CN111203863A

CN111203863A - Modular-design group robot

Info

Publication number: CN111203863A
Application number: CN202010066209.3A
Authority: CN
Inventors: 韩晓; 雷斌
Original assignee: Wuhan University of Science and Engineering WUSE
Current assignee: Wuhan University of Science and Engineering WUSE; Wuhan University of Science and Technology WHUST
Priority date: 2020-01-20
Filing date: 2020-01-20
Publication date: 2020-05-29

Abstract

The invention discloses a group robot with modular design, which comprises a chassis driving module, a core control module, a branching interface module and functional modules, wherein the group robot with modular design moves through a bottom plate driving module, the core control module is used for controlling the movement of the bottom plate driving module and the functional modules to realize the required functions, the branching interface module can convert the standard interface of the core control module into the interface required by the bottom plate driving module, the functional modules can be spliced through a bus bar and a pin bar between the adjacent modules according to the different requirements of the group robot, so that the functional modules of the robot are relatively centralized and independent, the difference among the group robots is reduced, the structure of the group robot is stable, if a certain module is damaged, the module can be directly replaced, and the whole group robot is prevented from being updated and optimized, the maintenance and manufacturing cost of the group robot is reduced.

Description

Modular-design group robot

Technical Field

The invention relates to the technical field of group robots, in particular to a group robot with a modular design.

Background

With the development of sensor technology, the robot technology is changing day by day, and group robots have the characteristics of low cost, high robustness and the like, so that the group robots are widely researched by scientific research institutions of colleges and universities. The traditional group robots are highly concentrated in design, and have good effect on certain specific occasions. However, the updating and optimization of the robot requires redesigning and processing the whole robot, and the investment cost is considerable. Meanwhile, once the robot is damaged, the whole robot can be completely recycled, the maintenance and manufacturing cost of the robot can be greatly improved in mass group robot manufacturing, and meanwhile, the robot can only be suitable for one aspect.

Disclosure of Invention

According to the defects of the prior art, the invention aims to provide a group robot with a modular design, by adopting the modular design, each functional module of the robot is relatively centralized and independent, the difference among the group robots is reduced, the group robots can realize different required functions by using different modules, and the universality of the group robots is improved.

In order to solve the technical problems, the invention adopts the technical scheme that:

the utility model provides a crowd's robot of modularized design, includes chassis drive module, core control module, separated time interface module and functional module, chassis drive module includes that the chassis, removes wheel, PCB board and chassis row mother, two remove wheel interval certain distance and establish chassis bottom, each remove the wheel and drive through a motor and rotate, the PCB board is established chassis top, be equipped with the drive two on the PCB board the driver of motor motion, the chassis row mother install on the chassis and with the driver links to each other, core control module establishes chassis drive module top and include nuclear core plate and battery, the battery is established nuclear core plate top, nuclear core plate bottom be equipped with the core chip that the battery is connected and the chip basic circuit of being connected with the core chip, be equipped with the interface that resets on the chip basic peripheral circuit, The device comprises a core board programming and debugging interface, a power switch interface and a battery charging interface, wherein the resetting interface and the core board programming and debugging interface are electrically connected with a core chip, the battery charging interface is electrically connected with the battery, the power switch interface is connected with the battery and the core chip, the side edge of the bottom of the core board is provided with a plurality of core chip row pins connected with pins of the core chip, the top of the core board is provided with a function row bus electrically connected with the core chip, a branching interface module is arranged between a chassis driving module and a core control module, the branching interface module comprises a branching board, the bottom of the branching board is provided with branching board row pins for being plugged with the chassis row bus, the top of the branching board is provided with branching board row pins connected with a plurality of groups of core chip row pins, and the function module is arranged above the core control module, the function module comprises a function board, and the bottom of the function board is provided with a function pin header for function pin header insertion.

Furthermore, the function board is provided with an infrared sensing device, an ultrasonic sensor, a laser sensor or a visual sensor which are electrically connected with the function pin header.

Further, nuclear core plate is square plate structure, 4 sides in nuclear core plate bottom are equipped with 4 core chip row needles respectively, and are corresponding, the separated time board is square plate structure, 4 sides in separated time board top are equipped with respectively with 4 the needle is arranged to 4 separated time boards that the needle was pegged graft to core chip row.

