CN208557520U - A kind of robot, omnidirectional and its multi-robot system - Google Patents
A kind of robot, omnidirectional and its multi-robot system Download PDFInfo
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- CN208557520U CN208557520U CN201820792908.4U CN201820792908U CN208557520U CN 208557520 U CN208557520 U CN 208557520U CN 201820792908 U CN201820792908 U CN 201820792908U CN 208557520 U CN208557520 U CN 208557520U
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- robot
- omnidirectional
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Abstract
The utility model relates to robot research technical fields, and in particular to a kind of robot, omnidirectional and its multi-robot system；The robot includes the card computer that can independently carry out data processing；With the microcontroller coupled with the card computer；The microcontroller includes: the motor drive module of the data for acquiring the motor speed of the robot and then driving motor；AB phase encoder for detecting the revolving speed of the motor and by the speed feedback of the motor to the motor drive module；With the instruction for receiving the motor drive module and drive the motor of omni-directional wheel rotation；The card computer includes: to couple with the card computer, the wireless communication module for wireless communication；Pass through USB/TTL/I with the card computer2C coupling, for extending the expansion module of the robot function.Robot, omnidirectional provided by the utility model has independent data-handling capacity, and is equipped with expansion module and facilitates expansion other function.
Description
Technical field
The utility model relates to robot research technical fields, and in particular to a kind of robot, omnidirectional and its multirobot system
System.
Background technique
With the arriving in intelligent epoch, robot enters the visual field of researcher extensively.In recent years, robotics obtains
It flourishes, as a comprehensive crossover subject, robotics covers the neck such as control, navigation, machinery and computer science
The newest fruits in domain are Present S & T Development one of fields the most active.The prominent achievement of robotics holds that we more
The problem of easy to handle some information are collected, such as environmental monitoring, searching rescue and dynamic simultaneous localization and mapping
SLAM system.SLAM technology includes while positioning and map structuring two parts, the sensor for utilizing robot self-contained perceive
For the environment of surrounding to determine the position of robot in the environment while model to environment, SLAM becomes current intelligent robot
The hot issue of research is considered to realize the key of really full autonomous mobile robot by many famous scholars.
In recent years, the Collaborative Control algorithm of multi-robot system receives significant attention, and has studied a variety of distributed AC servo systems and calculates
Method solves from environmental monitoring to aggregate material the various tasks such as processing.These development are by algorithm improvement, and hardware is small
What type and cost reduction pushed jointly, and developed many noticeable multirobot test platforms.However, to the greatest extent
Pipe achieves these progress, but from theoretical, emulation, then by small-sized group, a robot verifying, until one big
The reliable multi-robot system of type is still the project an of complexity and time-consuming.Moreover, software emulation has been increasingly difficult to true
Real simulation and multirobot are performed in unison with the relevant all problems of task, but actual deployment verifying system is to propulsion multirobot
Research is again most important.New problem, therefore, multimachine device are found currently based on the analysis model of multi-robot system is more difficult
People's research platform is a link extremely important and basic in multirobot research process.However self-developing flexibly, robust,
Prolongable multirobot platform is extremely complex, and needs to spend a large amount of fund, time, and these problems hinder a large amount of scientific researches
The progress of personnel, also counteracts the progress in multirobot Collaborative Control field in turn, thus need it is a kind of reliable, flexibly, can
It expands, the cheap multi-robot system for facilitating other researcher's applications.The nearly rapid development in 2 years of ROS, by more next
More robot research personnel are received, so needing a set of multi-robot system based on ROS Development of Framework.Meanwhile UWB
The continuous breakthrough of technology, motion capture systems based on camera up to a million compared to tens, although slightly deficiency in precision,
But there is great advantage in price.Based on the above issues, the utility model is developed under ROS frame based on UWB ranging
A set of multirobot research platform.
Own characteristic according to multirobot research platform is classified, and mainly has system architecture, use environment true
3 aspect such as solidity, potential user group.System architecture is broadly divided into centralization, distributed and flexible combination mode.Centralization
Multi-robot system focuses on data, and relatively simply, but its flexibility is poor, fault-tolerance is lower；It is distributed more
Robot system can make full use of the data processing resources of robot, share the pressure of CPU, in flexibility, fault-tolerant
Property aspect tool have great advantage；The multi-robot system of flexible combination mode, then can be according to multi-robotic task needs, to being
System structure is adjusted in due course, and structure is more flexible, but big in design initial stage difficulty, also complex.Use environment is true
Degree, which is broadly divided into, is manually set environment and true environment.Set environment, that is, multi-robot system running environment is according to simulated environment
Specific arrangements；True environment, that is, multi-robot system running environment relatively more closing to reality, system can be realized closer
The experiment of final application, generally the indoor or outdoors environment of half control.Potential user group is broadly divided into personal, relevant speciality people
Member group, the public.
