CN205042100U - Wheeled football robot - Google Patents
Wheeled football robot Download PDFInfo
- Publication number
- CN205042100U CN205042100U CN201520692961.3U CN201520692961U CN205042100U CN 205042100 U CN205042100 U CN 205042100U CN 201520692961 U CN201520692961 U CN 201520692961U CN 205042100 U CN205042100 U CN 205042100U
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- robot
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Abstract
The utility model relates to a wheeled football robot, it includes the chassis device of robot, holding mechanism is installed to the chassis device's of robot head, install the barrier system that keeps away in the holding mechanism, master control system installs the upper surface that is close to the afterbody at the chassis device of robot, ystem installation is close to the head at the chassis device of robot upper surface is followed to the camera, master control system can accept, it follows transmission system's image signal and keeps away the position sigual that the barrier system detected to handle the camera, and then the action of control machine people chassis device and holding mechanism. This wheeled football robot has combined the smart mobile phone, gives other people to bring a brand -new and intelligent amusement to experience.
Description
Technical field
The utility model relates to a kind of Wheeled Soccer Robot, particularly relates to the robot sensor measurement of smart mobile phone and high-speed computation function being attached to football location, capturing and impact.
Background technology
Along with more how intelligentized Soccer robot emerges, and intelligent soccer robot often plays, and there is high sight and interest, but the Soccer robot in market is because vision sensor is expensive, and complicated in mechanical structure, cause its price high, thus make consumption market very little.
Along with Internet era arrive, increasing people uses smart mobile phone, and now the camera of smart mobile phone has the function of very strong image procossing, and is combined with Soccer robot by smart mobile phone, can bring a kind of entertainment way of novelty to people.
Utility model content
The utility model provides Wheeled Soccer Robot, and this Wheeled Soccer Robot combines smart mobile phone, brings one brand-new and intelligentized recreation experience to people.
In order to realize above-mentioned technical characteristic, the technical scheme that the utility model adopts is: Wheeled Soccer Robot, it comprises robot base apparatus, the head of robot base apparatus is provided with holding mechanism, holding mechanism is provided with obstacle avoidance system, master control system is arranged on robot base apparatus by caudal upper surface, camera system for tracking is arranged on the upper surface of robot base apparatus near head, master control system can accept, the position signalling that the picture signal of process camera system for tracking transmission and obstacle avoidance system detect, and then the action of control base apparatus and holding mechanism.
Described master control system comprises power supply, power supply is by be connected with Voltage stabilizing module with voltage reduction module and to power for master controller, motor drive module, master controller expansion board and bluetooth module simultaneously, motor drive module is connected with master controller the vehicle wheel rotation of control base apparatus, and bluetooth module can be connected by wireless signal transmission with the bluetooth of smart mobile phone.
Described camera system for tracking comprises smart mobile phone, smart mobile phone is fixed on handset mounting by plastics trip bolt, handset mounting is connected with the U-shaped support of steering wheel, steering wheel is fixed on robot base apparatus by steering wheel support, by opening preposition camera application programs on smart mobile phone, camera identification luminescent ball color also calculates luminescent ball size, and luminescent ball is upper and lower at camera view center and the offset distance of left and right, and these data collected are transferred to master control system by OTG line, upper and lower offset distance is calculated by the master controller of master control system, control steering wheel rotates, thus drive smart mobile phone to follow luminescent ball and swing up and down, reach and follow effect.
Described holding mechanism comprises two L-type support, and L-type support is fixedly mounted on the left and right sides of robot base apparatus head, and 180 degree of steering wheels are arranged on the top of L-type support, and the output shaft of 180 degree of steering wheels is connected with one of them claw.
Described claw has two and symmetrically installs, and all adopts quadric chain, and ensures the synchronous of its action by gears meshing, realizes the holding action of spheroid.
Described obstacle avoidance system comprises each infrared ray sensor around, infrared ray sensor is fixed in the L-type support of holding mechanism by sensor stand, infrared ray sensor can detect the distance between itself and barrier, and by distance signal transmission to master controller.
