CN211565914U - STM 32-based humanoid martial art arena robot - Google Patents
STM 32-based humanoid martial art arena robot Download PDFInfo
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- CN211565914U CN211565914U CN202020086033.3U CN202020086033U CN211565914U CN 211565914 U CN211565914 U CN 211565914U CN 202020086033 U CN202020086033 U CN 202020086033U CN 211565914 U CN211565914 U CN 211565914U
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Abstract
The utility model provides an STM 32-based humanoid martial art arena robot, which comprises a robot body, wherein a control circuit board is arranged on the robot body, and is integrated with a singlechip, a power supply module, a motor control port, a steering engine control port, a photoelectric sensor interface and an infrared sensor interface; the robot body is provided with a plurality of infrared distance measuring sensors and photoelectric sensors, and a shoulder joint, an elbow joint, a wrist joint, a hip joint and a knee joint of the robot body are respectively provided with a steering engine, and the steering engines are electrically connected with a steering engine control port and a power supply module; the foot of the robot body is provided with a chassis, a plurality of motors with wheels are arranged below the chassis, and the motors are electrically connected with a motor control port and a power supply module; the infrared distance measuring sensor is electrically connected with the infrared sensor interface and the power supply module respectively; the photoelectric sensor is electrically connected with the photoelectric sensor interface and the power supply module respectively; the utility model discloses a high and the debugging of being convenient for of integrated level.
Description
Technical Field
The utility model relates to a wushu arena robot technical field especially indicates an imitative humanoid wushu arena robot based on STM 32.
Background
The robot martial art arena in the robot tournament is a competition with ornamental and wide influence, integrates ornamental, interesting and scientific properties, combines mechanical, electronic and computer professions together, and attracts electronic enthusiasts all over the world.
For example, in "electronic design" in journal, a design of a humanoid robot is introduced, and for the martial arts arena of the robot in the five provinces of north china, the series of actions of the humanoid robot are designed by adopting the northstar software, so that various attacks are performed, and the confrontation strategy of the humanoid robot is realized by defense actions. A humanoid intelligent robot based on image processing is also developed in university student innovation projects of Beijing information technology university, a stereo camera and a depth sensor are used for capturing opponent information, and a single chip microcomputer is used for processing image data to control various actions of the robot.
The existing products have various characteristics, but have the problems of low integration level, large product volume, poor product stability, difficult data processing, troublesome debugging and the like.
SUMMERY OF THE UTILITY MODEL
The to-be-solved technical problem of the utility model is to provide an imitative humanoid wushu arena robot based on STM32 to solve the partial problem that above-mentioned current product exists at least.
In order to solve the technical problem, the utility model provides a following technical scheme:
a humanoid martial art arena robot based on STM32 comprises a humanoid robot body, wherein a control circuit board is arranged on the robot body, and a single chip microcomputer, a power supply module, a motor control port, a steering engine control port, a photoelectric sensor interface and an infrared sensor interface are integrated on the control circuit board; the power supply module, the motor control port, the steering engine control port, the photoelectric sensor interface and the infrared sensor interface are respectively and electrically connected with the single chip microcomputer;
steering engines are respectively arranged at the shoulder joint, the elbow joint, the wrist joint, the hip joint and the knee joint of the robot body, and the steering engines are respectively and electrically connected with the steering engine control port and the power supply module; a chassis is arranged at the foot part of the robot body, a plurality of motors are arranged below the chassis, the motors are respectively and electrically connected with the motor control port and the power supply module, and a wheel is respectively arranged on a rotating shaft of each motor;
the robot body is also provided with a plurality of infrared distance measuring sensors and a plurality of photoelectric sensors; the infrared distance measuring sensor is electrically connected with the infrared sensor interface and the power supply module respectively; the photoelectric sensor is electrically connected with the photoelectric sensor interface and the power supply module respectively.
Furthermore, an AD acquisition circuit is integrated on the control circuit board; wherein, infrared distance measuring sensor passes through AD acquisition circuit with infrared sensor interface electricity is connected.
Furthermore, an external keyboard interface is integrated on the control circuit board.
Further, the singlechip is an STM32 singlechip.
