CN204650274U - A kind of have location and the microminiature mobile robot of tracking function and to move chassis - Google Patents
A kind of have location and the microminiature mobile robot of tracking function and to move chassis Download PDFInfo
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- CN204650274U CN204650274U CN201520222759.4U CN201520222759U CN204650274U CN 204650274 U CN204650274 U CN 204650274U CN 201520222759 U CN201520222759 U CN 201520222759U CN 204650274 U CN204650274 U CN 204650274U
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Abstract
The utility model discloses and a kind ofly there is location and the microminiature mobile robot of tracking function move chassis, comprise machinery chassis, microcontroller, photoelectricity locating module, photoelectricity tracking module, two Differential Driving wheels and a universal buphthalmos and take turns; Two Differential Driving wheels are located at the both sides of machinery chassis, and photoelectricity locating module, photoelectricity tracking module and universal buphthalmos wheel is embedded on the bottom surface of machinery chassis respectively, and two Differential Driving wheels and the distribution in isosceles triangle of universal buphthalmos wheel; The end face of described machinery chassis is provided with two Extended Capabilities Port; The utility model is under minute sized restriction, in conjunction with the photoelectric sense technology of existing advanced person, compactly photoelectricity location is moved in chassis with photoelectricity tracking function i ntegration at microminiature mobile microrobot, make microminiature mobile robot move chassis possessed location and tracking function simultaneously, can greatly improve its difference research apply in intelligent.
Description
Technical field
The utility model relates to a kind of robot motion's device, and specific design is a kind of to be possessed location and the microminiature mobile robot of tracking function and to move chassis.
Background technology
Microminiature mobile robot is often referred to the robot system that single side size is less than 10cm, has that structure is simple, low cost and other advantages, is widely used in robot teaching and swarm intelligence is studied.But limit by size, the motion chassis of current mobile micro robot is normally made up of traditional wheel, is difficult to more integrated special location and tracking sensor thereon, improves the intelligent of its motion control.
Utility model content
The technical problems to be solved in the utility model is to provide a kind ofly to be possessed location and the microminiature mobile robot of tracking function and to move chassis under microsize restriction.
For solving the problems of the technologies described above, technical solution adopted in the utility model is:
There is location and the microminiature mobile robot of tracking function move a chassis, comprise machinery chassis, microcontroller, photoelectricity locating module, photoelectricity tracking module, two Differential Driving wheels and a universal buphthalmos and take turns; Two Differential Driving wheels are located at the both sides of machinery chassis, and photoelectricity locating module, photoelectricity tracking module and universal buphthalmos wheel is embedded on the bottom surface of machinery chassis respectively, and two Differential Driving wheels and the distribution in isosceles triangle of universal buphthalmos wheel; The end face of described machinery chassis is provided with two Extended Capabilities Port;
Described photoelectricity locating module comprise first circuit board, two optical mouse sensors and the first power supply and signal input output control terminal mouth; Two optical mouse sensors are parallel to be installed on first circuit board, and the FPDP level of two optical mouse sensors is linked togather; Described first power supply and signal input output control terminal mouth to be fixedly arranged on first circuit board and to be positioned at the middle of two optical mouse sensors; Each port of described two optical mouse sensors input with the first power supply and signal respectively the port of output control terminal mouth is corresponding is connected, and the first power supply and signal input output control terminal mouth be connected with an Extended Capabilities Port;
Described photoelectricity tracking module comprise second circuit board, four photoelectricity proximity sensors and second source and signal input output control terminal mouth; Described four photoelectricity proximity sensors are equidistantly parallel to be fixedly arranged on second circuit board; Described second source and signal input output control terminal mouth to be fixedly arranged on second circuit board and to be positioned at the middle of four photoelectricity proximity sensors; The input/output port of described four photoelectricity proximity sensors all by second source and signal input output control terminal mouth be connected with another Extended Capabilities Port.
Further, described Differential Driving wheel comprises micro-step motor and wheel; Micro-step motor is arranged in the groove on machinery chassis end face, is provided with anti-slip rubber adhesive tape outside wheel.
Further, described first circuit board two ends are respectively provided with first fixed via; The two ends of described second circuit board are respectively provided with second fixed via.
