CN207448487U - A kind of exploration robot - Google Patents
A kind of exploration robot Download PDFInfo
- Publication number
- CN207448487U CN207448487U CN201721383280.4U CN201721383280U CN207448487U CN 207448487 U CN207448487 U CN 207448487U CN 201721383280 U CN201721383280 U CN 201721383280U CN 207448487 U CN207448487 U CN 207448487U
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- China
- Prior art keywords
- module
- main control
- control module
- robot according
- exploration robot
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Abstract
The utility model provides a kind of exploration robot, including the control terminal as host computer and the robot as slave computer；The robot includes power supply, main control module and the camera unit being connected respectively with main control module, sensor unit, driving unit, manipulator unit；The power supply is connected respectively with main control module and each unit.Have the function of that gathering Object selection, automatic collection objective function and barrier evades function；Can remote control, being capable of automatic obstacle-avoiding：Barrier evades function.
Description
Technical field
The utility model is related to environment survey field more particularly to a kind of exploration robots.
Background technology
With industrial expansion, robot can replace or assist the mankind to complete work in every, particularly it is dangerous,
Toxic, harmful environment.Existing environment survey robot is usually by control system, vehicle body main body, for driving vehicle body
For example main crawler belt of the running gear of main body, wheel etc. and the robot device for collecting sample.Control system controls robot
It works, such as walks, stop, collecting the actions such as sample.Generally being operated using keyboard or handle, command range is limited,
It can only generally work in the user visual field, it can not remote control.And without barrier avoiding function, intelligence degree it is relatively low, it is necessary to
Family substantial length of operation robot carries out operation.
The shortcomings that prior art and the application motion technical problems to be solved are：
1st, command range is limited, can only generally work in the user visual field, can not remote control.
2nd, without barrier avoiding function, generally require and work in broad place.
3rd, intelligence degree is relatively low, it is necessary to which user's substantial length of operation robot carries out operation.
The content of the invention
The purpose of this utility model is to provide a kind of exploration robot.
The utility model uses following technical scheme：A kind of exploration robot, including the control terminal as host computer and
Robot as slave computer；The robot includes power supply, main control module and the camera being connected respectively with main control module
Unit, sensor unit, driving unit, manipulator unit；The power supply is connected respectively with main control module and each unit.
In one embodiment of the utility model, the host computer is connected by wireless communication module with the main control module.
In one embodiment of the utility model, the camera unit includes camera module and video transmission module；Institute
Camera module output is stated to connect with video transmission module input；The video transmission module output is through wireless communication module and master
Control module connection.
In one embodiment of the utility model, the wireless communication module uses NRF24L01 chips.
In one embodiment of the utility model, the sensor unit includes ultrasonic distance measuring module, detection of obstacles mould
Block and three axis magnetic strength modules.
In one embodiment of the utility model, the three axis magnetic strength module uses HMC5883L chips.
In one embodiment of the utility model, the driving unit includes driving motor module, motor module, wheel and volume
Code device；The driving motor module input is connected with main control module；The driving motor module output connects with motor module input
It connects；The output of motor module one is connected with wheel, and another output is connected with encoder input；Encoder output and main control module
One input connection.
In one embodiment of the utility model, motor drive module uses L293D.
In one embodiment of the utility model, the manipulator unit includes steering engine module and manipulator；The steering engine mould
Block input is connected with main control module；The steering engine module output is connected with manipulator.
In one embodiment of the utility model, the main control module uses HT32F1656 chips.
Compared with prior art, the utility model has the following advantages：
1st, a key works：Acquisition Object selection function, automatic collection objective function and barrier evade the set of function.
2nd, remote control：Distant control function, can remote control.
3rd, automatic obstacle-avoiding：Barrier evades function.
Description of the drawings
Fig. 1 is Tthe utility model system general illustration.
Fig. 2 is the slave computer work flow diagram of one embodiment of the utility model.
Fig. 3 is the host computer work flow diagram of one embodiment of the utility model.
Specific embodiment
Explanation is further explained to the utility model in the following with reference to the drawings and specific embodiments.
A kind of exploration robot, including the control terminal as host computer and the robot as slave computer；The machine
People includes power supply, main control module and the camera unit being connected respectively with main control module, sensor unit, driving unit, machine
Tool hand unit；The power supply is connected respectively with main control module and each unit.Major Systems block schematic illustration is referring to Fig. 1.This practicality
It is new that its ambient enviroment is detected with camera unit by sensor unit by slave computer, it is gathered according to sensor unit
Data control driving unit, so as to which robot advances, retreat, turn.
In one embodiment of the utility model, the host computer is connected by wireless communication module with the main control module；
By wireless communication module realize with the data interaction of host computer, slave computer receive host computer to order after, according to pre-
First corresponding reaction is made in setting.
