CN204871266U - Ball -type robot based on gesture control - Google Patents
Ball -type robot based on gesture control Download PDFInfo
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- CN204871266U CN204871266U CN201520269667.1U CN201520269667U CN204871266U CN 204871266 U CN204871266 U CN 204871266U CN 201520269667 U CN201520269667 U CN 201520269667U CN 204871266 U CN204871266 U CN 204871266U
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Abstract
The utility model relates to a ball -type robot of gesture control. Including be used for constituting spheroidal spherical shell, be used for with people's gesture change the gesture control module, the host system who is used for the ball -handling humanoid robot that convert control signal into, be used for host system and gesture control module carry on wireless communication wireless transmission module, be used for starting the motion of ball -type robot the switch module, be used for providing the power module of electric energy for above module. The utility model has the advantages of simple structure, action rapidly, turn to flexibility, sport efficiency high, maintain convenient, but wide application in children's intellectual development, amusement and recreation, tera incognita detection etc..
Description
Technical Field
The utility model relates to a spherical robot technique, especially a spherical robot of gesture control.
Background
In recent years, research on a new type of walking robot, a spherical robot, has started to attract attention of robot researchers, and the appearance of the spherical robot is a breakthrough in human research on walking mechanisms. As a novel walking robot, the robot has the advantages of omnibearing motion, strong environment adaptability and the like, draws more and more attention of researchers, and has wide application prospects in scientific research, emergency rescue, military affairs and daily life.
The research on spherical robots is now divided into two categories: one is a wheel-driven spherical robot, and the other is a spoke-type spherical robot. However, the wheel-driven spherical robot has the problems of sliding between wheels and spheres and deformation of the spheres caused by the supporting force of the wheel to the spherical shell, and although the spoke-type spherical robot really realizes the all-directional movement of the spherical robot, the design and installation requirements are high, the movement of the robot can be influenced by the installation of various sensing devices or other equipment, the kinematics and dynamics modeling of the robot is also complex, the control is difficult, and at present, an accurate control model does not exist.
Therefore, in the prior art, although the spherical robot realizes all-directional motion, the design and installation requirements are high, the motion of the robot is influenced by the installation of various sensing devices or other equipment, the kinematics and dynamics modeling is complex, the control is difficult, and an accurate control model does not exist at present.
Disclosure of Invention
In view of this, the main objective of the present invention is to design a spherical robot that is simple to control and can realize all-directional movement. The device has the characteristics of omnibearing motion, simple structure and clear principle. The robot can meet the requirement of wide application of the robot in terms of control and price. And a wide robot market can be expected by virtue of novelty and interest.
In order to achieve the above object, the utility model provides a technical scheme does:
a gesture-controlled spherical robot is characterized by comprising a main control module, a switch module, a power module, a wireless transmission module, a gesture control module, a power supply module, a driving module, a voltage stabilizing module, a sensor module, a music module and a light module; wherein,
the main control module is used for receiving signals detected by the sensors and signals sent by the gesture control module, processing related signals and controlling the light module, the music module and the power module, and the main control module is composed of a single chip microcomputer.
And the switch module is used for controlling the on-off of the circuit of the whole system, is composed of a self-locking toggle switch and is connected to the groove hole on the inner wall of the ball through a lead.
And the power module is used for providing power for the movement of the ball body in all directions and executing the control signal transmitted by the main control module. The power module is composed of a motor module for controlling steering, a motor module for controlling balance and a motor module for controlling forward movement.
The forward control motor module comprises a forward motor, a forward motor sleeve, a swing rod and a pendulum bob; the ball-shaped ball forming machine comprises a ball-shaped ball, a swing rod, a motor sleeve, a forward motor shaft, a swing rod and a pendulum bob, wherein the forward motor is arranged in the forward motor sleeve, the forward motor shaft is connected with the swing rod, and the swing rod is connected with the.
The motor module for controlling steering comprises a steering motor, a sliding block, a sliding groove and a steering motor sleeve; wherein,
the sliding groove is arranged in the advancing motor sleeve, and the sliding block is placed in the sliding groove and can slide in the sliding groove;
the steering motor is arranged in the steering motor sleeve, and a steering motor shaft is fixedly connected with the sliding block, so that the steering of the ball can be realized through the rotation of the motor.