Two classes are broadly divided into according to task, the function to be completed of multirobot research platform.One kind is that multirobot is flat
The relatives of Taiwan compatriots living on the Mainland are mainly used for solving certain particular problems in multirobot field in research platform, such as multirobot Collaborative Control,
Network topology structure, positioning and map structuring etc.；It is another kind of to belong to applied, it is absorbed in multirobot platform application, such as supervise
Survey and detection, environmental monitoring, smart city etc..
Utility model content
The purpose of this utility model is to provide a kind of robot, omnidirectional and its multi-robot system, the robot, omnidirectional tools
There is independent data-handling capacity, and is equipped with expansion module and facilitates expansion other function.
In order to reach above-mentioned technical purpose, technical solution used by the utility model is as follows:
A kind of robot, omnidirectional, which is characterized in that the robot includes the card computer that can independently carry out data processing；
With the microcontroller coupled with the card computer；The microcontroller includes:
For acquiring the motor drive module of the data of the motor speed of the robot and then driving motor；
AB phase for detecting the revolving speed of the motor and by the speed feedback of the motor to the motor drive module
Encoder；With
Motor for receiving the instruction of the motor drive module and omni-directional wheel being driven to rotate；
The card computer includes:
It is coupled with the card computer, the wireless communication module for wireless communication；With
Pass through USB/TTL/I with the card computer2C coupling, for extending the expansion module of the robot function.
Further, the motor drive module include for by the accelerator feedback of the robot to the motor driven
The accelerometer of module.
Further, the motor drive module includes the gyroscope for attitude data to be fed back to motor drive module.
Further, the card computer further includes coupled, for ultra wide band positioning super wideband wireless transmitting-receiving mould
Block.
Further, the microcontroller, further include it is coupled, for judging robot in the way of laser ranging
The laser sensor of the distance between barrier.
A kind of multi-robot system, the system include:
Equipped with super wideband wireless transceiver module, the robot, omnidirectional that can directly carry out wireless communication between each other；
At least four are equipped with super wideband wireless transceiver module, wirelessly connect with the robot, omnidirectional and central processing unit respectively
It connects, the anchor point for ultra wide band positioning；With
It is wireless interconnected with the robot, omnidirectional and anchor point, be for being communicated with each robot, omnidirectional and supervising this
The central processing unit of system.
The utility model has the following beneficial effects:
1, robot, omnidirectional provided by the utility model has independent data-handling capacity, and is equipped with and expands module
Facilitate expansion other function.
2, multi-robot system provided by the utility model, can be by the wireless receiving and dispatching mould that is arranged in robot, omnidirectional
Block and anchor point carry out wireless ultra-wideband positioning, provide high-precision positioning method.
3, multi-robot system provided by the utility model, robot, omnidirectional can not only be led to central processing unit
Letter, and robot, omnidirectional also can be communicated independently between each other.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot, omnidirectional of the utility model；
Fig. 2 is the peripheral circuit schematic diagram of the utility model embodiment super wideband wireless transceiver module；
Fig. 3 is the peripheral circuit signal for the main control chip that the utility model embodiment is connected with super wideband wireless transceiver module
Figure；
Fig. 4 is that the utility model embodiment and super wideband wireless transceiver module power supply convert peripheral circuit schematic diagram.
In figure: 1- card computer, 2- microcontroller, 3- motor drive module, 4-AB phase encoder, 5- motor, 6- omnidirectional
Wheel, 7- gyroscope, 8- accelerometer, 9- wireless communication module, 10- expand module, 11- power conversion module, 12-3S model plane
Lithium battery, 13- voltage transformation module.
Specific embodiment
The utility model is described in detail below by specific embodiment combination attached drawing, it should be noted that do not conflicting
In the case where, the feature in the embodiments of the present invention and embodiment can be combined with each other, the protection model of the utility model
It encloses and is not limited to this.
