CN1295907A - Self-controlled ball shaped robot - Google Patents
Self-controlled ball shaped robot Download PDFInfo
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- CN1295907A CN1295907A CN 99122494 CN99122494A CN1295907A CN 1295907 A CN1295907 A CN 1295907A CN 99122494 CN99122494 CN 99122494 CN 99122494 A CN99122494 A CN 99122494A CN 1295907 A CN1295907 A CN 1295907A
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Abstract
The present invention relates to a remotely controlled spherial robot with partial autonomous function or automatic vehicle. It external contour is spherial, and its interior possesses a D.C. servomotor, it changes the position of moving mass block via transmission to produce gravity moment to drive shperical body to make it roll forwards. Another D.C. servomotor is used to implement balancing and turning by regulating position of slide block. Said invention utilizes various sensors, remote control device and control circuit to make remote control of sherical body and implement various movements for stopping, turning, balancing and moving along the required trace. Said invention has extensive application fields.
Description
Involved in the present invention is a kind of can remote control, the ball shape robot that the part autonomic function is arranged or automotive vehicle.
The mobile robot mainly is meant the Mechatronic Systems that can move freely (as having the wheel of rolling or the leg of creeping).It has obtained extensive studies and application in the daily life of reality, have great significance in some high-tech areas (as the exploration to space China and foreign countries celestial body) especially.Traditional mobile robot's big quantity research is to be placed on aspects such as sensing, environmental modeling and path planning, thereby the design of main body is subjected to the limitation of factors such as these planning, and dynamic stability is relatively poor with robustness (such as when contacting with the polygon of uneven ground) under the high-speed case.Along with sensing technology, the improving constantly of control technology and computing capability, robot will seldom be limited to by static factor, and considers more by dynamic situations such as factor restriction and whole multi-functional coordination.The research that dynamics with dynamic behavior design (for example high-speed motion on the ground of injustice), oriented mission and development and use mechanical body is adjusted the wheeled or ball shape robot of kinematic dexterity has represented a wide frontier to us.
There are a variety of forms in existing one-wheel type robot, and as the huge wheel that one handle drives, the driver is enclosed in the wheel; The single wheel vehicle of inside driving as an operator.Koshyama and Yamafuji (A.Koshyama and K.Yamafuji in addition, Development andmotion control of all direction sterring-type robot, Proc.Of9th Japanese Robotics Conference, 1991) once developed one statically stable, contain the one-wheel robot that can move forward and backward and rotate, but their main research work is utilized Momentum Transfer in changing direction to control the single pendulum that single wheel uploads to realize.Nearest H.Benjamin Brown, Jr. with Yangsheng Xu (H.B.Brown and Y.Xu, A single-wheel, gyroscopically stabilized robot, IEEE Robotics andAutomation Magazine, pp.39-44, Sept, 1997) also developed severally, made the research of this respect very big propelling of having got back with gyro power tunings and stable single-wheel robots.In general, single wheel has narrow profile and operability flexibly, can be on broken terrain high-speed motion, under environment such as marsh, sandy beach, ice-snow field (increasing the coefficient of friction of cover tire), waterborne and space, can be used for transportation, exploration, rescue and amusement.But owing to itself structure, there is the problem of aspects such as tuning, low-speed stability, collision and aerodynamics, also brought very big difficulty and restriction for its practicality.
The present invention is directed to the problem of above existence, proposed the imagination of self-controlled ball shaped robot.It has bigger kinematic dexterity and stronger balanced capacity, unique characteristics on structural design, control mode method than wheelbarrow or ordinary robot.The present invention can be used for aspects such as celestial body detecting, transportation, exploration, rescue, military affairs, amusement.