Further, described optical mouse sensor adopts the ADNS-3530 of Yuan Xiang scientific & technical corporation, and the first power supply and signal input the FPC flat cable socket that output control terminal mouth is standard 10 pin; Data output end MISO, the data input pin MOSI of two optical mouse sensors and input end of clock SCLK are by sharing spi bus level and be linked togather and inputting that MISO, MOSI and SCLK of output control terminal mouth is corresponding to be connected respectively with the first power supply and signal; The sheet choosing end CS of two optical mouse sensors input with the first power supply and signal respectively CS1 and CS2 of output control terminal mouth is corresponding is connected; The motion control test side MOTION of two optical mouse sensors input with the first power supply and signal respectively MOTION1 and MOTION2 of output control terminal mouth is corresponding is connected; The feeder ear VCC of two optical mouse sensors, digitally hold GND with hold in analog AGND input with the first power supply and signal respectively VCC, GND and AGND of output control terminal mouth is corresponding is connected.
Further, the inside of described photoelectricity proximity sensor is integrated with photoemission cell and photoreceiver, photoemission cell is by the triode T11 of peripheral NPN type, resistance R12 and resistance R13 Direct driver, the grounded emitter of triode T11, collector is connected with the input end of photoemission cell, resistance R13 is connected on the collector of triode T11, resistance R12 is connected in the base stage of triode T11, the base stage of four triode T11 is joined together to form a control input end CTRB, the output terminal of four photoreceivers is respectively OUT1, OUT2, OUT3 and OUT4, these four output terminal OUT1, OUT2, OUT3 and OUT4 is all by a pull down resistor R14 ground connection, feeder ear VCC, the earth terminal GND of photoelectricity proximity sensor and described control input end CTRB and four output terminal OUT1, OUT2, OUT3 and OUT4 be connected to respectively second source and signal input output control terminal mouth corresponding port on.
Further, described four photoelectricity proximity sensors all adopt the SFH9201 of Omron Corp, second source and signal input output control terminal mouth adopt the FPC flat cable socket of standard 10 pin.
The beneficial effect adopting technique scheme to produce is:
The utility model is under minute sized restriction, in conjunction with the photoelectric sense technology of existing advanced person, compactly photoelectricity location is moved in chassis with photoelectricity tracking function i ntegration at microminiature mobile microrobot, make microminiature mobile robot move chassis possessed location and tracking function simultaneously, can greatly improve its difference research apply in intelligent.Photoelectricity locating module have employed integrated level and the higher optical mouse sensor of positional precision, make microminiature mobile microrobot have positioning precision high, not relevant to driving wheel rotation error, can the advantage such as calculating robot's slippage errors, effectively can improve its intelligent in map structuring, group collaboration etc.; Photoelectricity tracking module have employed the photoelectricity proximity sensor that inside is integrated with optical transmitting set and photoreceiver integration, can directly it can be used as gray-scale sensor to use, and greatly reduces the volume of current robot tracking module.In addition, in microminiature mobile microrobot tracking process, its photoelectricity locator data and its tracking data can be considered to merge, improve the intelligent of its tracking.
Accompanying drawing explanation
Fig. 1 is one-piece construction bottom diagram of the present utility model;
Fig. 2 is one-piece construction top graph of the present utility model;
Fig. 3 is photoelectricity locating module structural drawing;
Fig. 4 is photoelectricity locating module circuit theory sketch;
Fig. 5 is photoelectricity tracking function structure chart;
Fig. 6 is photoelectricity tracking modular circuit principle sketch;
In figure: 1, photoelectricity locating module, 2, photoelectricity tracking module, 3, Differential Driving wheel, 4, universal buphthalmos wheel, 5, machinery chassis, 6, Extended Capabilities Port, 7, Extended Capabilities Port, 11, optical mouse sensor, 12, optical mouse sensor, 13, the first power supply and signal input output control terminal mouth, the 14, first fixed via, 15, first circuit board, 21, photoelectricity proximity sensor, 22, second source and signal input output control terminal mouth, the 23, second fixed via, 24, second circuit board.
Embodiment
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As shown in Figure 1, 2, the utility model discloses and a kind ofly there is location and the microminiature mobile robot of tracking function move chassis, comprise machinery chassis 5, microcontroller, photoelectricity locating module 1, photoelectricity tracking module 2, two Differential Driving wheels 3 and a universal buphthalmos and take turns 4; Two Differential Driving wheels 3 are located at the both sides of machinery chassis 5, photoelectricity locating module 1, photoelectricity tracking module 2 and universal buphthalmos wheel 4 is embedded on the bottom surface of machinery chassis 5 respectively, photoelectricity locating module 1 is located between two Differential Driving wheel (3), photoelectricity tracking module 2 is located at photoelectricity locating module 1 and universal buphthalmos is taken turns between 4, can effectively protect photoelectricity locating module 1 photoelectricity tracking module 2 not disturb by available light, improve the stability of their measurements; And two Differential Driving wheels 3 and universal buphthalmos wheel 4 distribution in isosceles triangle; The end face of described machinery chassis 5 is provided with two Extended Capabilities Port 6,7.Described Differential Driving wheel 3 comprises micro-step motor 31 and wheel 32; Micro-step motor 31 is arranged in the groove on machinery chassis 5 end face, is provided with anti-slip rubber adhesive tape outside wheel 32.