In order to meet the trend that robot increasingly minimizes, using hierarchical design, under the premise of guaranteeing robot performance
Robot volume is effectively reduced, omnidirectional's Robot Design block diagram is as shown in Figure 1, a kind of robot, omnidirectional, the robot include energy
Enough independent card computers 1 for carrying out data processing；With the microcontroller 2 coupled with the card computer 1；The microcontroller 2
It include: the motor drive module 3 of the data for the revolving speed for acquiring the motor 5 of the robot and then driving motor 5；For examining
Survey the revolving speed of the motor 5 and the AB phase encoder 4 by the speed feedback of the motor to the motor drive module 3；With with
In the instruction for receiving the motor drive module 3 and the motor 5 for driving omni-directional wheel 6 to rotate；The card computer 1 includes: to be used for
The wireless communication module 9 of wireless communication；With the expansion module 10 for extending function.The expansion module and the card computer
Coupled modes include USB, TTL and I2C。
Preferably, the card computer 1 uses raspberry pie, and microcontroller 2 uses STM32 chip, and the utility model is mentioned
The robot of confession be by based on STM32 mainboard and raspberry pie carry out data processing.The card computer 1 and the microcontroller
It is to be attached in such a way that USB turns TTL connection.
Preferably, the motor drive ic 3 uses TB6612FNG chip, by three pieces of motor drive ic TB6612FNG
Driving of the driving mainboard completion to robot is formed with microcontroller STM32 chip.Three pieces of motor drive ics correspond to accordingly
Three AB phase encoders, three motors and three omni-directional wheels.Motor herein uses direct current generator.The motor drive module and
The AB phase encoder uses I2The data transfer mode of C bus is communicated.
For the data-handling capacity for making full use of STM32 chip, it is preferred that the motor drive module 3 includes for inciting somebody to action
The accelerator feedback of the robot gives the accelerometer 8 of the motor drive module 3.
Preferably, the motor drive module 3 includes the gyroscope for attitude data to be fed back to motor drive module 3
7。
Further, the accelerometer and gyroscope realize robot using the progress data acquisition of MPU-6050 chip
The acquisition of acceleration and attitude data.
Preferably, ubuntu system is installed in the raspberry pie of card computer 1 and ROS operating platform, predominantly trolley mentions
For more powerful data-handling capacity, also established for distributed multiple robots, omnidirectional Collaborative Control later, ultra wide band positioning etc.
Fixed basis.
Further, the card computer further includes coupled, for ultra wide band positioning super wideband wireless transmitting-receiving mould
Block.
The positioning chip of the super wideband wireless transceiver module uses model DW1000 chip.Such as Fig. 2, Fig. 3 and Fig. 4
Shown, the positioning chip DW1000 of super wideband wireless transceiver module is coupled with main control chip STM32, and main control chip STM32 passes through
Power-switching circuit is powered.The pin 1~3 of the positioning chip DW1000 of super wideband wireless transceiver module respectively with master control core
The pin 27~25 of piece STM32 is connected.The pin 22 of positioning chip DW1000 is connected with the pin 18 of main control chip STM32.It is fixed
The pin 17~20 of position chip DW1000 is ISP synchronous serial interface, the ISP synchronous serial interface pair with main control chip STM32
It should connect.The usb data positive signal and usb data negative signal pin of main control chip STM32 is correspondingly connected with the port USB_M, even
The pin 4 and 5 of device Header6 is connect to be correspondingly connected with the serial transmission pin of main control chip STM32 and reception pin.The end USB_M
Mouth and connector Header6 pass through voltage-stabiliser tube D9 and D10 respectively and are connected with three-terminal voltage-stabilizing integrated chip U1, and three-terminal voltage-stabilizing is integrated
The input terminal and output end of chip U1 passes through capacitor C1 and capacitor C4 ground connection respectively and is filtered, three-terminal voltage-stabilizing integrated chip U1's
Output end connects power supply VCC.
Preferably, the microcontroller, further include it is coupled, for judging robot in the way of laser ranging
The laser sensor of the distance between barrier.
Preferably, the power supply of the robot, omnidirectional uses 3S model plane lithium battery 12, and the 3S model plane lithium battery 12 is logical
Overvoltage conversion module 13 is that card computer is powered after 12V voltage is converted to 5V voltage.The 3S model plane lithium battery 12 is logical
It crosses power conversion module 11 and is converted to 12V voltage and be powered for microcontroller after 5V voltage.
