CN207345971U - A kind of Soccer robot - Google Patents
A kind of Soccer robot Download PDFInfo
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- CN207345971U CN207345971U CN201721137738.8U CN201721137738U CN207345971U CN 207345971 U CN207345971 U CN 207345971U CN 201721137738 U CN201721137738 U CN 201721137738U CN 207345971 U CN207345971 U CN 207345971U
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Abstract
It the utility model is related to a kind of Soccer robot, it includes induction system, control system and walking mechanism, the induction system gathers signal and sends the control system to, and the control system sends control signal and controls the walking mechanism, and the walking mechanism includes：First shock platform, the 3rd impact platform and the driving robot center of gravity tilting gearing, robot movable is flexible, and actuating speed is fast, optimization impact platform design, more motor linkages controls, it is possible to achieve dribbling for a long time is moved, acted blindly, fast reaction etc..
Description
Technical field
The utility model patent is related to a kind of novel robot, especially realizes and acts blindly and have the new of excellent antagonism
The turning joint of robot and with lower part.
Background technology
Present Attitude is specialized, intelligentized Soccer robot has emerged, and in world's Soccer robot contest
It is employed, the match of this Soccer robot, such as the international robot combined meetings of FIRA and ROBOTCUP worlds robot soccer
World Cup Competition, with very strong ornamental value and interest, receives liking for the people of the world, especially mechanical engineer, electronics
Engineer's, even Software Engineer has deep love for.The robot of this confrontation football match is participated in, to there is flexible movement
The brain and strong intelligent controlling device of joint and commander's movement.Present robot, is mostly that apish movement is closed
Save to manufacture, but this theory relative maturity, but be intended to make robot specific between football control and multiple and its people
Coordinate and coordinate, it appears it is very clumsy, because robot is in itself without too many perception, and no flexible mechanical movement
The motion control of ability, especially joint will could be realized with a series of commander.
In the robot soccer World Cup Competition of the ROBOTCUP worlds, it is to control a machine by everyone to have a type
People, realizes that the football between troop coordinates by the manipulation of people, is to realize machine by remote controler or smart handle
Control of the people to football, this process are still that the intellection of people and limb action are participated in robot soccer contest, are
A kind of play sport of people, is like the rule match toy car according to football, and ornamental value is not big enough.In addition, in control football machine
During device people, it will usually which having allows to produce the conflict of collision between robot, and this requires robot has very high spirit
Activity and anti-impact force, the reaction speed being even exceedingly fast.And in the robot soccer competition after existing upgrading, it is desirable to machine
The complete intelligent control of device people, it is not necessary to which people participates in robot soccer competition as the player of Soccer robot, this is to robot height
Fast other robot for moving and being accurately positioned on court etc. proposes very high requirement.Therefore need one kind can flexibly certainly
The joint of the Soccer robot of dynamic control, can be in the case where other detection signals provide instruction, using the sensitive rotation of high speed
Stepper motor drive the Soccer robot to realize the match of Soccer robot according to control.
A kind of apery Soccer robot leg mechanism of connection in series-parallel mixing is disclosed in the prior art, including it is hinged successively
Hip joint, two thick links, knee joint, two shank links, ankle-joint and sole, at left and right sides of the lower part of shank link
Ankle-joint driving unit, the rotation axis coincident of two ankle-joint driving units are installed with, its back passes through the first ankle
Joint fastening block and the second ankle-joint fastening block are connected, and pass through bearing phase between the back shaft of two ankle-joint driving units
Even, etc. mechanical structure, solve the problems, such as that prior art leg mechanism inertia is excessive, rigidity is insufficient；But this robot
Structure Shortcomings still in intelligent and flexibility, can not adapt to the match of modern soccer robot.In addition, the prior art
In for CN205022730U be disclosed the leg shape structure-improved of anthropomorphic robot a kind of such as application publication number, mainly by humanoid machinery
The both sides leg shape framework of people's undercarriage tool composition, is mutually assembled according to parallel bar, and wherein stage casing junction is set with electromechanical locks stationary positioned,
A knee joint shape is formed, coordinates parallel rod upper end and links bottom with sole, done respectively with servomotor motor axially different
The control that turns link, the bent arc for forming similar leg turns control operation, by the assembling of parallel rod, horse when making robot frame support positioning
The output reached, can receive Labor-saving safety and consolidate certain humanoid safety operation control purpose.But this supporting structure, stability are good
Flexibility deficiency,
There is very big limitation to the speed of travel of robot.And leg inertia is too big, it is unfavorable for long-time walking situation.
Under prolonged walking, the problem of inertia too conference causes robot energy loss excessive, occurs.
In the prior art, a kind of robot foot based on ant group algorithm is disclosed in Chinese patent 2014102998879
Ball dynamic decision devices and methods therefor, superiority and ant group algorithm based on mankind's football strategy theory are found in dynamic environment
The high efficiency of optimal path, it is proposed that a kind of robot soccer dynamic decision devices and methods therefor based on ant group algorithm, passes through
Competition field situation and state are subjected to analysis refinement, and using robot tactical mission effect as feedback, with decision-making, assessment, determined again
The mode of plan, makes the strategy of most suitable current situation, is conducive to improve the specific aim and validity of one's own side's tactics strategy, has
Certain dynamic self-adapting ability；Robot soccer dynamic decision device, including following module：Information monitoring and extraction mould
Block, Situation Assessment module, action decision-making module and recruitment evaluation and feedback module, information monitoring have been used for extraction module
The extraction of paired court information, Situation Assessment module carries out data process＆analysis to the court information of extraction, to court situation
Total evaluation is made, assessment result is divided into offensive, is based on compared with offensive, equilibrium, compared with defensive, defensive and crisis, action decision-making module
The assessment result of Situation Assessment module, in limited robot car action group, action decision-making is carried out with certain probability, choosing
Remove the action scheme of a progress.Recruitment evaluation and expection implementation effect and actual implementation effect of the feedback module to action scheme
Compare and analyze, and modified according to analysis result to the priority of action scheme, when actually holding for this action scheme
Row effect reaches expected implementation effect judge the action scheme of Soccer robot.
The utility model patent is a kind of structure of the leg of the flexible joint of anthropomorphic robot, using stepper motor or control
The activity in motor control joint processed, under corresponding activity ratio, the advance and retreat of the paces of stringent control robot, this motor
Control is built upon what is realized under corresponding control structure and computing mode, can so ensure that Soccer robot is flexibly transported
Move and hide the impact in confrontation, and the sensor on head, so as to obtain good visual effect, generation is preferable empty
Between judge, and football trace ability can be in simple structure, lower completion intelligent control, in addition with other Soccer robots it
Between produce information sharing, complete the cooperation of team, and this robot uses new structure design, easy to manufacture, cost is not
It is high.