Furthermore, the number of the motors is four, and the four motors are distributed on the left side and the right side of the chassis and are symmetrically arranged.
Further, the two motors positioned on the same side of the chassis are electrically connected in parallel.
Further, the number of the infrared distance measuring sensors is four; wherein, four infrared distance measuring sensors are respectively distributed and installed around the chassis.
Further, the number of the photoelectric sensors is four; the four photoelectric sensors are respectively distributed and installed at four corners of the chassis, and each photoelectric sensor is obliquely arranged downwards by 45 degrees.
Further, the power supply module comprises an LM2596-5 voltage stabilizing chip and an LM1117-3.3 voltage stabilizing chip; the input end of the LM2596-5 voltage stabilizing chip is connected with a power supply, and the output end of the LM2596-5 voltage stabilizing chip is connected with the input ends of the steering engine, the infrared distance measuring sensor, the photoelectric sensor and the LM1117-3.3 voltage stabilizing chip; the output end of the LM1117-3.3 voltage-stabilizing chip is connected with the singlechip.
Furthermore, a decoupling capacitor is arranged between the ground of the power supply module and the power supply; and the analog ground and the digital ground of the power supply module are separated, and the analog ground and the digital ground are connected by a plurality of magnetic beads.
The utility model discloses an above-mentioned technical scheme's beneficial effect as follows:
the utility model discloses use the STM32 singlechip as the core, with master control circuit, power module, the motor control port, the steering wheel control port, AD acquisition circuit, sensor interface and external keyboard interface integration have been on a circuit board, thereby the product volume has been dwindled greatly, and keep apart with digit ground and simulation, thereby the stability of circuit board has been improved greatly, the external 12V model aeroplane and model ship battery of circuit board, it is sensor and steering wheel power supply to obtain the 5V power through board year steady voltage chip, it is singlechip and external keyboard power supply to obtain the 3.3V power, the integration level is very high. The external keyboard can be communicated with the single chip microcomputer only through one IIC interface, parameters of the robot can be conveniently debugged through the external keyboard, and the trouble of repeatedly burning programs is avoided.
Drawings
Fig. 1 is a schematic structural diagram of a humanoid martial arts arena robot based on STM 32;
fig. 2 is a circuit structure diagram of the power supply module of the present invention;
fig. 3 is a circuit diagram of a minimum system module according to an embodiment of the present invention;
fig. 4 is a circuit structure diagram of the interface of the photoelectric sensor of the present invention;
fig. 5 is a circuit structure diagram of the motor control port of the present invention;
fig. 6 is a circuit structure diagram of the AD acquisition module of the present invention;
FIG. 7 is a circuit diagram of the steering engine control port of the present invention;
fig. 8 is a circuit structure diagram of the external keyboard interface of the present invention;
description of reference numerals:
1. a robot body; 2. a chassis; 3. a motor; 4. and (4) wheels.
Detailed Description
In order to make the technical problems, technical solutions and advantages to be solved by the present invention clearer, the following detailed description will be given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 8, the embodiment develops an imitative human martial arts arena robot based on STM32 for the robot martial arts arena, and solves the problems of low integration level and poor system stability of the existing robot. The humanoid martial art arena robot of the embodiment takes an STM32 single chip microcomputer as a core, and the forward movement, backward movement, steering, acceleration and deceleration and the like of the robot are realized by controlling four motors; the actions of squatting, swinging, blocking, punching a fist and the like of the robot are realized by controlling the ten steering engines; detecting the distance between the robot and surrounding obstacles by using an infrared distance measuring sensor; and judging whether the robot reaches the edge of the ring or not by using the photoelectric sensor.