The motor module for controlling balance comprises a balance motor, a balance motor sleeve, a rack, a baffle and a gear. Wherein,
the rack is placed in the advancing motor sleeve, the baffle is placed in the advancing motor sleeve, and the gear is placed between the rack and the baffle and can advance or retreat along the rack.
The balance motor is arranged in the balance motor sleeve, and a balance motor shaft is fixedly connected with the gear. So that the balanced movement of the ball can be achieved by the rotation of the motor.
And the wireless transmission module is used for realizing man-machine interaction and communication between the central processing unit of the ball and the central processing unit of the gesture control module through wireless data transmission.
And the gesture control module is used for transmitting the gesture change signal detected by the sensor module to the central processing unit in the ball through the wireless transmission module so as to realize human-ball interaction.
And the light module is used for receiving the control signal sent by the main control module in the ball to adjust the light flicker.
And the music module is used for receiving the control signal sent by the main control module in the ball to control the playing of the music.
And the power supply module is used for supplying power to the main control module, the switch module, the power module, the wireless transmission module, the gesture control module and the sensor module.
And the driving module is used for providing current for the motor so that the motor reaches a certain rotating speed.
And the voltage stabilizing module is used for converting the voltage of the power supply module into 5V and 3.3V and supplying power to the main control module, the power module, the wireless transmission module, the gesture control module, the driving module, the sensor module, the music module and the light module.
The sensor module is used for converting the space position change of an object into an electric signal, transmitting detected data information to the main control module in a timing mode, processing data and executing corresponding actions by the main control module to achieve the detection effect of the sensor, and the sensor module is used for detecting the gesture.
To sum up, the external structure of the gesture-controlled spherical robot of the utility model comprises a toggle switch and a spherical shell; the main control module is used for processing related signals and controlling the light module, the music module and the driving module; the switch module is used for controlling the on-off of the whole system circuit; the power module is used for providing power for the spherical robot; the wireless transmission module is used for realizing man-machine interaction and communication between the central processing unit of the ball and the central processing unit of the gesture control module through wireless data transmission; the power module is used for supplying power to the main control module, the switch module, the power module, the wireless transmission module, the gesture control module, the driving module and the sensor module. Therefore, the utility model has the characteristics of simple structure, convenient to use. Additionally, the utility model discloses a master control module, switch module, power module, wireless transmission module, gesture control module, power module, drive module, voltage stabilizing module, sensor module, music module, light module reliability all higher, the event the utility model discloses higher reliability has.
Drawings
Fig. 1 is a schematic diagram 1 of the mechanical structure of the present invention.
Fig. 2 is a schematic diagram 2 of the mechanical structure of the present invention.
Fig. 3 is a schematic diagram 3 of the mechanical structure of the present invention.
Fig. 4 is a general flow chart of the circuit operation of the present invention.
Fig. 5 is a schematic view of the structure of the driving module according to the present invention.
Fig. 6 is a schematic diagram of the structure of the voltage stabilizing module of the present invention.
Fig. 7 is a schematic diagram of the wireless transmission module of the present invention.
Fig. 8 is a schematic diagram of the structure of the wireless transmission module of the present invention.
Fig. 9 is a schematic view of the structure of the music playing module of the present invention.
Fig. 10 is a schematic diagram of the structure of the sensor module according to the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the present invention will be described in detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, 2 and 3, the spherical robot of the present invention includes a spherical shell 1 and an internal structure body 2 disposed in the spherical shell 1.
The internal structure body 2 is arranged in the spherical shell 1, and comprises a motor group 21, a counterweight group 22, a motor group 23, a core control board 24 and a battery 25.
The motor set 21 comprises a balance motor 211, a driving motor 212 and a steering motor 213, wherein the balance motor 211 maintains the stability of the movement of the sphere, the driving motor 212 provides power for the movement of the sphere, and the steering motor is responsible for the steering movement of the sphere, so that the sphere can move in any direction.
The counterweight group 22 comprises a pendulum rod 221 and a pendulum ball 222, wherein two groups of counterweights consisting of the pendulum rod 221 and the pendulum ball 222 are symmetrically arranged at two sides of the driving motor 212, the swinging of the counterweights can enable the ball to generate gravity center offset, and the gravity center offset provides power for the movement of the ball body.
