CN110340911A - A kind of control system and control method of multi-functional sports humanoid robot - Google Patents
A kind of control system and control method of multi-functional sports humanoid robot Download PDFInfo
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- CN110340911A CN110340911A CN201910657394.0A CN201910657394A CN110340911A CN 110340911 A CN110340911 A CN 110340911A CN 201910657394 A CN201910657394 A CN 201910657394A CN 110340911 A CN110340911 A CN 110340911A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/003—Manipulators for entertainment
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/02—Hand grip control means
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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Abstract
The invention belongs to technical field of robot control, the control system and control method of a kind of multi-functional sports humanoid robot are disclosed, management system includes power management module, STM32 development board, switch, remote controler, bluetooth communication, judgment system and remote control control bar；For controlling the cooperation between the beginning of each system and end and system；Software control system is used to control robot and carries out material transmitting to target, completes to take movement and control the movement of robot omnibearing and climb up the highland of specified altitude assignment.The result of control can be fed back the system for being compared with desired value, and adjusting in time according to their error by remote control system of the present invention；The duty ratio that PWM is controlled after PI is adjusted, realizes the control of motor speed；By the present invention in that with PI controller, motor fast response time can be stablized quick-recovery fastly when meeting load disturbance.
Description
Technical field
The invention belongs to technical field of robot control, more particularly to a kind of control system of multi-functional sports humanoid robot
System and control method.
Background technique
Currently, the prior art commonly used in the trade is such that
With the continuous development of science and technology, robot starts to be applied to various industries on a large scale.Due to pushing away for competitive game
Extensively, sports humanoid robot has appeared in people's lives.For now, existing anthropomorphic robot be able to carry out walking,
It dances and the movements such as stunt, though more complicated movement can be made, reaction speed is slow, and chassis is unstable, and control is bad, can send out
Raw rollover.And the battle robot that races, need to use the ability and respond of its impact confrontation；Humanoid robot master
If nearly body confrontation, can avoid the spatial dimension very little of strike, reaction speed is not sensitive enough；In moving process, human-like machine
People can only at the uniform velocity move；When being attacked by side or rear, it cannot quickly turn round and sidestep.It is human-like when taking material
Robot multi-faceted can take to material, but speed of taking is slow.
In addition, multi-functional sports battle robot needs to record sports result during impact and confrontation,
So robot will install strike record column.If be mounted on humanoid robot, can allow the action of humanoid robot by
Limitation.And humanoid robot motion mode it is single have certain limitation, and range involved in wheeled robot more extensively allows
Inventor has more development spaces.
In conclusion problem of the existing technology is:
(1) in the prior art, multi-functional sports humanoid robot, can be by preceding middle wheel institute at the upper highland 135mm~150mm
The angle of the И template of connection and the height problem of guide wheel, middle group wheel can not climb up highland before causing.
(2) after chassis is plus transmitting and pulling mechanism, whole center of gravity will change, so when car body is travelled to recessed
When convex location or upper highland, it is easy to turn on one's side.
(3) grasping mechanism is made of vertical cylinder and finger cylinder, can only be effective when vertical cylinder carries out filling exhaust
The up and down motion of its gas bar is controlled, the rotation of its left and right is unable to control.
(4) when emitting material, since transmitting target can only be locked by way of artificial or car body camera, so
Hit rate is extremely low.
It is all same model with the driving motor that driving wheel matches in (5) one trolley humanoid robots, so its chassis is electric
Machine power is all identical, but sometimes as robot motion, lower than the rated power of its base plate electric machine, so will cause energy wave
Take, also its power consumption rate can be made fast.
Solve the difficulty of above-mentioned technical problem: the angle and length of its И template play vital work to chassis climbing
With, the control of grasping mechanism determines that the accuracy of materials handling, the identification of vision determine the precision of material transmitting,
The selection of its capacitor determines the electricity consumption situation and service life of robot.
Solve the meaning of above-mentioned technical problem:
Force analysis mainly is carried out by taking turns each step on upper highland to six for these problems, and whole center of gravity is all
It needs material object then to be made, by reality using influence of the qualitative determining the size of each part of dynamics simulation software ADAMS to upper highland
The island Ji Shang performance is adjusted portion size, the size of last vehicle and critical component.
The problem of being unable to control its left-right rotation for pulling mechanism, the present invention can insert the groove at vertical cylinder rear portion
Enter the connecting rod of corresponding size, upper end, which becomes, vertically to be fixed to finger cylinder, just secures the direction of finger cylinder in this way.And for
Can not quick and more accurate this problem of lock onto target, the present invention is mounted with the small host of the miniature PC of NUC, special disposal view
The problem of feeling aspect.
The problem of for energy waste, the present invention will fill up the sky between traditional capacitor and battery using super capacitor
It is white.Its super capacitor have high power density, high-energy density, have extended cycle life, the charging time is short, non-maintaining, high reliability, report
The features such as generation environment does not pollute after useless.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of control systems of multi-functional sports humanoid robot
And control method.
