CN1369356A - Personal robot - Google Patents

Personal robot Download PDF

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Publication number
CN1369356A
CN1369356A CN 02111127 CN02111127A CN1369356A CN 1369356 A CN1369356 A CN 1369356A CN 02111127 CN02111127 CN 02111127 CN 02111127 A CN02111127 A CN 02111127A CN 1369356 A CN1369356 A CN 1369356A
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CN
China
Prior art keywords
robot
personal
control panel
program
chassis
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CN 02111127
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Chinese (zh)
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CN1272145C (en
Inventor
孔鹏
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上海广茂达电子信息有限公司
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Priority to CN 02111127 priority Critical patent/CN1272145C/en
Publication of CN1369356A publication Critical patent/CN1369356A/en
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Publication of CN1272145C publication Critical patent/CN1272145C/en

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Abstract

A personal robot is composed of the mechanical unit consisting of casing, chassis driven system, active wheel, guide wheel, and collision preventing mechainsm, the electronic unit consisting of the control board, which comprises single-chip computer, storage, RS232 part, A/D converter, parallel I/O port and universal extending bus, the photosensitive sensor, obstruct detecting sensor, LCD creen and battery, and the software unit including operating system and developing environment.

Description

Personal robot
One, technical field:
The present invention relates to a kind of individual machines robot system, particularly disclose a kind of mobile chassis of two-wheel drive, SCM Based control system of adopting, run on software development environment on the PC, be applicable to the personal robot of education experiment towards education.
Two, background technology:
Similarly robot system mainly is a toy product at present.The AIBO robot dog of SONY adopts the pattern by the software change robot dog behavior of a special use; The machine cat that the machine cat of BANDAID, body interior are equipped with 8 kinds of sensors, can judge surrounding environment and carry out different operation programs, user even can work out the operation program of robot with computer oneself.But the hardware interface of these toy products seals, and can only carry out software programming to predefined function, can't be used for the various education experiment of flexible design.
Three, summary of the invention:
The purpose of this invention is to provide a kind of employing open interface, the individual machines robot system that software and hardware can flexible expansion, can carry out multiple education experiment and scientific and technological activities.
The present invention is achieved like this: the supporting roller that the mechanical part of this system comprises shell, chassis and drive system thereof, is positioned at the driving wheel of both sides, chassis, front and back are arranged; Its electronic section comprises the control panel of device on the chassis, device has high-performance single-chip microcomputer, external memory storage, RS232 serial port, A/D, parallel I/O mouth, general extension bus on the control panel, and device is on shell and the light sensor that is connected with control panel, survey to hinder infrared sensor, crash sensor LCDs and battery; Its software section comprises operating system and pattern development environment; By a connection, the development environment that moves on the operating system in the robot and the PC is connected; The robot program who designs on computers can download on the robot control panel at any time, and this program of robot autonomous operation is finished the work.
Personal robot of the present invention is programmed with general high language such as C language by mounting robot software development environment on PC, the program of finishing is downloaded in the robot by the dataphone mouth again; Robot in memory, when satisfying service condition, just can move the nondeclarative memory downloaded at every turn automatically according to program.Because the content in the memory is erasable, so such process can be operated repeatedly.According to the different robot program of particular problem design, download is gone down, and the effect that the debugging machine people carries out can allow robot finish different tasks in various environment.So just can excite the student to obtaining the interest of knowledge.
Four, description of drawings:
The perspective view of the basic embodiment one of accompanying drawing 1 personal robot shows the personal robot hardware configuration.
The perspective view of accompanying drawing 2 personal robot embodiment two is that personal robot is used for robot transport worker teaching
A kind of design of experiment shows the usage of general extension bus.
General extension bus logic figure among 3 second embodiment of accompanying drawing shows EBI and extended device relation.
The software operation state figure of personal robot among 4 second embodiment of accompanying drawing, explicit user program and driving
The program relation.
The user program interactive development flow chart of the personal robot of 5 second embodiment of accompanying drawing.
Five, the specific embodiment:
Embodiment 1: with reference to the accompanying drawings 1, and the control panel 4 of personal robot is the intelligent kernel of robot, the program of robot is moved thereon, the behavior of control robot.It comprises single-chip microcomputer 1, general extension EBI 2, main devices such as communication serial ports 3, chassis drive system in the described mechanical part adopts the differential mode of two-wheel to drive, crash sensor is made up of impact switch and collision ring, the spring and the chassis of collision ring flexibly connect, can experience on the different directions and collide, driving wheel adopts programming to control two-wheeled speed respectively, driving wheel links to each other with gearhead, and gearhead comprises motor and reduction box two parts, is used to drive driving wheel, device has code-disc on the gearhead output shaft, is used with photoelectronic coupler and detects the wheel rotor speed.High-performance single-chip microcomputer in the described electronic section adopts CPU 68HC11, control panel also designs timer system, interruption and resetting system, download is arranged, stop, move three kinds of states main switch, activate the reset key of existing program in the robot and the port that is connected, is used for operations such as program download by serial port connecting wire with computer, general