The motor sleeve group 23 comprises a balance motor sleeve 231, a driving motor sleeve 232 and a steering motor sleeve 233, the balance motor sleeve 231 fixes a balance motor 211, and one end of the balance motor sleeve is connected with the inner spherical shell; the steering motor cover 233 fixes the steering motor 213, and one end is connected with the inner spherical shell; the driving motor sleeve 232 is fixed with the driving motor 212, the battery 25 and the core control board 24 are fixed on the left side and the right side of the driving motor sleeve, the upper end and the lower end of the driving motor sleeve are respectively provided with the sliding groove 2321, the sliding block 2322, the gear 2323 and the tooth groove 2324, the sliding groove and the sliding block are combined with the steering motor 213 to complete the steering function of the sphere, and the gear and the tooth groove are combined with the balance motor 211 to keep the stability of the sphere during movement.
The core control panel 24 is fixed in one side of drive motor cover 232, and the integration has power conversion module, switch module, motion and magnetic field detection integrated module, motor drive module, wireless communication module, bluetooth communication debugging module, central processing unit module on the control panel to and dazzle color lamp optical module and music play module. After power is supplied to the ball, the core control board 24 respectively controls the motor, the light emitting diode and the music player to respectively realize the movement of the ball, the light flickering effect and the music playing.
The battery 25 is fixed on the other side of the driving motor sleeve 232 and respectively supplies power to the motor set 21 and the core control board 24.
When the gesture-controlled spherical robot works, the core control panel 24 controls the driving motor 212 to rotate forward and backward to drive the counterweight group 22 to rotate, and the rotating motion of the counterweight group 22 changes the gravity center of the internal structure main body 2 so as to make the spherical robot move forward and backward; the core control board 24 controls the balance motor 211 to rotate to slightly adjust the gravity center of the internal structure body 2 so as to keep the sphere moving stably; the core control board 24 controls the rotation of the steering motor 213 to change the posture of the internal structural body 2 so that the sphere can move in the 360 ° direction. Specifically, after receiving the gesture command sent by the wireless sending module on the gesture sensor through the wireless receiving module, the core control board 24 controls the balance motor 211, the driving motor 212 and the steering motor 213 to rotate, so as to drive the sphere to move stably.
Fig. 4 is a general flow chart of the circuit operation of the present invention. As shown in fig. 4, gesture control module 11 senses gesture change and converts the gesture change into an electrical signal, then communicates with main control module 3 through wireless transmission module 6, main control module processes the signal and sends to drive module 4 to drive motor 1 to make the spherical robot move, battery 10 supplies power for sensor module 7, gesture control module 11, light module 2, music module 5 respectively through 5V voltage stabilizing module 9 and 3.3V voltage stabilizing module 8.
Fig. 5 is a schematic view of the structure of the driving module according to the present invention. As shown in fig. 5, the driving module is composed of two driving chips and three protection resistors. Since each driving chip can drive two motors in the same driving mode, the figure is only a schematic diagram of one of the driving motors. Input 1 and input 3 of the driving chip are directly connected with the main control module, input 2 is connected with the main control module through a protection resistor R1, the output end is connected with the motor 11, the enabling end of the driving chip is connected with a 5V power supply, the power supply end is connected with a 7.2V power supply, and the grounding end is grounded.
Fig. 6 is a schematic diagram of the structure of the voltage stabilizing module of the present invention. As shown in fig. 6, the voltage regulation module group includes a 3.3V voltage regulation module 8 and a 5V voltage regulation module 9, wherein the 3.3V voltage regulation module 8 includes a 3.3V voltage regulation chip, a capacitor C1Electricity, electricityContainer C2Capacitor C3And a capacitor C4. Input end of voltage stabilizing chip and capacitor C1、C2One end of the capacitor is connected with 7.2V voltage and a capacitor C1、C2The other end of the first and second electrodes is grounded; the output end of the same voltage stabilizing chip and the capacitor C3、C4One end is connected with 5V voltage and a capacitor C3、C4And the other end of the same is grounded. Wherein the 5V voltage-stabilizing module 9 comprises a 5V voltage-stabilizing chip and a capacitor C5Capacitor C6Capacitor C7And a capacitor C8The circuit connection mode is the same as that of the 3.3V voltage stabilizing module 8.
