CN203310547U - Force-perception miniature robot system based on current intensity detection - Google Patents
Force-perception miniature robot system based on current intensity detection Download PDFInfo
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- CN203310547U CN203310547U CN2013203729207U CN201320372920U CN203310547U CN 203310547 U CN203310547 U CN 203310547U CN 2013203729207 U CN2013203729207 U CN 2013203729207U CN 201320372920 U CN201320372920 U CN 201320372920U CN 203310547 U CN203310547 U CN 203310547U
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Abstract
A force-perception miniature robot system based on current intensity detection comprises a mobile robot body (1), a force-perception manipulator (8) and two Hall current sensors (6), wherein the mobile robot body (1) comprises two driving wheels, two follower wheels and two driving motors (5) which are connected with the two driving wheels respectively; the two Hall current sensors (6) which are connected with the current input terminals of the driving motors (5) respectively are for measuring driving currents in real time; the force-perception manipulator (8) and the mobile robot car body (1) are in wireless communication so as to receive and process current information transmitted by the mobile robot car body (1) and feedback information is exerted to the hand of an operator directly in the form of vibration; and the force-perception manipulator (8) gives feedbacks respectively in the form of vibration strength. An isolation-type current detection method is utilized in the robot system, so that the landform that a robot is in during marching is effectively sensed and pavement can be selected by the operator conveniently.
Description
Technical field
The utility model relates to a kind of power perception small scale robot system, is specifically related to a kind of power perception small scale robot system detected based on strength of current, belongs to mobile robot's human-computer interaction technology and power perception teleoperation field.
Background technology
The international attack of terrorism in recent years is obvious ascendant trend, has quite a few terroristic organization to possess the ability of implementing the biochemical attack of terrorism of core, has caused significant damage and baneful influence to human society.China is a nuclear industry big country and chemical industry big country, is being faced with the severe challenge of the biochemical secondary harm of nuclear risk, chemical hazard and all kinds of disaster accident core, and the environment Detecting Robot of a kind of flexible operation of research and development is very important.
Minienvironment investigation teleoperation robot is worked under the biochemical complex environment of unknown core, be inevitable choice with the method control of distant operation.Yet, the control that the realization that traditional distant method of operating can only be simple is advanced and turned to robot, but can not perception machine People's Bank of China advance residing landform in process, make operating personnel can not effectively select road surface, control efficiency is low, runs into complex road surface, even causes robot not advance smoothly.
The utility model content
The utility model purpose is: for the deficiencies in the prior art, provide a kind of perception machine People's Bank of China to advance landform of living in process, make operating personnel effectively select the power perception small scale robot system detected based on strength of current on road surface.
Technical solutions of the utility model: based on the power perception small scale robot system of strength of current detection, comprise mobile apparatus human body 1, described mobile apparatus human body 1 comprises two driving wheels, two supporting rollers and two drive motor 5 that are connected with described driving wheel respectively, also comprise power sense operation device 8 and two Hall current sensors 6, two Hall current sensors 6 are connected to the current input terminal of described drive motor 5, for measuring in real time the drive current size; Described power sense operation device 8 and described mobile robot's car body 1 radio communication, receive the current information of described mobile robot's car body transmission and process, and with the form shaken, feedback information directly acted on to operating personnel's hand; Power sense operation device feeds back respectively with the form of shockproofness:
Left driving wheel is subjected to the situation of damping force, and shockproofness is FL=KU
L, wherein K is for regulating scale-up factor, U
LVoltage-output for left Hall current sensor 6;
Right driving wheel is subjected to the situation of damping force, and shockproofness is F
R=KU
R, wherein K is for regulating scale-up factor, U
RVoltage-output for right Hall current sensor 6;
The stack of left and right driving wheel is subjected to the situation of damping force, and shockproofness is F
J=K (U
L+ U
R), wherein K is for regulating scale-up factor, U
LFor the Voltage-output of left Hall current sensor 6, U
RVoltage-output for right Hall current sensor.
Power sense operation device 8 arranges three switching knobs, is respectively the stressed perception of left driving wheel and selects button 10, the stressed perception of right driving wheel to select button 11 and the stressed stack perception of left and right sidesing driving wheel to select button 12.
The power perception small scale robot system detected based on strength of current described in the utility model, two Hall current sensors are connected to the current input terminal of described drive motor, for measuring in real time the drive current size; Described power sense operation device and described mobile robot's car body radio communication, receive the current information of described mobile robot's car body transmission and process, and with the form shaken, feedback information directly acted on to operating personnel's hand.Two driving wheels can be front or rear wheel, two supporting rollers are trailing wheel or front-wheel.
