CN202075069U - Humanoid robot foot pressure detection device - Google Patents
Humanoid robot foot pressure detection device Download PDFInfo
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- CN202075069U CN202075069U CN2011200500235U CN201120050023U CN202075069U CN 202075069 U CN202075069 U CN 202075069U CN 2011200500235 U CN2011200500235 U CN 2011200500235U CN 201120050023 U CN201120050023 U CN 201120050023U CN 202075069 U CN202075069 U CN 202075069U
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Abstract
The utility model discloses a humanoid robot foot pressure detection device which comprises a CAN (controller area network) bus 1, a CAN bus driver 2, a microcontroller 10, a one-way supply voltage detection device 6, an overcurrent automatic protection device 4, a four-way resistance inducing chip type pressure sensor 9, a four-way low pass filter 8, a four-way differential amplification circuit 7, a voltage stabilized power supply 5 and a robot support. The humanoid robot foot pressure detection device has high integration, reliable performance and compact structure, and can be installed at the sole of the robot and is close to the sensor, and the length of the signal wire of the sensor is greatly shortened.
Description
Technical field
The design is a kind of anthropomorphic robot foot pressure pick-up unit based on STM32 microcontroller and CAN bus, is mainly used in the bionics anthropomorphic robot, also can be used in other bionics robot, belongs to the Robot Control Technology field.
Technical background
Originally, whether be adjacent to ground (stress surface) in order to detect the anthropomorphic robot foot, the foot pressure pick-up unit arises, and with technical development, the foot stressing conditions when this device is mainly used in the walking of anthropomorphic robot gait now detects.
In general, traditional pressure-detecting device mainly is made up of strain gauge transducer and signal conditioning circuit, and wherein strain gauge transducer has travel switch formula, displacement transducer formula, resistance-strain chip etc.
Principle of work: after the sensor of anthropomorphic robot foot face touches stress surface, can produce mechanical deformation, thereby the variation that causes sensor output signal (can produce the variation of high-low level signal for the Switch sensor, can change within the specific limits for simulation class sensor signal), these signals process signal conditioning circuits are afterwards by embedded chip collection, processing.
This traditional foot pressure detects main following these deficiencies that exist:
(1) adopts centralized cloth line traffic control, be not easy to dcs and use, the many employings of each foot 3 or 4 measuring pressures, adopt centralized control heavy to the master controller burden, because it is far away that two foots connect distance with lead, the long complexity that connects up is subject to disturb.
(2) measuring accuracy is on the low side, and measurement range is malleable not.
(3) can't set and stored parameter, be not easy to information such as robot setting sensor address, state.
(4) no-voltage detects, current protection, and easy overload in use causes the permanent damages of sensor.
The utility model content
The utility model is primarily aimed at and uses the above problem that exists on anthropomorphic robot, a kind of intelligent foot pressure pick-up unit based on the STM32F103 microcontroller is provided, the circuit structure of this device has the CAN two-way communication, the input of four tunnel difference, four resistance-strain type high-precision pressure sensors, compact conformation, can be installed in small-sized steering wheel robot foot section, easy for installation, intelligent high, the sampling precision height is quick on the draw, can be installed in multiple bionics robot foot section, particularly anthropomorphic robot biped bottom.
The utlity model has supply voltage detection, overcurrent protection function; Can set, store and read following parameter: device id number, each sensor number, modified value, sample rate and time of feedback automatically; Can change the yield value of each road sensor amplifier separately.
The present invention adopts following technical scheme
A kind of anthropomorphic robot foot pressure pick-up unit, comprise that CAN bus 1, CAN bus driver 2, microcontroller 10, one road supply voltage pick-up unit 6, overcurrent automatic safety device 4, four road resistance answer chip pressure transducer 9, No. four low-pass filters 8, four road differential amplifier circuits 7, stabilized voltage supply 5 and robot support; It is characterized in that: CAN bus 1 interface is connected with CAN bus driver 2, is used for receiving and sending the CAN bus signals; CAN bus driver 2 is connected with microcontroller 10; The A/D converter interface of microcontroller 10 is connected with differential amplifier circuit 7 output ports; Every road differential amplifier circuit 7 input ports are connected with a resistance-strain bridge pressure sensor 9 output signal ports by low-pass filter 8; Overcurrent automatic safety device 4 is connected in the middle of power interface 3 and the stabilized voltage supply 5; Supply voltage pick-up unit 6 input ends are connected with stabilized voltage supply 5 input ports, and output terminal is connected with the A/D converter interface of microcontroller 10; Stabilized voltage supply 5 is given each chip circuit power supply respectively;
Described robot support comprises robot shank support 13 and robot foot section support 15, they connect by robot anklebone 14, four pressure transducer 9 one ends are separately fixed at four jiaos of robot foot section support 15 bottoms by holder 17, and pressure transducer 9 other ends contact with ground by rubber mat 18.
The microcontroller 10 that is adopted is the STM32F microcontroller, and it contains FLASH storage 11.
