CN208000474U - A kind of bottom control device of omni-directional mobile robots - Google Patents
A kind of bottom control device of omni-directional mobile robots Download PDFInfo
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- CN208000474U CN208000474U CN201820347630.XU CN201820347630U CN208000474U CN 208000474 U CN208000474 U CN 208000474U CN 201820347630 U CN201820347630 U CN 201820347630U CN 208000474 U CN208000474 U CN 208000474U
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Abstract
This application discloses a kind of bottom control devices of omni-directional mobile robots, it is characterized in that, it include the microcontroller moved for the robot to be communicated to connect and controlled with host computer, the single chip communication is connected with first motor driver, the second motor driver, third motor driver, the 4th motor driver, the emergency stop button of omni-directional mobile robots, IMU sensors and multiple sonar sensors, communication link is connected to encoder and motor to each motor driver respectively, and the microcontroller is for sonar sensor and the emergency stop button described in periodic queries.The application reduces the operation of host computer, improves the efficiency of algorithm, and can obtain high-precision odometer information using IMU sensors.
Description
Technical field
This application involves the bottom controls of the movement control technology of mobile robot more particularly to a kind of omni-directional mobile robots
Device processed.
Background technology
Traditional two-wheel differential robot has developed for many years, and the relevant technologies are highly developed and perfect.But this type games
Control can not be realized when there is error in robot lateral position to be fast moved and adjusts.In addition, existing mobile robot control
System processed is usually that driver motor driver is directly connected to host computer, and it is logical that host computer directly carries out data with driver
Letter realizes the acquisition of the motion control and motor encoder data to mobile robot.On the one hand host computer needs to execute intelligence
On the other hand navigation algorithm also needs to carry out motion control to robot and odometer obtains, and the data meter of this two work
Calculation amount is all comparatively laborious.
Utility model content
The application technical problems to be solved are to provide a kind of bottom control device of omni-directional mobile robots, greatly improve
The execution efficiency of algorithm.
In order to solve the above-mentioned technical problem, this application provides a kind of bottom control device of omni-directional mobile robots, packets
The microcontroller moved for the robot to be communicated to connect and controlled with host computer is included, the single chip communication is connected with
The urgency of one motor driver, the second motor driver, third motor driver, the 4th motor driver, omni-directional mobile robots
Stopping button, IMU sensors and multiple sonar sensors, communication link is connected to encoder and motor to each motor driver respectively,
The microcontroller is for sonar sensor and the emergency stop button described in periodic queries.
Further, the microcontroller includes timed collection module, information integration module and the first correction verification module, described fixed
When collection module for periodic harvest encoder location information and rotary speed information and periodic harvest IMU sensors boat
To angle and angular velocity information, the timed collection module is used to the information of collection being sent to information integration module, described information
Module is integrated to be used to that the information that the timed collection module received is sent integrate and is sent for the data after integrating
To the first correction verification module, the microcontroller is used to the data after the verification of the first correction verification module being sent to host computer.
Further, the emergency stop button and multiple sonars that the microcontroller is used to be obtained according to periodic queries
The information of sensor controls first motor driver, the second motor driver, third motor driver and the 4th motor respectively
Driver.
Further, the host computer includes the second correction verification module, and second correction verification module is used to send microcontroller
Data verified.
Further, the microcontroller includes data validation module and data processing module, the validity school
It tests data of the module for being sent to the host computer and carries out validity check, the data processing module is used for will be described effective
Property the qualified data of correction verification module verification carry out data processing and generate motor control instruction, the microcontroller is used for according to being generated
Motor control instruction control first motor driver, the second motor driver, third motor driver and the 4th motor respectively
Driver.
Further, the microcontroller uses STM32F407 microcontrollers.
Further, the host computer connects the microcontroller using USB RS 232s.
Further, the microcontroller is connect by CAN bus with each motor driver.
Further, the emergency stop button, the sonar sensor and the IMU sensors respectively by serial ports with it is described
Microcontroller connects.