Further, the core plate has a size of 5cm by 5 cm.

Further, the two moving wheels are steered by a differential speed.

Further, the bottom of the chassis is provided with at least two bull-eye wheels.

Further, the battery is a lithium battery.

Further, the motor is a direct current motor, and correspondingly, the driver is a direct current motor driver.

Compared with the prior art, the invention has the following advantages and beneficial effects:

1. according to the group robot with the modular design, the modular group robots are built, so that the functional modules of the robot are relatively centralized and independent, the difference among the group robots is reduced, the group robots can realize different functions with different requirements by using different modules, and the universality of the group robots is improved.

2. According to the group robot with the modular design, the branching interface module is connected with the core control module through 4 branching board pin headers and 4 core chip pins, and the structure is very stable.

3. According to the group robot with the modular design, when the chassis is controlled to steer, the driver can drive the motor to have different rotating speeds, so that the two moving wheels have different rotating speeds, and the two moving wheels steer through differential speed.

Drawings

FIG. 1 is a schematic structural diagram of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a top view of the present invention.

Fig. 4 is a schematic diagram of various modules of the present invention.

Fig. 5 is a schematic structural diagram of an infrared sensing device disposed in a functional module according to the present invention.

Fig. 6 is a schematic structural diagram of a core control module according to the present invention.

Fig. 7 is a schematic structural diagram of the branching interface module according to the present invention.

Fig. 8 is a schematic structural diagram of a chassis driving module according to the present invention.

Fig. 9 is a schematic structural diagram of a chassis driving module according to the present invention.

Wherein: 100. a chassis drive module; 110. a chassis; 120. a moving wheel; 130. a PCB board; 140. arranging a mother on the chassis; 150. a motor; 160. a driver; 170. a bull's eye wheel;

200. a core control module; 210. a core board; 220. a battery; 230. a core chip; 240. a battery charging interface; 250. arranging pins of the core chip; 260. functional pin headers; 270. resetting the interface; 280. programming a debugging interface; 290. a power switch interface;

300. a branching interface module; 310. a wire distributing plate; 320. arranging pins of the distributing plate; 330. arranging a bus bar by the distributing board;

400. a functional module; 410. a function board; 420. and (4) arranging the female keys in the functions.

Detailed Description

The technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention.

As shown in fig. 1 to 9, a swarm robot with a modular design includes a chassis driving module 100, a core control module 200, a branching interface module 300 and a function module 400. The group robot with the modular design moves through the bottom plate driving module, the core control module 200 is used for controlling the movement of the bottom plate driving module and the realization of the required functions of the functional module 400, the branching interface module 300 can convert the standard interface of the core control module 200 into the interface required by the bottom plate driving module, and the functional module 400 can be additionally provided with corresponding functions according to different requirements of the group robot, such as the infrared functional module 400, the ultrasonic functional module 400, the laser functional module 400 or the visual functional module 400.

As shown in fig. 1-9, the chassis driving module 100 includes a chassis 110, two movable wheels 120, a PCB 130 and a chassis row bus 140, the two movable wheels 120 are disposed at the bottom of the chassis 110 at a certain distance, each movable wheel 120 is driven by a motor 150 to rotate, the PCB 130 is disposed at the top of the chassis 110, the PCB 130 is provided with a driver 160 for driving the two motors 150 to move, the chassis row bus 140 is mounted on the chassis 110 and connected to the driver 160, a core control module 200 is disposed above the chassis driving module 100 and includes a core board 210 and a battery 220, the battery 220 is disposed at the top of the core board 210, the bottom of the core board 210 is provided with a core chip 230 connected to the battery 220 and a chip basic peripheral circuit connected to the core chip 230, the chip basic peripheral circuit is provided with a reset interface 270, a programming debugging interface 280 of the core board 210, a power switch interface 290 and a battery 220 charging interface, the reset interface 270 and the programming debugging interface 280 of the core board 210 are, the battery 220 charging interface is electrically connected with the battery 220, the power switch interface 290 is connected with the battery 220 and the core chip 230, a plurality of core chip pins 230 connected with the core chip 230 are uniformly distributed at the edge of the bottom of the core board 210, the functional pins 260 electrically connected with the core chip 230 are arranged at the top of the core board 210, the branching interface module 300 is arranged between the chassis driving module 100 and the core control module 200, the branching interface module 300 comprises a branching board 310, the branching board pins 320 for being plugged with the chassis pin header 140 are arranged at the bottom of the branching board 310, the branching board pin header 330 connected with the core chip pins 230 is arranged at the top of the branching board 310, the functional module 400 is arranged above the core control module 200, the functional module 400 comprises a functional board 410, and the functional pin header 420 for being plugged with the functional pins 260 is arranged at the bottom of the functional board 410.