The invention is realized in this way a kind of control system and control method of multi-functional sports humanoid robot, described
It is multi-functional sports humanoid robot control system include:
Management system and software control system.
Management system: including power management module, STM32 development board, switch, remote controler, bluetooth communication, sanction
Sentence system and remote control control bar.For controlling the cooperation between the beginning of each system and end and system.
Software control system: it chooses module including chassis control module, material transmitting module, material.For controlling machine
People carries out material transmitting to target, completes to take movement and control the movement of robot omnibearing and climb up specified altitude assignment
Highly.
Further, the management system specifically includes:
Power management module provides 24V power supply for master control STM32 development board.
STM32 development board, it is complete by peripheral circuit control execution related system mechanism that STM32 development board executes control program
At relevant action, machine is completed in the cooperation of each associated mechanical structure of signal instruction input and robot with combination remote controller
The movement step of people.
Remote control control bar, the switching of speed and motion state for controlling sports humanoid robot.Remote controler control simultaneously
Bar processed assigns instruction to STM32 development board by switch and remote controler, is completed by the cooperation of each system between control body each
Item assignment instructions, and manipulation and control is integrally carried out to machine by bluetooth communication.
Further, the software control system specifically includes:
Chassis control module, for based on directly controlling the direct current deceleration brushless motor being connected by shaft coupling with wheel,
The Omni-mobile on realization chassis, upper highland, control the movement of robot omnibearing and climb up the highland of specified altitude assignment.
Material transmitting module, including give and play unit, hair bullet unit, guided missile pipe unit three parts.For passing through control pitching
Motor, rolling motor, thumb wheel motor and friction turbin generator, are realized by holder yaw/pitch, thumb wheel and friction pulley respectively
The pitching of holder shakes the head, dials bullet and fire shells, and completes robot alignment target and carries out material transmitting.
Material is chosen module, including starting lifting unit and catching unit.For passing through control vertical cylinder and finger gas
It is elastic with finger that cylinder realizes that robot vertical is translated.Material is clamped using finger cylinder, is removed material by lifting unit,
Robot is completed to take to designated position.
Further, material module of choosing specifically includes:
Material module hardware structure of choosing includes vertical cylinder, finger cylinder, 4V210-08AC24V air-powered electromagnetic
Valve, two-way 24V relay, gas cylinder.
Before function is chosen in starting, gas cylinder is first full of oxygen, then passes through appendix for the air inlet of gas cylinder and solenoid valve
Mouth connection, then connected the air inlet of the gas outlet of solenoid valve and cylinder by tracheae.Also relay and solenoid valve are connected simultaneously
It connects, controls the air vent channel of input discharge and the input discharge of gas.
Another object of the present invention is that providing the multi-functional sports humanoid robot of one kind includes:
The power supply directly feeds chassis, gripping body, launching board and life column system by power management module,
By the reduction voltage circuit on control panel or each electrical equipment is directly fed again, is finally led to again by the power of each mechanical structure transmitting motor
The final robot behavior that we need is realized in the control for crossing remote controler.
The robot chassis is six omnidirectional driving wheels and four guide idler structure, and the driving wheel adds omni-directional wheel using wheat wheel,
Driving mechanism uses 3508 direct current deceleration brushless motors, and directly connect with wheel after driving electricity to adjust and reduce speed by C620.4 are led
In wheel front-wheel wheel be connected by И template, rear-wheel it is independent, preceding middle two-wheeled is outstanding by wagging the tail with upright slide block suspension with rear-wheel
The mode of extension is attached with car bottom plate, and the stability on chassis is also kept as damping.And it is determined by the distribution of ten wheels
Chassis center of gravity approximate range.
The grasping mechanism is fixed on the front on chassis, and elevating mechanism is vertical cylinder, and gripping body is finger
Cylinder, the finger cylinder prostrate are fixed on the top on vertical cylinder elevating lever, and finger cylinder and headstock are towards identical.Root again
Holder trigger mechanism position fixed on bottom plate is determined according to the center of gravity of vehicle entirety, is first fixed by a few word fixed frames with bottom plate,
Rolling motor control holder PITCH is fixed on a few cabinet frame grooves by the circular hole at the top of several cabinet frames, and N-shaped plate passes through flange and cross
It shakes electric machine rotational axis to fix, the N-shaped plate side that the pitching motor of control holder YAW is fixed on, the side of trigger mechanism passes through method
The blue rotary shaft with pitching motor is fixed, and the other side is fixed on the other side of N-shaped plate also by bearing.Trigger mechanism is divided into storage
Area, feed zone and emitter region, feed zone bottom centre are fixed with to pull out turbin generator and pass through the area Song Dan bottom and fix with thumb wheel, work as object
Material is admitted in emitter region can be had the frictional electric machine rotation of friction pulley by conduit two sides and material increases frictional force, and be launched
It goes.
