CN211731695U - Remote control balance car robot based on single-chip microcomputer gyroscope and AI technology - Google Patents
Remote control balance car robot based on single-chip microcomputer gyroscope and AI technology Download PDFInfo
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- CN211731695U CN211731695U CN202020212987.4U CN202020212987U CN211731695U CN 211731695 U CN211731695 U CN 211731695U CN 202020212987 U CN202020212987 U CN 202020212987U CN 211731695 U CN211731695 U CN 211731695U
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Abstract
The utility model provides a remote control balance car robot based on singlechip gyroscope and AI technique, it includes: the vehicle body is coaxially provided with two direct current speed reducing motors, and the direct current speed reducing motors are respectively provided with wheels; the gyroscope sensor module is connected with the main control module and the direct current speed reducing motor; it still includes: the camera module is connected to the main control module; the remote control device is wirelessly connected with the balance car robot; connect in the wireless remote control module of host system, it includes: the wireless remote control receiving module is arranged on the vehicle body, and the wireless data receiving module is arranged on the remote control device and matched with the wireless remote control receiving module; the surface of the vehicle body is provided with a loading platform. The robot can better adapt to complex road conditions, is favorable for crossing obstacles, and moves more flexibly.
Description
Technical Field
The utility model relates to the technical field of robot, especially, relate to remote control balance car robot based on singlechip gyroscope and AI technique.
Background
In the traveling process, the balance car can be used as a convenient and quick vehicle, and can also be used as a robot for logistics transportation and engineering detection, and the existing four-wheel type detection or transportation robot can hardly cross obstacles such as soil and stone gullies due to the design of a four-wheel chassis in the moving process. Moreover, most of the four-wheel detection trolleys widely applied at present do not combine the machine vision technology and wireless information transmission, and finished products with integrated functions are too high in cost and difficult to meet various requirements.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a remote control balance car robot based on singlechip gyroscope and AI technique, it can compromise many-sided demands such as economy, function, simple operation nature.
In order to achieve the above object, the utility model adopts the following technical scheme: remote control balance car robot based on singlechip gyroscope and AI technique, it includes:
the vehicle comprises a vehicle body, a left direct current speed reducing motor and a right direct current speed reducing motor are coaxially mounted on the vehicle body, and wheels are respectively mounted on a left motor rotating shaft of the left direct current speed reducing motor and a right motor rotating shaft of the right direct current speed reducing motor;
the gyroscope sensor module is connected with the main control module, the left direct current speed reducing motor and the right direct current speed reducing motor; it still includes: the camera module is arranged on the vehicle body and used for identifying road condition information and is connected to the main control module; the remote control device is used for remotely controlling the balance car robot and is wirelessly connected with the balance car robot; connect in the wireless remote control module of host system, it includes: the wireless remote control receiving module is arranged on the vehicle body, and the wireless data receiving module is arranged on the remote control device and matched with the wireless remote control receiving module; and the surface of the vehicle body is provided with a loading platform.
Furthermore, the main control module is an stm32f407 single chip microcomputer, the stm32f407 single chip microcomputer is used as a core control device, the series of chips have strong and rapid floating point arithmetic capability, PID algorithm processing can be carried out in time, the motor is controlled to rotate forwards and backwards, and vehicle body balance is kept.
Further, the gyroscope sensor module adopts a gyroscope MPU6050 as an inclination angle sensor to feed back the balance state of the vehicle body, and the MPU6050 determines the inclination angle by using a geographic coordinate system, so that the inclination state of the balance vehicle can be accurately reflected in real time.
Further, the camera module is an OpenMv camera, and a machine vision technology is adopted, so that image information is captured by the OpenMv camera and is transmitted to the controller and the display.
Further, the wireless remote control module is an NRF2401 wireless module, the control range of the NRF2401 wireless module can reach ten meters, and the wireless remote control module can be used for short-distance remote control detection.
Further, the direct-current speed reducing motor adopts a 24v direct-current speed reducing motor to control the balance car to operate, and a rotary encoder can be additionally arranged to measure the speed; the motor needs a 24V power supply, can be converted from a 12V rechargeable battery through a boosting module, and has the advantages of large torsion, high rotating speed and strong loading capacity.
Furthermore, the remote control device comprises a remote controller body, a control chip, a wireless data receiving module, a remote control display screen, a control rod, an independent key and/or a numeric keyboard and a parameter adjusting and path planning piece, wherein the control chip, the wireless data receiving module, the remote control display screen, the control rod, the independent key and/or the numeric keyboard and the parameter adjusting and path planning piece are arranged on the remote;
the control chip is connected with the wireless data receiving module, the remote control display screen, the operating rod, the independent key and/or the numeric keyboard and the parameter adjusting and path planning piece.
Further, the vehicle body is provided with a motor speed regulation switch which is connected with the motor speed regulator;
the motor speed regulator is connected to the boost driving circuit module, and the boost driving circuit module is connected to power module, left direct current gear motor, right direct current gear motor, host system, 5V step-down module.