Specifically, the human-simulated martial art arena robot based on the STM32 provided by the embodiment comprises a human-simulated robot body 1, wherein a control circuit board is arranged on the robot body 1, and an STM32 single chip microcomputer, a power supply module, a motor control port, a steering engine control port, a photoelectric sensor interface, an infrared sensor interface, an AD acquisition circuit and an external keyboard interface are integrated on the control circuit board; the power supply module, the motor control port, the steering engine control port, the photoelectric sensor interface and the infrared sensor interface are respectively and electrically connected with the single chip microcomputer;
steering engines are respectively arranged at the shoulder joint, the elbow joint, the wrist joint, the hip joint and the knee joint of the robot body 1; namely, the hand and the forearm, the forearm and the big arm, the big arm and the shoulder, the crotch and the thigh and the shank of the robot body 1 are respectively connected through a steering engine; the steering engine is electrically connected with the steering engine control port and the power supply module respectively, and the rotation of each joint of the robot is controlled through ten steering engines; wherein, the knees and the crotch use four 25kg high-torque rudders to control the squat and the stoop of the robot, so that the gravity center of the robot can be reduced, the stability is improved, and the falling is prevented. The shoulders, elbows and wrists of the left arm and the right arm respectively use a 20kg medium-torque steering engine to control the actions of punching a fist, blocking a grid and the like of the robot. The ten steering engines are controlled by ten paths of independent PWM waves sent by the single chip microcomputer.
The foot of robot body 1 is provided with chassis 2, and the below on chassis 2 is provided with four motors 3, and motor 3 is connected with motor control port and power module electricity respectively, installs a wheel 4 in each motor 3's the pivot respectively, and four motors 3 distribute in the left and right both sides and the symmetry setting on chassis 2, through four wheels 4 of four motor 3 drive to improve the mobility of robot and reduce the control degree of difficulty. And two motors 3 positioned on the same side of the chassis are electrically connected in parallel to ensure that the rotating speeds of the two motors 3 on each side are consistent, and differential steering is realized by controlling the different rotating speeds of the motors 3 on the left side and the right side.
The robot body 1 is also provided with a plurality of infrared distance measuring sensors and a plurality of photoelectric sensors; the infrared distance measuring sensor is electrically connected with the power supply module and is electrically connected with the infrared sensor interface through the AD acquisition circuit; the photoelectric sensor is electrically connected with the photoelectric sensor interface and the power supply module respectively.
Specifically, the number of the infrared distance measuring sensors is four; the four infrared distance measuring sensors are respectively distributed and arranged on the front, the rear, the left and the right of the chassis 2; the device is used for detecting the position and the distance of an opponent, the infrared distance measuring sensor converts the detected distance value into a voltage signal, the single chip microcomputer measures the voltage output by the infrared distance measuring sensor through the AD acquisition module, the distance is calculated by using a conversion formula, and corresponding reaction is carried out.
The number of the photoelectric sensors is four; the four photoelectric sensors are respectively distributed and installed on four corners of the chassis 2, and each photoelectric sensor is obliquely arranged downwards by 45 degrees; a level value that is used for judging the ring, photoelectric sensor's output is high low level signal, and when the robot arrived the ring edge, photoelectric sensor can shine outside the ring, and received light intensity will change, just can make its output level change as long as set the light intensity threshold value, and the singlechip reads photoelectric sensor output through four IO mouths just can judge whether the robot arrived the ring edge to make corresponding decision, prevent that it from falling down the ring.
The following describes the modules specifically:
1. power supply module
The power supply module is externally connected with a +12V power supply through the leading-out pin to supply power to the whole module, in order to enhance the stability of the circuit, the embodiment adopts a method of separating an analog ground from a digital ground, and the analog ground and the digital ground are connected by a plurality of magnetic beads. The 12V power supply uses the LM2596-5 voltage-stabilizing chip to stabilize to 5V and supplies power for the steering engine, the infrared distance measurement sensor and the photoelectric sensor, and then uses the LM1117-3.3 voltage-stabilizing chip to stabilize to 3.3V and supply power for the minimum system module. In addition, the 12V power supply and the 5V power supply are respectively provided with an LED power supply indicator lamp, a decoupling capacitor is added between the power supply and the ground to play a role in filtering out ripples, and 5V power supply interfaces and 3.3V power supply interfaces are provided additionally and can be used as an extended power supply, as shown in figure 2.