Described robot base apparatus comprises chassis overhang, chassis overhang is provided with chassis upper plate, the left and right sides of chassis upper plate are provided with electric machine support, electric machine support is provided with motor, motor is connected with wheel by shaft coupling, the middle part that battery is arranged on chassis upper plate provides electric energy for motor, and the head of chassis upper plate is provided with two columns, is provided with universal wheel between column.
The utility model has following beneficial effect:
This is based on the wheeled robot of smart mobile phone, the collection of smart mobile phone camera image and image analysis function are combined, by master control system, treatment and analysis is carried out to the picture signal collected, thus the motion of control, Wheeled Soccer Robot reaches tracking luminescent ball with simple frame for movement, luminescent ball is clamped, transfer movement is carried out to luminescent ball, luminescent ball is positioned to the functions such as impact, make the richer science and technology sense of the entertainment form of smart mobile phone, simultaneously Soccer robot entertainment way is also more intelligent, and fully use the functions such as smart mobile phone camera and range sensor, manufacturing cost is reduced greatly.
Above-mentioned master control system comprises power supply, power supply is also master controller by being connected with Voltage stabilizing module with voltage reduction module simultaneously, motor drive module, master controller expansion board and bluetooth module are powered, carry out reduced pressure operation by voltage reduction module and can provide stable voltage for the different control module of each in master control system, motor drive module is connected with master controller the vehicle wheel rotation of control base apparatus, and then the walking of control, bluetooth module can be connected by wireless signal transmission with the bluetooth of smart mobile phone, thus facilitate and carry out control with mobile phone.
Above-mentioned camera system for tracking comprises smart mobile phone, smart mobile phone is fixed on handset mounting by plastics trip bolt, handset mounting is connected with the U-shaped support of steering wheel, steering wheel is fixed on robot base apparatus by steering wheel support, by opening preposition camera application programs on smart mobile phone, camera identification luminescent ball color also calculates luminescent ball size, and luminescent ball is upper and lower at camera view center and the offset distance of left and right, and these data collected are transferred to master control system by OTG line, upper and lower offset distance is calculated by the master controller of master control system, control steering wheel rotates, thus drive smart mobile phone to follow luminescent ball and swing up and down, reach and follow effect.
Above-mentioned smart mobile phone has front-facing camera application program, applied by the Mobile phone of Processing software development, this mobile phone application automatically unlatching smart mobile phone front-facing camera catches the band color object marked in its visual field, and calculates the size of object and offset distance that is upper and lower to camera view center and left and right.Above-mentioned steering wheel can rotate in the effect of master controller, by rotating and then driving smart mobile phone to carry out pitching motion in certain angle, and then can the position of seizure luminescent ball constantly.
Above-mentioned holding mechanism comprises two L-type support, and L-type support is fixedly mounted on the left and right sides of robot base apparatus head, and 180 degree of steering wheels are arranged on the top of L-type support, and the output shaft of 180 degree of steering wheels is connected with one of them claw.Can carry out holding action to object by claw, and then band animal body is followed robot and is moved together.
Above-mentioned claw has two and symmetrically installs, and all adopts quadric chain, and ensures the synchronous of its action by gears meshing, realizes the holding action of spheroid.
Above-mentioned obstacle avoidance system comprises each infrared ray sensor around, infrared ray sensor is fixed in the L-type support of holding mechanism by sensor stand, infrared ray sensor can detect the distance between itself and barrier, and by distance signal transmission to master controller.Infrared ray sensor is by the distance signal transmission that detects to master control system, and then the motion of control, can by controlling the rotation of the rotating band motor car wheel of motor, moves ahead, turns, stops and the action such as retrogressing to robot.
Above-mentioned robot base apparatus comprises chassis overhang, chassis overhang is provided with chassis upper plate, the left and right sides of chassis upper plate are provided with electric machine support, electric machine support is provided with motor, motor is connected with wheel by shaft coupling, the middle part that battery is arranged on chassis upper plate provides electric energy for motor, and the head of chassis upper plate is provided with two columns, is provided with universal wheel between column.The walking of robot can be realized by robot base apparatus.
Above-mentioned master control system, by the data of process luminescent ball to smart mobile phone camera view center left and right deviation, controls the rotating of two motors in left and right, thus makes robot flexible motion, and follow the trail of luminescent ball.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the utility model is described in further detail.
