CN110406607A - A kind of ball shape robot and its motion control device - Google Patents
A kind of ball shape robot and its motion control device Download PDFInfo
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- CN110406607A CN110406607A CN201810382656.2A CN201810382656A CN110406607A CN 110406607 A CN110406607 A CN 110406607A CN 201810382656 A CN201810382656 A CN 201810382656A CN 110406607 A CN110406607 A CN 110406607A
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- ball shape
- shape robot
- motor
- pendulum
- control device
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
Abstract
The present invention " a kind of ball shape robot and its motion control device ", belong to mechanical structure/automatic control/field in intelligent robotics, pass through unique integrated motion control device, pendulum is controlled inside ball shape robot, any angle and any position are mobile around the centre of sphere, using the self-equilibrium characteristic of gravity environment lower sphere, the omnidirectional moving of ball shape robot is realized.Core of the invention is integrated motion control device, by the way that two motors (steering motor and motion motor), connecting rod and pendulum are become one, it is complicated to solve existing various ball shape robot design structures, inner space occupies big, the big problem of operation control difficulty, make ball shape robot structure simpler compact, it is easier to operate, also better assure that ball shape robot in the application in the fields such as scientific research, teaching, amusement, military surveillance, underwater exploration.
Description
Technical field:
The invention belongs to mechanical structure/automatic control/field in intelligent robotics, are controlled and are filled by unique integrated motion
It sets, controls pendulum inside ball shape robot, any angle of centre of sphere surrounding space and any position are mobile, utilize gravity environment
The self-equilibrium characteristic of lower sphere realizes the omnidirectional moving of ball shape robot.
Background technique:
The research of ball shape robot has had more than 20 years history in the world, external early in 1996 just to have devised first
Money ball shape robot, then multiple scientific research institutions and enterprise also have devised the driving moulds of a variety of ball shape robots in succession in the world
Formula.The driving principle of these ball shape robots is all the mechanism of action with gravity torque, i.e., gravity environment lower sphere is certainly flat
Weigh characteristic.
According to physics principle, when sphere remains static in the plane, center of gravity must in the projection of vertical direction
It can so fall on sphere and the supporting point (contact point) of plane, once sphere center of gravity deviates supporting point in the projection of vertical direction
When, gravity will generate a torsional moment (gravity torque) to sphere, which promotes balls tumble to make center of gravity
Projection in the vertical direction can come back to supporting point, restore the equilibrium state of sphere, and sphere is automatic under gravity environment
The characteristic for replying equilibrium state is known as the self-equilibrium characteristic of sphere.When making the center of gravity of sphere in vertical direction by technological means
When subpoint persistently deviates supporting point, the progressive rolling movement of sphere will result in.The self-equilibrium characteristic of sphere is to realize spherical machine
The physics principle of people's movement.
The total movement state (i.e. omnidirectional moving) of ball shape robot includes advancing, retreating, stopping, turning left, turning right, climbing
Rotating in place under slope and specified conditions and vertical jitter just must be to balls in order to realize the omnidirectional moving of ball shape robot
The position of centre of gravity of anthropomorphic robot is accurately controlled --- and center of gravity upright projection point is relative to the orientation where supporting point i.e. gravity
The direction of torque is exactly the acceleration direction of ball shape robot, under static state, that is, the movement side of ball shape robot
To.And center of gravity upright projection point is remoter apart from supporting point, gravity torque is also bigger, and the acceleration of motion of ball shape robot is also
It is bigger.So the motion control of ball shape robot is exactly to be realized by the control to its position of centre of gravity.
Existing ball shape robot movement control technology can be generally divided into three classes, i.e., single motor control technology, bi-motor/
Multi_motor control technology and magnet control technology.Wherein single motor control technology can only maintain ball shape robot in a dimension
On movement (advance, retreat or stop), it is difficult to realize turning.Magnet control technology is set on sphere inner wall different directions
Electromagnet is set, an iron ball is set between numerous electromagnet, when to wherein some or certain electromagnet are powered, iron ball is by electromagnet
Attract and move, to change the center of gravity of sphere, sphere is pushed to roll along the iron ball direction of motion.