In one embodiment of the utility model, the camera unit includes camera module and video transmission module；Institute
Camera module output is stated to connect with video transmission module input；The video transmission module output is through wireless communication module and master
Control module connection.
In one embodiment of the utility model, the wireless communication module uses NRF24L01 chips.
In one embodiment of the utility model, the sensor unit includes ultrasonic distance measuring module, detection of obstacles mould
Block and three axis magnetic strength modules.Detection of obstacles module is used for detection of obstacles；Ultrasonic distance measuring module is used for ranging；Three axis magnetic strengths
Module is used for walking direction.
In one embodiment of the utility model, the three axis magnetic strength module uses HMC5883L chips.
In one embodiment of the utility model, the driving unit includes driving motor module, motor module, wheel and volume
Code device；The driving motor module input is connected with main control module；The driving motor module output connects with motor module input
It connects；The output of motor module one is connected with wheel, and another output is connected with encoder input；Encoder output and main control module
One input connection.
In one embodiment of the utility model, motor drive module uses L293D.
In one embodiment of the utility model, the manipulator unit includes steering engine module and manipulator；The steering engine mould
Block input is connected with main control module；The steering engine module output is connected with manipulator.
In one embodiment of the utility model, the main control module uses HT32F1656 chips.
In one specific embodiment of this practicality, slave computer work flow diagram is referring to Fig. 2, and host computer work flow diagram is referring to figure
3。
It is sent to ultrasonic distance measuring module with 1 I/O port output 40KHz signals of main control module, is returned when ultrasonic wave runs into target
Hui Hou is received by ultrasonic distance measuring module, and signal obtains a high level pulse, with the high level through the module decoding process
Pulse triggers the singlechip interruption of main control module, and robot can be calculated by calculating hair ripple and receiving the time difference between echo
With the distance of target.
Further, ultrasonic distance measuring module is mounted below camera, ultrasonic distance measuring module ranging direction is with taking the photograph
As the direction of visual lines of head is parallel；Camera is mounted on to the top of manipulator claw, direction of visual lines and the manipulator of camera are put down
Row.The manipulator can be gathered around there are three joint, wherein the expansion degree of the manipulator claw in order to control of joint one, and joint two
Angle is swung up and down with three equal control machinery hand of joint.Pass through the rotational angle and ultrasonic wave module in joint two and joint three
It is getting with object module range information, it can be deduced that space coordinates of the target object using gripper as origin is believed
Breath, host computer is sent to by this coordinate information by wireless communication module.By the algorithm process coordinate information in host computer,
Can deduce out robot to target object mobile route and manipulator whole process movement locus.
Further, three detection of obstacles modules are mounted on to the front and side of robot body, when detection model
It encloses interior when there is barrier, gives one low level representative of main control module and detect barrier, robot halts, and ought
The information of the presence or absence of preceding robot side surface direction barrier is sent to host computer, and host computer is based on information path planning again.
If there is barrier in left and right, host computer abandons current goal and shows the prompting that can not fulfil assignment, and otherwise host computer will be controlled
Robot processed rotates 90 ° and keep straight on to accessible direction gets around barrier advance.
Divide by function, which has distant control function, acquisition Object selection function, automatic collection objective function, obstacle
Object evades function, specific as follows：
1st, distant control function
Host computer sends the control instruction turned with forward-reverse left and right to slave computer, and slave computer will control motor after receiving
Work makes robot with fixed speed forward-reverse, and passes through the rotating speed for changing two rows of wheels, to realize that left and right is turned.Also may be used
The corner in each joint of manipulator is adjusted according to the instruction of control, makes the shooting angle and measuring distance of target of camera and range finder module
Respective change.
2nd, Object selection function is gathered
Host computer is sent by wireless communication module and instructed, and makes the i.e. control machinery hand of master control module controls steering engine work each
Joint rotates corresponding angle compared with default initial position, so as to fill camera on a robotic arm and range finder module also therewith
It rotates.In PC control end, user can see the video information of camera acquisition, have setting in the image center of display
One foresight, adjusts range finder module, and the ranging central point being allowed in ranging range is overlapped with the foresight.User is in selected target
Afterwards, the distance signal that the angle and range finder module that host computer can then be rotated according to manipulator corresponding joint obtain, obtains one
Using manipulator as the spherical coordinates of the centre of sphere.