Principle of work of the present utility model is as follows:
Host computer sends order to the CAN bus, and the foot pressure sensor node is ordered by the microcontroller processing execution is corresponding after receiving signal, and microcontroller sends feedback data by the CAN bus to host computer.The stressed sensor output signal that causes of pressure transducer changes, after signal amplifies through filtering, amplifier, by microcontroller collection and processing.Microcontroller is gathered four tunnel sensor signals and supply voltage pick-up unit signal in real time, rule of setting according to the user by the CAN bus and order send one the tunnel or the multiple sensor data then, in case voltage surpasses limit value, then by CAN bus and pilot lamp prompting mistake.Can set the ID address by the CAN bus, the time interval of each number of sensor, acquisition order, sampling rate and automatic feedback data.When the foot pressure pick-up unit surpassed load current value, the overcurrent protective device deenergization was treated to recover automatically to connect after a period of time.
The present invention has following advantage than conventional machines people pressure-detecting device:
(1) integrated level height, dependable performance, compact conformation can be installed at the bottom of the robot foot, and next-door neighbour's sensor shortens the sensor signal line length greatly.
(2) adopt the CAN bus interface, each foot pressure pick-up unit is connected with other CAN node as a node, and two-way communication forms distributed frame, makes things convenient for data transmission; Leave two bus interface, node can be in parallel or be cascaded, and is flexible and changeable, greatly simplified wiring.
(3) this device overcurrent is protected automatically, and the over voltage alarm prompting prolongs its serviceable life.
(4) the STM32F microcontroller has the 72MHz dominant frequency, and processing speed is fast, and inner ADC has 12 high precision collecting, the highest 1MHz switching rate.
(5) the STM32F microcontroller can set, storage or distribution of machine people pressure-detecting device parameter.
(6) can feed back one the tunnel or multiple sensor signal, supply voltage size in real time.
Description of drawings
Fig. 1 circuit structure diagram of the present utility model
Fig. 2 assembling assumption diagram of the present utility model
Fig. 3 interface synoptic diagram of the present utility model
Among the figure: 1; the CAN bus, 2; the CAN bus driver, 3; power interface; 4; the overcurrent automatic safety device, 5; stabilized voltage supply, 6; the supply voltage pick-up unit; 7; differential amplifier circuit; 8; low-pass filter, 9; pressure transducer, 10; microcontroller; 11; the Flash storage; 12; foot pressure pick-up unit mainboard, 13; the little leg support of robot, 14; robot anklebone; 15; the robot foot section support; 16; bus interface, 17; holder, 18; rubber mat; 19; power supply (VCC); 20; ground (GND), 21; CAN bus H (CANH), 22; CAN bus L (CANL)
Embodiment
As shown in Figure 2, this example is made up of three parts: robot foot section support 15, foot pressure pick-up unit mainboard 12 and pressure transducer 9.
Wherein, robot shank support 13 is connected by robot anklebone 14 with robot foot section support 15.Four pressure transducer 9 one ends are separately fixed at four jiaos of robot foot section support 15 bottoms by holder 17, and holder 17 high about 5mm are greater than the largest deformation distance in pressure transducer 9 measurement ranges; Pressure transducer 9 other ends contact with ground by the rubber mat 18 of high about 8-10mm, and four rubber mat 18 sizes are identical, and elasticity is identical, plays and supports and the buffering effect; The placement that is parallel to each other of four pressure transducers 9 remains in the surface level, when itself and level ground are placed, stressed evenly.When rubber mat 18 contacts with ground when stressed, can cause that miniature deformations take place connected pressure transducer 9, thereby cause the output signal of pressure transducer 9 to change.
Foot pressure pick-up unit mainboard 12 is fixed in the middle of robot foot section support 15 bottoms; Pressure transducer 9 is the resistance strain gage bridge type magnetic sensor, the user can select the pressure transducer 9 of different measuring scope according to the weight of robot, four pressure transducer 9 signals are connected with four wave filter 8 input ports on the foot pressure pick-up unit mainboard 12 respectively, and stabilized voltage supply 3 provides power supply for four pressure transducers 9.As shown in Figure 3, the bus interface 16 that is positioned on the foot pressure pick-up unit mainboard 12 comprises two parts: CAN bus 1 and power interface 3, this interface comprise two cover bus interface, the convenient the superior and the subordinate that connect.CAN bus 1 has two signal line: CAN bus H (CANH) 21, CAN bus L (CANL) 22 is used to connect host computer or other node, receives order or sends foot pressure pick-up unit 12 state configuration informations.Power interface 3 has two lines: power supply (VCC) 19 and ground (GND) 20 are used for providing power supply to foot pressure-detecting device mainboard 12.