Current mainstream technology is to realize the motion control to ball shape robot by the collaboration of two or more motors,
One of motor (motion motor) by control pendulum or mass block it is (preceding to control the linear motion of sphere forward or reverse
Into, retreat, stop), another motor (steering motor) is (left come the steering for controlling sphere by controlling the offset of other mass blocks
It turns, turn right, rotate in place).But in existing various structures design, two or more motors be it is relatively independent, mutually point
From, and spatial distribution and movement by the transmission mechanisms such as numerous gears, chain, screw rod and multiple mass blocks is needed
Realize that motion control also reduces ball shape robot to substantially increase the complexity and technical difficulty of ball shape robot
Flexibility and controllability.
Summary of the invention:
The present invention is equally the self-equilibrium characteristic by sphere under gravity condition, and the shifting of center of gravity is controlled by intellectual technology
Move the movement to realize ball shape robot.But unlike existing each class formation, the present invention devises a kind of integrated motion
Control device disposably realizes ball by the way that two motors (steering motor and motion motor), connecting rod and pendulum are integrated in one
The omnidirectional moving of body.Integrated motion control device solves existing various ball shape robot design structure complexity, inner space
It occupies greatly, the big problem of operation control difficulty makes ball shape robot structure simpler compact, it is easier to operate, also preferably
It ensure that ball shape robot in the application in the fields such as scientific research, teaching, amusement, military surveillance, underwater exploration.
One robot architecture:
Ball shape robot of the invention is made of five parts, respectively integrated motion control device, power module, control
Module, shell and supplemental functionality.Wherein integrated motion control device is core of the invention.
(1) integrated motion control device:
Integrated motion control device is made of two motors, electric machine support, connecting rod and four part of pendulum.Each composition portion
Divide function and connection type as follows:
1. motor:
Two motors are respectively steering motor (for controlling the turning of ball shape robot) and motion motor (for controlling ball
The linear motion of anthropomorphic robot).Steering motor is fixed on the inner wall of ball shape robot, exports axis direction and fixed-direction
Vertically.Motion motor is fixed on the output shaft of steering motor by electric machine support, and the output axis direction of motion motor with turn
Output axis direction to motor is vertical.Two motor forms kinetic control system of one double freedom.
The rotation angle range of steering motor is between 0~180 °, its corner is in 90 ° of directions under stationary state；Movement electricity
Machine can continuous rotation, the output shaft of motion motor is directed toward centre of sphere direction (180 ° of directions) under stationary state.The rotation of steering motor
The variation of motion motor axial direction will be driven, swing the output shaft of motion motor can between 90 °~270 °.
2. connecting rod:
Connecting rod is made of light rigid materials, one end with the output shaft of motion motor is in 90 ° is fixedly connected, and connecting rod with
The tie point position of output shaft is in sphere center position (or centre of sphere neighbouring position).
3. pendulum:
Pendulum is made of high density material, is the critical component for driving ball shape robot movement.Pendulum and connecting rod it is another
End is fixedly connected.
(2) power module:
Power module is made of battery, battery management system (BMS), built-in charge coil and four part of external charger.
Wherein battery uses rechargeable lithium ion batteries, and charging uses wireless charging technology.When charging, ball shape robot is filled close to external
Electric appliance (or being placed on charging base) carries out inductive charging to built-in charge coil by external charger.
(3) control module:
Control module is mainly used for receiving and handles external command, by status monitoring sensor, transmit/receive antenna and intelligence
It can chip (single-chip microcontroller) three parts composition.
1. status monitoring sensor
State detection sensor be used to detect the speed, acceleration of ball shape robot, the working condition of two motors and
The parameters such as temperature, the failure of robot interior, and the data monitored are passed into intelligent chip.