3rd, automatic collection objective function
Main control module enables robot by fixed-direction according to encoder and the rotating speed of pid algorithm control left and right turbin generator
It is moved with fixed speed, and based on the data of three axis magnetic strengths, ensured in automatic job, equal 90 ° of each corner of robot,
The duty cycle of the PWM wave of each steering engine is controlled again, and then realizes the corner in each joint of control machinery hand.User's selected target
Afterwards, the spatial positional information of target is issued PC control end by slave computer, and control terminal carries out processing analysis on backstage to data
Completion is acquired target to the instruction of work afterwards, is sequentially sent to slave computer.Main control module controls robot according to order
Complete corresponding actions.Whole process robot only moves linearly as Snake and angle of turn is right angle, final machine
The manipulator of device people is with regard to that can reach selected target location and grip target.
4th, barrier evades function
The front end centre position of robot and two marginal positions of front end are respectively equipped with detection of obstacles module.In machine
When people carries out automatic collection target, if this three module detects occur barrier in certain distance, robot stops, and at this time
The range information that this is detected is sent to PC control end and handled by main control module in real time, and control terminal is changed on backstage
Forwarding route, and main control module is sent information to realize that barrier is evaded.If run into the barrier that can not be avoided, machine
People stops automatic job, and alerts whether there is the obstacle that method is evaded in front of user.
Summary based on above-mentioned function, can allow user without at the scene, scene being grasped in real time by the image of thecamera head
Information, and user is only needed to make the foresight alignment target object in control terminal by changing the visual field of robot to the crawl of target
And selected target, robot is with regard to that can accomplish full-automatic movement, avoiding barrier, crawl target, without artificially carrying out numerous and diverse behaviour
Make to control robot and robot work, improve work efficiency.So not only can easily, accurately to target carry out operation but also
It can be to avoid injury of the risk factor to people of environment.
The above are the preferred embodiment of the utility model, all changes made according to technical solutions of the utility model are produced
Function without departing from technical solutions of the utility model scope when, belong to the scope of protection of the utility model.
Claims (10)
1. a kind of exploration robot, it is characterised in that：Including the control terminal as host computer and the robot as slave computer；Institute
Stating robot includes power supply, main control module and the camera unit being connected respectively with main control module, sensor unit, driving list
Member, manipulator unit；The power supply is connected respectively with main control module and each unit.
2. exploration robot according to claim 1, it is characterised in that：Host computer passes through wireless communication module and the master
Control module connection.
3. exploration robot according to claim 1, it is characterised in that：The camera unit include camera module and
Video transmission module；The camera module output is connected with video transmission module input；The video transmission module output warp
Wireless communication module is connected with main control module.
4. the exploration robot according to Claims 2 or 3, it is characterised in that：The wireless communication module uses
NRF24L01 chips.
5. exploration robot according to claim 1, it is characterised in that：The sensor unit includes ultrasonic ranging mould
Block, detection of obstacles module and three axis magnetic strength modules.
6. exploration robot according to claim 5, it is characterised in that：The three axis magnetic strength module uses HMC5883L cores
Piece.
7. exploration robot according to claim 1, it is characterised in that：The driving unit include driving motor module,
Motor module, wheel and encoder；The driving motor module input is connected with main control module；The driving motor module output
It inputs and connects with motor module；The output of motor module one is connected with wheel, and another output is connected with encoder input；Coding
Device is exported to be connected with the input of main control module one.
8. exploration robot according to claim 7, it is characterised in that：Motor drive module uses L293D.
9. exploration robot according to claim 1, it is characterised in that：The manipulator unit includes steering engine module and machine
Tool hand；The steering engine module input is connected with main control module；The steering engine module output is connected with manipulator.
10. exploration robot according to claim 1, it is characterised in that：The main control module uses HT32F1656 cores
Piece.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721383280.4U CN207448487U (en) | 2017-10-25 | 2017-10-25 | A kind of exploration robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721383280.4U CN207448487U (en) | 2017-10-25 | 2017-10-25 | A kind of exploration robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207448487U true CN207448487U (en) | 2018-06-05 |
Family
ID=62281604
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721383280.4U Expired - Fee Related CN207448487U (en) | 2017-10-25 | 2017-10-25 | A kind of exploration robot |
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| Country | Link |
|---|---|
| CN (1) | CN207448487U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873899A (en) * | 2018-06-27 | 2018-11-23 | 杨扬 | The barrier-avoiding method of dust-collecting robot and the method for establishing grating map |
-
2017
- 2017-10-25 CN CN201721383280.4U patent/CN207448487U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108873899A (en) * | 2018-06-27 | 2018-11-23 | 杨扬 | The barrier-avoiding method of dust-collecting robot and the method for establishing grating map |
| CN108873899B (en) * | 2018-06-27 | 2022-03-25 | 杨扬 | Obstacle avoidance method of dust collection robot |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20180605 Termination date: 20201025 |
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| CF01 | Termination of patent right due to non-payment of annual fee |