Further, the microcontroller also communication link is connected to motor and enables button, and the microcontroller is used for periodic queries
The motor enables button and is driven for enabling the state of button according to the motor inquired to control first motor respectively
Device, the second motor driver, third motor driver and the 4th motor driver.
The advantageous effect of the application is:
The application is handled by the way that the periodic queries of sonar sensor and emergency stop button are all placed on microcontroller, is subtracted
The operation for having lacked host computer improves the efficiency of algorithm, and data packet is carried out between communication and carries out validation checking, is realized to abnormal number
According to being filtered, the reliability of motion control is improved.The bottom control of omni-directional mobile robots is carried out with microcontroller, is reduced
Communication delay between each motor driver, bottom be periodically interrogated sonar sensor information and emergency stop by
The information of key improves safety of the omni-directional mobile robots in emergency.The application can be obtained using IMU sensors
High-precision odometer information.
Above description is only the general introduction of technical solution of the present invention, in order to better understand the technical means of the present invention,
And can be implemented in accordance with the contents of the specification, below with presently preferred embodiments of the present invention and after coordinating attached drawing to be described in detail such as.
Description of the drawings
Fig. 1 is the control system functional block diagram of the application;
Fig. 2 is the main program flow chart of the application;
Fig. 3 is the process chart of the sonar sensor of the application;
Fig. 4 is that the serial ports of itself receives interruption flow chart.
Specific implementation mode
The application is described further in the following with reference to the drawings and specific embodiments, so that those skilled in the art can be with
It more fully understands the application and can be practiced, but illustrated embodiment is not as the restriction to the application.
Referring to attached drawing 1 to 4, a kind of bottom control of omni-directional mobile robots described in one preferred embodiment of this explanation fills
It sets, specially the bottom control device of four-wheel omni-directional mobile robots, four-wheel omni-directional mobile robots, which have, respectively drives four
The first motor of wheel, the second motor, third motor and the 4th motor, each motor are equipped with a corresponding encoder.This Shen
The bottom control device of omni-directional mobile robots please includes being carried out for the robot to be communicated to connect and controlled with host computer
The microcontroller of movement, the single chip communication are connected with first motor driver, the second motor driver, the driving of third motor
Device, the 4th motor driver, IMU sensors, multiple sonar sensors, the application is preferably provided with eight sonar sensors, described
Microcontroller also communicates to connect the emergency stop button of omni-directional mobile robots and some other buttons, as motor enables button, each institute
Stating motor driver, communication link is connected to corresponding encoder and corresponding motor respectively, and the microcontroller is used for periodic queries institute
State sonar sensor and the emergency stop button.Specifically, the preferred STM32F407 microcontrollers of microcontroller, host computer uses
USB RS 232s connect the microcontroller, and microcontroller is connect by CAN bus with each motor driver, the emergency stop button and
The sonar sensor is connect by serial ports with the microcontroller respectively, and the IMU sensors are driven by serial ports and each motor
Device connects.The microcontroller of the application enables button communication connection with motor, and the microcontroller is for motor described in periodic queries
Enable button and for controlling first motor driver, the second electricity respectively according to the state of the enabled button of the motor inquired
Machine driver, third motor driver and the 4th motor driver.
Wherein, the microcontroller includes timed collection module, information integration module and the first correction verification module, and the timing is received
Collect course of the module for the location information and rotary speed information and periodic harvest IMU sensors of periodic harvest encoder
Angle and angular velocity information, the timed collection module are used to information collected by timed collection module being sent to information integration mould
Block, described information integrate module and are used to the information that the timed collection module received is sent integrate and for after integrating
Data be sent to the first correction verification module, the microcontroller is used to the data after the verification of the first correction verification module being sent to
Position machine is equipped with the second correction verification module in host computer, and the data that the second correction verification module is used to send microcontroller verify, from
And improve the reliability of communication.It can be seen that the application to data carry out processing be packaged when, all operation sum numbers
It is carried out all in microcontroller according to processing, there is no data to communicate, and improves the real-time and reliability of odometer, further, since
Four-wheel omni-directional mobile robots have certain random sliding when turning to, and odometer data error is larger when causing to turn to, single
Pure is calculated by encoder, is limited by and is calculated higher computing relay, and odometer Angle Information data error is larger, this
Application can obtain high-precision odometer information by the way that IMU sensors are arranged.