The content of the invention
The purpose of this utility model is to provide a kind of simple in structure, easy to manufacture, flexible motion, cost is not high, operation
Simple robot architecture, is coordinated using the installation between good joint designs and stepper motor, and motor control, information
Collection and excellent computerized algorithm etc., overcome and operate hardly possible in the prior art, and its people is dumb, it is impossible to smart in operation
Quasi- control, completes dribbling and runs, hides the effects such as opponent's impact.
A kind of Soccer robot, including induction system, control system and walking mechanism, the induction system collection signal is simultaneously
Send the control system to, the control system sends control signal and controls the walking mechanism, it is characterised in that the row
Mechanism is walked as knee and its is included with lower portion, the walking mechanism：Described in first shock platform, the 3rd impact platform and driving
Robot center of gravity tilting gearing, the 3rd impact platform area are more than the first shock platform area and positioned at described first
The top of impact platform；The center of gravity tilting gearing further includes worm screw, worm gear, drive component, the worm screw include the first worm screw,
Second worm screw, the 3rd worm screw；The worm gear includes the first worm gear and the second worm gear；The driving component includes top driving group
Part, middle part drive component and lower part drive component；The first shock platform and the 3rd impact platform of rounded square exist
The induction system is fitted with each direction, and the control system drives machine according to the pressure direction of the induction system
People moves.
Further include, the first shock platform is installed above first pair of upper support arm, and first pair of upper support arm is provided with
First worm-wheel shaft, the first worm gear is installed with first worm-wheel shaft and is supported is supported under the first couple of the second workbench
Arm；The first T-shaped supporting rack is installed between described a pair of support arms, lower part snail is installed on first supporting rack
Bar and the lower part drive component for driving first worm screw.
Further include, second pair of upper support arm is installed on second workbench, second pair of upper support arm is provided with
Two worm-wheel shafts, the second worm gear are installed with second worm-wheel shaft and is supported are supported under the second couple of the first workbench
Arm；The second T-shaped supporting rack is installed between second pair of support arm, middle part snail is installed on second supporting rack
Bar and the middle part drive component for driving the middle part worm screw.
Further include, the support of bearing on first workbench connects the 3rd impact platform, the support of bearing
On top drive component drive the top worm screw to drive second worm gear by bevel planet gear；Soft shell is connected to
Between the first shock platform and the 3rd impact platform, the center of gravity tilting gearing is wrapped up.
Further include, the foot parts of multi-motor synchronous control, the foot parts are installed under the first shock platform
In each motor carry a control circuit, the control circuit include control power supply sequential pulse power source control circuit,
The ON-OFF control circuit of regulation motor operation, ensure the crystal oscillating circuit of motor stabilizing driving, with open collector High voltage output
The motor timings control circuit of six buffers；Wherein described motor timings control circuit connects current-limiting resistance respectively.
Further include, the crystal oscillating circuit being made of two capacitances and an inductor connects clock circuit pin, described
Two capacitances are grounded after being connected in parallel；Connection is electrically connected pull-up electricity between the pulse power source control circuit and chip controls pin
Resistance.
For the utility model patent compared with similar intelligent robot, the utility model patent, which employs, has imitated mankind's activity
Knee joint and one roller of double drive mode activated is used with lower component, actuating speed is fast, and robot movable is flexible, reaction it is fast
Speed；Optimize impact platform design, it is possible to achieve dribbling movement for a long time；Design of acting blindly is employed, reaction is flexible；Employ vision
System monitors at the same time with pressure capsule system, and sets monitoring to have selected preferential letter according to the distance between football and robot
Number set-up mode, realizes and acts blindly with automatically controlling；Good circuit for controlling motor is employed, can realize more motor linkages
Control, realizes fast reaction of Soccer robot, etc..
Brief description of the drawings
Fig. 1 is a kind of Soccer robot of the prior art.
Fig. 2 is the knee and the following modular construction schematic diagram of knee of the Soccer robot of the utility model patent.
Fig. 3, Fig. 4 are the cut-away section signals of the Soccer robot knee and shank rotatable parts of the utility model patent
Figure.
Fig. 5 is Soccer robot partial schematic diagram.
Fig. 6 is the utility model Soccer Robot Control Circuit schematic diagram.
Fig. 7 is the utility model Soccer robot to vision system mirror image schematic diagram.
Fig. 8 is the vision control system frame diagram of the utility model Soccer robot.
Fig. 9 is the network schematic diagram of the control system of the utility model Soccer robot.
Figure 10 is the vision system and control principle drawing of the utility model Soccer robot.
Figure 11 is the circuit for controlling motor schematic diagram of the utility model Soccer robot.
Embodiment
Fig. 1 is a kind of Wheeled Soccer Robot of the prior art, and Soccer robot is included between upper plate and lower plate
Motion motor mechanism, the flat fire mechanism and suction ball mechanism being fixed in lower plate, are fixed on upper plate, choosing among upper plate
Mechanism is penetrated, upper plate is arranged in parallel with lower plate, couples by cylindrical support, and flip shot mechanism includes being fixed on the flip shot pull rod of upper plate
Component and the flip shot shovel component for being fixed on lower plate, flip shot rod assembly are flexibly connected by flip shot balladeur train with flip shot shovel component, put down
Penetrate mechanism flat fire scoop shuttle in flip shot shovel component formed batting mouth or shuttle in suction ball mechanism formation
Ball suction mouth.Motor is connected by reduction box with omni-directional wheel passes to omni-directional wheel movement, so that omni-directional wheel can be transported smoothly
Turn；The utility model provides a kind of small and perfect in shape and function Soccer robot, it can be achieved that Omni-mobile, suction ball, flat fire, choose
The action such as penetrate, and integrated level is higher, it is compact-sized, efficiently use space.But the shortcomings that this robot be function excessively
It is more, central processing unit can not separate computations, and sensor sensing is not sensitive enough, the cooperation such as sensor and motor it is corresponding not enough
It hurry up, can not be in football match, faster realize is scored.
The utility model is a kind of Soccer robot, including induction system, control system, walking mechanism, vehicle with walking machine
Structure mainly includes having imitated the knee of mankind's activity and its with lower portion, as shown in Fig. 2, the knee and knee of the utility model with
Lower component, specifically includes, soft shell 123, first shock platform 1, drive component 2 (including 21,22,23), worm screw (bag
Include three scroll bars (lower part worm screw 120, top worm screw 121, middle worm screw 123), the second workbench 4, turbine 5 from top to bottom
(including turbine 51,52), the 3rd impact platform 6, the first workbench 7.Between 1 and the 3rd impact platform 6 of first shock platform
Component (worm gear, worm screw, drive component, the first workbench, second workbench etc.) composition robot center of gravity tilting gearing,
Robot is accelerated quickly to start.