As shown in Figure 1, CAN bus 1 is connected with CAN bus driver 2, and CAN bus driver 2 is connected with microcontroller 10, is used for sending and reception CAN bus 1 data.Power interface 3 is connected with overcurrent automatic safety device 4, if surpass rated current (500mA), automatic safety device 4 connects deenergization, treats a period of time that automatic recovery the in (5-10 second) back connects.Overcurrent automatic safety device 4 is connected with stabilized voltage supply 5, and stabilized voltage supply 5 provides power supply for each functional circuit.Supply voltage pick-up unit 6 detects the voltage swing of stabilized voltage supply 5 input ends in real time, its signal output port is connected with microcontroller 10 inner A/D converter interfaces, be used for gathering in real time the supply voltage size, in case supply voltage surpasses setting value, microcontroller 10 sends information to CAN bus 1, and points out with LED flash.
The output signal of each pressure transducer 9 is gathered and is handled by the inside A/D converter interface of microcontroller 10 after amplifying through low-pass filter 8 filtering, differential amplifier circuit 7.Differential amplifier circuit 7 uses INA326, and it is the precision instrument amplifier, and it is little to have a volume, low noise, and characteristics such as enlargement factor is adjustable, the user can adjust enlargement factor according to demand.
What microcontroller 10 used is the STM32F103 microcontroller, and inside has Flash storage 11, is used to store the configuration information of foot pressure pick-up unit, and the order that microcontroller 10 can be sent by the CAN bus according to host computer writes or read configuration information.Microcontroller 10 inside have 12 accuracy A/D converter, are used to gather each sensing data.
This foot pressure pick-up unit structure is very compact; can be installed at the bottom of the small-sized steering wheel robot foot, have excess current automatic safety device 4, supply voltage pick-up unit 6, practical application shows system stability; applying flexible can satisfy the application need of general robot foot section pressure detection.
Claims (2)
1. anthropomorphic robot foot pressure pick-up unit, comprise that CAN bus (1), CAN bus driver (2), microcontroller (10), one road supply voltage pick-up unit (6), overcurrent automatic safety device (4), four road resistance answer chip pressure transducer (9), No. four low-pass filters (8), four road differential amplifier circuits (7), stabilized voltage supply (5) and robot support; It is characterized in that: CAN bus (1) interface is connected with CAN bus driver (2), is used for receiving and sending the CAN bus signals; CAN bus driver (2) is connected with microcontroller (10); The A/D converter interface of microcontroller (10) is connected with differential amplifier circuit (7) output port; Every road differential amplifier circuit (7) input port is connected with a resistance-strain bridge pressure sensor (9) output signal port by low-pass filter (8); Overcurrent automatic safety device (4) is connected in the middle of power interface (3) and the stabilized voltage supply (5); Supply voltage pick-up unit (6) input end is connected with stabilized voltage supply (5) input port, and output terminal is connected with the A/D converter interface of microcontroller (10); Stabilized voltage supply (5) is given each chip circuit power supply respectively;
Described robot support comprises little leg support of robot (13) and robot foot section support (15), they connect by robot anklebone (14), four pressure transducer (9) one ends are separately fixed at four jiaos of robot foot section support (15) bottoms by holder (17), and pressure transducer (9) other end contacts with ground by rubber mat (18).
2. a kind of anthropomorphic robot foot pressure pick-up unit according to claim 1 is characterized in that: the microcontroller that is adopted (10) is the STM32F microcontroller, and it contains FLASH storage (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200500235U CN202075069U (en) | 2011-02-28 | 2011-02-28 | Humanoid robot foot pressure detection device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011200500235U CN202075069U (en) | 2011-02-28 | 2011-02-28 | Humanoid robot foot pressure detection device |
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| Publication Number | Publication Date |
|---|---|
| CN202075069U true CN202075069U (en) | 2011-12-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011200500235U Expired - Fee Related CN202075069U (en) | 2011-02-28 | 2011-02-28 | Humanoid robot foot pressure detection device |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927960A (en) * | 2012-11-07 | 2013-02-13 | 昆山北极光电子科技有限公司 | Low power consumption high-sensitivity strain amplifying device |
| CN103057620A (en) * | 2013-02-05 | 2013-04-24 | 武汉大学 | Foot structure of humanoid robot based on modularized array sensor |
| CN114791330A (en) * | 2022-06-20 | 2022-07-26 | 中国空气动力研究与发展中心低速空气动力研究所 | Multichannel pressure scanning valve system |
-
2011
- 2011-02-28 CN CN2011200500235U patent/CN202075069U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102927960A (en) * | 2012-11-07 | 2013-02-13 | 昆山北极光电子科技有限公司 | Low power consumption high-sensitivity strain amplifying device |
| CN103057620A (en) * | 2013-02-05 | 2013-04-24 | 武汉大学 | Foot structure of humanoid robot based on modularized array sensor |
| CN103057620B (en) * | 2013-02-05 | 2016-08-31 | 武汉大学 | A kind of humanoid robot foot section structure based on modular array sensor |
| CN114791330A (en) * | 2022-06-20 | 2022-07-26 | 中国空气动力研究与发展中心低速空气动力研究所 | Multichannel pressure scanning valve system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111214 Termination date: 20120228 |