Another object of the present invention is that the control method for providing a kind of multi-functional sports humanoid robot includes:
First main control module SMT32 development board and chassis module are initialized when Adjust System, then by with base plate electric machine
Line, calculate base plate electric machine PID and real-time update chassis-date, while the state switching and data set according to remote controler
Preservation, control amount and control are arranged to its chassis.Line up to know the movement on chassis by the message that CAN sends and receives again
State, and matched by the motion state of chassis reality with the instruction that needs are completed.Wherein relatively simple control model
Are as follows: channel one controls chassis or so translation；Channel two controls chassis and rotates left and right；Channel three controls chassis and is moved forward and backward.And lead to
The special arrangement structure taken turns with its chassis six is crossed to cooperation to realize this function of upper highland.
The material trigger mechanism is to initialize holder trigger mechanism, then pass through the company with holder pitching and rolling motor
Line, calculates horizontal stage electric machine PID and real-time update holder data, at the same according to remote controler be arranged control holder mode switching and
Cradle head control amount, then line up by the message that CAN sends and receives to know the motion state of holder, and in the form of data by it
Feed back to master control borad.Wherein remote control control mode are as follows: channel 0 controls holder pitching motor, S2 switch control friction pulley wheel electricity
Machine and thumb wheel motor.
The material pulling mechanism is to initialize material pulling mechanism, and the vertical cylinder and finger cylinder pass through pneumatically
Solenoid valve is connect with gas cylinder, is connect also by solenoid valve with relay.The connection for passing through development board and remote controler again, makes remote controler
Control the integrality of Ba Qi mechanism.And by the judgement to flag state is pulled out, vertical cylinder and finger cylinder are controlled respectively
System circulation.Wherein remote control control mode are as follows: S1 switch control carries out the vertical cylinder and finger cylinder for pulling out flag task.
Pass through transmission/reception of CAN, real-time Stateful Inspection and control.Realize the various functions of sports humanoid robot.
In conclusion advantages of the present invention and good effect are as follows:
The arrangement of six driving wheels of robot of the present invention more can effectively push car body to climb up the highland 135mm~150mm, and
And save time and the space of car body deformation.
What elevating mechanism of the present invention was selected is a vertical lifting cylinder, and range can reach 120mm, gripping body
What is selected is finger cylinder, and maximum clamping range can reach 50mm, material is clamped by finger cylinder, by elevating mechanism, by object
Material smoothly takes out.The enough clamping ranges of the catching device can be adjusted according to the size of material.
It is a kind of modular servo-driver that the present invention, which drives electricity to adjust, and speed ring and position ring all use PI controller,
Motor fast response time can be stablized quick-recovery fastly when meeting load disturbance.
Remote control system of the present invention and can feed back the result of control is compared with desired value, and according to them
Error adjust in time.
Remote control system of the present invention and can feed back the result of control is compared with desired value, and according to them
The system that adjusts in time of error.And system has the middle part for feeding back the result of control system, referred to as feedback element.This
System uses PI digital governer, realizes the double-closed-loop control to motor, solenoid valve.Such as Fig. 5, inner ring is electric current loop, gas tune
Ring is saved, outer ring is der Geschwindigkeitkreis, expansion ring.Calculated rotor actual speed is compared with given rotating speed, and deviation passes through speed
Control generates current reference value.It and current feedback constitute current closed-loop, and the duty ratio of PWM is controlled through PI adjusting, realize electricity
The control of machine speed.The stretching speed of calculated piston is compared with given speed, and deviation generates gas by speed control
Body input/output reference value.
Detailed description of the invention
Fig. 1 is the control system architecture schematic diagram of multi-functional sports humanoid robot provided in an embodiment of the present invention.
Fig. 2 is the control system schematic diagram of multi-functional sports humanoid robot provided in an embodiment of the present invention.
Fig. 3 is the control system architecture diagram of multi-functional sports humanoid robot provided in an embodiment of the present invention.
Fig. 4 is remote control flow chart provided in an embodiment of the present invention.
Fig. 5 is the software control system block schematic illustration of robot entirety provided in an embodiment of the present invention.
In figure: 1, management system；2, software control system；3, power management module；4, STM32 development board；5, it opens
It closes；6, remote controler；7, bluetooth communication；8, judgment system；9, remote control control bar；10, chassis control module；11, material
Transmitting module；12, material is chosen module.
Fig. 6 is multi-functional sports humanoid robot schematic diagram provided in an embodiment of the present invention.
Fig. 7 is multi-functional sports humanoid robot guide wheel contact one figure of highland state provided in an embodiment of the present invention.
Fig. 8 is multi-functional sports humanoid robot guide wheel contact two figure of highland state provided in an embodiment of the present invention.
Fig. 9 is state one figure in highland on multi-functional sports humanoid robot front-wheel provided in an embodiment of the present invention.