It is embodied in robot, (the first pair of upper support of a pair of 1 font upper support arm is fixed with first shock platform 1
Arm), this is provided with the first worm screw to being provided with the first T-shaped supporting rack between upper support arm on first supporting rack
120, the first worm screw 120 connection lower part drive component 23, lower part drive component 23 drives the rotation of the first worm screw, the first worm screw 120
The first worm gear 52 is driven to rotate.First worm gear 52 drives the first worm-wheel shaft 32 to rotate, and the is installed with the first turbine wheel shaft 32
1 font first of the second workbench 4 of one worm gear 52 and support is to lower support arm, and the second workbench 4 is with first lower
Brace rotation and left-right rotation, realize that robot rolls.
Middle part worm screw 122 is driven by drive component 22, and middle part worm screw 122 is installed on the second supporting rack of inverted T-shape shape
On, which is fixedly mounted on the second workbench 4, is provided with a pair of 1 font the on the second workbench 4 at the same time
Two support arms (non-label, figure in have shown that), cross is arranged at second support arm each other with the second T-shaped supporting rack
On second workbench, wherein the height of 1 the second supporting rack of font is higher than the second support arm of T fonts.Assembled on 1 font supporting rack
There is the second worm-wheel shaft 31, which rotates on 1 font supporting rack drives double-arm the of the first workbench 7 of support
Two pairs of lower support arms rotate, forward lean or layback with mobile robot.
The both ends of top worm screw 121 are fixed on the L-type support of bearing 30 by bearing, and top worm screw 121 being capable of opposite branch
Frame rotates clockwise or counterclockwise, its middle and upper part worm screw 121 is connected to bearing branch in one end away from top drive component 21
Frame 30,30 top of the support of bearing connect the 3rd impact platform 6, and 30 lower part of the support of bearing connects the first workbench 7, top worm screw
The second worm gear 51 is driven to rotate by bevel planet gear structure (not shown) between 121 and worm gear 5, for quick response,
Its middle and upper part worm screw 121 and middle part worm screw 122 can drive worm gear 51 to rotate at the same time, ensure promptness and the accuracy rotated.
The rotation of wherein the second worm gear 51 clockwise and anticlockwise can drive the second turbine wheel shaft 31 to rotate, two on the second turbine wheel shaft
Double-arm support arm supports the first workbench 7, and the second worm gear rotations side is to the front and back of reply robot, and guarantee
One of important measures that robot quickly moves forward, moves afterwards.
Drive component 21,22,23 includes, and driving motor, motor rack and motor control assembly are, it can be achieved that around X, Y, Z tri-
The rotary motion of a axis；The signal of wherein motor control assembly is signal (vision system signal and the sensing according to induction system
Device signal) it is controlled, the content of specific control mode carries out independent description below.
1 and the 3rd impact platform 6 of first shock platform is rounded square, is fitted with pressure sensing in each direction
Device, the sensor 111 on first shock platform 1, the sensor 311 on the 3rd impact platform 6 are pressure sensor, these pressures
Force snesor can be common sensing electronics.The number of sensor is set generally according to the size of impact platform, and
Central processing unit is to the numbering of sensor, Data processing reference as computer programming of this numbering in central processing unit
Value.Pressure sensor 111,311 can perceive the strength and direction when football is hit, wherein strength and direction by shock
Judge football hit after the direction of motion, central processing unit can make in the case where visual response system is not issued an order
The order of foot movement is driven, which sends the rotating wheel of foot to, allow it to make corresponding movement, specific mode of operation
Make an explanation in drive circuit below.
When football strikes first shock platform, three impact platforms during exercise, it may occur that elastic deformation, wherein
The process reaction of deformation goes out the size of stress, and football hits initial stage, is compressive deformation, its movement velocity gradually subtracts during being somebody's turn to do
Small, after speed is reduced to 0, deformation that football expands gradually recovers spherical, football does the fortune of opposite direction in the deformation
Dynamic, the speed of the bigger pop-up of deformation is faster.The deformation process of football is taken full advantage of in the utility model, is reached in pressure sensor
When to maximum pressure, according to pressure direction, central processing unit driving robot motion, this mode causes the fortune of robot
Move and just moved after changing earlier than football is visually seen, therefore this robot can only rely on the machine of visual movement than other
Device person's development speed is sensitiveer, has fully imitated inspired football player.
Shell 123 is flexible pleat material, is connected between 1 and the 3rd impact platform 6 of first shock platform.Shell 123
All device features between 1 and the 3rd impact platform 6 of first shock platform are coated so that knee rotatable parts are in rotation
The influence hit from football, and ensure that the action such as fall down to the ground of other Soccer robots is placed in football have impact on,
For the activity between 1 and the 3rd impact platform 6 of first shock platform, safety protection function is played.Especially, flexible material can
To prevent from wherein controlling the circuit of driving part to be knocked, the failure such as signal errors or short circuit is produced, overcomes common football
Robot in confrontation of robot meets with the situation of unexpected failure after shock.
First shock platform 1 is the square of fillet, and the angle of positive direction is that the radian of fillet is very with cambered fillet
It is small, for the ease of control, sensor is no longer set at fillet.3rd impact platform 6 is also the square of fillet, the angle of positive direction
For with cambered fillet, the radian very little of fillet, for the ease of control, sensor is no longer set at fillet.Due to arc
The width of the fillet of degree is maximum, is shown in experimental data, the probability and football that the cambered fillet of this band is hit with opponent
The ratio of hit probability substantially 11:1；In Computer Simulation, or even the shock between Soccer robot in some experiments
It is far to have exceeded the probability hit with football, due to bigger among the setting usually of other footballs machine people,
The probability that 3rd impact platform 6 hits other Soccer robots hits the general of other Soccer robots more than first shock platform 1
Rate.1 or the 3rd impact platform 6 of first shock platform of approximating square, ensure that in the confrontation of football match, can make
Other footballs machine people is hit with the 3rd impact platform 6, uses the more shock football of first shock platform；Therefore the
The area of three impact platforms 6 will be slightly larger than the area of first shock platform 1.In countermeasures simulation experiment, the football of above-mentioned design
Robot, can preferably meet football confrontation and score.
In the utility model, in another embodiment, the thickness of the 3rd impact platform 6 is designed as than first shock platform
1 is thick, is about 2 times of first shock land thickness.First shock platform 1 and the area of the upper surface of the 3rd impact platform 6 are big
Small to be slightly different, the length of side of the periphery of first shock platform 6 is merely greater than peripheral 2-5 centimetres of the length of side of the 3rd impact platform 1；Both it
Between it is different only different in the thickness also in striking face, other aspects are all identical.First shock platform 1 and the 3rd hits flat
The distance between platform 6 is less than the diameter of football, provides that the size of robot is less than 18 centimetres for diameter in small-sized group of laws of the game,
Highly be less than 15 centimetres, prevent football to be stuck between the two, and ensure to hit the position of football in first shock platform 1 or
3rd impact platform 6.The area of second platform 4 is less than the area of 1 or the 3rd impact platform 6 of first shock platform, and football exists
The second platform will not be struck in spring or air walk.This design ensure that football only hits first shock platform 1, or
Person hits 1 and the 3rd impact platform 6 of first shock platform at the same time, or only hits the 3rd impact platform 6.