Further, an openable front cover is arranged at the front part of the vehicle body.
Further, the power module is a 12v mobile rechargeable battery, and the power module is based on the 12v mobile rechargeable battery and is boosted to 24v through the boosting module to be used as a system power supply for supplying power.
In the scheme, the driving module adopts L298N as logic control driving and outputs a motor forward and reverse rotation signal and a pulse duty ratio speed regulation signal.
Compared with the prior art, the utility model has the advantages that:
1. change traditional four-wheel detection transport robot into two rounds of balance car structures, can adapt to complicated road conditions better, be favorable to crossing the obstacle, move more in a flexible way.
2. The functions of logistics transportation, remote detection, road condition identification, wireless information transmission and the like are integrated on one set of machine, so that the cost is saved.
3. The structure is simple, the operation is convenient, the interaction performance is good, the application range is wide, and the practical application benefit is improved.
Drawings
Fig. 1 is a schematic diagram of a main body structure of a robot of a remote control balance car based on a single-chip gyroscope and an AI technology.
Fig. 2 is a schematic diagram of an internal circuit structure of a remote control balance car robot based on a single-chip gyroscope and an AI technology.
Fig. 3 is a schematic view of a remote control receiving device control interface of the remote control balance car robot based on the single-chip gyroscope and AI technology.
Fig. 4 is an electrical schematic diagram of a remote control balance car robot based on a single-chip gyroscope and AI technology.
Detailed Description
The technical solution adopted by the present invention will be further described with reference to the schematic drawings.
The utility model provides a remote control balance car robot (hereinafter referred to as "this remote control balance car robot") based on singlechip gyroscope and AI technique, refer to fig. 1-4, it includes: the vehicle comprises a vehicle body 1, a direct current speed reducing motor (namely a direct current motor module in fig. 4), wheels 6, a power module 7, a main control module 8, a gyroscope sensor module 9, a camera module 10, a vehicle body display screen 13 and a line remote control module. The two direct current speed reducing motors arranged on the vehicle body are defined as a left direct current speed reducing motor 2 and a right direct current speed reducing motor 3 respectively.
Referring to fig. 1, a vehicle body 1 of the remote control balance car robot is coaxially provided with a left direct current speed reduction motor 2 and a right direct current speed reduction motor 3, wheels 6 are respectively arranged on a left motor rotating shaft 4 of the left direct current speed reduction motor 2 and a right motor rotating shaft 5 of the right direct current speed reduction motor 3, and the vehicle body is provided with an outer shell which comprises but is not limited to a square shell.
Combine fig. 1-2, power module 7, host system 8, gyroscope sensor module 9, automobile body display screen 13 install in the automobile body, and power module 7 is 12v portable rechargeable battery, power module 7 connects in host system 8, and host system is stm32f407 singlechip, host system 8 connects in left direct current gear motor 2, right direct current gear motor 3, automobile body display screen 13, and the automobile body display screen is installed in the upper surface of automobile body shell, gyroscope sensor module 9 connects in host system 8, left direct current gear motor 2, right direct current gear motor 3. This remote control balance car robot still includes: and a camera module 10, such as an OpenMv camera, mounted on the vehicle body and used for identifying the traffic information, where the OpenMv camera is connected to the main control module 8.
The stm32f407 single chip microcomputer of the main control module 8 in fig. 2 has a plurality of external wires 18 to facilitate the butt connection of corresponding electronic devices, and the figure is a schematic diagram.
The remote control balance car machine is provided with a remote control device 12 used for remotely controlling the balance car robot, the remote control device 12 is wirelessly connected with the balance car robot, the remote control device 12 comprises a remote controller body and a control chip (such as an STM32F407 series or STM32F103 series control chip) arranged on the remote controller body, a wireless data receiving module 12a, a remote control display screen 12b, a control rod 12c, an independent key and/or a numeric keyboard and a parameter adjusting and path planning piece 12e, the control chip is connected with the wireless data receiving module 12a, the remote control display screen 12b, the control rod 12c, the independent key and/or the numeric keyboard and the parameter adjusting and path planning piece 12e, and the independent key 12d-1 and the numeric keyboard 12d-1 are simultaneously arranged.
It should be noted that the remote control is well-established in the art and will not be described in detail herein.
This remote control balance car machine has the wireless remote control module who connects in host system 8, and it includes: the remote control device comprises a wireless remote control receiving module 11 installed on a vehicle body and a wireless data receiving module 12a arranged on a remote control device and matched with the wireless remote control receiving module, wherein the wireless remote control module is an NRF2401 wireless module in the embodiment.
The body surface of this remote control balance car machine is provided with cargo platform, and the shell surface of automobile body here can directly regard as cargo platform, certainly, can further reform transform the carrying needs in order to adapt to different goods to the body surface, can add carrier basket etc.. The front part of the vehicle body is provided with an openable front cover 15.