When front-wheel climbs up highland, middle wheel can drive upward pulling force and itself and the forward power of rear-wheel by front-wheel,
Middle wheel is set to climb up highland.Rear-wheel is similarly.
Figure 10 is state two figure in highland on multi-functional sports humanoid robot front-wheel provided in an embodiment of the present invention.
Figure 11 is that multi-functional sports humanoid robot provided in an embodiment of the present invention climbs up high map.
Figure 12 is multi-functional sports humanoid robot judgement provided in an embodiment of the present invention and determines one figure of material location status.
Figure 13 is multi-functional sports humanoid robot judgement provided in an embodiment of the present invention and determines two figure of material location status.
Figure 14 is one figure of state of taking of multi-functional sports humanoid robot material provided in an embodiment of the present invention.
Figure 15 is two figure of state of taking of multi-functional sports humanoid robot material provided in an embodiment of the present invention.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention
It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to
Limit the present invention.
In the prior art, multi-functional sports humanoid robot, can be by company, preceding middle wheel institute at the upper highland 135mm~150mm
The angle of the И template connect and the height problem of guide wheel, middle group wheel can not climb up highland before causing.When chassis plus transmitting with
After pulling mechanism, whole center of gravity will change, so when car body is travelled to concave-convex location or upper highland, it is easy to occur
Rollover.Grasping mechanism is made of vertical cylinder and finger cylinder, when vertical cylinder carries out filling exhaust, can only effectively control it
Gas bar moves up and down, and is unable to control the rotation of its left and right.When emitting material, due to can only be by artificial or car body camera
Mode locks transmitting target, so hit rate is extremely low.
In view of the problems of the existing technology, the present invention provides a kind of control systems of multi-functional sports humanoid robot
And control method, the present invention is explained in detail with reference to the accompanying drawing.
As shown in Figure 1 to Figure 3, the control system of multi-functional sports humanoid robot provided in an embodiment of the present invention includes:
Management system 1 and software control system 2.
Management system 1: including power management module 3, STM32 development board 4, switch 5, remote controler 6, Bluetooth communication mould
Block 7, judgment system 8 and remote control control bar 9.For controlling the cooperation between the beginning of each system and end and system.
Software control system 2: it chooses module 12 including chassis control module 10, material transmitting module 11, material.For controlling
Robot processed carries out material transmitting to target, completes to take movement and control the movement of robot omnibearing and climb up specified
The highland of height.
Management system 1 provided in an embodiment of the present invention specifically includes:
Power management module 3 provides 24V power supply for master control STM32 development board.
STM32 development board 4, STM32 development board 4 execute control program and control execution related system mechanism by peripheral circuit
Relevant action is completed, the cooperation of each associated mechanical structure of signal instruction input and robot with combination remote controller 6 is completed
The movement step of robot.
Remote control control bar 9, the switching of speed and motion state for controlling sports humanoid robot.Remote controler control simultaneously
Bar 9 processed assigns instruction to STM32 development board 4 by switch 5 and remote controler 6, by the cooperation of each system between control body come complete
It is instructed at each task, and manipulation and control is integrally carried out to machine by bluetooth communication 7.
As shown in figure 4, software control system 2 provided in an embodiment of the present invention specifically includes:
Chassis control module 10, for being slowed down brushless electricity based on directly controlling the direct current being connected with wheel by shaft coupling
Machine realizes the Omni-mobile on chassis, upper highland, controls the movement of robot omnibearing and climb up the highland of specified altitude assignment.
Material transmitting module 11, including give and play unit, hair bullet unit, guided missile pipe unit three parts.For being bowed by control
Motor, rolling motor, thumb wheel motor and friction turbin generator are faced upward, respectively by holder yaw/pitch, thumb wheel and friction pulley come real
The pitching of existing holder shakes the head, dials bullet and fire shells, and completes robot alignment target and carries out material transmitting.
Material is chosen module 12, including starting lifting unit and catching unit.For passing through control vertical cylinder and finger
It is elastic with finger that cylinder realizes that robot vertical is translated.Material is clamped using finger cylinder, is removed material by lifting unit
It removes, completes robot and take to designated position.
Material provided in an embodiment of the present invention module 12 of choosing specifically includes:
The material 1 hardware configuration of module of choosing includes vertical cylinder, finger cylinder, 4V210-08AC24V air-powered electromagnetic
Valve, two-way 24V relay, gas cylinder.
Before function is chosen in starting, gas cylinder is first full of oxygen, then passes through appendix for the air inlet of gas cylinder and solenoid valve
Mouth connection, then connected the air inlet of the gas outlet of solenoid valve and cylinder by tracheae.Also relay and solenoid valve are connected simultaneously
It connects, controls the air vent channel of input discharge and the input discharge of gas.