In order to realize the modularization of the group robot, the chassis driving module 100, the branching interface module 300, the core control module 200 and the functional module 400 are arranged from bottom to top, and adjacent modules are connected with each other through a bus bar and a pin bar, so that the group robot is modularized, low in cost, multifunctional and expandable, and can complete a series of group robot experiments. And adjacent modules are spliced through the female pin and the pin, so that the structure of the group robot is stable, if one module is damaged, the module can be directly replaced, the whole group robot is prevented from being updated and optimized, redesigned and processed, and the maintenance and manufacturing cost of the group robot is reduced.

Preferably, the function board 410 is provided with an infrared sensing device, an ultrasonic sensor, a laser sensor or a visual sensor electrically connected to the function pin header 260. According to the requirements of the group robots, the appropriate functions can be selected, and the applicability of the group robots is improved.

In the present invention, the infrared sensing function of the functional module 400 is described in detail by taking the infrared sensing device of the functional module 400 as an example.

The function board 410 is provided with an infrared transmitter, and correspondingly, the chassis 110 is provided with a plurality of annular arrays of infrared receivers connected to the core chip 230.

Specifically, an infrared emission plate connected to the function board 410 through a metal pin header is disposed above the function board 410, and an infrared signal emitted by the infrared emitter is emitted through the infrared emission plate.

In the embodiment of the present invention, the function board 410 and the infrared emission board are the PCB 130 concentrically arranged, the infrared emitter is arranged in the middle of the function board 410, the infrared emitter is an infrared emission led diode connected with the function pin header 260, and since the function pin header 260 can be inserted into the function pin header 420 electrically connected with the core chip 230, the core chip 230 can control the infrared emission led diode to emit an infrared signal, when an obstacle is encountered, the infrared emitted by the infrared emitter of the swarm robot is reflected by the infrared emission board, reflected by the obstacle for a second time, and received by the infrared receiver of the swarm robot. When meeting other group robots, the infrared ray emitted by the infrared emitter of the group robot is reflected by the infrared emitting plate and then received by the infrared receiving tubes of other group robots. And judging whether obstacles exist around or other robots according to the fact that whether the infrared signals received by the infrared receiving tubes of the group robots are consistent with the infrared signals transmitted by the robots or not. If the distance is consistent with the distance, obstacles exist around the distance; if the two robots are not consistent, other group robots in communication with the robots exist around the robots.

The swarm robot can communicate with other swarm robots in a close range through the uppermost functional module 400, and ants in nature can be simulated to communicate with nearby ants through antennae. Meanwhile, infrared signals sent by the infrared transmitters can be reflected by surrounding obstacles, and the infrared receiving tubes distributed on the chassis 110 can sense and reflect the infrared signals sent by the infrared transmitters of the group and the infrared signals of other group robots around the group, so that obstacle avoidance action is performed, and the group robots have the functions of directional transmission and omnidirectional infrared receiving. Such swarm robots can really realize distributed control.

The infrared communication hardware adopted by the invention is simple, and the adopted communication protocol is also an NEC protocol with good portability. The top functional module 400 consists of two concentric and parallel layers of functional boards 410 and infrared-emitting boards. The infrared ray emitted from the infrared emitter on the lower PCB 130 is reflected by the upper PCB 130 to form a cone-shaped infrared communication ring. The infrared ray is modulated through the carrier wave of 38k, carries out 01 codes simultaneously through core chip 230 of core control module 200, and when realizing infrared transceiver function, functional module 400 and core control module 200 arrange the needle 260 and arrange female 420 through the function and carry out the connection of standard interface, very convenient dismouting to can also convenient change when certain problem appears in functional module 400, need not make relevant change to core control module 200 or other modules.