Fig. 7 is a schematic diagram of the wireless transmission module of the present invention. As shown in fig. 7, the main control module 3 can perform signal transmission with the wireless communication module 61, the wireless communication module 61 can perform signal transmission with the wireless communication module 62, and the wireless communication module 62 communicates with the gesture control module 11, so as to achieve the function of mutual communication between the main control module 3 and the gesture control module 11.
Fig. 8 is a schematic diagram of the structure of the wireless transmission module of the present invention. As shown in fig. 8, the wireless transmission module group includes a wireless transmission module 61 and a wireless transmission module 62, wherein the wireless transmission module 61 and the wireless transmission module 62 are both composed of integrated wireless chips. The signal end of the wireless chip 61 is connected with the main control module 3 and can communicate with each other; the clock end is connected with the main control module 3, and the main control module 3 provides clock pulses; the power supply end is connected with 5V voltage, and the grounding end is grounded; the signal receiving and transmitting end communicates with the signal receiving and transmitting end of the wireless chip 62 wirelessly; the power supply terminal and the ground terminal of the wireless chip 62 are respectively connected to 5V voltage and ground; the signal end is connected with the gesture control module 11 and can be communicated with each other; the clock terminal is connected with the gesture control module 11. Therefore, the wireless transmission module group connects the main control module 3 with the gesture control module 11 by transceiving wireless signals.
Fig. 9 is a schematic view of the structure of the music playing module of the present invention. As shown in FIG. 9, the music playing module includes a music chip and a resistor R2、R3Capacitor C9、C10、C11、C12A small horn. Main control module 3 and capacitor C11Connection, capacitance C11And a variable resistor R3Connected, variable resistance R3One end of the resistor is connected with the input port of the music chip, and the other end of the resistor is connected with the resistor R2Connection, resistance R2Through C9And C10One end of which is connected to the output port of the music chip, C10The other end of the music chip is connected with the small horn, one end of the small horn is grounded, one power supply end of the music chip is directly connected with 3.3V voltage, and the other power supply end of the music chip is connected with the capacitor C12And 3.3V voltage is connected, and the grounding ends are grounded. Thus, the function of the main control module 3 for controlling the music playing is achieved.
Fig. 10 is a schematic diagram of the structure of the sensor module according to the present invention. As shown in fig. 10, the sensor module is composed of an integrated sensor chip, a power supply terminal 1 and a power supply terminal 2 of the sensor chip are respectively connected with 5V and 3.3V voltages, and a ground terminal is grounded; the interrupt output end is connected with the main control module 3, and the main control module 3 sends an interrupt signal to the sensor chip; the data end is connected with the main control module 3, and the sensor chip sends detection data to the main control module 3; the clock end is connected with the main control module 3, and the main control module 3 provides clock pulses for the sensor chip. The sensor module transmits data information to the main control module at regular time, and the main control module processes the data and executes corresponding actions to achieve the detection effect of the sensor.
In summary, the above is only a preferred embodiment of the present invention, and is not limited to the protection scope of the present invention. Any modification and improvement made on the basis of the spirit and scheme of the present invention should be included in the protection scope of the present invention.
Claims (9)
1. The spherical robot based on gesture control is characterized by comprising a sensor module, a wireless transmission module, a gesture control module, a main control module, a power module, a switch module, a light module, a music module, a power module, a driving module and a voltage stabilizing module; wherein,
the sensor module is used for converting the space position change of the object into an electric signal;
the wireless transmission module is used for wireless data transmission and realizes the communication between the central processing unit in the ball and the central processing unit of the gesture control module;
the gesture control module is used for transmitting the gesture change signal detected by the sensor module to the central processing unit in the ball through the wireless transmission module so as to realize human-ball interaction;
the main control module is used for receiving the signals detected by the sensor module and the signals sent by the gesture control module, processing related signals and controlling the light module, the music module and the power module;
the power module is used for providing power for the movement of the ball body in all directions and executing the control signal transmitted by the main control module;
the switch module is used for controlling the on-off of the whole system circuit, consists of a self-locking toggle switch and is connected to a groove hole on the inner wall of the ball through a lead;
the light module is used for receiving a control signal sent by the main control module in the ball to adjust light flicker;
the music module is used for receiving the control signal sent by the main control module in the ball to control the playing of music;
the power supply module is used for supplying power to the main control module, the switch module, the power module, the wireless transmission module, the gesture control module and the sensor module;
the driving module is used for providing current for the motor so that the motor reaches a certain rotating speed;
and the voltage stabilizing module is used for converting the voltage of the power supply module into 5V and 3.3V and supplying power to the main control module, the power module, the wireless transmission module, the gesture control module, the driving module, the sensor module, the music module and the light module.