2. intelligent chip (single-chip microcontroller)
Intelligent chip is the control centre of entire robot, and the work that one side intelligent chip processing operation personnel issue refers to
It enables, or the status data transmitted from state detection sensor, and controls the work of two motors according to these data and instructions
Make state, to finally control the adjustment of the motion state of ball shape robot.On the other hand also it is responsible for status monitoring sensor
Collected data pass to operator by antenna, realize human-computer interaction.Also to be responsible for manipulating in ball shape robot simultaneously
The work of video monitoring equipment, audio monitoring device, the acousto-optic amusement equipment set etc..
3. transmit/receive antenna
Antenna is mainly used for receiving external command, and the internal data of robot is launched.
(4) shell:
The shell of ball shape robot is spherical shape, and considers the complexity of ball shape robot working environment, anti-in order to improve
The dust-proof grade of water, shell use totally-enclosed structure.
(5) supplemental functionality:
Supplemental functionality primarily to adapt to ball shape robot various application scenarios, expand its use scope and increase
The types of functionality module added, including video monitoring module, Voice Surveillance module, wireless transport module, acousto-optic entertainment modules etc..
Detailed description of the invention:
Fig. 1 is ball shape robot front view (center section plan) of the invention:
Fig. 2 is ball shape robot top view (center section plan) of the invention:
Fig. 3 is integrated motion control device schematic diagram of the present invention.
Specific embodiment:
One topology layout
Ideally, influence ball shape robot movement only pendulum, it is other as double freedom motors, power module,
The influence to ball shape robot such as control module, shell and supplemental functionality should be eliminated as far as possible, on the one hand remove pendulum thus
Outer other all parts should be as small as possible type, lightweight, and on the other hand the whole center of gravity of all components in addition to pendulum should be with
The centre of sphere of ball shape robot is overlapped.
In structure design, power module, control module and other supplemental functionalities should be fixed on and double freedom electricity
On the ball shape robot inner wall of machine opposite side, power module, the connecting wire of control module and motor and charge coil and battery
Connecting wire be also secured on the inner wall of ball shape robot, it is ensured that the center of gravity (in addition to pendulum) of ball shape robot and centre of sphere weight
It closes, to eliminate influence of these components to ball shape robot athletic posture to the maximum extent.
Two Working state analysis
Core of the invention is integrated motion control device, and the work order which issues according to control module is right
Rotation angle, the rotation speed of two motors are controlled, thus determine position that pendulum occurs inside ball shape robot and
Angle, and finally determine the direction of motion and movement velocity of ball shape robot.
According to technical principle, the direction of motion of ball shape robot is the subpoint by supporting point and center of gravity in the vertical direction
It determines, and subpoint direction is directed toward by supporting point, therefore its exemplary operation state includes following several:
(1) stationary state:
When two motors are in off-position, the corner of steering motor is located at 90 ° of directions, and motion motor output shaft is directed toward
180 ° of directions, connecting rod and pendulum are naturally drooped in sphere center position, and ball shape robot is in rest equilibrium state at this time.
(2) state is moved forward or back:
When steering motor corner is 90 °, motion motor output shaft is directed toward 180 ° of directions, powers to motion motor forward direction,
Then pendulum moves upwards along 90 ° of directions, and center of gravity deviates supporting point in the subpoint of vertical direction, to push spherical machine
People rolls forwards (90 ° of directions), to realize the self-balancing of sphere, persistently powers to motion motor, then the subpoint meeting of center of gravity
It is always held at the front of supporting point, it is ensured that ball shape robot is continuously advanced.When giving motion motor reverse power supply, then pendulum edge
270 ° of directions, move upwards, so that ball shape robot be pushed rearward (270 ° of directions) to roll.
The size of supply current determines the revolving speed of motion motor, at the same also determine between subpoint and supporting point away from
From.When pendulum and ground keep horizontal, gravity torque reaches maximum value, and the acceleration of motion of sphere also reaches maximum at this time,
Electric current at this time is optimum current, the working efficiency highest of ball shape robot.Electric current is excessive or too small can all shorten distance between two points
From reduction gravity torque reduces acceleration.Work order can be issued to adjust the size of electric current, it is ensured that ball shape robot is with suitable
When velocity and acceleration movement.