Fig. 1 is overall structure schematic diagram of the present utility model.
Fig. 2 is master control system of the present utility model and camera system for tracking structural representation.
Fig. 3 is the structural representation of holding mechanism of the present utility model and obstacle avoidance system.
Fig. 4 is robot chassis structure schematic diagram of the present utility model.
Fig. 5 is control system schematic diagram of the present utility model.
In figure: master control system 10, camera system for tracking 20, holding mechanism 30, obstacle avoidance system 40, base apparatus 50.
Motor drive module 101, voltage reduction module 102, master controller 103, Voltage stabilizing module 104, master controller expansion board 105, bluetooth module 106.
The U-shaped support 203 of steering wheel support 201, steering wheel 202, steering wheel, handset mounting 204, plastics trip bolt 205, smart mobile phone 206.
L-type support 301,180 degree of steering wheels 302, claws 303.
Sensor stand 401, infrared ray sensor 402.
Chassis upper plate 501, wheel 502, electric machine support 503, chassis overhang 504, motor 505, mount holder 506, battery 507, column 508, universal wheel 509.
Detailed description of the invention
Below in conjunction with accompanying drawing, embodiment of the present utility model is described further.
Implementation method of the present utility model relates to a kind of Wheeled Soccer Robot, as shown in Figure 1, it comprises robot base apparatus 50, the head of robot base apparatus 50 is provided with holding mechanism 30, holding mechanism 30 is provided with obstacle avoidance system 40, master control system 10 is arranged on robot base apparatus 50 by caudal upper surface, camera system for tracking 20 is arranged on the upper surface of robot base apparatus 50 near head, master control system 10 can accept, the picture signal that process camera system for tracking 20 transmits and the position signalling that obstacle avoidance system 40 detects, and then the action of control base apparatus 50 and holding mechanism 30.
As Fig. 2, master control system 10 comprises power supply, power supply is also master controller 103 by being connected with Voltage stabilizing module 104 with voltage reduction module 102 simultaneously, motor drive module 101, master controller expansion board 105 and bluetooth module 106 are powered, carry out reduced pressure operation by voltage reduction module 102 and can provide stable voltage for the different control module of each in master control system 10, be connected with master controller 103 wheel 502 of control base apparatus 50 of motor drive module 101 rotates, and then the walking of control, bluetooth module 106 can be connected by wireless signal transmission with the bluetooth of smart mobile phone, thus facilitate and carry out control with mobile phone.
Further, camera system for tracking 20 comprises smart mobile phone 206, smart mobile phone 206 is fixed on handset mounting 204 by plastics trip bolt 205, handset mounting 204 is connected with the U-shaped support 203 of steering wheel, steering wheel 202 is fixed on robot base apparatus 50 by steering wheel support 201, by opening preposition camera application programs on smart mobile phone 206, camera identification luminescent ball color also calculates luminescent ball size, and luminescent ball is upper and lower at camera view center and the offset distance of left and right, and these data collected are transferred to master control system 10 by OTG line, upper and lower offset distance is calculated by the master controller 103 of master control system 10, control steering wheel 202 to rotate, thus drive smart mobile phone 206 to follow luminescent ball and swing up and down, reach and follow effect.
Further, above-mentioned smart mobile phone 206 has front-facing camera application program, applied by the Mobile phone of Processing software development, this mobile phone application automatically unlatching smart mobile phone front-facing camera catches the band color object marked in its visual field, and calculates the size of object and offset distance that is upper and lower to camera view center and left and right.Above-mentioned steering wheel 202 can rotate in the effect of master controller 103, by rotating and then driving smart mobile phone 206 to carry out pitching motion in certain angle, and then can the position of seizure luminescent ball constantly.
As Fig. 3, holding mechanism 30 comprises two L-type support 301, L-type support 301 is fixedly mounted on the left and right sides of robot base apparatus 50 head, and 180 degree of steering wheels 302 are arranged on the top of L-type support 301, and the output shaft of 180 degree of steering wheels 302 is connected with one of them claw 303.Can carry out holding action to object by claw 303, and then band animal body is followed robot and is moved together.
