CN206114175U - Biped robot ZMP measuring device - Google Patents
Biped robot ZMP measuring device Download PDFInfo
- Publication number
- CN206114175U CN206114175U CN201621132496.9U CN201621132496U CN206114175U CN 206114175 U CN206114175 U CN 206114175U CN 201621132496 U CN201621132496 U CN 201621132496U CN 206114175 U CN206114175 U CN 206114175U
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- module
- fsr
- zmp
- fsr sensor
- control chip
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Abstract
The utility model discloses a biped robot ZMP measuring device, including DC power supply module for provide stable direct -current voltage, main control chip module for biped robot 's FSR sensor information is read and handled, FSR sensor module adopts 8 FSR sensors to install around two feet of robot for obtain to measure the pressure on mounting point and ground, thereby calculate the ZMP position, serial communication module for realize main control chip module and external communication, bluetooth module realizes wireless bluetooth communication through serial bluetooth module to an interface of control ZMP associated data is provided, LED lamp output display module for state to the system shows. The utility model discloses an embedded main control chip STM32F101C8T6 and the low -cost FSR sensor that have 12 AD collection module of multichannel possess serial communication interface and bluetooth communication interface, have with low costs, interconnectivity good, the reliability is high and make advantages such as maintaining the convenience.
Description
Technical field
This utility model is related to the technical field of biped robot, refers in particular to a kind of biped robot ZMP measurement apparatus.
Background technology
How biped robot realizes that stabilized walking is always study hotspot problem, and ZMP (point of zero moment) is often used at present
Stability criterion often needs to utilize robot judging biped robot whether in steady statue during actual development
Sensor with it often at robot anklebone installs 6 axle torque sensors measuring and calculate ZMP positions at present, and
ZMP positions are calculated by moment information, but this method has following problem：1) torque sensor cost is very high, and price is several
Wan Yuan；2) torque sensor is heavier is not suitable for being arranged in the robot of below 80cm.By using FSR (force
Sensing register, pressure sensor piece) sensor calculates ZMP positions, and low cost simultaneously can be used for small biped robot,
Its principle：FSR can measure suffered pressure size, and hence with 8 FSR sensors, every foot installs 4 in surrounding,
ZMP positions can be calculated according to the pressure value that each is put.Mainly design herein and read these FSR sensor data dresses
Put, and ZMP positions can be calculated using main control chip.
The content of the invention
The purpose of this utility model is to overcome the deficiencies in the prior art and shortcoming, there is provided a kind of biped robot ZMP is surveyed
Amount device, calculates ZMP positions, so as to control biped machine by the 8 FSR sensor data read installed in two foot surroundings
Device people's stable motion.Simultaneously this device adopts the embedded chip main control chip with 12 A/D acquisition modules of multichannel, with string
Row communication interface and blue tooth interface, with preferable autgmentability.
For achieving the above object, technical scheme provided by the utility model is：A kind of biped robot ZMP measurements dress
Put, including：
DC power supplier, for providing stable DC voltage；
Master control chip module, for reading and processing biped robot's FSR sensor information；
FSR sensor module, using 8 FSR sensors two foot surroundings of robot are arranged on, for obtaining measurement peace
The pressure with ground is decorateeed, so as to calculate ZMP positions；
Serial communication module, for realizing Master control chip module and extraneous communication；
Bluetooth module, realizes that wireless blue tooth communicates by serial bluetooth module, there is provided the interface of monitoring ZMP related datas；
LED output display module, for showing to the state of system；
Wherein, the input power of the DC power supplier adopts 2 battery core lithium battery power supplies:7.2～8.4V, 2200mAh,
3.3V voltages are produced by using voltage stabilizing chip LM1117-3.3V provide power supply for Master control chip module；The master control coremaking
Piece module adopts STM32F101C8T6 chips, the chip to have 12 A/D acquisition interfaces of multichannel, wherein being realized using 8 road A/D
Reading to FSR sensor data simultaneously calculates ZMP positions；The FSR sensor module, including 8 road FSR sensor collection electricity
Road, each FSR sensor one end ground connection, the other end one resistance of series connection is connected to 3.3V, by the voltage energy for reading FSR sensor
Enough obtain current pressure size；The serial communication module by serial communication and extraneous other modules connections, so as to realizing and
External world's communication；The LED output display module is designed with 2 paths of LEDs circuits, and by connecting current-limiting resistance chip height is directly produced
Low level drives LED light on and off；The DC power supplier, FSR sensor module, serial communication module, bluetooth module, LED
Lamp output display module corresponds with Master control chip module connect respectively.