The principle of technical solutions of the utility model foundation is: the size of drive current and the complexity of landform have direct relation, namely landform more the complex machines people advance more difficultly, thereby drive current is larger, the Voltage-output of Hall current sensing is larger.
In technique scheme, the technical scheme that the technical scheme of the data transmission between mobile robot's car body and power sense operation device, power sense operation device sending controling instruction are controlled the front, rear, left and right motion of mobile robot's car body is prior art, in these application documents, repeat no more.
The utility model beneficial effect: power perception small scale robot system and the distant method of operating thereof detected based on strength of current described in the utility model, adopt Hall current sensor to detect drive current, testing circuit and motor-drive circuit electrical isolation, avoided the destruction to former driving circuit electric attribute, also the interference of motor-drive circuit can not introduced to testing circuit; The utility model power sense operation device directly acts on the damping force be subject in the robot moving process operating personnel's hand with the form of vibrations, make operating personnel to robot landform of living in, produce the telepresenc effect of " on the spot in person ", thereby improve distant operation control efficiency, effectively control advances smoothly on complicated ground; The utility model power sense operation device can feed back with the form of shockproofness the size of the damping force be subject in the robot traveling process, in operating process, operating personnel's spirit high concentration, need to constantly watch various feedback informations on remote-controlled operation platform attentively, adopt the size of the form reaction damping force of different shockproofnesses can alleviate operating personnel's a burden of using, with human body sense of touch intuitively, embody robot environment topographic features of living in, make the operator remove to pay close attention to other even more important feedback informations with more energy; The utlity model has three kinds of perceptual models, by the switching perceptual model, can judge fast the robot landform of living in of advancing, adjust in time control strategy, control is advanced by the direction that damping force is less towards robot, make robot pass through fast and effectively complex-terrain, reduce the machine people and overcome the energy that unnecessary complex-terrain consumes, improve the robot work efficiency.
The accompanying drawing explanation
Fig. 1 is the structural representation of the power perception small scale robot system based on the strength of current detection of the present utility model;
Fig. 2 is the damping force schematic diagram of the power perception small scale robot system based on the strength of current detection of the present utility model;
Fig. 3 is small scale robot smooth-ride stage schematic diagram of the present utility model;
Fig. 4 is that small scale robot of the present utility model meets with the schematic diagram while hindering;
Fig. 5 is that small scale robot of the present utility model meets with the schematic diagram that hinders rear adjustment control strategy;
Fig. 6 is that small scale robot of the present utility model meets with the schematic diagram that hinders the whole control strategy of a laggard step;
Fig. 7 is that small scale robot of the present utility model is smoothly by the schematic diagram of complex-terrain.
Embodiment
Below technical solutions of the utility model are elaborated, but protection domain of the present utility model is not limited to described embodiment.
Embodiment:
The present embodiment provides a kind of power perception small scale robot system detected based on strength of current, and its structural representation as shown in Figure 1, comprises mobile robot's car body 1, power sense operation device 8 and two Hall current sensors 6.
Mobile robot's car body 1 comprises that left driving wheel 2, right driving wheel 3, left supporting roller, right supporting roller, two drive motor 5 and two lead arm 4, the both sides front and rear wheel is coated by two crawler belts respectively, front-wheel drives trailing wheel and rotates, during straightaway, two side drive wheel rotation directions are consistent, left and right sidesing driving wheel switched in opposite while turning to.Two drive motor 5 are electrically connected with left driving wheel 2, right driving wheel 3 respectively, drive left driving wheel 2,3 rotations of right driving wheel.Lead the place ahead that arm 4 is arranged at respectively mobile robot's car body 1 for two.In addition, the embedded wide-angle imaging machine that is equipped with in the front portion of robot, be used to taking the picture in robot the place ahead; In robot, with distant operating side, wireless station is housed, for communication between robotic end and distant operating side.