Further, above-mentioned claw 303 has two and symmetrically installs, and all adopts quadric chain, and ensures the synchronous of its action by gears meshing, realizes the holding action of spheroid.
Further, above-mentioned obstacle avoidance system 40 comprises each infrared ray sensor 402 around, infrared ray sensor 402 is fixed in the L-type support 301 of holding mechanism 30 by sensor stand 401, infrared ray sensor 402 can detect the distance between itself and barrier, and by distance signal transmission to master controller 103.Infrared ray sensor 402 is by the distance signal transmission that detects to master control system 10, and then the motion of control, can by controlling the rotation of the rotating band motor car wheel 502 of motor 505, moves ahead, turns, stops and the action such as retrogressing to robot.
As Fig. 4, robot base apparatus 50 comprises chassis overhang 504, chassis overhang 504 is provided with chassis upper plate 501, the left and right sides of chassis upper plate 501 are provided with electric machine support 503, electric machine support 503 is provided with motor 505, motor 505 is connected with wheel 502 by shaft coupling, and the middle part that battery 507 is arranged on chassis upper plate 501 provides electric energy for motor 505, the head of chassis upper plate 501 is provided with two columns 508, is provided with universal wheel 509 between column 508.The walking of robot can be realized by robot base apparatus.
As Fig. 5, the specific works process of this Wheeled Soccer Robot and principle are:
(1) press the power switch of on voltage reduction module 102, start wheeled robot.
(2) open smart mobile phone 206, and click enters the application of corresponding mobile phone.
(3) front-facing camera of smart mobile phone 206 can be opened automatically, is caught the band color spheroid marked in its visual field by the camera of smart mobile phone 206.
(4) data are passed to master controller 103 by OTG line by spheroid image by smart mobile phone 206, master controller 103 calculates lower deviation on spheroid distance camera view center, control the rotation of steering wheel 202 again, and then regulate the luffing angle of smart mobile phone 206, catch the positional information of spheroid.
(5) master controller 103 calculates spheroid size in camera view, and arrives the deviation about camera view center, controls the rotating speed of two motors 505, realizes advance and the turning of robot.
(6) when object enters camera view centre, and time spheroid size reaches desired value, 180 degree of steering wheels 302 that master controller 103 controls in holding mechanism 30 rotate, thus claw 303 is closed, accurately lived by ball chuck, steering wheel 202 rotates, and smart mobile phone 206 returns to initial position.
(7) robot original place rotates at a slow speed, and is found by camera and marked the goal different from spheroid color, after camera captures goal, toward the motion of direction, goal.
(8) when goal is positioned at camera view centre, and time goal size reaches desired value, 180 degree of steering wheels 302 that master controller 103 controls in holding mechanism 30 rotate, thus make claw 303 unclamp, steering wheel 202 rotates, and smart mobile phone 206 returns to initial position.
(9) two motors 505, simultaneously with speed reversion, stop after robot slow astern segment distance, and then start to accelerate to advance, after striking ball, reverse rotating brake at once, completes shot.
Claims (7)
1. Wheeled Soccer Robot, it is characterized in that: it comprises robot base apparatus (50), the head of robot base apparatus (50) is provided with holding mechanism (30), holding mechanism (30) is provided with obstacle avoidance system (40), master control system (10) is arranged on robot base apparatus (50) by caudal upper surface, camera system for tracking (20) is arranged on the upper surface of robot base apparatus (50) near head, master control system (10) can accept, the picture signal that process camera system for tracking (20) is transmitted and the position signalling that obstacle avoidance system (40) detects, and then the action of control base apparatus (50) and holding mechanism (30).
2. Wheeled Soccer Robot according to claim 1, it is characterized in that: described master control system (10) comprises power supply, power supply is also master controller (103) by being connected with Voltage stabilizing module (104) with voltage reduction module (102) simultaneously, motor drive module (101), master controller expansion board (105) and bluetooth module (106) power supply, be connected with master controller (103) wheel (502) of control base apparatus (50) of motor drive module (101) rotates, bluetooth module (106) can be connected by wireless signal transmission with the bluetooth of smart mobile phone.