Multi-functional sports humanoid robot provided in an embodiment of the present invention includes:
Direct current deceleration brushless motor, finger cylinder, pitching motor, rolling motor, pulls out turbin generator, friction pulley at vertical cylinder
Electricity, friction pulley pull out wheel, holder PITCH, holder YAW, mechanical folder, elevating lever, wheel and chassis.
The robot chassis is six omnidirectional driving wheels and four guide idler structure, and six 3508 DC servo motors drive through C620
Dynamic electricity is directly connect with wheel after adjusting and reducing speed.
The wheel using wheat wheel plus omni-directional wheel, in front-wheel wheel be connected by И template, rear-wheel it is independent, while before using
The mode of 4 guide wheels is arranged and preceding middle two-wheeled upright slide block hangs the damping modes for suspension of wagging the tail with rear-wheel.Pass through ten wheels
Distribution determine chassis center of gravity approximate range.
It is provided in an embodiment of the present invention applied to it is described it is multi-functional sports humanoid robot control system it is multi-functional
Sports humanoid robot control method include:
First main control module is initialized when Adjust System, then by transmission/reception of CAN, real-time Stateful Inspection with
And the debugging of chassis and material trigger mechanism, material pulling mechanism, realize the various functions of sports humanoid robot.
The invention will be further described for knot working principle below.
Material trigger mechanism of the present invention is divided into Song Dan mechanism, Fa Dan mechanism, guided missile pipe three parts.The mechanism that fires can realize certainly
By pitching and rolling.The operating of trigger mechanism is to drive thumb wheel by a motor, receives a secondary control signal, motor passes through closed loop
Control one bullet angle of rotation, to guarantee accurately to send bullet control.Again by two high-speed rotating friction pulleys, pass through high speed
The inertia of rotation quickly squeezes away shell, to reach the purpose that fires shells.
It is a kind of modular servo-driver that driving electricity, which is adjusted, and speed ring and position ring all use PI controller, and motor is rung
It answers speed fast, can stablize quick-recovery fastly when meeting load disturbance.And adjust the speed aspect and just use PWM technology, PWM technology is to utilize partly to lead
Body switches on-off, so that DC voltage changes with the on-off of semiconductor switch, when semiconductor switch conducts, and DC voltage
For high level state, when semiconductor switch disconnects, DC voltage is reduced to low level state, and DC voltage is thus become arteries and veins
Signal is rushed, the on off operating mode by changing semiconductor switch can change the frequency or pulse width of pwm signal, that is, change
The average value of DC voltage, to realize the speed regulation purpose of direct current generator.
All movements of trolley of the present invention are all to realize various fortune by the pwm signal of transformation STM32 development board output
It is dynamic: to advance, retreat, turn left, turn right, rotate in place, adjust the speed.
And when highland in robot, front jocket wheel is jacked up by step edge, and front-wheel is also jacked up therewith, and is attached at highland
Side.A upward frictional force can be generated when its driving, then by middle wheel, the forward power of rear-wheel makes front-wheel climb up height
Ground.Similarly when front-wheel climbs up highland, middle wheel is because of the structure with front-wheel for connecting rod, so also being jacked up therewith.Also by itself with
The frictional force of highland side, front-wheel pass through the pulling force and forward power of connecting rod centering wheel, and the motive force of rear-wheel steps on middle wheel
Upper highland.Wheel is climbed up after highland in current, and it is upward with side that body can maintain the inertia centainly to travel forward and rear-wheel
Frictional force, make entire car body climb up highland.
Technical solution of the present invention and technical effect are described further combined with specific embodiments below.
Embodiment 1:
The present invention detects the work of 2312 motors of friction pulley, mechanical property:
1) 2312 motors and C610 electricity tune are first serially connected with to the main control module of holder, then are started by the power module of 24V
2312 motors.It is connect again by receiver by STM32 development board and with the software of computer program editor detection.It first will be aobvious by number
Show clearing, vortex measurement of power function control knob is adjusted under torque mode, electric motor load torque is stepped up, arrives electrical motors
Specified operating point: U=UN, Ia=IaN, n=nN, 2132 motor current If are rated current IfN at this time.Record rated point
Data: UN, IfN, IaN, nN, motor output torque T2=TN and output power P2=PN.
2) U=UN, If=IfN is kept gradually to reduce motor load since specified operating point, until motor is empty
It carries.The armature supply Ia of motor, revolving speed n and output torque T2, output power P2 are measured, access is recorded according to 9-10 group altogether
In table 2.
2 working characteristic data U=UN=220V If=IfN=75.81mA of table
2312 motor meets the requirement of material trigger mechanism after tested.