8 FSR sensor one end of the 8 road FSR sensor Acquisition Circuit connect respectively STM32F101C8T6 chips
AD0～AD7 is input into, and is respectively PA0, PA1, PA2, PA3, PA4, PA5, PA6 and PA7, while this port connects respectively partial pressure electricity
Resistance R1～R8 and filter capacitor C1～C8, the resistance other end is connected to simulation supply voltage VDDA, and the electric capacity other end is connected to mould
Intend ground AGND, simulation ground AGND is connected by magnetic bead L2 with ground GND, and analog voltage VDDA passes through magnetic bead L1 and supply voltage 3.3V
It is connected, and connects filter capacitor C9 to ground；The PB10/USART3_TX and PB11/USART3_RX of STM32F101C8T6 chips is straight
Serial communication module is connected in succession, so as to realize communicating with external chip；The PA9/USART1_TX of STM32F101C8T6 chips
With the RXD and TXD that PA10/USART1_RX is directly connected to serial bluetooth module, so as to realize function of Bluetooth communication；
The PB12 and PB13 of STM32F101C8T6 chips connects display lamp D1 and D2 to ground respectively through resistance R9 and R10, so as to realize
LED display control.
This utility model compared with prior art, has the advantage that and beneficial effect：
This device can realize that biped robot ZMP is measured, by reading the 8 FSR sensings for being arranged on two foot surroundings
Device data calculate ZMP positions；Simultaneously this device is using the embedded main control chip with 12 A/D acquisition modules of multichannel and low
Cost FSR sensor, possesses serial communication interface and bluetooth communication interface, and with low cost, interconnectivity is good, reliability is high and makes
The advantages of making easy to maintenance.
Description of the drawings
Fig. 1 is structure diagram of the present utility model.
Fig. 2 is chip connection figure of the present utility model.
Specific embodiment
With reference to specific embodiment, the utility model is described in further detail.
As shown in figure 1, the biped robot's ZMP measurement apparatus described in the present embodiment, including：
DC power supplier 1, for providing stable DC voltage；
Master control chip module 2, for reading and processing the FSR sensor information of biped robot；
FSR sensor module 3, using 8 FSR sensors be arranged on 2 foot surroundings of robot, for obtain mount point with
The pressure on ground, so as to calculate ZMP positions；
Serial communication module 4, for realizing Master control chip module 2 and extraneous communication；
Bluetooth module 5, realizes that wireless blue tooth communicates by serial bluetooth module, so as to provide monitoring ZMP related datas
Interface；
LED output display module 6, for showing to the state of system.
Wherein, the input power of the DC power supplier 1 adopts 2 battery core lithium battery power supplies:7.2～8.4V,
2200mAh, it is that Master control chip module 2 provides power supply to produce 3.3V voltages by using voltage stabilizing chip LM1117-3.3V；It is described
Master control chip module 2 adopts STM32F101C8T6 chips, the chip to have 12 A/D acquisition interfaces of multichannel, wherein the design
The reading to FSR sensor data is realized using 8 road A/D and calculate ZMP positions；The FSR sensor module 3, including 8 tunnels
FSR sensor Acquisition Circuit, causes resistance of sensor to change when pressure change, therefore each FSR sensor one is terminated
Ground, the other end one resistance of series connection is connected to 3.3V, and by reading the voltage of FSR sensor current pressure size can be obtained；Institute
Serial communication module 4 is stated by serial communication and extraneous other module connections, so as to realize and extraneous communication；The bluetooth module
5 realize that wireless blue tooth communicates by serial ports bluetooth module, so as to can wireless monitor ZMP related datas；The LED output display
Module 6 is designed with 2 paths of LEDs circuits, and by connecting current-limiting resistance chip low and high level driving LED light on and off are directly produced.
As shown in Fig. 28 FSR sensor one end of 8 road FSR Acquisition Circuit connect respectively STM32F101C8T6 chips
AD0～AD7 be input into, be respectively PA0 (No. 10 pins), PA1 (No. 11 pins), PA2 (No. 12 pins), PA3 (No. 13 pins),
PA4 (No. 14 pins), PA5 (No. 15 pins), PA6 (No. 16 pins) and PA7 (No. 17 pins), while this port connects respectively point
Piezoresistance R1～R8 and filter capacitor C1～C8, the resistance other end is connected to simulation supply voltage VDDA, the connection of the electric capacity other end
To simulation ground AGND；Simulation ground AGND is connected by magnetic bead L2 with ground GND, and analog voltage VDDA is by magnetic bead L1 and supply voltage
3.3V is connected, and connect filter capacitor C9 to, so as to disturbing of reducing that analog circuit is subject to；STM32F101C8T6 chips
PB10/USART3_TX (No. 21 pins) and PB11/USART3_RX (No. 22 pins) are directly connected to serial communication module, so as to
Realize and external chip communication；The PA9/USART1_TX (No. 30 pins) of STM32F101C8T6 chips and PA10/USART1_RX
(No. 31 pins) is directly connected to the RXD and TXD of serial bluetooth module, so as to realize function of Bluetooth communication；
The PB12 (No. 25 pins) and PB13 (No. 26 pins) of STM32F101C8T6 chips is indicated respectively through resistance R9 and R10 connection
Lamp D1 and D2 to ground, so as to realize LED display control.