3. Wheeled Soccer Robot according to claim 1, it is characterized in that: described camera system for tracking (20) comprises smart mobile phone (206), smart mobile phone (206) is fixed on handset mounting (204) by plastics trip bolt (205), handset mounting (204) is connected with the U-shaped support of steering wheel (203), steering wheel (202) is fixed on robot base apparatus (50) by steering wheel support (201), by opening the upper preposition camera application programs of smart mobile phone (206), camera identification luminescent ball color also calculates luminescent ball size, and luminescent ball is upper and lower at camera view center and the offset distance of left and right, and these data collected are transferred to master control system (10) by OTG line, upper and lower offset distance is calculated by the master controller (103) of master control system (10), control steering wheel (202) to rotate, thus drive smart mobile phone (206) to follow luminescent ball and swing up and down, reach and follow effect.
4. Wheeled Soccer Robot according to claim 1, it is characterized in that: described holding mechanism (30) comprises two L-type support (301), L-type support (301) is fixedly mounted on the left and right sides of robot base apparatus (50) head, 180 degree of steering wheels (302) are arranged on the top of L-type support (301), and the output shaft of 180 degree of steering wheels (302) is connected with one of them claw (303).
5. Wheeled Soccer Robot according to claim 4, is characterized in that: described claw (303) has two and symmetrically installs, and all adopts quadric chain, and ensures the synchronous of its action by gears meshing, realizes the holding action of spheroid.
6. Wheeled Soccer Robot according to claim 1, it is characterized in that: described obstacle avoidance system (40) comprises each infrared ray sensor (402) around, infrared ray sensor (402) is fixed in the L-type support (301) of holding mechanism (30) by sensor stand (401), infrared ray sensor (402) can detect the distance between itself and barrier, and by distance signal transmission to master controller (103).
7. Wheeled Soccer Robot according to claim 1, it is characterized in that: described robot base apparatus (50) comprises chassis overhang (504), chassis overhang (504) is provided with chassis upper plate (501), the left and right sides of chassis upper plate (501) are provided with electric machine support (503), electric machine support (503) is provided with motor (505), motor (505) is connected with wheel (502) by shaft coupling, the middle part that battery (507) is arranged on chassis upper plate (501) is that motor (505) provides electric energy, the head of chassis upper plate (501) is provided with two columns (508), universal wheel (509) is installed between column (508).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520692961.3U CN205042100U (en) | 2015-09-09 | 2015-09-09 | Wheeled football robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520692961.3U CN205042100U (en) | 2015-09-09 | 2015-09-09 | Wheeled football robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205042100U true CN205042100U (en) | 2016-02-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520692961.3U Expired - Fee Related CN205042100U (en) | 2015-09-09 | 2015-09-09 | Wheeled football robot |
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| Country | Link |
|---|---|
| CN (1) | CN205042100U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963973A (en) * | 2016-07-04 | 2016-09-28 | 北京理工大学 | Soccer robot adjustable ball hitting rod system and method thereof |
| CN106924975A (en) * | 2017-03-08 | 2017-07-07 | 长兴浅橙电子科技有限公司 | A kind of toy car that can fix mobile phone |
| WO2018006361A1 (en) * | 2016-07-07 | 2018-01-11 | 深圳狗尾草智能科技有限公司 | Control method and system for virtual robot |
| CN108161887A (en) * | 2018-01-22 | 2018-06-15 | 东莞理工学院 | Two-wheeled vision robot with manipulator |
-
2015
- 2015-09-09 CN CN201520692961.3U patent/CN205042100U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105963973A (en) * | 2016-07-04 | 2016-09-28 | 北京理工大学 | Soccer robot adjustable ball hitting rod system and method thereof |
| WO2018006361A1 (en) * | 2016-07-07 | 2018-01-11 | 深圳狗尾草智能科技有限公司 | Control method and system for virtual robot |
| CN106924975A (en) * | 2017-03-08 | 2017-07-07 | 长兴浅橙电子科技有限公司 | A kind of toy car that can fix mobile phone |
| CN108161887A (en) * | 2018-01-22 | 2018-06-15 | 东莞理工学院 | Two-wheeled vision robot with manipulator |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20160224 Termination date: 20160909 |