A kind of multi-robot system, the system include: equipped with super wideband wireless transceiver module, between each other can directly into
The robot, omnidirectional of row wireless communication；At least four be equipped with super wideband wireless transceiver module, respectively with the robot, omnidirectional and
Central processing unit is wirelessly connected, the anchor point for ultra wide band positioning；With it is wireless interconnected with the robot, omnidirectional and anchor point, be used for
It is communicated with each robot, omnidirectional and supervises the central processing unit of the system.
The robot, omnidirectional equipped with super wideband wireless transceiver module and at least four super wideband wireless that are equipped with are received
It sends out module anchor point and constitutes ultra-wideband positioning system, can be accurately positioned using ultra wide band transceiver module.
Robot in the system can be communicated directly, needed not move through central processing unit and be forwarded, centre
Reason device can also be communicated with each robot and be supervised entire robot system, facilitate the communication for carrying out multi-robot system
The research of topological structure.The robot system is attached through wireless communication, central processing unit and each robot
On be fitted with Ubuntu system and ROS operating platform.
A kind of multirobot system is constituted using above-mentioned ultra-wideband positioning system, the multirobot of interconnection and central processing unit
System.
The system uses the design philosophy of more master, is ROS operation between central processing unit and each robot
Independent master in platform, in this way in system operation, the new robot member of addition will not in system
The connection type of existing ROS node generates interference, can increase the robustness and flexibility of system.Constructing distributed multimachine
When device people's system, if a certain robot or central processing unit break down, the confusion of whole system operation not will lead to, it is convenient
The addition of robot with exit.In the process of running, it can according to need the quantity for being added or being reduced in real time robot.
After robot completes distributed task, it can choose and exit multi-robot system, to mitigate the burden of central processing unit.
Each individual ROS-master robot all remains with an identical local network, when leading to part net because of communication disruption
When network is deleted or loses, communication is facilitated directly to use when reconnecting.Existing startup file and configuration can not have
It is used in the case where modification, use when follow-up study person being facilitated to be extended multi-robot system.
Finally, it should be noted that above embodiments are only to illustrate the technical solution of the utility model, rather than its limitations；
Although the utility model is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that:
It is still possible to modify the technical solutions described in the foregoing embodiments, or part of technical characteristic is carried out etc.
With replacement；And these are modified or replaceed, various embodiments of the utility model technology that it does not separate the essence of the corresponding technical solution
The spirit and scope of scheme.
Claims (6)
1. a kind of robot, omnidirectional, which is characterized in that the robot includes the card computer that can independently carry out data processing；With
The microcontroller coupled with the card computer；The microcontroller includes:
For acquiring the motor drive module of the data of the motor speed of the robot and then driving motor；
AB phase for detecting the revolving speed of the motor and by the speed feedback of the motor to the motor drive module encodes
Device；With
Motor for receiving the instruction of the motor drive module and omni-directional wheel being driven to rotate；
The card computer includes:
It is coupled with the card computer, the wireless communication module for wireless communication；With
Pass through USB/TTL/I with the card computer2C coupling, for extending the expansion module of the robot function.
2. a kind of robot, omnidirectional according to claim 1, which is characterized in that the motor drive module includes for inciting somebody to action
The accelerator feedback of the robot gives the accelerometer of the motor drive module.
3. a kind of robot, omnidirectional according to claim 1, which is characterized in that the motor drive module includes for inciting somebody to action
Attitude data feeds back to the gyroscope of motor drive module.
4. a kind of robot, omnidirectional according to claim 1, which is characterized in that the card computer further includes and its coupling
It closes, the super wideband wireless transceiver module for ultra wide band positioning.
5. a kind of robot, omnidirectional according to claim 1, which is characterized in that the microcontroller further includes and its coupling
It closes, for judging the laser sensor of the distance between robot and barrier in the way of laser ranging.
6. a kind of multi-robot system, the system include:
Equipped with super wideband wireless transceiver module, the robot, omnidirectional that can directly carry out wireless communication between each other；
At least four are equipped with super wideband wireless transceiver module, are wirelessly connected respectively with the robot, omnidirectional and central processing unit,
Anchor point for ultra wide band positioning；With
It is wireless interconnected with the robot, omnidirectional and anchor point, for being communicated with each robot, omnidirectional and supervising the system
Central processing unit.
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| Application Number | Priority Date | Filing Date | Title |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111698190A (en) * | 2019-03-12 | 2020-09-22 | 比亚迪股份有限公司 | Multi-robot communication method, robot and server |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111698190A (en) * | 2019-03-12 | 2020-09-22 | 比亚迪股份有限公司 | Multi-robot communication method, robot and server |
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