In this embodiment, the vehicle body is provided with a motor speed regulation switch 14 connected to a motor speed regulator 16, the motor speed regulator 16 is connected to a boost driving circuit module 17, and the boost driving circuit module is connected to the power module 7, the left direct current speed reduction motor 2, the right direct current speed reduction motor 3, the main control module 8 and the 5V voltage reduction module 17.
Of course, the single chip microcomputer in the embodiment controls the steering engine to operate, and other types of controllers can be adopted; the wireless information transmission module can also adopt a Bluetooth or WIFI module; the camera part can also adopt an Ov series, a Maxpy series and other digital cameras.
After the switch of the remote control balancing robot is started, the remote control balancing robot is initially in a balancing mode, the inclination angle of a vehicle body is continuously fed back through an MPU6050, and a main control chip (a main control module 8) processes and outputs a corresponding PWM pulse wave to control the positive and negative rotation and speed regulation setting of a direct current motor by utilizing a PID algorithm, so that the balance of the vehicle body is ensured; then, a camera attached to the vehicle body can perform digital image processing and mode recognition by using an AI technology, and road condition information is transmitted to an upper computer through a wireless module for real-time monitoring; meanwhile, the NRF2401 wireless module can also be used for carrying out wireless remote control on the trolley, so that the tracking robot is detected, and the trolley body can also be loaded with objects, so that the logistics robot is realized.
The above description is only for the preferred embodiment of the present invention, and does not limit the present invention. Any technical personnel who belongs to the technical field, in the scope that does not deviate from the technical scheme of the utility model, to the technical scheme and the technical content that the utility model discloses expose do the change such as the equivalent replacement of any form or modification, all belong to the content that does not break away from the technical scheme of the utility model, still belong to within the scope of protection of the utility model.
Claims (8)
1. Remote control balance car robot based on singlechip gyroscope and AI technique, it includes:
the vehicle comprises a vehicle body, a left direct current speed reducing motor and a right direct current speed reducing motor are coaxially mounted on the vehicle body, and wheels are respectively mounted on a left motor rotating shaft of the left direct current speed reducing motor and a right motor rotating shaft of the right direct current speed reducing motor;
the gyroscope sensor module is connected with the main control module, the left direct current speed reducing motor and the right direct current speed reducing motor;
it is characterized in that it also comprises:
the camera module is arranged on the vehicle body and used for identifying road condition information and is connected to the main control module;
the remote control device is used for remotely controlling the balance car robot and is wirelessly connected with the balance car robot;
connect in the wireless remote control module of host system, it includes: the wireless remote control receiving module is arranged on the vehicle body, and the wireless data receiving module is arranged on the remote control device and matched with the wireless remote control receiving module;
and the surface of the vehicle body is provided with a loading platform.
2. The remote control balance car robot based on the single-chip gyroscope and the AI technology as claimed in claim 1, wherein the main control module is an stm32f407 single-chip microcomputer.
3. The remote control balance car robot based on the single-chip gyroscope and the AI technology as claimed in claim 1, wherein the camera module is an OpenMv camera.
4. The remote control balance car robot based on the single-chip gyroscope and the AI technology as claimed in claim 1, wherein the wireless remote control module is an NRF2401 wireless module.
5. The remote control balance car robot based on the single-chip gyroscope and the AI technology as claimed in claim 1, wherein the remote control device comprises a remote controller body, and a control chip, a wireless data receiving module, a remote control display screen, a control lever, an independent key and/or a numeric keyboard, a parameter adjusting and path planning piece, which are mounted on the remote controller body;
the control chip is connected with the wireless data receiving module, the remote control display screen, the operating rod, the independent key and/or the numeric keyboard and the parameter adjusting and path planning piece.
6. The remote control balance car robot based on the single-chip gyroscope and the AI technology as claimed in claim 1, wherein the car body is provided with a motor speed regulation switch connected to a motor speed regulator;
the motor speed regulator is connected to the boost driving circuit module, and the boost driving circuit module is connected to power module, left direct current gear motor, right direct current gear motor, host system, 5V step-down module.
7. The remote control balance car robot based on the single-chip gyroscope and the AI technology as claimed in claim 1, wherein the front part of the car body is provided with an openable front cover.
8. The remote control balance car robot based on the single-chip gyroscope and the AI technology as claimed in claim 1, wherein the power module is a 12v mobile rechargeable battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020212987.4U CN211731695U (en) | 2020-02-26 | 2020-02-26 | Remote control balance car robot based on single-chip microcomputer gyroscope and AI technology |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202020212987.4U CN211731695U (en) | 2020-02-26 | 2020-02-26 | Remote control balance car robot based on single-chip microcomputer gyroscope and AI technology |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211731695U true CN211731695U (en) | 2020-10-23 |
Family
ID=72877650
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202020212987.4U Expired - Fee Related CN211731695U (en) | 2020-02-26 | 2020-02-26 | Remote control balance car robot based on single-chip microcomputer gyroscope and AI technology |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211731695U (en) |
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2020
- 2020-02-26 CN CN202020212987.4U patent/CN211731695U/en not_active Expired - Fee Related
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20201023 Termination date: 20210226 |