The examples of implementation of the above are only the preferred embodiment of this utility model, not limit of the present utility model with this
Practical range, therefore the change that all shapes according to this utility model, principle are made, all should cover in protection domain of the present utility model
It is interior.
Claims (2)
1. a kind of biped robot ZMP measurement apparatus, it is characterised in that include：
DC power supplier, for providing stable DC voltage；
Master control chip module, for reading and processing biped robot's FSR sensor information；
FSR sensor module, using 8 FSR sensors two foot surroundings of robot are arranged on, for obtaining measurement mount point
With the pressure on ground, so as to calculate ZMP positions；
Serial communication module, for realizing Master control chip module and extraneous communication；
Bluetooth module, realizes that wireless blue tooth communicates by serial bluetooth module, there is provided the interface of monitoring ZMP related datas；
LED output display module, for showing to the state of system；
Wherein, the input power of the DC power supplier adopts 2 battery core lithium battery power supplies:7.2～8.4V, 2200mAh, pass through
3.3V voltages are produced using voltage stabilizing chip LM1117-3.3V provide power supply for Master control chip module；The Master control chip mould
Block adopts STM32F101C8T6 chips, the chip to have 12 A/D acquisition interfaces of multichannel, wherein being realized to FSR using 8 road A/D
The reading of sensing data simultaneously calculates ZMP positions；The FSR sensor module, including 8 road FSR sensor Acquisition Circuit, often
Individual FSR sensor one end ground connection, the other end one resistance of series connection is connected to 3.3V, can be obtained by reading the voltage of FSR sensor
Obtain current pressure size；The serial communication module by serial communication and extraneous other modules connections, so as to realize and extraneous
Communication；The LED output display module is designed with 2 paths of LEDs circuits, and by connecting current-limiting resistance chip height electricity is directly produced
It is flat to drive LED light on and off；The DC power supplier, FSR sensor module, serial communication module, bluetooth module, LED are defeated
Go out display module to connect with Master control chip module one-to-one corresponding respectively.
2. a kind of biped robot ZMP measurement apparatus according to claim 1, it is characterised in that：The 8 road FSR sensings
8 FSR sensor one end of device Acquisition Circuit connect respectively AD0～AD7 inputs of STM32F101C8T6 chips, are respectively
PA0, PA1, PA2, PA3, PA4, PA5, PA6 and PA7, while this port connects respectively divider resistance R1～R8 and filter capacitor C1
～C8, the resistance other end is connected to simulation supply voltage VDDA, and the electric capacity other end is connected to simulation ground AGND, and simulation ground AGND leads to
Cross magnetic bead L2 to be connected with ground GND, analog voltage VDDA is connected by magnetic bead L1 with supply voltage 3.3V, and connects filter capacitor C9
To ground；The PB10/USART3_TX and PB11/USART3_RX of STM32F101C8T6 chips is directly connected to serial communication module,
So as to realize communicating with external chip；The PA9/USART1_TX and PA10/USART1_RX of STM32F101C8T6 chips is straight respectively
The RXD and TXD of serial bluetooth module are connected in succession, so as to realize function of Bluetooth communication；The PB12 of STM32F101C8T6 chips and
PB13 connects display lamp D1 and D2 to ground respectively through resistance R9 and R10, so as to realize LED display control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621132496.9U CN206114175U (en) | 2016-10-18 | 2016-10-18 | Biped robot ZMP measuring device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621132496.9U CN206114175U (en) | 2016-10-18 | 2016-10-18 | Biped robot ZMP measuring device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206114175U true CN206114175U (en) | 2017-04-19 |
Family
ID=58526157
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621132496.9U Expired - Fee Related CN206114175U (en) | 2016-10-18 | 2016-10-18 | Biped robot ZMP measuring device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206114175U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712267A (en) * | 2018-08-17 | 2018-10-26 | 上海市共进通信技术有限公司 | CATV photoreceivers communicate the power supply circuit construction that electrostatic resistance function is realized in integrated system with PON |
-
2016
- 2016-10-18 CN CN201621132496.9U patent/CN206114175U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108712267A (en) * | 2018-08-17 | 2018-10-26 | 上海市共进通信技术有限公司 | CATV photoreceivers communicate the power supply circuit construction that electrostatic resistance function is realized in integrated system with PON |
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| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170419 Termination date: 20191018 |