Control and secondary development the utility model for the ease of user, be equipped with general microcontroller, stepper motor driver and power supply, can be arranged in the upper grooves of machinery chassis 5, power supply need provide the voltage needed for VCC and VDD respectively.The present embodiment single side size is 7.5cm, VCC be 1.9v-3.3v, VDD is 3.3v-3.6 v.Micro-stepping motors 31 in Differential Driving wheel 3 adopts the PG15S-020-YTU4 of NMB-MAT company.
As shown in Figure 3, described photoelectricity locating module 1 comprise first circuit board 15, two optical mouse sensor 11,12 and first power supplys and signal input output control terminal mouth 13; Two optical mouse sensors 11,12 are parallelly installed on first circuit board 15, and the FPDP level of two optical mouse sensors 11,12 is linked togather; Described first power supply and signal input output control terminal mouth 13 to be fixedly arranged on first circuit board 15 and to be positioned at the middle of two optical mouse sensors 11,12; Each port of described two optical mouse sensors 11,12 input with the first power supply and signal respectively the port of output control terminal mouth 13 is corresponding is connected, and the first power supply and signal input output control terminal mouth 13 be connected with an Extended Capabilities Port 6.First circuit board 15 two ends are respectively provided with first fixed via 14.
The overall dimensions of photoelectricity locating module 1: the wide * height of long * is 60mm*21mm*5mm, and supply voltage is 1.9-3.3V.In microminiature mobile robot motion process, two optical mouse sensors 11, end signal during the motion control detection port MOTION1 of 12 and MOTION2 exports respectively, by controlling two optical mouse sensors 11, the sheet of 12 selects port CS1 and CS2(Low level effective) and spi bus obtain two optical mouse sensors 11 respectively, positional information (the x1 of 12, and (x2 y1), y2), then according to two optical mouse sensors 11, their positional information is converted into the position coordinates (x of microminiature mobile robot by the positional distance between 12, y) with deflection (θ).
As shown in Figure 4, described optical mouse sensor 11,12 adopts the ADNS-3530 of Yuan Xiang scientific & technical corporation, and the first power supply and signal input the FPC flat cable socket that output control terminal mouth 13 is standard 10 pin; The FPDP (data output end MISO, data input pin MOSI and input end of clock SCLK) of two optical mouse sensors 11,12 is by sharing spi bus level and be linked togather and inputting that MISO, MOSI and SCLK of output control terminal mouth 13 is corresponding to be connected respectively with the first power supply and signal; The sheet choosing end CS of two optical mouse sensors 11,12 input with the first power supply and signal respectively CS1 and CS2 of output control terminal mouth 13 is corresponding is connected; Port CS1, CS2 can be selected to conduct interviews to it respectively by the sheet of control two optical mouse sensors 1.The motion control test side MOTION of two optical mouse sensors 11,12 input with the first power supply and signal respectively MOTION1 and MOTION2 of output control terminal mouth 13 is corresponding is connected; The feeder ear VCC of two optical mouse sensors 11,12, digitally hold GND with hold in analog AGND input with the first power supply and signal respectively VCC, GND and AGND of output control terminal mouth 13 is corresponding is connected.First power supply and signal input the quantity of output control terminal mouth 13 be 10, comprise MISO, MOSI, SCLK, CS1, CS2, MOTION1, MOTION2, VCC, GND and AGND.
As shown in Figure 5, described photoelectricity tracking module 2 comprise second circuit board 24, four photoelectricity proximity sensors 21 and second source and signal input output control terminal mouth 22; Described four photoelectricity proximity sensors 21 are equidistantly parallel to be fixedly arranged on second circuit board 24; Described second source and signal input output control terminal mouth 22 to be fixedly arranged on second circuit board 24 and to be positioned at the middle of four photoelectricity proximity sensors 21; The input/output port of described four photoelectricity proximity sensors 21 all by second source and signal input output control terminal mouth 22 be connected with another Extended Capabilities Port 7.The two ends of described second circuit board 24 are respectively provided with second fixed via 23.