Embodiment 2
Remote control system of the present invention and can feed back the result of control is compared with desired value, and according to them
The system that adjusts in time of error.And system has the middle part for feeding back the result of control system, referred to as feedback element.This
Invention uses PI digital governer, realizes the double-closed-loop control to motor, solenoid valve.Such as Fig. 5, inner ring is electric current loop, gas tune
Ring is saved, outer ring is der Geschwindigkeitkreis, expansion ring.Calculated rotor actual speed is compared with given rotating speed, and deviation passes through speed
Control generates current reference value.It and current feedback constitute current closed-loop, and the duty ratio of PWM is controlled through PI adjusting, realize electricity
The control of machine speed.The stretching speed of calculated piston is compared with given speed, and deviation generates gas by speed control
Body input/output reference value.
Embodiment 3
Management system of the present invention is that 24V power supply by power management module is supplied directly to master control STM32 development board, then
It is controlled by the execution control program in development board by peripheral circuit and executes related system mechanism completion relevant action, then cooperated distant
The cooperation of the signal instruction input of device and each associated mechanical structure of robot is controlled, to complete the movement step of robot.Control
Chassis control system in system processed climbs up the highland of specified altitude assignment for controlling robot.Material emission system, for controlling machine
Device people's alignment target carries out material transmitting.Material is chosen system, is taken for controlling robot to designated position.Remote controler control
Bar processed, the switching of speed and motion state for controlling sports humanoid robot.And STM32 is developed by switch and remote controler
Plate assigns instruction, and integrally carries out manipulation and control to machine by bluetooth communication.
In the present invention, the management system is that 24V power supply by power management module is supplied directly to master control STM32
Development board, then it is related dynamic by the completion of peripheral circuit control execution related system mechanism by the execution control program in development board
Make, then the signal instruction with combination remote controller inputs and the cooperation of each associated mechanical structure of robot, to complete robot
Movement step.
In the present invention, the hardware components matched therewith with software connect mechanical structure, real by the manipulation of remote control
Existing specified movement: chassis system directly controls the direct current deceleration brushless motor being connected by shaft coupling with wheel, realizes bottom
The Omni-mobile of disk, upper highland.
Vertical cylinder and finger cylinder are also that the pine of vertical translation and finger is realized by the control of gripping body system
Tightly.
Emission system then needs to control pitching motor, rolling motor, thumb wheel motor and friction turbin generator, passes through cloud respectively
Platform yaw/pitch, thumb wheel and friction pulley realize the pitching of holder, shake the head, dial and bullet and fire shells.
The chassis driving wheel using wheat wheel plus omni-directional wheel, in front-wheel wheel be connected by И template, rear-wheel it is independent, and adopt
It is arranged with the mode of preceding 4 guide wheels and the suspension of preceding middle two-wheeled upright slide block and rear-wheel is wagged the tail the damping modes of suspension.Six
The arrangement of driving wheel more can effectively push car body climb up 135mm~150mm highland, and save car body deformation time and
Space.Front-wheel can lift upper highland when to guarantee highland up and down and first landing is not overturned in the process, it is necessary to first determine chassis
Center of gravity.The chassis center of gravity is to determine approximate range by the distribution of ten wheels.
In the present invention, the material trigger mechanism is divided into Song Dan mechanism, Fa Dan mechanism, guided missile pipe three parts.It fires machine
Structure can realize free pitching and rolling.The operating of trigger mechanism is to drive thumb wheel by a motor, receives a secondary control signal, electricity
Machine rotates a bullet angle by closed-loop control, to guarantee accurately to send bullet control.Again by two high-speed rotating frictions
Wheel, by high-speed rotating inertia, shell is quickly squeezed away, to reach the purpose that fires shells.
In the present invention, material pulling mechanism is divided into starting elevating mechanism and gripping body.What elevating mechanism was selected is one
A vertical lifting cylinder, range can reach 120mm, and what gripping body was selected is finger cylinder, and maximum clamping range can
Reach 50mm, material is clamped by finger cylinder, by elevating mechanism, material is smoothly taken out.The enough clamping models of the catching device
Enclosing can be adjusted according to the size of material.
In the present invention, remote control control bar is to be referred to by the cooperation of each system between control body to complete each task
It enables.
In the present invention, multi-functional athletic type robot control system includes:
First main control module can be initialized when Adjust System, then transmission/reception by CAN, real-time Stateful Inspection
And the debugging of chassis and material trigger mechanism, material pulling mechanism, to realize the various functions of sports humanoid robot.
The management system, which is 24V power supply, is supplied directly to master control STM32 development board by power management module, then by
Execution control program in development board is controlled by peripheral circuit executes related system mechanism completion relevant action, then cooperates remote control
The signal instruction of device inputs and the cooperation of each associated mechanical structure of robot, to complete the movement step of robot.