2. The gesture-controlled spherical robot according to claim 1, wherein the main control module is composed of a single chip microcomputer.
3. The gesture-controlled spherical robot according to claim 1, wherein the power module is composed of a motor module for controlling steering, a motor module for controlling balancing, and a motor module for controlling advancing.
4. The gesture-controlled spherical robot according to claim 3, wherein the motor module for controlling forward comprises a forward motor, a forward motor sleeve, a swing link, a pendulum bob; wherein,
the advancing motor is arranged in the advancing motor sleeve, a shaft of the advancing motor is connected with the swing rod, and the swing rod is connected with the pendulum bob, so that the ball can advance or retreat by the rotation of the motor.
5. The gesture-controlled spherical robot according to claim 4, wherein the motor module for controlling steering comprises a steering motor, a slider, a chute, a steering motor sleeve; wherein,
the sliding groove is positioned in the advancing motor sleeve, and the sliding block is placed in the sliding groove and can slide in the sliding groove;
the steering motor is arranged in the steering motor sleeve, and a steering motor shaft is fixedly connected with the sliding block, so that the steering of the ball can be realized through the rotation of the motor.
6. The gesture-controlled spherical robot according to claim 4, wherein the motor module for controlling balance comprises a balance motor, a balance motor sleeve, a rack, a baffle, a gear; wherein,
the rack is placed in the advancing motor sleeve, the baffle is placed in the advancing motor sleeve, and the gear is placed between the rack and the baffle and can advance or retreat along the rack;
the balance motor is arranged in the balance motor sleeve, and a balance motor shaft is fixedly connected with the gear, so that the balance movement of the ball can be realized through the rotation of the motor.
7. The gesture-controlled spherical robot according to claim 1, wherein the switch module is composed of a self-locking toggle switch, and is connected to a groove hole on the inner wall of the sphere through a lead wire to control the on-off of the circuit of the whole system.
8. The gesture-controlled spherical robot according to claim 1, wherein the wireless transmission module is a wireless communication module.
9. The gesture-controlled spherical robot according to claim 1, wherein the sensor module is a sensor module for detecting a posture.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520269667.1U CN204871266U (en) | 2015-04-23 | 2015-04-23 | Ball -type robot based on gesture control |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520269667.1U CN204871266U (en) | 2015-04-23 | 2015-04-23 | Ball -type robot based on gesture control |
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| CN204871266U true CN204871266U (en) | 2015-12-16 |
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| CN201520269667.1U Expired - Fee Related CN204871266U (en) | 2015-04-23 | 2015-04-23 | Ball -type robot based on gesture control |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035197A (en) * | 2015-04-23 | 2015-11-11 | 河南理工大学 | Spherical robot based on gesture control |
| CN106828643A (en) * | 2017-02-28 | 2017-06-13 | 胡旸海 | A kind of omni-directional movement ball shape robot |
| CN110347243A (en) * | 2019-05-30 | 2019-10-18 | 深圳乐行天下科技有限公司 | A kind of working method and robot of robot |
-
2015
- 2015-04-23 CN CN201520269667.1U patent/CN204871266U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105035197A (en) * | 2015-04-23 | 2015-11-11 | 河南理工大学 | Spherical robot based on gesture control |
| CN105035197B (en) * | 2015-04-23 | 2018-12-07 | 河南理工大学 | Ball-shape robot based on gesture control |
| CN106828643A (en) * | 2017-02-28 | 2017-06-13 | 胡旸海 | A kind of omni-directional movement ball shape robot |
| CN110347243A (en) * | 2019-05-30 | 2019-10-18 | 深圳乐行天下科技有限公司 | A kind of working method and robot of robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151216 Termination date: 20190423 |