When hitting first shock platform 1 and the 3rd impact platform 6 at the same time, since the area of the 3rd impact platform 6 is more than
The area of first shock platform, football can the 3rd impact platform 6 of preferential contact under most probability so that the direction of motion of football is
Forward downward moves, and is conducive to robot control football and advances；Realize the situation of robot dribbling movement.Before this design is
The function that does not have of Soccer robot.
Fig. 2 is the general configuration schematic diagram of Soccer robot lower part entirety in another embodiment of the utility model.In addition
Embodiment in, there is aggressive robot for some, the shell 123 of knee rotatable parts is the outer of two sections of stainless steel
Shell, it is ensured that not bad by card in confrontation, this design causes the leg of robot more like the leg of people.Figure 2 illustrates this
Structure.In Fig. 2, it is approximate rectangular also by foot of robot part design, is the outside that protective cover has been placed on to roller, in machine
Be still roller close to the inner portion in device people movement to move, this design so that robot more like the mankind.Robot foot parts
Structure illustrate below.
The utility model knee rotatable parts employ turbine and worm drive system, which utilizes turbine
Worm-drive single staged transmission ratio is big, compact-sized, stable drive, noiseless, has the advantages that auto-lock function, greatly improves space
Utilization rate, reduces mechanism quality, so as to achieve the purpose that to reduce driving device burden.
The first shock platform 1 of Soccer robot is mounted below robot foot parts, is driving robot ambulation
Major part, the part include the components such as roller 101, stepper motor 103, universal joint 104, protective cover 102.Foot of robot
Component carries four rolling 101, when being separately positioned on below first shock platform 1, and looked at straight from above, does not expose
First shock platform 1, figure 2 illustrates three.It is, in football, it is ensured that do not have football and strike roller.
Being driven above each roller 101 by stepper motor 103, universal joint 104 connects stepper motor 103 and first shock platform 1,
Four rolling is designed on four angles of first shock platform 1, under the driving of stepper motor 103, can drive roller at the same time
101 rotate (roller is omni-directional wheel), drive Soccer robot to move toward the direction, and this Soccer robot is typically logical
Cross and hit football during exercise, or football is hit in other Soccer robots so that after football, strike first shock
On 1 or the 3rd impact platform 6 of platform so that football.Since current Soccer robot hits the dynamics of football not
Greatly, the size of football is more much smaller than general football and in robot soccer game, so most of football activity can strike
First shock platform 1.Protective cover 102 is installed on the side of universal joint 104, for protecting universal joint 104, stepper motor 103, with
And house portions roller 101.In a preferred embodiment, can be installed on selected section visual response system in protective cover, depending on
Feel the direction of motion of induction system observation football, drive command directly is made to stepper motor 103.In this patent, centre
Device is managed in the signal that visual response system provides, when football is not in court and in net, central processing unit provides
Signal be exactly that Soccer robot abuts football, allow football under the shock of robot constantly to other side net advance.Also
It is to imitate the activity of football player's dribbling, these activities are made by the instruction of central processing unit to complete.Step therein
Stepper motor can be replaced with the more preferable brshless DC motor of control performance, but this replacement can be obviously improved cost.
In another embodiment, first shock platform 1, the 3rd impact platform 6 are the high materials of the light intensity of quality, and protective cover is
The high alloy material of intensity, such as aluminium alloy；Roller uses omni-directional wheel, Soccer robot can be made to keep itself during the motion
Posture is constant, and roller is equipped with anticollision block, can effectively prevent omni-directional wheel from failing and deforming caused by collision in confrontation.
In another embodiment of the utility model, the height h of foot parts1It is slightly lower than football height h2(√ 5-
1)/2 times, it is being superimposed with the thickness h of first shock platform 13Half when, i.e. the centre-to-centre spacing of first shock platform 1 is liftoff
The height H=h in face1+h3/ 2=(√ 5-1) h2/ 2, when football percussion first shock platform 1, the center of gravity of football is in foot
Below portion's component, so that the Impact direction of football can cause football total in ground, this robot diagonally downward
It is near oneself, without remote Soccer robot, when the running speed of Soccer robot is set, according to football
The coefficient of elasticity of stress and football, by founding mathematical models, can pass through sensor in the experiment of Computer Simulation
The speed and angle of leaving first shock platform 1 of clearly definite football, the solution of this mathematical modeling, verification, analyze again,
Modification assumes and in the iteration of solution that since parameter is fewer data are relatively definite.
In the football match of simulation, football hits first shock platform 1, or hit at the same time first shock platform 1 with
3rd impact platform 6, or the probability of only the 3rd impact platform 6 of shock are substantially stablized:27：2:1.This statistics it is general
Rate, makes preferential specific motor for central processing unit and gives selection, as long as therefore football shock first shock platform 1 just
Variety of priority driven stepper motor 103, rather than other transmission mechanisms, ensure that the movement of Soccer robot and football is synchronous.If
The judgement made is wrong, then the football position provided according to visual sensing system, makes adjustment.
Fig. 3, Fig. 4 are the partial cutaway schematic views of knee and shank rotatable parts, the robot knee of the utility model and
Shank rotatable parts have imitated the mode of mankind's activity, employ the gear mechanism of multistage, and here is for this in emulation experiment
The modeling of utility model, modeling below are conducive to understand the utility model.
Rotatable parts are respectively θ in movement input quantity1, θ2And θ3, output quantity ψ1, ψ2And ψ3, its middle and upper part worm screw 121
The movement input quantity of rotation is respectively θ1, driving lower part bevel gear, which rotates, drives worm gear 51 to rotate, and is fixed on the second turbine wheel shaft
Support arm rotate with axis, output quantity ψ1, this input quantity is that corresponding driving motor provides, and it is for top to export
What the change of the turbine 51 below worm screw 121 is corresponding provided, the gear structure of the superiors in this structure corresponding diagram 2.Equally
Structure cause middle part worm screw 122 movement input component θ2The output quantity of second worm-wheel shaft of corresponding turbine 51 is ψ2；Lower part
It is θ that worm gear 120, which corresponds to input quantity,3The output quantity of corresponding turbine is ψ3.The change of these corresponding amounts is by specific differential public affairs
Formula, is realized in the formula that substantial amounts of experimental data Imitating calculates.Knee and shank rotatable parts drive path are as follows：Fortune
Dynamic input quantity θ1The spur gear z of knee rotatable parts is implemented separately1Around the rotation ψ of engine base axis1, movement input quantity θ2Pass through snail
Bar amount of exercise L2The spur gear movement z of drive2Z is moved with spur gear1, turbines into motion z5Pass motion to bevel planet gear fortune
Dynamic z6；Input quantity θ3Pass through worm movement L3The spur gear movement z of drive3Z is moved with spur gear2, turbines into motion z10Will movement
Pass to bevel planet gear movement z11The differential attachment for transmitting turbine and having given composition will be moved, realize the rotation of knee rotatable parts
ψ2And ψ3, make the two output movements gone down on one's knees.