(3) turn state behind left front turn or the right side:
When the corner of steering motor is between 0 °~90 °, the output axis direction of motion motor is between 90 °~180 °
It swings, if passing to forward current to motion motor at this time, pendulum also can be within the scope of 0 °~90 ° along steering motor corner side
To, move upwards, thus push ball shape robot to left front turn.And when passing to reverse current to motion motor, then
Pendulum can move upwards, within the scope of 180 °~270 ° along the opposite direction of steering motor corner to push ball shape robot
It turns to right back.
(4) right forward or left back turn state:
When the corner of steering motor is between 90 °~180 °, the output axis direction of motion motor is at 180 °~270 °
Between swing, if passing to forward current to motion motor at this time, pendulum can also be transported upwards along steering motor corner direction
It is dynamic, so that ball shape robot be pushed to turn to right front.And when passing to reverse current to motion motor, then pendulum can be along steering
The opposite direction of motor corner, moves upwards, so that ball shape robot be pushed to turn to left back.
(5) it rotates in place
When motion motor stops operating, and pendulum naturally droops, steering motor is when a ° direction quickly rotates from 0 ° to 180, root
According to angular momentum conservation law, sphere will be reversely rotated in situ；Otherwise when a ° direction quickly rotates steering motor from 180 ° to 0,
Sphere will reversely rotate in situ.
According to the above Working state analysis, integrated motion control device of the invention is under the control of work order, energy
Enough allow pendulum inside ball shape robot, any angle of centre of sphere surrounding space and any position are mobile, to push spherical machine
Device people moves along any direction, realizes the omnidirectional moving of ball shape robot.
Claims (2)
1. a kind of integrated motion control device being made of two motors, electric machine support, connecting rod and pendulum, one of motor
The output shaft of (steering motor) is fixedly connected by electric machine support with another motor (motion motor), the output shaft of two motors
It is mutually perpendicular to；The output shaft of motion motor with connecting rod one end is in 90 ° is fixedly connected, the connecting rod other end is fixedly connected with pendulum.
2. a kind of ball shape robot driven using device described in claim 1, the ball shape robot is using sphere in weight
Self-equilibrium characteristic in the field of force is received and sent by automatic control and artificial intelligence technology by intelligent chip (single-chip microcontroller)
Work order manipulates integrated motion control device described in claim 1, enables the pendulum in the device in spherical machine
Inside device people, any angle of centre of sphere surrounding space and any position are mobile, and then ball shape robot is driven to realize omnidirectional moving.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810382656.2A CN110406607A (en) | 2018-04-26 | 2018-04-26 | A kind of ball shape robot and its motion control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810382656.2A CN110406607A (en) | 2018-04-26 | 2018-04-26 | A kind of ball shape robot and its motion control device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110406607A true CN110406607A (en) | 2019-11-05 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
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| CN201810382656.2A Pending CN110406607A (en) | 2018-04-26 | 2018-04-26 | A kind of ball shape robot and its motion control device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN111559438A (en) * | 2020-04-24 | 2020-08-21 | 山东科技大学 | Spherical robot driving structure |
| CN113715929A (en) * | 2021-09-18 | 2021-11-30 | 智能移动机器人(中山)研究院 | Spherical foot type dual-purpose robot |
-
2018
- 2018-04-26 CN CN201810382656.2A patent/CN110406607A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110877644A (en) * | 2019-11-19 | 2020-03-13 | 贵州电网有限责任公司 | All-directional movement spherical robot structure driven by linear motor principle |
| CN110877644B (en) * | 2019-11-19 | 2024-04-02 | 贵州电网有限责任公司 | Omnidirectional movement spherical robot structure driven by linear motor principle |
| CN111559438A (en) * | 2020-04-24 | 2020-08-21 | 山东科技大学 | Spherical robot driving structure |
| CN113715929A (en) * | 2021-09-18 | 2021-11-30 | 智能移动机器人(中山)研究院 | Spherical foot type dual-purpose robot |
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Legal Events
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| PB01 | Publication | ||
| PB01 | Publication | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20191105 |