The robot chassis is six omnidirectional driving wheels and four guide idler structure, and six 3508 DC servo motors drive through C620
Dynamic electricity is directly connect with wheel after adjusting and reducing speed.It is a kind of modular servo-driver that driving electricity, which is adjusted, and speed ring and position ring are all
Using PI controller, motor fast response time can be stablized quick-recovery fastly when meeting load disturbance.And it adjusts the speed aspect and just uses PWM skill
Art, PWM technology are partly to be led using the on-off of semiconductor switch so that DC voltage changes with the on-off of semiconductor switch
When body switch conduction, DC voltage is high level state, and when semiconductor switch disconnects, DC voltage is reduced to low level state, this
DC voltage is just become pulse signal by sample, and the on off operating mode by changing semiconductor switch can change pwm signal
Frequency or pulse width, that is, change the average value of DC voltage, to realize the speed regulation purpose of direct current generator.
So all movements of trolley are all to realize various movements by the pwm signal of transformation STM32 development board output:
Advance, retreat, turn left, turn right, rotate in place, adjust the speed.
And when highland in robot, front jocket wheel is jacked up by step edge, and front-wheel is also jacked up therewith, and is attached at highland
Side.A upward frictional force can be generated when its driving, then by middle wheel, the forward power of rear-wheel makes front-wheel climb up height
Ground.Similarly when front-wheel climbs up highland, middle wheel is because of the structure with front-wheel for connecting rod, so also being jacked up therewith.Also by itself with
The frictional force of highland side, front-wheel pass through the pulling force and forward power of connecting rod centering wheel, and the motive force of rear-wheel steps on middle wheel
Upper highland.Wheel is climbed up after highland in current, and it is upward with side that body can maintain the inertia centainly to travel forward and rear-wheel
Frictional force, make entire car body climb up highland.
The material trigger mechanism material trigger mechanism is divided into Song Dan mechanism, Fa Dan mechanism, guided missile pipe three parts.It fires machine
Structure can realize free pitching and rolling.The operating of trigger mechanism is to be driven by a motor thumb wheel, receives a secondary control signal, and motor is logical
It crosses closed-loop control and rotates a bullet angle, to guarantee accurately to send bullet control.Again by two high-speed rotating friction pulleys, lead to
High-speed rotating inertia is crossed, shell is quickly squeezed away, to reach the purpose that fires shells.
Below with reference to the work of 2312 motors to friction pulley, the invention will be further described for mechanical property detection.
1) 2312 motors and C610 electricity tune are first serially connected with to the main control module of holder, then are started by the power module of 24V
2312 motors.It is connect again by receiver by STM32 development board and with the software of computer program editor detection.It first will be aobvious by number
Show clearing, vortex measurement of power function control knob is adjusted under torque mode, electric motor load torque is stepped up, arrives electrical motors
Specified operating point: U=UN, Ia=IaN, n=nN, 2132 motor current If are rated current IfN at this time.Record rated point
Data: UN, IfN, IaN, nN, motor output torque T2=TN and output power P2=PN.
2) U=UN, If=IfN is kept gradually to reduce motor load since specified operating point, until motor is empty
It carries.The armature supply Ia of motor, revolving speed n and output torque T2, output power P2 are measured, access is recorded according to 9-10 group altogether
In table 2.
2 working characteristic data U=UN=220V If=IfN=75.81mA of table
2312 motor meets the requirement of material trigger mechanism after tested.
The material mechanism of choosing is by vertical cylinder, finger cylinder, 4V210-08AC24V air-operated solenoid valve, two-way 24V
Relay, gas cylinder composition.Before function is chosen in starting, gas cylinder first can be full of oxygen, then pass through appendix for gas cylinder and electricity
The air inlet of magnet valve connects, then is connected the air inlet of the gas outlet of solenoid valve and cylinder by tracheae.Simultaneously also by relay
It is connect with solenoid valve, controls the air vent channel of input discharge and the input discharge of gas.
The remote control system and can feed back the result of control is compared with desired value, and according to theirs
The system that error adjusts in time.And system has the middle part for feeding back the result of control system, referred to as feedback element.This is
System uses PI digital governer, realizes the double-closed-loop control to motor, solenoid valve.Such as Fig. 5, inner ring is electric current loop, gas regulation
Ring, outer ring are der Geschwindigkeitkreis, expansion ring.Calculated rotor actual speed is compared with given rotating speed, and deviation passes through speed control
System generates current reference value.It and current feedback constitute current closed-loop, and the duty ratio of PWM is controlled through PI adjusting, realize motor
The control of speed.The stretching speed of calculated piston is compared with given speed, and deviation generates gas by speed control
Input/output reference value.
In embodiments of the present invention, Fig. 6 is multi-functional sports humanoid robot schematic diagram provided in an embodiment of the present invention.
Fig. 7 is multi-functional sports humanoid robot guide wheel contact one figure of highland state provided in an embodiment of the present invention.
Fig. 8 is multi-functional sports humanoid robot guide wheel contact two figure of highland state provided in an embodiment of the present invention.
Fig. 9 is state one figure in highland on multi-functional sports humanoid robot front-wheel provided in an embodiment of the present invention.
When front-wheel climbs up highland, middle wheel can drive upward pulling force and itself and the forward power of rear-wheel by front-wheel,
Middle wheel is set to climb up highland.Rear-wheel is similarly.