Two Hall current sensors 6 are connected to the current input terminal of drive motor 5, for measuring in real time the drive current size.Power sense operation device 8 and mobile robot's car body 1 radio communication, receive the current information that mobile robot's car body 1 transmits and also process, and with the form of shockproofness, feedback information directly acted on to operating personnel's hand.The top of power sense operation device 8 arranges distant operation control platform 7, distant operation control platform 7 arranges three switching knobs, is respectively the stressed perception of left driving wheel and selects button 10, the stressed perception of right driving wheel to select button 11 and the stressed stack perception of left and right sidesing driving wheel to select button 12.In the robot traveling process, can be subject to damping force, as shown in Figure 2, the damping force that left and right wheels is subject to is respectively f to its schematic diagram that is subject to damping force
LAnd f
R, f
LAnd f
RTo be reflected in the Hall current intensity detection circuit.The left and right sidesing driving wheel of robot is driven by direct current generator, introduces Hall current sensor at the current input terminal of motor, measures the drive current size of the direct current generator of flowing through.The size of drive current and the complexity of landform have direct relation, namely landform more the complex machines people advance more difficultly, thereby drive current is larger, the Voltage-output of Hall current sensing is larger.
The scale-up factor P of drive current and output voltage is according to the design parameter determination of Hall current sensor 6.Regulate Proportional coefficient K and can, according to the ergonomics requirement, adjust to OK range.The Voltage-output U of Hall current sensor when robot suspends on smooth ground
0Can be according to the design parameter determination of drive motor.
The distant method of operating of the power perception small scale robot system based on the strength of current detection of the present embodiment, carry out as follows:
I, Hall current sensor 6 are measured the size of the drive current of two drive motor 5 in left and right in real time, and described drive current is converted into to Voltage-output, and when robot advanced, Voltage-output was: U=PI-U
0, wherein, P is the scale-up factor of drive current and output voltage; I is the electric current of Hall current sensor 6; U
0The Voltage-output of Hall current sensor 6 while suspending on smooth ground for robot.
When robot advances, consider two of left and right Hall current sensor and drive motor: U
L=PI
L-U
0And U
R=PI
R-U
0, U wherein
LAnd U
RFor Hall element 6 Voltage-outputs that the robot behavior of advancing produces, P is the scale-up factor of drive current and output voltage, I
LAnd I
RBe respectively when robot advances the size of current of the left and right drive motor of flowing through, U
0The Voltage-output of sensor when robot suspends on smooth ground.
The output voltage of II, power sense operation device 8 two Hall current sensors 6 in wireless receiving left and right, and voltage is converted into to shockproofness, shockproofness is F=KU, and wherein, K is for regulating scale-up factor, and U is the voltage of exporting in the step I.
III, power sense operation device 8 directly act on feedback information operating personnel's hand with the form of shockproofness, and operating personnel judge direction and the size of the damping force be subject in the robot traveling process, the motion of control front, rear, left and right.
Operating personnel select the perceptual model of power sense operation device 8 by selection key, described perceptual model is divided into three kinds:
The first is the stressed perceptual model of left driving wheel, i.e. the shockproofness of power sense operation device 8 transmission means that left driving wheel is subjected to the situation of damping force, and shockproofness is F
L=KU
L, wherein K is for regulating scale-up factor, U
LVoltage-output for left Hall current sensor 6.
The second is the stressed perceptual model of right driving wheel, i.e. the shockproofness of power sense operation device 8 transmission means that right driving wheel is subjected to the situation of damping force, and shockproofness is F
R=KU
R, wherein K is for regulating scale-up factor, U
RVoltage-output for right Hall current sensor 6.
The third is the stressed perceptual model of left and right sidesing driving wheel, i.e. the shockproofness of power sense operation device 8 transmission means that the left and right driving wheel is subjected to the situation of damping force, and shockproofness is F
J=K (U
L+ U
R), wherein K is for regulating scale-up factor, U
LFor the Voltage-output of left Hall current sensor 6, U
RVoltage-output for right Hall current sensor 6.
The information of operating personnel's operating physical force sense operation device 8 front, rear, left and right motions is the motion of the front, rear, left and right of control walking mechanism, and U now
LAnd U
RNon-vanishing, U
LAnd U
RAs feedback quantity, feed back to power sense operation device 8.Power sense operation device 8 directly acts on feedback information operating personnel's hand with the form of shockproofness.
Described power perception small scale robot system and the distant method of operating thereof detected based on power strength of the present embodiment is applied to the minienvironment Detecting Robot, minienvironment Detecting Robot traveling process below is described in detail in detail, meets with to hinder and adjust the control strategy stage and effectively pass through complex-terrain.
First stage: smooth-ride stage
Operating personnel utilize the control lever of the distant manipulater 8 of power perception to control the minienvironment Detecting Robot and advance on the ground and turn to, as shown in Figure 3.