The overall dimensions of photoelectricity tracking module 2: the wide * height of long * is 60mm*21mm*3mm, and supply voltage is 1.9v-3.3v.
In microminiature mobile robot application process, respectively by first positioning through hole 13 and second positioning through hole 23 at photoelectricity locating module 1, photoelectricity tracking module 2 two ends, set screw is utilized they to be fixed on the bottom surface on mobile robot chassis, also regulate above two modules height overhead by set screw, ensure its accuracy measured.
As shown in Figure 6, the inside of each photoelectricity proximity sensor 21 is integrated with photoemission cell and photoreceiver; General purpose microcontroller can be utilized to control it, directly use as gray-scale sensor, thus greatly can reduce the volume of tracking module.Photoemission cell is by the triode T11 of peripheral NPN type, resistance R12 and resistance R13 Direct driver, the grounded emitter of triode T11, collector is connected with the input end of photoemission cell, resistance R13 is connected on the collector of triode T11, resistance R12 is connected in the base stage of triode T11, the grounded emitter of triode T11, collector is connected with the input end of photoemission cell, resistance R13 is connected on the collector of triode T11, resistance R12 is connected in the base stage of triode T11, the base stage of four triode T11 is joined together to form a control input end CTRB, the output terminal of four photoreceivers is respectively OUT1, OUT2, OUT3 and OUT4, these four output terminal OUT1, OUT2, OUT3 and OUT4 is all by a pull down resistor R14 ground connection, feeder ear VCC, the earth terminal GND of photoelectricity proximity sensor 21 and described control input end CTRB and four output terminal OUT1, OUT2, OUT3 and OUT4 be connected to respectively second source and signal input output control terminal mouth 22 corresponding port on.Described four photoelectricity proximity sensors 21 are under the jurisdiction of same model, all adopt the SFH9201 of Omron Corp, second source and signal input output control terminal mouth 22 adopt the FPC flat cable socket of standard 10 pin, it comprises 10 ports, be respectively VCC, GND, CTRB, OUT1, OUT2, OUT3, OUT4, NC1, NC2 and NC3, wherein, NC1, NC2 and NC3 be after expansion reserved port.The resistance of resistance R12-R14 can select 10K, 75 and 1K ohm respectively, and the optional choose friends of triode 11 is along 9018 of scientific & technical corporation.When control input end CTRB is high level, four photoelectricity proximity sensors 21 work, their output terminal OUT1, OUT2, OUT3 export the photocurrent relevant with reflective light intensity respectively with OUT4, and be directly changed into analog output voltage by drop-down stake resistance R14, thus by judging that the size of output voltage it can be used as gray-scale sensor to use, control for mobile microrobot tracking.
Claims (6)
1. there is location and the microminiature mobile robot of tracking function move a chassis, it is characterized in that: comprise machinery chassis (5), microcontroller, photoelectricity locating module (1), photoelectricity tracking module (2), two Differential Driving wheel (3) and a universal buphthalmos and take turns (4); Two Differential Driving wheel (3) are located at the both sides of machinery chassis (5), photoelectricity locating module (1), photoelectricity tracking module (2) and universal buphthalmos wheel (4) are embedded on the bottom surface of machinery chassis (5) respectively, and two Differential Driving wheel (3) and universal buphthalmos wheel (4) distribute in isosceles triangle; The end face of described machinery chassis (5) is provided with two Extended Capabilities Port (6,7);
Described photoelectricity locating module (1) comprise first circuit board (15), two optical mouse sensors (11,12) and the first power supply and signal input output control terminal mouth (13); Two optical mouse sensors (11,12) are parallel to be installed on first circuit board (15), and the FPDP level of two optical mouse sensors (11,12) is linked togather; Described first power supply and signal input output control terminal mouth (13) to be fixedly arranged on first circuit board (15) upper and be positioned at the middle of two optical mouse sensors (11,12); Each port of described two optical mouse sensors (11,12) input with the first power supply and signal respectively the port of output control terminal mouth (13) is corresponding is connected, and the first power supply and signal input output control terminal mouth (13) be connected with an Extended Capabilities Port (6);
Described photoelectricity tracking module (2) comprise second circuit board (24), four photoelectricity proximity sensors (21) and second source and signal input output control terminal mouth (22); Described four photoelectricity proximity sensors (21) are equidistantly parallel to be fixedly arranged on second circuit board (24); Described second source and signal input output control terminal mouth (22) to be fixedly arranged on second circuit board (24) upper and be positioned at the middle of four photoelectricity proximity sensors (21); The input/output port of described four photoelectricity proximity sensors (21) all by second source and signal input output control terminal mouth (22) be connected with another Extended Capabilities Port (7).