Specifically, the sonar sensor and the emergency stop button that the microcontroller is used to be obtained according to periodic queries
Information control first motor driver, the second motor driver, third motor driver and the 4th motor driver respectively,
Namely when microcontroller inquire any one in eight sonar sensors detected that barrier or microcontroller inquire
Emergency stop button is taken, then microcontroller will directly control robot stopping, the control for thus substantially reducing abnormal conditions is prolonged
Late.
The microcontroller of the application includes data validation module and data processing module, the validity check module
Data for being sent to the host computer carry out validity check, and the data processing module is used for the validity check
The qualified data of module verification carry out data processing and generate motor control instruction, and the microcontroller is used for according to the motor generated
Control instruction controls first motor driver, the second motor driver, third motor driver and the 4th motor driver respectively,
I.e.:Motion control of the chip microcontroller to omni-directional mobile robots.
The motion control of omni-directional mobile robots is transferred to bottom operation by the application using chip microcontroller is added, and is improved
The frequency that the efficiency and odometer of motion control obtain, reduces the control accuracy of computing overhead the utility model of host computer
Straight line error is in 15mm-1000mm or so, and rotation error is at 5 ° -360 ° or so.Traditional PC control frequency is on the left sides 6Hz
The right side can be increased to 20Hz or so using the embodiment of the utility model, and the error rate of transmission is less than 0.1%.
The attached drawing 2 of the application is main program flow chart:System starts, initialization, and sonar information detection checks whether setting
Serial ports interrupt identification, clear flag, then carries out next step if there is processing control instruction and after processing is completed:Inquiry is compiled
The course angle and angular velocity information of the location information and rotary speed information and IMU sensors of code device;If inquiring encoder without if
Location information and rotary speed information and IMU sensors course angle and angular velocity information, inquiry it is unsuccessful, return continue to inquire,
Successful inquiring then calculates odometer information and returns to host computer.
The attached drawing 3 of the application is the process chart of sonar sensor:Opening query counts n, (inquiry times pass for sonar
The number of sensor, the application are 8), sonar sensor querying triggering signal is then sent, delay waits for receiving sonar sensing
Device information returns, and if there is barrier then stops, and return information is to host computer;If not detecting barrier, judge
Whether whole sonar sensor queried, and it's not true continues to inquire;Poll-final then returns to main program.
The attached drawing 4 of the application is that serial ports receives interruption flow chart:This serial ports is the serial ports that microcontroller is connect with host computer, institute
It is that microcontroller generates when host computer sends information to microcontroller to interrupt, the main flow of microcontroller is out of service after interruption, monolithic
Machine executes interrupt processing, when this serial ports receives information, generates serial ports and interrupts, receives the movement control that host computer is sent to microcontroller
Information processed, microcontroller keep in obtained data, and then the serial ports interrupt identification in main flow is set to very, in then terminating
It is disconnected.
Embodiment described above is only the preferred embodiment lifted to absolutely prove the application, the protection model of the application
It encloses without being limited thereto.Those skilled in the art on the basis of the application made by equivalent substitute or transformation, in the application
Protection domain within.The protection domain of the application is subject to claims.
Claims (10)
1. a kind of bottom control device of omni-directional mobile robots, which is characterized in that including being used for host computer communication connection simultaneously
The microcontroller that the robot is moved is controlled, the single chip communication is connected with first motor driver, the second motor drives
Dynamic device, third motor driver, the 4th motor driver, the emergency stop button of omni-directional mobile robots, IMU sensors and multiple sound
Receive sensor, communication link is connected to encoder and motor to each motor driver respectively, and the microcontroller is used for periodic queries
The sonar sensor and the emergency stop button.