Pressing the stressed stack perception of left and right sidesing driving wheel and select button 12, is zero when robot suspends at the suffered damping force f of level ground Shang Shi， robot left and right sidesing driving wheel, and the vibrations of power sense operation device feedback are zero.
When robot steadily exercised on the ground with straight line, the suffered damping force of robot left and right wheels was less, damping force f
LAnd f
RSize is close, and the shockproofness of power perception executor feedback is less, changes the power perceptual model, successively presses the stressed perception of left driving wheel and selects button 10, the stressed perception of right driving wheel to select the exert oneself shockproofness of sense operation device of 11, two kinds of modes of button suitable.
Subordinate phase: meet with the control strategy stage of adjusting of hindering
The minienvironment Detecting Robot meets with obstruction on the ground, and operating personnel utilize distant manipulater 8 controls of power perception, adjust in time control strategy.
Operating personnel press the stressed stack perception of left and right sidesing driving wheel and select button 12 to select the stressed stack perceptual model of left and right sidesing driving wheel control to advance, and are hampered while hindering in robot, as shown in Figure 4, obviously perceive manipulater shockproofness grow.Now operating personnel are switched perceptual model, select respectively the stressed perceptual model of left driving wheel and the stressed perceptual model of right driving, and judgement show that right the wheel is subject to larger resistance.Adjust thus control strategy, as shown in Figure 5, making robot return a section moves, and then control is turned left to certain angle as shown in Figure 6, the change perceptual model is the stressed stack perceptual model of left and right sidesing driving wheel, move on, if still perceive larger resistance, can repeat above step until robot advances no longer is obstructed.
(3) effectively by the complex-terrain stage
Operating personnel utilize the distant manipulater 8 of power perception to control the minienvironment Detecting Robot effectively by complex-terrain, as shown in Figure 7.
In this stage, robot effectively passes through to hinder, and after this also can meet with other similar obstructions again, and according to the step that the experience obstruction adjustment control strategy stage implements, control, by hindering, finally effectively passes through complex-terrain.
As mentioned above, although meaned and explained the utility model with reference to specific preferred embodiment, it shall not be construed as the restriction to the utility model self.Under the spirit and scope prerequisite of the present utility model that does not break away from the claims definition, can make in the form and details various variations to it.
Claims (2)
1. the power perception small scale robot system detected based on strength of current, comprise mobile apparatus human body (1), described mobile apparatus human body (1) comprises two driving wheels, two supporting rollers and two drive motor (5) that are connected with described driving wheel respectively, it is characterized in that: also comprise power sense operation device (8) and two Hall current sensors (6), two Hall current sensors (6) are connected to the current input terminal of described drive motor (5), for measuring in real time the drive current size; Described power sense operation device (8) and described mobile robot's car body (1) radio communication, receive the current information of described mobile robot's car body (1) transmission and process, and with the form shaken, feedback information directly acted on to operating personnel's hand; Power sense operation device (8) feeds back respectively with the form of shockproofness:
Left driving wheel is subjected to the situation of damping force, and shockproofness is F
L=KU
L, wherein K is for regulating scale-up factor, U
LVoltage-output for left Hall current sensor (6);
Right driving wheel is subjected to the situation of damping force, and shockproofness is F
R=KU
R, wherein K is for regulating scale-up factor, U
RVoltage-output for right Hall current sensor (6);
The stack of left and right driving wheel is subjected to the situation of damping force, and shockproofness is F
J=K (U
L+ U
R), wherein K is for regulating scale-up factor, U
LFor the Voltage-output of left Hall current sensor (6), U
RVoltage-output for right Hall current sensor (6).
2. the power perception small scale robot system detected based on strength of current according to claim 1, it is characterized in that, described power sense operation device (8) arranges three switching knobs, is respectively the stressed perception of left driving wheel and selects button (10), the stressed perception of right driving wheel to select button (11) and the stressed stack perception of left and right sidesing driving wheel to select button (12).
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323151A (en) * | 2013-06-26 | 2013-09-25 | 东南大学 | Force-sensing small robot system based on current intensity detection and teleoperation method thereof |
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2013
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103323151A (en) * | 2013-06-26 | 2013-09-25 | 东南大学 | Force-sensing small robot system based on current intensity detection and teleoperation method thereof |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20131127 Effective date of abandoning: 20150603 |
|
| RGAV | Abandon patent right to avoid regrant |