extension bus ASBUS design contains data wire and address wire, general-purpose simulation mouth and the digital mouth of single-chip microcomputer and expands required power line; Control panel adopts non-volatile RAM storage operating system of external static and user program.User program compiles under development environment in the described software section, and compiling earlier generates intermediate code, and the direct compilation generation does not download to control panel then at the machine code of par-ticular processor, is explained by real-time control system software and carries out.The miniature real-time multi-task embedded system ASOS of design adopts virtual machine technique on the described CPU 68HC11, and user program is to be converted to the virtual machine code operation.Described systems soft ware adopts and contains an interruption that comprises the process scheduling that realizes multitask, the consumer process code is converted to the interpreter of machine instruction and handle real-time task and handle the systems soft ware kernel of serving three parts.
The chassis 5 of personal robot is robot motion's the basis and the platform of mechanical actuating mechanism expansion.The chassis adopts the differential mode of two-wheel to drive in this embodiment, comprises revolver 6, left motor 7, right wheel 8, right motor 9, directive wheel 10.The control of revolver 7 and right wheel 8 is independently, and turn to and the rotating speed of two-wheeled can be different.Directive wheel 10 itself only rises and supports and follow-up action.This bobbin movement mechanism is a kind of possible type of drive of personal robot, and in the various teaching experiment, personal robot can adopt motions such as four-wheel, crawler belt or multi-foot walking.
It is the basic device in the perception external world of personal robot that infrared ray is surveyed the obstacle sensor system, comprises left infrared transmitting tube 11, and right infrared transmitting tube 13, infrared receiving tube 12, infrared ray are surveyed the special-purpose interface 14 that drives of obstacle.Survey the employing of barrier system in this embodiment and minimize configuration, only survey the obstacle of left and right sides both direction.After the infrared pulse emission of ovennodulation, meet barrier and return, received by infrared receiving tube 12.Since about two transmitting tubes are timesharing emissions, send by which direction so infrared receiving tube 12 can be distinguished the reflected signal that receives.The infrared pulse emission of modulation was received in the very very brief time to be finished, and can not disturbed by the emission of extraneous infrared radiation source or another personal robot.A plurality of up and down directions before and after this system can expand to according to the education experiment needs realize multi-faceted environment obstacle detection.
Embodiment 2: with reference to the accompanying drawings 2, and personal robot has been expanded carrying mechanism 15 and ultrasonic ranging sensor 17 on the basis of embodiment 1 basic structure.In this embodiment, require personal robot will accurately locate, and the manipulator of clamping object is arranged carrying object and environment.Ultrasonic ranging sensor 17 is connected on the ultrasound-driven card 18, can do accurate localization to environment.Carrying mechanism 15 is by driven by servomotor, and is connected on the driven by servomotor card 16, can clamping, carrying and release object.As utilize the reconnaissance robot and the teleoperated vehicle of AS-CCD system, the industrial robot that utilizes the AS-ARM manipulator and transfer robot, utilize the AS-HAND paw deliver letters robot and pick up the waste paper robot, utilize the multi-purpose machinery hand and the machine insect of AS-SERVO card and utilize the AS-SONAR card the guide robot and the range finding robot.Driven by servomotor card 16 and ultrasound-driven card 18 are stacked on two slots 19 and 20 of general extension EBI 2, are connected with control panel 4, accept programme-control.
With reference to the accompanying drawings 3, general extension EBI 2 is made up of 8 bit data mouths 23, address choice mouth 24, simulation mouthfuls 25, digital I 26 and power supply 27.Driven by servomotor circuit 21 has used 8 bit data mouths 23, address choice mouth 24 and power supply 27, and ultrasound-driven circuit 22 has used digital I 26 and power supply 27.
With reference to the accompanying drawings 4, the user requires the program of design, i.e. user program according to education experiment.User program is not directly operation on single-chip microcomputer 35, but operates on the systems soft ware kernel 32 of personal robot.The systems soft ware kernel 32 of personal robot is a small-sized multiple task operating system that operates on the single-chip microcomputer 35.It comprises three part main bodys: service is handled in process scheduling, interpreter and interruption.Can be a process during user program operation, also can be multi-process, all is called consumer process 29.Process scheduling is the core that realizes multitask.Interpreter converts consumer process 29 codes to machine instruction that single-chip microcomputer 35 can directly be carried out when user program operation.Interrupting handling service then is to handle real-time task.
Use sensor external 37 and actuator 38 in the education experiment, need be written into the corresponding driving program.Use carrying mechanism 15 and ultrasonic ranging sensor 17,, also will be written into servo-drive and ultrasound-driven program in the user program except plugging driven by servomotor card 16 and ultrasound-driven card 18 in general extension bus 2 (19,20).Hardware interface 36 is set of all expansion interfaces, and it comprises special purpose interface, surveys the special-purpose interface 14 that drives of obstacle as infrared ray, also comprises by all the sensors 37 of general extension bus 2 expansions and the drive circuit of actuator 38.
With reference to the accompanying drawings 5, the user revises user program 39 in programming environment 41, and downloads on the personal robot 45.The user can send certain the bar statement 40 in debug command or the directly permission program, and interactive command handles 42 reception orders and personal robot 45 execution transferred in statement, and execution result is returned to the user.All program downloads and debug command and statement all are to pass to personal robot 45 by the communication serial ports 44 of PC, personal robot 45 receives by the communication serial ports 34 of oneself, handled and carried out by the communication program in the systems soft ware 28, execution result is passed the user back by rightabout.