The present invention starts with from the following aspects and realizes above-mentioned purpose.At first, this robot adopts the internal motivation type of drive.Two DC servo motors of robot interior drive the flywheel rotation respectively, the driving slide block moves.The flywheel rotation drives the height that transmission mechanism is adjusted the movable mass piece, and mass produces gravitational moment to outside spherical shell, and the drive ball anthropomorphic robot travels forward.When turning, along the leading screw translation, whole spheroid tilts because of mass centre changing and turns by the driven by motor slide block.Flywheel reverses (or moving slider is by the rubber on the slide block and flywheel friction), can realize brake.The gyro that flywheel rotates generation is at a high speed tried hard to keep and has been demonstrate,proved the stability of robot body; Secondly, the center of gravity of robot is lower, has guaranteed low speed or the stability when static.In addition, the robot exterior contour is spherical, and flexibility is stronger.Also have, robot interior is equipped with attitude transducer and radio receiver, two motors are carried out wireless remote control, and the control method control motor that adopts Based Intelligent Control and PID control to combine is realized the stopping of ball shape robot, commentaries on classics, balance and along desired orbiting motion.If add photoelectric sensor and ccd video camera, then can realize remote control and autokinetic movement when participating in the cintest.
Describe preferred forms of the present invention in detail below in conjunction with accompanying drawing.
Fig. 1 is a structure configuration principle sketch of the present invention.
As shown in Figure 1: robot interior has two DC servo motors (comprising encoder), and wherein a DC servo motor 2 drives flywheel 7 rotation at a high speed, and another DC servo motor 12 drives leading screw 10 drive slide blocks 9 and moves.Its basic principle is: motor 2 drives flywheel 7 rotations, corresponding with it ball shell 1 has reverse motions trend, flywheel 7 rotations simultaneously drive the height that transmission mechanism 5 (gears engaged or elastic plectrum are stirred) is adjusted movable mass piece 3,3 pairs of outside spherical shells 1 of mass produce gravitational moment, and the drive ball anthropomorphic robot travels forward.When turning, drive slide block 9 along leading screw 10 translations by motor 12, whole spheroid tilts because of position of centre of gravity changes and turns.Flywheel 7 reverses (or moving slider 9 is realized brake by rubber on the slide block and flywheel friction), then can realize brake.
In spheroid inside attitude transducer and radio receiver are housed.The signal that utilizes attitude transducer to send adopts control method that Based Intelligent Control and PID control combines and two motors 2 and 12 is carried out wireless remote control, realizes the stopping of ball shape robot, commentaries on classics, balance and along desired orbiting motion.Flywheel 7 rotates the stability that the gyro power that produces can guarantee the ball shape robot body at a high speed simultaneously.Simultaneously, if add photoelectric sensor and ccd video camera, also can realize remote control and autokinetic movement when participating in the cintest.
Self-controlled ball shaped robot of the present invention can be on complicated ground high-speed motion, can be in the marsh, environment operation such as sandy beach, ice-snow field, waterborne and space.And since its motion flexibly, can realize 360 degree rotations, can be by certain orbiting motion, and have good self-balancing ability, application prospect is very wide.
Claims (5)
1 one kinds of remote controls and ball shape robot or automotive vehicle with part automatic function is characterized by spherical housing, adopt the internal motivation type of drive.
2 according to described ball shape robot of claim 1 or automotive vehicle, it is characterized in that: servo controller, remote-receiver and spheroid attitude transducer etc. all wrap in spherical shell inside, the method that adopts Based Intelligent Control and PID technology to combine, by infrared or wireless device straighforward operation, the motor of control in the spherical shell can be realized the stopping of ball shape robot, commentaries on classics, balance and along desired orbiting motion.
3 according to described ball shape robot of claim 2 or automotive vehicle, it is characterized in that adjusting the spheroid center of gravity by inner DC servo motor drive transmission device changes, and the generation gravitational moment is advanced ball shape robot or turned round.In when brake, utilize flywheel to reverse (or moving slider with the rubber friction free-wheel on it) and realize.
4 according to claims 3 described ball shape robot or automotive vehicles, it is characterized in that: transmission mechanism adopts the mode of elastic plectrum or gears engaged.