Fig. 5 is Soccer robot partial schematic diagram.The foundation of laboratory simulations formula based on this structure, input quantity and
The movement relation formula of output quantity：
ψ1=θ1……(3.111)
ψ2=1/2 (θ2-θ1)z1 z2 z5 z6/L2……(3.112)
ψ3=1/2 [(θ3-θ2)z3 z2 z10 z11/L3-1/4(θ2-θ1)z1 z2 z5 z6/L2]……(3.113)
The Matrix Formula of this robot leg conversion is：
R=R [ψ1(θ1),ψ2(θ2),ψ3(θ3)]
Act blindly design
The design of the utility model has used common mathematical modeling soft SA S during modeling, under this software
Under uncomplicated programming it is achieved that experiment in also used MATLAB softwares to realize, the number of this implementation
Simple according to the data analysis for analyzing no SAS, both experiment effects are because the setting of this robot is more excellent, football machine
The effect of grabbing and dribble of device people is all better than other robot.While hitting, central processing unit can robot command
Foot parts 103 quick response of stepper motor, give one signal of communication every time, allow stepper motor 103 rotate two weeks or
Person is more, drives roller to rotate at least one week, in advance mobile robot, this to act blindly, the i.e. no longer instruction of visual response system
Under, the sensing for relying solely on sensor just adjusts robot motion so that machine person's development is faster than common Soccer robot
Nearly half of body position, it is ensured that in dribbling is moved, the long-term control to football can be kept.The design of acting blindly of robot, table
On another inventive point of existing the utility model, what signal priority that pressure sensor is given gathered in visual response system regards
Feel signal.If pressure comes from football, what the track of this and then movement of football will be appreciated that, and compiled by software
Journey is easy to implement.But during 1 and the 3rd impact platform of first shock platform collides at the same time, then set first shock
Sensor signal on platform 1 is prior to the sensor signal on the 3rd impact platform, the preferential letter for performing the first simulation platform
Number, direction serpentine locomotion of the driving stepper motor pipe wheel towards football.Only it is that the 3rd impact platform strikes other robot, then
According to the football position provided in visual response system, the signal provided prior to performing visual response system.This signal
Judgement is based on the target using football as rank at first, pursues football, dribbling, hits football, avoid setting for other barriers
Meter, farthest meets to control ball for a long time, rather than tangling between other Soccer robots.
Fig. 6 is the utility model Soccer Robot Control Circuit schematic diagram.The figure clearly describes Soccer robot
Control principle and process below knee actuator current amplifier.The visual signal provided in visual response system depending on recoil simulator sends football machine to
The central processing unit (CPU) of device people, the pressure signal that central processing unit is preferentially provided according to pressure capsule system make driving knee
The instruction of joint motions, in embodiment, if after Soccer robot first shock platform receives anterior pressure sensor stress, pressure
Force snesor sends electric signal and the signal to travel forward is sent to top drive component to central processing unit, central processing unit, on
411 clockwise movement of motor in portion's drive component, the second worm gear of driving rotate, the effect for causing robot upper body to turn forward；
Meanwhile visual response system judges that distance of the football apart from robot is the pressure that football is brought in a football distance
Power；Visual response system sends the first signal to central processing unit, and driving middle part is made according to the first signal central processing unit
First drive signal of motor in drive component, makes middle part drive component also drive the second worm gear, and Soccer robot leans forward rapidly,
Center of gravity moves forward, and can collide above barrier in time and follow football to travel forward；Central processing unit according to the first signal and
Pressure sensor signal, sends drive signal to driving robot foot parts 401,402,403,404, starts stepper motor, step
Stepper motor drives roller to rotate, and robot moves forward.
The utility model realizes the multi_motor control of variable-frequency governor using PLC, and specific control mode is special later
Door is introduced.During driving, after Soccer robot first shock platform receives anterior pressure sensor stress, pressure sensor
Electric signal is sent to central processing unit, central processing unit sends the signal to travel forward, top driving group to top drive component
411 clockwise movement of motor in part, the second worm gear of driving rotate, the effect for causing robot upper body to turn forward, this effect
It is also beneficial to keep balance in robot confrontation, is not knocked down；If visual response system judges football apart from robot
Distance more than two footballs distance, be pressure caused by other impacts, it may be possible to the collision with other Soccer robots；
Visual response system sends secondary signal to central processing unit, and the driving of driving middle part is made according to the secondary signal central processing unit
Second drive signal of motor in component, makes middle part drive component drive the second worm gear to be transferred to opposite direction, while stops top
The motor movement of driving part, Soccer robot stop leaning forward rapidly, are moved after center of gravity, keep robot center of gravity perpendicular to the ground；In
Central processor according to secondary signal and pressure sensor signal, do not make temporarily driving robot foot parts 401,402,403,
404 drive signal, stepper motor stop, and roller stops operating, and robot keeps as you were.
During driving, first shock platform, the 3rd impact platform of Soccer robot do not have pressure signal input, depending on
Feel that induction system judges distance of the football apart from robot more than two football distances, central processing unit is according to visual response
The signal (secondary signal) that system provides, sends the 3rd drive signal to middle part drive component or lower part drive component, causes
Robot knee above body is tilted to football position direction or football direction；Meanwhile central processing unit is to machine
Device people foot parts 401,402,403,404 send the 3rd enabling signal, the stepping electricity in foot parts 401,402,403,404
Machine starts, and roller follows robot body inclination direction to rotate, and Soccer robot is transported to football position direction or football
Dynamic direction movement.
The execution step of central processing unit, step 1, receives the signal of visual response system and pressure capsule system；
Step 2, pressure sensor signal is determined whether；It is pressure sensor signal, starts the driving electricity of top drive component
Machine, drives the part above knee of Soccer robot to be tilted to pressure direction, realizes that robot acts blindly for the first time；It is not that pressure passes
Feel signal, do not drive top drive component.
Step 3, judge signal whether be visual perception system signal, preferentially judge whether signal is secondary signal, i.e.,
Whether Soccer robot is more than 2 football diameters distance apart from the length of football；
Step 4, in step 3, it is the secondary signal of visual perception system, central processing unit determines whether pressure sensing
Signal；
There is no pressure sensor signal, step 4.1, send the 3rd driving to middle part drive component or lower part drive component and believe
Number, according to the direction of visual signal, the knee above body of robot is caused to football position direction or football
Direction tilts, and realization is acted blindly for the second time；Meanwhile central processing unit sends the 3rd enabling signal to robot foot parts, roller with
Random device human body incline direction rotates, and Soccer robot is moved to football position direction or football direction.
There is pressure sensor signal, step 4.2, central processing unit sends the second drive signal to middle part drive component, in making
Portion's drive component drives the second worm gear to be transferred to opposite direction, while stops the motor movement of top driving part, Soccer robot
Rapid to keep robot center of gravity perpendicular to the ground, robot keeps as you were, realizes marking an opponent in conflicting mode, that is, football
Defence.