Claims (8)

1, a kind of personal robot, it comprises machinery, electronics, software three parts, it is characterized in that the mechanical part of this system comprises shell, chassis and drive system thereof, is positioned at the driving wheel of both sides, chassis, the supporting roller that front and back are arranged; Its electronic section comprises the control panel of device on the chassis, device has high-performance single-chip microcomputer, external memory storage, RS232 serial port, A/D, parallel I/O mouth, general extension bus on the control panel, installs on shell and the light sensor that is connected with control panel, survey obstacle infrared sensor, crash sensor, LCDs and battery; Software section comprises operating system and pattern development environment; By a connection, the pattern development environment facies that move on the operating system in the robot and the PC are connected; The robot program who designs on computers can download on the robot control panel at any time, and this program of robot autonomous operation is finished the work.
2, personal robot according to claim 1, it is characterized in that the chassis drive system in the described mechanical part adopts the differential mode of two-wheel to drive, crash sensor is made up of impact switch and collision ring, and the spring and the chassis of collision ring flexibly connect, can experience on the different directions and collide; Driving wheel adopts programming to control two-wheeled speed respectively, and driving wheel links to each other with gearhead, and gearhead comprises motor and reduction box two parts, is used to drive driving wheel, and device has code-disc on the gearhead output shaft, is used with photoelectronic coupler and detects the wheel rotor speed.
3, personal robot according to claim 1, it is characterized in that the high-performance single-chip microcomputer in the described electronic section is CPU 68HC11, control panel also designs timer system, interruption and resetting system, download is arranged, stop, move three kinds of states main switch, activate the reset key of existing program in the robot and the port that is connected, is used for operations such as program download by serial port connecting wire with computer, general extension bus ASBUS design contains data wire and address wire, general-purpose simulation mouth and the digital mouth of single-chip microcomputer and expands required power line; Control panel adopts non-volatile RAM storage operating system of external static and user program.
4, personal robot according to claim 1, it is characterized in that user program compiles in the described software section under development environment, compiling earlier generates intermediate code, and direct compilation does not generate machine code at par-ticular processor, download to control panel then, explain by real-time control system software and carry out.
5, personal robot according to claim 1 is characterized in that the miniature real-time multi-task embedded system ASOS of design on the described CPU 68HC11, adopts virtual machine technique, and user program is to be converted to the virtual machine code operation.
6, personal robot according to claim 1 is characterized in that described systems soft ware contains the systems soft ware kernel that service three parts are handled in an interruption that comprises the process scheduling that realizes multitask, the consumer process code is converted to the interpreter of machine instruction and handle real-time task.
7,, it is characterized in that personal robot is mainly used in the education experiment robot of education experiment by the purposes of the described personal robot of claim 1-6.
8, the purposes of personal robot according to claim 7 is characterized in that: personal robot can also utilize the reconnaissance robot and the teleoperated vehicle of AS-CCD system, the industrial robot that utilizes the AS-ARM manipulator and transfer robot, utilize the guide robot and the range finding robot of delivering letters robot and picking up the waste paper robot, utilizing the multi-purpose machinery hand and the machine insect of AS-SERVO card and utilize the AS-SONAR card of AS-HAND paw.
CN 02111127 2002-03-21 2002-03-21 Personal robot CN1272145C (en)

