support (24), left and right rocker arm mirror symmetry；Scoop plate (16) is intermediate simultaneously It is connected by intermediate rockers (19) with steering engine (20), when wushu ring robot is located on platform, steering engine (20) is in scoop front end Scoop is locked after landing, so that the scoop front end tip (17) being connected with scoop plate (16) is kept patch ground state, prevents opponent will Scoop starts；When wushu ring robot is located under platform, steering engine (20) loosens, release it is locked, enable appear on the stage movement into Row.

4. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as described in claim 1, which is characterized in that further include tail Portion inclined-plane cover plate of upper layer (9) passes through tail portion inclined-plane cover plate of upper layer and tail portion inclined-plane support plate connector (29) and tail portion inclined-plane branch Fagging (7) is fixed with two double threaded screws (8), as the encapsulation above wushu ring robot tail portion, and is passed with first laser Sensor bracket (3) installs laser sensor as stated in claim 2 (4).

5. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as described in claim 1, which is characterized in that the upper layer Plate (5) is fixed on electric machine support (31) by four screws, keeps its convenient for disassembly and assembly.Top plate (5) middle opening, opening area Slightly larger than area shared by circuit board on bottom plate (2), convenient for the burning of the replacement of plank, wiring and control routine.Top plate (5) there are four laser sensor (4), two to be mounted on top plate (5) two corners by third laser sensor bracket (14) in front, It overlooks downwards, is used for edge detection, two are mounted on top plate (5) by second laser sensor stand (13), in front of face, The alignment of when for appearing on the stage and ring edge；Reserved simultaneously there are many hole locations, adjust and equip other moulds convenient for sensor angles Block.

6. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as described in claim 1, which is characterized in that described several Gray-scale sensor (28) is respectively arranged one in the middle position of bottom plate (2) all around, by gray-scale sensor bracket (27) with Bottom plate (2) is connected, and for identifying the variation of place color, differentiates the colors such as black-white-gray, champac.

7. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as described in claim 1, which is characterized in that the tail portion Skewback (30) angle with horizontal plane is 140 degree, experiments verify that herein near value.This angle by with tail portion skewback (30) the tail portion skewback connected is limited with bottom plate connector (32), and two pieces of tail portions inclined-plane support plate (7) carries out auxiliary branch Support.

8. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as described in claim 1, which is characterized in that the control Circuit includes main control circuit, laser range sensor control circuit, gray scale measurement sensor control circuit, brush direct current motor Drive control circuit, monobus digital rudder controller control circuit, each circuit pass through semi-duplex serial port communication bus and connect with master control.

9. a kind of wushu ring robot that tail portion ramp type is gone up on the stage as claimed in claim 4, which is characterized in that the module Between signal transmitting it is as follows: all modules and master board all use 5264 port connector of semi-duplex serial port communication bus And connecting line connection is on a single bus, is strictly held between each module and master control and each module by the communications protocol of formulation Row communication, master control are set to the transmitting-receiving communication that TP top priority controls entire bus.