Preferably, as shown in fig. 6 and 7, in the fast plugging between the core control module 200 and the branching interface module 300, in the core control module 200, the core board 210 is a square plate-shaped structure, the size of the core board 210 is 5cm by 5cm, correspondingly, the branching board 310 is a square plate-shaped structure, the size of the branching board 310 is 5cm by 5cm, the core board 210 and the branching board 310 are also connected through four 2.54mm core chip pins 230 of 10p and the branching board pin header 330, and can be plugged and unplugged at will, and the branching board 310 leads out the ports required by the chassis motor 150 through the standard interface. The chassis 110 and the distribution board 310 are connected through the insertion of the chassis row mother board 140 and the distribution board row pin 320, and the distribution board 310 leads out an available interface of the driver 160 on the base board, so that the integral driving of the chassis 110 is realized, and the distribution board 310 enables the chassis driving module 100 to be connected with a standard interface of the core control module 200, so that the convenient insertion of the chassis driving module 100 is realized.

Preferably, when the chassis 110 is controlled to steer, the motor 150 may be driven to have different rotation speeds by the driver 160 so that the two moving wheels 120 have different rotation speeds, so that the two moving wheels 120 steer by a differential speed.

Preferably, as shown in fig. 8, in order to facilitate the movement and steering of the chassis 110, at least two bull's-eye wheels 170 are provided on the bottom of the chassis 110.

Preferably, the battery 220 is a lithium battery 220 for better charging and discharging of the battery 220.

Preferably, the motor 150 is a dc motor and correspondingly, the drive 160 is a dc motor drive.

It is to be understood that the above-described embodiments are only a few, and not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Claims

1. A group robot of modular design, characterized in that: including chassis drive module, core control module, separated time interface module and functional module, chassis drive module includes the chassis, removes wheel, PCB board and chassis row mother, two remove wheel interval certain distance and establish the chassis bottom, each remove the wheel and drive through a motor and rotate, the PCB board is established the chassis top, be equipped with the drive on the PCB board two the driver of motor motion, the chassis row mother install on the chassis and with the driver links to each other, core control module establishes chassis drive module top just includes nuclear core plate and battery, the battery is established nuclear core plate top, nuclear core plate bottom be equipped with the core chip that the battery is connected and the basic peripheral circuit of chip that is connected with the core chip, be equipped with reset interface, nuclear core plate programming debugging interface on the basic peripheral circuit of chip, The power switch interface and the battery charging interface, the reset interface and the core board programming debugging interface are electrically connected with a core chip, the battery charging interface is electrically connected with the battery, the power switch interface is connected with the battery and the core chip, the side edge of the bottom of the core board is provided with a plurality of core chip row pins connected with pins of the core chip, the top of the core board is provided with a function row bus connected with the core chip, the branching interface module is arranged between the chassis driving module and the core control module, the branching interface module comprises a branching board, the bottom of the branching board is provided with a branching board row pin for being plugged with the chassis row bus, the top of the branching board is provided with a branching board row bus connected with a plurality of groups of core chip row pins, and the function module is arranged above the core control module, the function module comprises a function board, and the bottom of the function board is provided with a function pin header for function pin header insertion.

2. The modularly designed population robot of claim 1, wherein: the function board is provided with an infrared sensing device, an ultrasonic sensor, a laser sensor or a visual sensor which are electrically connected with the function pin header.

3. The modularly designed population robot of claim 1, wherein: the nuclear core plate is square plate-shaped structure, 4 sides in nuclear core plate bottom are equipped with 4 core chip row needles respectively, and are corresponding, the separated time board is square plate-shaped structure, 4 sides in separated time board top are equipped with respectively with 4 the needle is arranged to 4 separated time boards that the needle was pegged graft to core chip row needle.

4. The modularly designed population robot of claim 1, wherein: the core plate has a size of 5cm by 5 cm.

5. The modularly designed population robot of claim 1, wherein: the two moving wheels are steered by differential speed.

6. The modularly designed population robot of claim 1, wherein: at least two bull-eye wheels are arranged at the bottom of the chassis.

7. The modularly designed population robot of claim 1, wherein: the battery is a lithium battery.

8. The modularly designed population robot of claim 1, wherein: the motor is a direct current motor, and correspondingly, the driver is a direct current motor driver.