2. the bottom control device of omni-directional mobile robots according to claim 1, which is characterized in that the microcontroller packet
Timed collection module, information integration module and the first correction verification module are included, the timed collection module is encoded for periodic harvest
The location information and rotary speed information of device and the course angle and angular velocity information of periodic harvest IMU sensors, the timing are received
Collection module is used to the information of collection being sent to information integration module, and described information integrates module and is used to receive the timing received
The information that collection module is sent integrate and for the data after integrating to be sent to the first correction verification module, the microcontroller is used for
Data after the verification of the first correction verification module are sent to host computer.
3. the bottom control device of omni-directional mobile robots according to claim 2, which is characterized in that the microcontroller is used
The first electricity is controlled respectively in the information of the emergency stop button and multiple sonar sensors that are obtained according to periodic queries
Machine driver, the second motor driver, third motor driver and the 4th motor driver.
4. the bottom control device of omni-directional mobile robots according to claim 2, which is characterized in that the host computer packet
The second correction verification module is included, the data that second correction verification module is used to send microcontroller verify.
5. the bottom control device of omni-directional mobile robots according to claim 2, which is characterized in that the microcontroller packet
Include data validation module and data processing module, the number that the validity check module is used to send the host computer
According to validity check is carried out, the data processing module is used to the validity check module verifying qualified data into line number
Motor control instruction is generated according to processing, the microcontroller is used to control first motor respectively according to the motor control instruction generated
Driver, the second motor driver, third motor driver and the 4th motor driver.
6. the bottom control device of omni-directional mobile robots according to claim 1, which is characterized in that the microcontroller is adopted
With STM32F407 microcontrollers.
7. the bottom control device of omni-directional mobile robots according to claim 1, which is characterized in that the host computer makes
The microcontroller is connected with USB RS 232s.
8. the bottom control device of omni-directional mobile robots according to claim 1, which is characterized in that the microcontroller is logical
CAN bus is crossed to connect with each motor driver.
9. the bottom control device of omni-directional mobile robots according to claim 1, which is characterized in that the emergency stop is pressed
Key, the sonar sensor are connect by serial ports with the microcontroller respectively with the IMU sensors.
10. the bottom control device of omni-directional mobile robots according to claim 1, which is characterized in that the microcontroller
Also communication link is connected to motor and enables button, and the microcontroller enables button for motor described in periodic queries and is used for basis
The motor inquired enables the state of button and is driven to control first motor driver, the second motor driver, third motor respectively
Dynamic device and the 4th motor driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201820347630.XU CN208000474U (en) | 2018-03-14 | 2018-03-14 | A kind of bottom control device of omni-directional mobile robots |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820347630.XU CN208000474U (en) | 2018-03-14 | 2018-03-14 | A kind of bottom control device of omni-directional mobile robots |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491390A (en) * | 2018-11-23 | 2019-03-19 | 华中科技大学 | Trackless omni-directional mobile robots system and its control method based on multisensor |
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2018
- 2018-03-14 CN CN201820347630.XU patent/CN208000474U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109491390A (en) * | 2018-11-23 | 2019-03-19 | 华中科技大学 | Trackless omni-directional mobile robots system and its control method based on multisensor |
| CN109491390B (en) * | 2018-11-23 | 2020-11-24 | 华中科技大学 | Trackless omnidirectional mobile robot system based on multiple sensors and control method thereof |
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| GR01 | Patent grant | ||
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| TR01 | Transfer of patent right |
Effective date of registration: 20220819 Address after: Room 313-314, Building 2, Yangcheng Lake International Science and Technology Pioneer Park, No. 116, Chengyang Road, Chengyang Street, Economic and Technological Development Zone, Xiangcheng District, Suzhou City, Jiangsu Province, 215000 Patentee after: Haibo (Suzhou) robot technology Co.,Ltd. Address before: 215104 No. 1188 Wuzhong Road, Wuzhong District, Suzhou, Jiangsu Patentee before: SOOCHOW University |