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Application Number Priority Date Filing Date Title
CN 02111127 CN1272145C (en) 2002-03-21 2002-03-21 Personal robot

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CN1369356A true CN1369356A (en) 2002-09-18
CN1272145C CN1272145C (en) 2006-08-30

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Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100348381C (en) * 2006-01-06 2007-11-14 华南理工大学 Housekeeping service robot
CN100409130C (en) * 2006-07-10 2008-08-06 北京工业大学 Intelligent maze robot
CN101908289A (en) * 2010-08-31 2010-12-08 南京智慧天下教育科技有限公司 Dynamic real-time interactive programming learning system for teaching
CN101947788A (en) * 2010-06-23 2011-01-19 焦利民 Intelligent robot
CN102129248A (en) * 2011-01-19 2011-07-20 无锡职业技术学院 Chassis of omnidirectional moving competition robot
CN102528792A (en) * 2012-01-16 2012-07-04 河南科技大学 Search and rescue robot utilizing SMS (Short Messaging Service) for communication
CN103970134A (en) * 2014-04-16 2014-08-06 江苏科技大学 Multi-mobile-robot system collaborative experimental platform and visual segmentation and positioning method thereof
CN104464485A (en) * 2013-10-18 2015-03-25 浙江工业大学 Robot teaching experiment table and control method thereof
CN106128173A (en) * 2016-08-24 2016-11-16 玉林市民族中学 A kind of teaching robot
CN108974818A (en) * 2018-08-30 2018-12-11 南京灵雀智能制造有限公司 A kind of industrial production material transfer robot
CN109118884A (en) * 2018-09-12 2019-01-01 武仪 A kind of instructional device of robot experimental courses
CN110182556A (en) * 2019-05-16 2019-08-30 江南大学 Integral type Omni-mobile chassis

Cited By (14)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN100348381C (en) * 2006-01-06 2007-11-14 华南理工大学 Housekeeping service robot
CN100409130C (en) * 2006-07-10 2008-08-06 北京工业大学 Intelligent maze robot
CN101947788A (en) * 2010-06-23 2011-01-19 焦利民 Intelligent robot
CN101908289A (en) * 2010-08-31 2010-12-08 南京智慧天下教育科技有限公司 Dynamic real-time interactive programming learning system for teaching
CN102129248A (en) * 2011-01-19 2011-07-20 无锡职业技术学院 Chassis of omnidirectional moving competition robot
CN102528792A (en) * 2012-01-16 2012-07-04 河南科技大学 Search and rescue robot utilizing SMS (Short Messaging Service) for communication
CN104464485A (en) * 2013-10-18 2015-03-25 浙江工业大学 Robot teaching experiment table and control method thereof
CN103970134A (en) * 2014-04-16 2014-08-06 江苏科技大学 Multi-mobile-robot system collaborative experimental platform and visual segmentation and positioning method thereof
CN103970134B (en) * 2014-04-16 2017-01-18 江苏科技大学 Multi-mobile-robot system collaborative experimental platform and visual segmentation and positioning method thereof
CN106128173A (en) * 2016-08-24 2016-11-16 玉林市民族中学 A kind of teaching robot
CN108974818A (en) * 2018-08-30 2018-12-11 南京灵雀智能制造有限公司 A kind of industrial production material transfer robot
CN108974818B (en) * 2018-08-30 2019-06-14 南京灵雀智能制造有限公司 A kind of industrial production material transfer robot
CN109118884A (en) * 2018-09-12 2019-01-01 武仪 A kind of instructional device of robot experimental courses
CN110182556A (en) * 2019-05-16 2019-08-30 江南大学 Integral type Omni-mobile chassis

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