5 according to described ball shape robot of claim 2 or automotive vehicle, it is characterized in that: add photoelectric sensor and ccd video camera, can realize remote control and autokinetic movement when participating in the cintest.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99122494 CN1295907A (en) | 1999-11-11 | 1999-11-11 | Self-controlled ball shaped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 99122494 CN1295907A (en) | 1999-11-11 | 1999-11-11 | Self-controlled ball shaped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN1295907A true CN1295907A (en) | 2001-05-23 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 99122494 Pending CN1295907A (en) | 1999-11-11 | 1999-11-11 | Self-controlled ball shaped robot |
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| CN (1) | CN1295907A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1297374C (en) * | 2004-10-19 | 2007-01-31 | 哈尔滨工业大学 | Perception type reconfigurable bionic sand wheel for moving navigational platform |
| CN1313249C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Structure improved ball shape robot omnibearing walking device |
| CN100556622C (en) * | 2008-02-28 | 2009-11-04 | 南京航空航天大学 | The omnibearing movable spherical robot of designs simplification |
| CN102602465A (en) * | 2011-03-24 | 2012-07-25 | 泰山学院 | Double-ring clutch type electromagnetic-drive spherical robot |
| CN102955431A (en) * | 2011-08-22 | 2013-03-06 | 联想(北京)有限公司 | Electronic equipment and control method thereof |
| CN103914072A (en) * | 2014-04-21 | 2014-07-09 | 吉林大学 | Novel detecting robot |
| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
| CN108036198A (en) * | 2017-12-05 | 2018-05-15 | 英业达科技有限公司 | Pipeline intelligent water leakage detecting system and its method |
| CN109015667A (en) * | 2018-06-26 | 2018-12-18 | 坎德拉（深圳）软件科技有限公司 | Ball shape robot |
| CN110752707A (en) * | 2019-10-29 | 2020-02-04 | 河北江津五金制品股份有限公司 | Closed type driving device with mass center displacement |
| CN114475838A (en) * | 2021-04-12 | 2022-05-13 | 合肥工业大学 | Deformable spherical detection device |
-
1999
- 1999-11-11 CN CN 99122494 patent/CN1295907A/en active Pending
Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1313249C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Structure improved ball shape robot omnibearing walking device |
| CN1313250C (en) * | 2002-08-22 | 2007-05-02 | 北京邮电大学 | Stracture improved ball shape robot omnibearing walking device |
| CN1297374C (en) * | 2004-10-19 | 2007-01-31 | 哈尔滨工业大学 | Perception type reconfigurable bionic sand wheel for moving navigational platform |
| CN100556622C (en) * | 2008-02-28 | 2009-11-04 | 南京航空航天大学 | The omnibearing movable spherical robot of designs simplification |
| CN102602465B (en) * | 2011-03-24 | 2016-08-24 | 泰山学院 | Dicyclo disengaging type Electromagnetic Drive ball shape robot |
| CN102602465A (en) * | 2011-03-24 | 2012-07-25 | 泰山学院 | Double-ring clutch type electromagnetic-drive spherical robot |
| CN102955431A (en) * | 2011-08-22 | 2013-03-06 | 联想(北京)有限公司 | Electronic equipment and control method thereof |
| CN102955431B (en) * | 2011-08-22 | 2015-03-04 | 联想(北京)有限公司 | Electronic equipment and control method thereof |
| CN103914072B (en) * | 2014-04-21 | 2018-06-22 | 吉林大学 | A kind of novel detection robot |
| CN103914072A (en) * | 2014-04-21 | 2014-07-09 | 吉林大学 | Novel detecting robot |
| CN106249741A (en) * | 2016-09-18 | 2016-12-21 | 广东工业大学 | A kind of dynamic equilibrium two-wheel robot automatically controlled and control method |
| CN108036198A (en) * | 2017-12-05 | 2018-05-15 | 英业达科技有限公司 | Pipeline intelligent water leakage detecting system and its method |
| CN108036198B (en) * | 2017-12-05 | 2020-07-03 | 英业达科技有限公司 | Intelligent pipeline water leakage detection system and method |
| CN109015667A (en) * | 2018-06-26 | 2018-12-18 | 坎德拉（深圳）软件科技有限公司 | Ball shape robot |
| CN109015667B (en) * | 2018-06-26 | 2022-05-03 | 坎德拉（深圳）软件科技有限公司 | Spherical robot |
| CN110752707A (en) * | 2019-10-29 | 2020-02-04 | 河北江津五金制品股份有限公司 | Closed type driving device with mass center displacement |
| CN110752707B (en) * | 2019-10-29 | 2021-11-12 | 河北江津五金制品股份有限公司 | Closed type driving device with mass center displacement |
| CN114475838A (en) * | 2021-04-12 | 2022-05-13 | 合肥工业大学 | Deformable spherical detection device |
| CN114475838B (en) * | 2021-04-12 | 2022-11-15 | 合肥工业大学 | Deformable spherical detection device |
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