2. according to claim 1 have location and the microminiature mobile robot of tracking function and move chassis, it is characterized in that: described Differential Driving is taken turns (3) and comprised micro-step motor (31) and wheel (32); Micro-step motor (31) is arranged in the groove on machinery chassis (5) end face, and wheel (32) outside is provided with anti-slip rubber adhesive tape.
3. according to claim 1 have location and the microminiature mobile robot of tracking function and to move chassis, it is characterized in that: described first circuit board (15) two ends are respectively provided with first fixed via (14); The two ends of described second circuit board (24) are respectively provided with second fixed via (23).
4. according to claim 1 have location and the microminiature mobile robot of tracking function and to move chassis, it is characterized in that: described optical mouse sensor (11,12) adopts the ADNS-3530 of Yuan Xiang scientific & technical corporation, and the first power supply and signal input the FPC flat cable socket that output control terminal mouth (13) is standard 10 pin; Data output end MISO, the data input pin MOSI of two optical mouse sensors (11,12) and input end of clock SCLK are by sharing spi bus level and be linked togather and inputting that MISO, MOSI and SCLK of output control terminal mouth (13) is corresponding to be connected respectively with the first power supply and signal; The sheet choosing end CS of two optical mouse sensors (11,12) input with the first power supply and signal respectively CS1 and CS2 of output control terminal mouth (13) is corresponding is connected; The motion control test side MOTION of two optical mouse sensors (11,12) input with the first power supply and signal respectively MOTION1 and MOTION2 of output control terminal mouth (13) is corresponding is connected; The feeder ear VCC of two optical mouse sensors (11,12), digitally hold GND with hold in analog AGND input with the first power supply and signal respectively VCC, GND and AGND of output control terminal mouth (13) is corresponding is connected.
5. according to claim 1 have location and the microminiature mobile robot of tracking function and to move chassis, it is characterized in that: the inside of described photoelectricity proximity sensor (21) is integrated with photoemission cell and photoreceiver, photoemission cell is by the triode T11 of peripheral NPN type, resistance R12 and resistance R13 Direct driver, the grounded emitter of triode T11, collector is connected with the input end of photoemission cell, resistance R13 is connected on the collector of triode T11, resistance R12 is connected in the base stage of triode T11, the base stage of four triode T11 is joined together to form a control input end CTRB, the output terminal of four photoreceivers is respectively OUT1, OUT2, OUT3 and OUT4, these four output terminal OUT1, OUT2, OUT3 and OUT4 is all by a pull down resistor R14 ground connection, feeder ear VCC, the earth terminal GND of photoelectricity proximity sensor (21) and described control input end CTRB and four output terminal OUT1, OUT2, OUT3 and OUT4 be connected to respectively second source and signal input output control terminal mouth (22) corresponding port on.
6. there is location and the microminiature mobile robot of tracking function according to claim 1 or 5 to move chassis, it is characterized in that: described four photoelectricity proximity sensors (21) all adopt the SFH9201 of Omron Corp, second source and signal input output control terminal mouth (22) adopt the FPC flat cable socket of standard 10 pin.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520222759.4U CN204650274U (en) | 2015-04-14 | 2015-04-14 | A kind of have location and the microminiature mobile robot of tracking function and to move chassis |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520222759.4U CN204650274U (en) | 2015-04-14 | 2015-04-14 | A kind of have location and the microminiature mobile robot of tracking function and to move chassis |
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| CN204650274U true CN204650274U (en) | 2015-09-16 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104850121A (en) * | 2015-04-14 | 2015-08-19 | 郑州大学 | Micro-miniature mobile robot motion chassis with positioning and tracking functions |
| WO2018233401A1 (en) * | 2017-06-20 | 2018-12-27 | 南京阿凡达机器人科技有限公司 | Optoelectronic mouse sensor module-based method and system for creating indoor map |
-
2015
- 2015-04-14 CN CN201520222759.4U patent/CN204650274U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104850121A (en) * | 2015-04-14 | 2015-08-19 | 郑州大学 | Micro-miniature mobile robot motion chassis with positioning and tracking functions |
| WO2018233401A1 (en) * | 2017-06-20 | 2018-12-27 | 南京阿凡达机器人科技有限公司 | Optoelectronic mouse sensor module-based method and system for creating indoor map |
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