Step 5, in step 3, it is not the secondary signal of visual perception system, central processing unit judges football distance immediately
Whether whether the distance of robot in a football distance, i.e., be the first signal,
It is the first signal, make motor in the drive component of driving middle part according to the first signal central processing unit first drives
Dynamic signal, makes middle part drive component also drive the second worm gear, and Soccer robot leans forward rapidly, and center of gravity reach, can collide in time
Above barrier and football is followed to travel forward；Central processing unit is according to the first signal and pressure sensor signal, to driving
Robot foot parts send the 1st enabling signal, and whole Soccer robot moves forward.
It is not the first signal, no longer determines whether pressure sensor signal, central processing unit starts middle part or lower part and drives
Dynamic component is moved to football direction, and the 2nd enabling signal is sent to driving robot foot parts, and whole Soccer robot is to football
Position is moved, and ensures Soccer robot dribbling movement.
In design, it is contemplated that in step 5, middle football apart from robot distance 1-2 football distance, when other side's machine
Device people and first or the 3rd simulation platform situation about contacting, in this case, regardless of whether pressure sensor signal is produced, center
Processor all can directly to middle part, either lower part drive component sends drive signal and drives it to be moved to football direction or football
Direction is quickly moved, and when necessary, can be driven motor drive signal to top, be realized center of gravity more quickly to football direction
Or football moving direction tilts, and continuously go out pulsewidth enabling signal to robot foot parts, it is ensured that stepping electricity below
Machine or permanent magnetic brushless are rapidly completed startup, it is ensured that most short speed reaches football position, controls football.
Vision system
Since image information is the main source of robot perception environment, so, the design requirement of vision system is higher,
The requirement of range of observation first, according to the place of real racetrack, vision subsystem it is observed that scope should be
16mX12m, just it is observed that the environment in whole place.Secondly the requirement of positioning accuracy, because vision subsystem output is determined
Position information directly influences the processing of data fusion, decision-making subsystem, if position error is larger, the action and walking of robot
Mistake can all occur in route, be finally the requirement of real-time, only position fast system, office that just can accurately be on reacting field
Gesture, machine person's development are also very fast.
The utility model employs visual servo conceptual system of the prior art, utilizes visual information control robot knee
Joint and relative position and posture (position and orientation) between lower component and target object (football),
Wherein, camera sets camera respectively at robot four sides, and the head and first shock platform and the 3rd per one side are hit flat
At least two cameras are provided between platform, while make use of the hybrid mode of eye-in-hand and eye-to-hand, are added
The information that pressure sensor provides, realizes three kinds of servo control modes based on position, based on image and mixing vision.
The camera set between first shock platform and the 3rd impact platform is installed to overlook, and causes its sighting distance to ensure
In the position of 2 football diameters, it is particularly conducive to judge the position of football, that is, football is in the camera image pickup scope
It is interior, the control model in step 5 can be directly initiated, central processing unit directly sends driving to middle part or lower part drive component
Signal, drives it quickly to be moved to football direction or football moving direction, and continuously goes out pulsewidth to robot foot parts
Enabling signal, it is ensured that stepper motor or permanent magnetic brushless below is rapidly completed startup, it is ensured that most short speed reaches football
Position, controls football.The single camera imaging basic principle of the utility model is to be reflexed to incident ray by mirror surface
Camera lens and then CCD chip imaging, on the basis of optical path analysis, give the limitation formula for reflexing to planar imaging, refer to
Go out under the conditions of single view, the pixel of panoramic picture can be projected to be formed in some plane from viewpoint any distance and put down
Face projected image, obtained image seems to be no difference with the image that common camera obtains, and observation visual angle bigger, so that
The method of general processing perspective view can be used to carry out graphical analysis and processing.The vision of the utility model is panoramic vision,
Mainly by combination equal proportion omnidirectional reflector, quartz glass lens barrel, digital camera, camera mount and adjusting mechanism group
Into.Complete equipment can install fixation after adjusting, to ensure being not in that the influences such as loosening, displacement are complete in use
To the phenomenon of vision system calibration parameter, the fierce needs resisted of medium-sized group of match are completely suitable for.
Fig. 7 is the utility model Soccer robot to vision system mirror image schematic diagram.According to robot soccer competition
Requirement to vision system, shooting mode refer to horizontal plane and institute into image than minute surface, level etc. using level etc. than minute surface
The distance between corresponding points relation be linear, mirror image schematic diagram is as shown in Figure 6.The input path warp of Fig. 6 midpoints
Mirror-reflection is imaged on video camera CCD at optical axis x.
The angle of Φ-reflection light and vertical line；The angle of θ-mirror normal and vertical line；
- incidence angle；Y (t)-minute surface bus equation；
F- focal length of camera；H- image planes with the distance between flatly.
Minute surface bus equation Y (t) can be provided by such as drag.
D=ax+b, a ＞ ＞ b 1- (2)
A differential equation is obtained after 1- (2), 1- (3), 1- (4) formula are substituted into 1- (1) formula, can be obtained using numerical solution
To the numerical solution of minute surface bus equation Y (t)；By this calculation, the meter of football distance and robot distance is realized
Calculate, t (x) can be obtained.
The tracing task that visual feedback completes remote mobile football is employed in the utility model visual sensing system, with
Track speed is in 5 meter per seconds, and the fixing camera stereo visual system that frequency of use is 60HZ tracks, and this set is in existing skill
Made on the basis of art.Since the movement between robot on football pitch is more, interference shooting, employs and is not required in order to prevent
Calibrated reference is wanted, merely with the restriction relation between camera parameter itself come the camera self-calibration method demarcated, this side
Method is using self-calibrating method windproof KRUPPPA, is also tested using quadric self-calibration method and based on active vision
Self-calibration method.These self-calibrating methods are not the innovation of the utility model, and the innovation of the utility model is will be this
Vision system combines with control system, realizes the quick response of Soccer robot.Camera installed in head, which utilizes, to be taken the photograph
Camera gathers the image information of football, and image is analyzed and processed in real time, calculates position and the posture of football, and
These information are handled, send central processing unit (CPU), the information that central processing unit is provided according to vision system, knot to
Motion mode and the location of Soccer robot are closed, drive component and foot parts is controlled, makes its high speed execution.
The function that the vision system of the utility model is main is to obtain the image information for having certain distance with robot, such as goal, ball
Field, white line, other robot and have with robot certain distance ball image information, and by handling these information,
The positional information of target object is obtained, such as robot itself, other robot and robot have the position of the ball of certain distance
The advantages of confidence ceases, panoramic vision is once just to obtain whole scene information, and the real-time of information is preferable.