Figure 10 is state two figure in highland on multi-functional sports humanoid robot front-wheel provided in an embodiment of the present invention.
Figure 11 is that multi-functional sports humanoid robot provided in an embodiment of the present invention climbs up high map.
Figure 12 is multi-functional sports humanoid robot judgement provided in an embodiment of the present invention and determines one figure of material location status.
Figure 13 is multi-functional sports humanoid robot judgement provided in an embodiment of the present invention and determines two figure of material location status.
Figure 14 is one figure of state of taking of multi-functional sports humanoid robot material provided in an embodiment of the present invention.
Figure 15 is two figure of state of taking of multi-functional sports humanoid robot material provided in an embodiment of the present invention.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (6)
1. a kind of control system of multi-functional sports humanoid robot, which is characterized in that the multi-functional sports humanoid robot
Control system include:
Management system, for controlling the cooperation between the beginning of each system and end and system；
Software control system carries out material transmitting to target for controlling robot, completes take movement and control robot
Comprehensive movement and the highland for climbing up specified altitude assignment.
2. the control system of multi-functional sports humanoid robot as described in claim 1, which is characterized in that the manipulation and control system
System specifically includes:
Power management module provides 24V power supply for master control STM32 development board；
STM32 development board, STM32 development board execute control program and control execution related system mechanism completion phase by peripheral circuit
Pass movement, the cooperation of each associated mechanical structure of signal instruction input and robot with combination remote controller, completes robot
Movement step；
Remote control control bar, the switching of speed and motion state for controlling sports humanoid robot；Remote control control bar simultaneously
Instruction is assigned to STM32 development board by switch and remote controler, every appoint is completed by the cooperation of each system between control body
Business instruction, and manipulation and control is integrally carried out to machine by bluetooth communication.
3. the control system of multi-functional sports humanoid robot as described in claim 1, which is characterized in that the software control system
System specifically includes:
Chassis control module, for realizing based on the direct current deceleration brushless motor being connected by shaft coupling with wheel is directly controlled
The Omni-mobile on chassis, upper highland control the movement of robot omnibearing and climb up the highland of specified altitude assignment；
Material transmitting module, including give and play unit, hair bullet unit, guided missile pipe unit three parts；For by control pitching motor,
Rolling motor, thumb wheel motor and friction turbin generator, realize holder by holder yaw/pitch, thumb wheel and friction pulley respectively
Pitching, shake the head, dial and bullet and fire shells, complete robot alignment target and carry out material transmitting；
Material is chosen module, including starting lifting unit and catching unit；For real by control vertical cylinder and finger cylinder
Existing robot vertical translation is elastic with finger；Material is clamped using finger cylinder, is removed material by lifting unit, is completed
Robot takes to designated position.
4. the control system of multi-functional sports humanoid robot as claimed in claim 3, which is characterized in that the material is chosen mould
Block specifically includes:
Material module hardware structure of choosing includes vertical cylinder, finger cylinder, 4V210-08 AC24V air-operated solenoid valve, two
Road 24V relay, gas cylinder；
Before function is chosen in starting, gas cylinder is first full of oxygen, then connect the air inlet of gas cylinder and solenoid valve by appendix
It connects, then is connected the air inlet of the gas outlet of solenoid valve and cylinder by tracheae；Also relay is connect with solenoid valve simultaneously, is controlled
The air vent channel of input discharge and the input discharge of gas processed.
5. a kind of multi-functional athletic type machine for carrying the control system of multi-functional sports humanoid robot described in claim 1
People, which is characterized in that the multi-functional sports humanoid robot includes:
Direct current deceleration brushless motor, finger cylinder, pitching motor, rolling motor, pulls out turbin generator, friction pulley electricity, rubs vertical cylinder
It wipes wheel, pull out wheel, holder PITCH, holder YAW, mechanical folder, elevating lever, wheel and chassis；
The robot chassis is six omnidirectional driving wheels and four guide idler structure, and six 3508 DC servo motors drive electricity through C620
It is directly connect with wheel after adjusting and reducing speed；
The wheel using wheat wheel plus omni-directional wheel, in front-wheel wheel be connected by И template, rear-wheel it is independent, while using first 4
The mode of guide wheel is arranged and preceding middle two-wheeled upright slide block hangs the damping modes for suspension of wagging the tail with rear-wheel；Pass through point of ten wheels
Cloth determines chassis centre-of-gravity range.
6. a kind of multi-functional athletic type machine applied to the control system of multi-functional sports humanoid robot described in claim 1
The control method of device people, which is characterized in that it is described it is multi-functional sports humanoid robot control method include:
First main control module is initialized when Adjust System, then passes through transmission/reception of CAN, real-time Stateful Inspection and bottom
The control of sports humanoid robot is realized in the debugging of disk and material trigger mechanism, material pulling mechanism.
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Application publication date: 20191018 |