2. Minimum system module
The minimum system module is a single chip microcomputer and basic circuits around the single chip microcomputer, the core board is an STM32C8T6 core board with positive point atoms, the core board has 68 pins in total, two pins 2 x 15 are 60 IO ports, and one pin 2 x 4 is a power supply interface. The female header pin header that has designed on the circuit board and has matched with interface position and quantity on nuclear core plate to guarantee that nuclear core plate can be firm grafting, as shown in fig. 3.
3. Photoelectric sensor interface
Four angles on robot chassis need four photoelectric sensor to prevent for subsequent use, six interfaces have been designed on the circuit board, and every interface includes that two power source VCC and GND and a signal line receive the corresponding IO mouth of singlechip, and the state that the photoelectric tube just can be judged to the singlechip through reading the level height that corresponds the IO mouth, and the signal line is established ties 2.2K resistance current-limiting, prevents to burn out the IO mouth, as shown in fig. 4.
4. Motor control port
The control port of the motor selects an H-bridge finished product module, the rotation speed of the motor can be controlled only by outputting PWM (pulse-width modulation) waves by the singlechip, and the forward rotation or the reverse rotation of the motor can be controlled by outputting two paths of level signals 01 or 10. All 8 pins of the interface are connected to the IO ports of the single chip, two of the pins can output PWM waves to control the rotation speed of the motors 3 on the left and right sides, the other six pins are common IO ports, two pins are a group to control the rotation direction of the motor 3 on one side, and the remaining two pins are used for standby, as shown in fig. 5.
5. AD acquisition module
The AD acquisition module is mainly used for an infrared distance measurement sensor, analog voltage signals output by the AD acquisition module are converted into digital signals which can be processed by a single chip microcomputer, the maximum voltage which can be acquired by the single chip microcomputer is 3.3V, the output range of the infrared module is 0-5V, resistors of 3.3K and 2.2K are used for voltage division, and the real voltage can be obtained by multiplying the voltage acquired by the single chip microcomputer by 1.5, as shown in figure 6.
6. Steering engine control port
The drive steering wheel needs two power cords and a signal line, the power cord is received on board carries the 5V power supply, the signal line will be controlled with the PWM ripples, the different positions of different duty cycles corresponding steering wheel, 12 steering wheel interfaces have been reserved to the circuit board, every interface is including all a VCC, a GND, a signal line, the signal line is received on the singlechip has the pin of PWM ripples output function, the position of every steering wheel just can be controlled to ten routes of PWM ripples through controlling the singlechip production like this, thereby control robot's action, as shown in figure 7.
7. External keyboard interface
The keyboard selects ZLG7289, I2C is used for communication, hardware I2C is carried in the single chip microcomputer, a clock line and a data line of the keyboard are connected with an IO port with the I2C function of the single chip microcomputer, parameters and strategies can be conveniently set for the robot through the external keyboard, and a frequent burning program is not needed, as shown in figure 8.
This embodiment uses the STM32 singlechip as the core, with master control circuit, power module, the motor control port, the steering wheel control port, AD acquisition circuit, sensor interface and external keyboard interface integration have been on a circuit board, thereby the product volume has been dwindled greatly, and keep apart with simulating with digit ground, thereby the stability of circuit board has been improved greatly, the external 12V model aeroplane and model ship battery of circuit board, it supplies power for sensor and steering wheel to obtain the 5V power through board year steady voltage chip, it supplies power for singlechip and external keyboard to obtain the 3.3V power, the integration level is very high. The external keyboard can be communicated with the single chip microcomputer only through one IIC interface, parameters of the robot can be conveniently debugged through the external keyboard, and the trouble of repeatedly burning programs is avoided.
Further, it should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or terminal apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or terminal that comprises the element.
It should also be noted that while the above describes a preferred embodiment of the invention, it is to be understood that once the basic inventive concepts have been attained and will become apparent to those skilled in the art, many modifications and enhancements can be made without departing from the principles of the invention, and such modifications and enhancements are also considered to be within the scope of the invention. Therefore, it is intended that the appended claims be interpreted as including the preferred embodiment and all changes and modifications that fall within the true scope of the embodiments of the invention.