Fig. 8 is the vision control system frame diagram of the utility model Soccer robot.Visual control device transmits signal
To processor, processor control control drive component and foot parts movement, wherein control process is caused Soccer robot ring
Border changes, and is filmed by the camera of CCD camera, sends image processor in time, and image processor sends signal
Control visual control device is given, forms the visual spatial attention circuit of closure.
Fig. 9 is the network schematic diagram of the control system of the utility model Soccer robot.Fig. 9, which is that image control is this, to be set
Meter employs the control system system hardware Interface design based on PCI chips, is passed through using motion control card and image pick-up card
The communication with the central processor CPU of Soccer robot is realized in pci bus design, is adopted among CCD camera and image pick-up card
Image join-line standard connects, and the speed signal that motion control card is converted to the control instruction of Soccer robot in motor transmits
To motor drive controller, and position feed back signal is provided, while the I/O mouths of motion control card receive the anti-of external sensor
The electric signal of feedback, completing work order, specific mode of operation, the controllers of this area such as initial setting up adjustment can pass through
The circuit signal graph of a relation that is provided in figure is realized.It should be noted that the control device and Soccer robot of vision system are adopted
It is the mechanism run parallel, two modules are not disturbed mutually, and can make full use of the cache resources provided in system
Realize the stable coordination work of whole robot system.Figure 10 is the vision system and control original of the utility model Soccer robot
Reason figure.
In Figure 10 after robot graphics' collection, the control circuit of motor movement is controlled in embodiment by Image Acquisition.Its
Middle pci bus for information to be transmitted, wherein controlling bus PCI be connected in parallel respectively motion control card PCI7358 with
And image pick-up card PCI1426, both chips are due to having the characteristics that preferable periphery circuit design, control programming easy to implement
Control.By CCD camera Image Acquisition, image pick-up card PCI1426 is delivered directly to, during Image Acquisition, triggering
The acquisition of signal is realized by the football of tracing movement.When football is static, state is followed the trail of in incomplete, at this time
The control of light is cut off, saves electricity consumption.The signal of Image Acquisition is transferred to control unit CPU by pci bus, and control unit passes through
Controlling bus transmits a signal to control parts of motion (motion control card), and motion control card control servo-controlled motor is realized and regarded
Feel system unit control.In the utility model, in Serve Motor Control, introducing close to switch, in close contact football
Afterwards, when especially first shock platform and the 3rd impact platform constantly transmit pressure sensor signal, that is, football machine
People is less than the distance of a football diameter apart from the distance of football, closes the input of vision system signal close to switch, is passed with pressure
Feel the movement of signal command Soccer robot；Other are designed as those skilled in the art can realize according to above-mentioned schematic diagram, no
Repeat again.
Need to have thought better of the smoothing denoising of video camera, image sharpening etc. in the Computer Simulation of visual spatial attention module and ask
Topic, the utility model is advantageous in that, as a result of the tracking compared with low velocity in image procossing, 5 meters of football speed/
Second, therefore the problems such as because of above-mentioned reason image definition will not being brought to decline substantially in the image gathered, therefore tolerance ratio
Preferably.
Motor controls
The control technology of single motor is very perfect, multiple motors is used in Soccer robot, these motor can
Can share out the work and help one another one action of completion, such as the motor 21 in the drive component of top combines the motor in the drive component 22 of middle part
Collective effect, realizes the selection of the 2nd worm gear, realizes the position adjustment of the 3rd simulation platform, that is, completes more than robot knee
The change in location of body.It is also likely to be that motor is respectively completed respective rotation in the utility model, between each other without any
System, this just needs robot to remove control multiple electric motors, makes its coordinated operation, and the control for a motor is moved in Soccer robot
It cannot meet that its dribbling, defence etc. require in dynamic, and need to control multiple electric motors, allow its preferably coordinated operation, this reality
Multi-motor synchronous control is employed with new.The motor in the driving part of top is wherein set as main order electromotor, decision systems
Rotating speed, the motor in the driving part of middle part is slave motor, and the speed of slave motor is dressed to main order electromotor.
Two motors are shown a case that in Fig. 9, multiple motors can be accessed in dotted portion.The first of Soccer robot
Impact platform 1 is mounted below, and the major part for driving robot ambulation is 4 identical parts, in robot foot parts
The middle motor that sets is main order electromotor, the rotating speed of decision systems, and other three motors are slave motor, the speed of slave motor to
Main order electromotor is dressed.Multi-motor synchronous control network is used in electric machine control system, using Siemens S7-200PLC as master control
Unit, is connected by RS-485 bus communications with frequency converter.This two frequency converters 1, frequency converter 2 control a main motor and one respectively
From motor, two motors all feed back rotating speed with rotary encoder, while rotary encoder feeds back tach signal to frequency converter
PLC programmable controller is fed back to, PLC controller is interior to do data processing according to the tach signal of feedback, and draws actual speed,
And according to the obtained offset of actual speed.Host computer monitoring software is connected in network by RS-485 buses, is realized
The connection of network, and the state of slave computer can be monitored, realize data exchange, send command adapted thereto.In the synchronization control of multiple motors
In network processed, three are employed from electric machine structure.
In the utility model in synchronous control system for multiple motors, in order to ensure that production equipment runs well, it is desirable to each electricity
Between machine must coordinated operation, rotating speed or linear velocity between each motor is remained certain proportionate relationship.So-called coordination
Control, be exactly in multivariable control system, using certain control method, make the control process of each controlled quatity cooperate and
" coordination ", and then make to keep certain rapport between each variable, the multi_motor control of variable-frequency governor is realized using PLC,
With small, light-weight, starting current is low, PLC programmable controller, has abundant input/output interface, it is possible to achieve
Software programming, can carry out appropriate adjustment programme according to the movement law of other side robot on football pitch, realize opposite other side's machine
The characteristics of device people is quick on the draw.PLC programmable controller includes CPU module, I/O mouth molds block, the mould such as power module, programming device
Block, has also matched somebody with somebody in system and has put some special modules such as host computer, operation and control interface, digital-to-analog amount expansion module, communication module.
These hardware configurations are not the proprietary of the utility model in itself, but robot can be realized by how controlling wherein motor
Function.
Motor in the drive component of top combines the control system of the motor in the drive component of middle part, and this system can be used
The control of four motors in robot foot parts.With two motor controls for example, which includes：Two electronic
Machine, frequency converter, PC machine, wherein, motor for two motors, frequency converter using Liang Tai Siemens MM Series Frequency Converters to motor into
Row variable frequency regulating speed control, the control of 0.12~11Kw low-power machines, all frequency converters are all to be gone here and there by S7PLC by RS485
Row communication port, come what is controlled, is enhanced the control performance of system and reduces system wiring and debug time using USS agreements.
PC machine uses S7-200 programming softwares STEP7.
Figure 11 is the circuit for controlling motor schematic diagram of the utility model Soccer robot.Specific motor control chip uses
Contain 51 model microcontrollers of 4K byte FLASH memory, have 32 it is I/O mouthfuls two-way.Control principle drawing, wherein
The main function of microcontroller is to receive the dial-up value obtained in dial-up dish, then again by keys interrupt, so that software program
Start to start operation.Wherein power-supply controller of electric U4, U5, U7 connects controlling switch Q1-Q3 respectively, and three controlling transistors
Pin 4,6, realizes power supply control；Then the time sequential pulse of stepper motor, structure are transmitted by port P1.0, P1.1 and P1.2 again
Into pulse power source control circuit, distribution to pulse is carried out by software program by Phototube Coupling, by IGBT driving moulds
Block, the pulse signal that microcontroller is exported is by power amplification so that Driving Stepping Motor, three pull-up resistors connect respectively
In chip controls pin P1.0, P1.1 and P1.2 so that reach the power needed for motor operation so as to control motor normal operation.
Circuit may be programmed by the connection signals of PSEN (29) connection external program holders, this signal from PLC
Controller includes CPU modules, and signal gives the control signal produced after CPU for visual signal.In Figure 10, K1, K2 is coupled with
P2.7 and P2.5.R1, R2 are pull-up resistor, connect 5V power supplys.NOT gate 74LS04 is connect by NAND gate 74LS00 and is connected to INT0 interruptions
Mouthful.This connection relation, forms ON-OFF control circuit.Under working status, capacitance (C4 and C5) crystalline substance in parallel of two 30PF
Shake (X1) composition, and wherein the frequency of the crystal oscillator is 12Hz.Both ends are coupled with XTAL1 and XTAL2, form crystal oscillating circuit.
A high level signal is exported in the process of running, is then delayed after the regular hour, then inputs a low level signal, then
It can be delayed the regular hour again, so circulation is gone down.If so as to us by varying delay time with regard to the pulse period can be changed,
Frequency during motor normal operation determines the pulse period.It is I/0 mouthfuls two-way subject to P2 mouthfuls (21-28).
In stepper motor operational process, it is according to the power-up sequence or step mode for changing winding so as to control motor
The direction of rotation.For three-phase six-beat working method：Positive rotates：A→AB→B→BC→C→CA.Anti-phase rotation：CA→C→
CB→B→BA→A.This control sequential is common in motor control, and the step motor control of Soccer robot employs
Conventional control sequential.P0 mouthfuls of corresponding pin 39-32：It is I/O mouthfuls two-way；Two-way is with I/0 mouthfuls subject to mouth 1-8；Wherein by drawing
Preceding four pins connect the pin composition common pin of four input terminals U9B, U9A, U2F, U2E in foot P0.0-P0.7, and
The controller switches 8 of parallel connection, 4,2,1 four pins, form six phase buffers of open collector High voltage output, to act on
It is for choosing dial-up dish but also high current can be absorbed.8th, the conducting state of 4,2,1 four pins and common pin, wherein
Its four 1K resistance R17, R18, R19, R20 have been metering functions.
The circuit that XTL1 is connected with XTL2 forms oscillating circuit, is made of capacitance C4, C5 and inductor X1, wherein capacitance is
It is grounded after being connected in parallel.Above-mentioned control mode realizes stopping power down function, can during Soccer robot is no motion of,
Realization automatically powers off, and can greatly reduce power supply weight, realizes Soccer robot weight device, starts the characteristics of fast, can be fabulous
The interception for breaking away from other side and grab.
Any specific for being not limited only to technical solution, advantage and characteristic disclosed in the utility model patent chooses or group
Close etc., those skilled in the art can think the technical solution, advantage and characteristic illustrated in the utility model patent
Various combinations and modification, simple transformation constituted in the technical solution disclosed in the utility model patent.
Claims (6)
1. a kind of Soccer robot, including induction system, control system and walking mechanism, the induction system gathers signal and passes
The control system is given, the control system sends control signal and controls the walking mechanism, it is characterised in that the walking
Mechanism is included for knee and its with lower portion, the walking mechanism：First shock platform, the 3rd impact platform and the driving machine
Device people's center of gravity tilting gearing, the 3rd impact platform area are more than the first shock platform area and are hit positioned at described first
Hit the top of platform；The center of gravity tilting gearing further includes worm screw, worm gear, drive component, and the worm screw includes the first worm screw, the
Two worm screws, the 3rd worm screw；The worm gear includes the first worm gear and the second worm gear；The driving component include top drive component,
Middle part drive component and lower part drive component；The first shock platform and the 3rd impact platform of rounded square are each
The induction system is fitted with direction, the control system drives robot to transport according to the pressure direction of the induction system
It is dynamic.
2. Soccer robot according to claim 1, further includes, the first shock platform is installed above to be had on first pair
Support arm, first pair of upper support arm are provided with the first worm-wheel shaft, the first worm gear and branch are installed with first worm-wheel shaft
Support first pair of lower support arm of the second workbench；The first T-shaped supporting rack is installed between described a pair of support arms,
Lower part worm screw is installed on first supporting rack and drives the lower part drive component of first worm screw.
3. Soccer robot according to claim 2, further includes, second pair of upper branch is installed on second workbench
Brace, second pair of upper support arm are provided with the second worm-wheel shaft, the second worm gear and support are installed with second worm-wheel shaft
Second pair of lower support arm of the first workbench；The second T-shaped supporting rack is installed between second pair of lower support arm,
Middle part worm screw is installed on second supporting rack and drives the middle part drive component of the middle part worm screw.
4. Soccer robot according to claim 3, further includes, the support of bearing connection institute on first workbench
State the 3rd impact platform, the top drive component on the support of bearing drives the top worm screw to be driven by bevel planet gear
Second worm gear；Soft shell is connected between the first shock platform and the 3rd impact platform, and parcel is described heavy
Heart tilting gearing.
5. Soccer robot according to claim 4, further includes, multi- drive synchronization is installed under the first shock platform
The foot parts of control, each motor in the foot parts carry a control circuit, which includes control
The pulse power source control circuit of power supply sequential, the ON-OFF control circuit of regulation motor operation, the crystal oscillator for ensureing motor stabilizing driving
Circuit, the motor timings control circuit with six buffers of open collector High voltage output；Wherein described motor timings control
Circuit connects current-limiting resistance respectively.
6. Soccer robot according to claim 5, further includes, the crystalline substance being made of two capacitances and an inductor
The circuit that shakes connects clock circuit pin, and described two capacitances are grounded after being connected in parallel；The pulse power source control circuit and chip
Connection is electrically connected pull-up resistor between controlling switch.
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| CN201721137738.8U CN207345971U (en) | 2017-09-06 | 2017-09-06 | A kind of Soccer robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685788A (en) * | 2017-09-06 | 2018-02-13 | 滨州学院 | A kind of Soccer robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107685788A (en) * | 2017-09-06 | 2018-02-13 | 滨州学院 | A kind of Soccer robot |
| CN107685788B (en) * | 2017-09-06 | 2023-10-27 | 滨州学院 | Football robot |
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