Claims (10)
1. An STM 32-based humanoid martial art arena robot is characterized by comprising a humanoid robot body, wherein a control circuit board is arranged on the robot body, and a single chip microcomputer, a power supply module, a motor control port, a steering engine control port, a photoelectric sensor interface and an infrared sensor interface are integrated on the control circuit board; the power supply module, the motor control port, the steering engine control port, the photoelectric sensor interface and the infrared sensor interface are respectively and electrically connected with the single chip microcomputer;
steering engines are respectively arranged at the shoulder joint, the elbow joint, the wrist joint, the hip joint and the knee joint of the robot body, and the steering engines are respectively and electrically connected with the steering engine control port and the power supply module; a chassis is arranged at the foot part of the robot body, a plurality of motors are arranged below the chassis, the motors are respectively and electrically connected with the motor control port and the power supply module, and a wheel is respectively arranged on a rotating shaft of each motor;
the robot body is also provided with a plurality of infrared distance measuring sensors and a plurality of photoelectric sensors; the infrared distance measuring sensor is electrically connected with the infrared sensor interface and the power supply module respectively; the photoelectric sensor is electrically connected with the photoelectric sensor interface and the power supply module respectively.
2. The STM 32-based humanoid martial arts arena robot of claim 1, wherein an AD acquisition circuit is further integrated on the control circuit board; wherein, infrared distance measuring sensor passes through AD acquisition circuit with infrared sensor interface electricity is connected.
3. The STM 32-based humanoid martial arts arena robot of claim 1, wherein an external keyboard interface is further integrated on the control circuit board.
4. The STM 32-based humanoid martial arts arena robot as claimed in claim 1, wherein the single chip microcomputer is STM32 single chip microcomputer.
5. The STM 32-based humanoid martial arts arena robot of claim 1, wherein the number of the motors is four, and the four motors are distributed on the left and right sides of the chassis and symmetrically arranged.
6. An STM 32-based humanoid martial arts arena robot as claimed in claim 5 wherein two motors located on the same side of the chassis are electrically connected in parallel.
7. The STM 32-based humanoid martial arts arena robot of claim 1, wherein the number of infrared ranging sensors is four; wherein, four infrared distance measuring sensors are respectively distributed and installed around the chassis.
8. The STM 32-based humanoid martial arts arena robot of claim 1, wherein the number of photosensors is four; the four photoelectric sensors are respectively distributed and installed at four corners of the chassis, and each photoelectric sensor is obliquely arranged downwards by 45 degrees.
9. The STM 32-based humanoid martial arts arena robot of claim 1, wherein the power supply module comprises LM2596-5 voltage regulation chip and LM1117-3.3 voltage regulation chip;
the input end of the LM2596-5 voltage stabilizing chip is connected with a power supply, and the output end of the LM2596-5 voltage stabilizing chip is connected with the input ends of the steering engine, the infrared distance measuring sensor, the photoelectric sensor and the LM1117-3.3 voltage stabilizing chip; the output end of the LM1117-3.3 voltage-stabilizing chip is connected with the singlechip.
10. The STM 32-based humanoid martial arts arena robot of claim 9, wherein a decoupling capacitor is provided between a ground of the power module and the power supply; and the analog ground and the digital ground of the power supply module are separated, and the analog ground and the digital ground are connected by a plurality of magnetic beads.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020086033.3U CN211565914U (en) | 2020-01-15 | 2020-01-15 | STM 32-based humanoid martial art arena robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202020086033.3U CN211565914U (en) | 2020-01-15 | 2020-01-15 | STM 32-based humanoid martial art arena robot |
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| CN211565914U true CN211565914U (en) | 2020-09-25 |
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| CN202020086033.3U Expired - Fee Related CN211565914U (en) | 2020-01-15 | 2020-01-15 | STM 32-based humanoid martial art arena robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115134A (en) * | 2021-12-06 | 2022-03-01 | 苏州奥特美自动化技术有限公司 | Low-cost 13-axis parallel motion control card |
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2020
- 2020-01-15 CN CN202020086033.3U patent/CN211565914U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114115134A (en) * | 2021-12-06 | 2022-03-01 | 苏州奥特美自动化技术有限公司 | Low-cost 13-axis parallel motion control card |
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Granted publication date: 20200925 Termination date: 20220115 |