CN2931011Y - Intelligent labyrinth robot - Google Patents
Intelligent labyrinth robot Download PDFInfo
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- CN2931011Y CN2931011Y CN 200620023237 CN200620023237U CN2931011Y CN 2931011 Y CN2931011 Y CN 2931011Y CN 200620023237 CN200620023237 CN 200620023237 CN 200620023237 U CN200620023237 U CN 200620023237U CN 2931011 Y CN2931011 Y CN 2931011Y
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- robot
- photoelectric sensor
- microprocessor
- labyrinth
- bracing frame
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Abstract
The utility model relates to an intelligent labyrinth robot belonging to artificial intelligence field, which comprises two independently controlled driving wheels (6), a front middle universal wheel (1), a holding frame (9), a microprocessor and a sensor system, wherein, the two driving wheels (6) are connected with the universal wheel (1) through the holding frame (9) to form the chassis of the robot; the sensor system includes three sets of infrared transmitting-receiving sensors 4, first photoelectric sensors 2 and second photoelectric sensors 7 all connected with the microprocessor; the microprocessor controls the operating of the electrical motor according to input signals so as to control the walking and steering of the robot. The utility model realizes independent labyrinth search and intelligent memory and judgment of optimum path with the support of software; meanwhile, fewer sensors are adopted, thereby reducing probability of misoperation and improving systematic stability.
Description
Technical field
The utility model is a kind of intelligent maze robot, can independently explore and remembers and optimize the route of walking unknown labyrinth, belongs to artificial intelligence field.
Background technology
Present most maze robot all is to carry several photoelectric sensors the white guide line on ground, labyrinth is discerned the labyrinth of walking, walk maze robot (referring to " network technology epoch " 2004 03 phase) as people such as the Qian Zhenyan of Shanghai university of communications design, carried 8 reflective photoelectric sensors ground, labyrinth white line has been detected actions such as the turning that realizes advancing, carried out the labyrinth search according to lefft-hand rule or right-hand rule (being that robot turns left all the time or turns right along the labyrinth wall).Finish under the prerequisite of set function, because it is too much to carry sensor, increased manufacturing cost, also make simultaneously the sensor misoperation cause the unsettled probability of system to increase, and this robotlike's lack of wisdom and independence, lack cognitive and the memory discriminating power for optimal path, therefore significant limitation is arranged in actual applications.
The utility model content
The utility model proposes a kind of intelligent maze robot, when this robot satisfies the single channel stereo labyrinth of certain size requirement in walking, do not need the white line channeling conduct, and can remember and road optimization the obstacle environment in labyrinth, remove passless dead end, realized its intelligence, independently walked the process in labyrinth.
In order to realize as above purpose, the utility model has been taked following technical scheme.The utility model mainly includes two driving wheels 6 in rear, the universal wheel 1 of the place ahead central authorities, bracing frame 9, two driving wheels 6 are connected with universal wheel 1 by bracing frame 9, constitute the chassis of robot, two motors drive two driving wheels separately, it is characterized in that: also include microprocessor, sensing system, sensing system includes three groups of infrared emission receiving sensors 4, first photoelectric sensor 2, second photoelectric sensor 7, three groups of infrared emission receiving sensors 4 lay respectively at both sides and the place ahead of bracing frame 9, are used for the detection to barrier; First photoelectric sensor 2 is positioned at the rear of bracing frame, is used to detect the white line between labyrinth piece and the piece; Second photoelectric sensor 7 is positioned at the place ahead of bracing frame, cooperates first photoelectric sensor 2 to carry out end point determination; Wherein, three groups of infrared emission receiving sensors 4, first photoelectric sensor 2, second photoelectric sensors 7 link to each other with microprocessor respectively, microprocessor is according to the action of the input signal of three groups of infrared emission receiving sensors 4 control motor, so the walking of control robot with turn to; Whether microprocessor enters a new labyrinth piece according to the input-signal judging robot of first photoelectric sensor 2; Whether the input-signal judging robot according to first photoelectric sensor 2, second photoelectric sensor 7 has entered terminal point.
Sensing system is mainly by the three groups of infrared emission receiving sensors 4 and first photoelectric sensor 2, second photoelectric sensor 7 is formed, three groups of infrared emission receiving sensors 4 are separately positioned on the left of robot, the place ahead and right-hand, every group of infrared emission receiving sensor 4 has an infraluminescence pipe and infrared receiving tube, by the continual infrared ray that sends certain frequency to certain direction of infraluminescence pipe, during barrier in running into certain distance, the infrared light of the sufficient intensity that reflects is received by infrared receiving tube, thereby control system has been sent obstacle signal, finished real-time detection to barrier, by the information fusion of these three groups of infrared sensors, robot can well survey labyrinth information.First photoelectric sensor 2 is positioned at the rear of bracing frame bottom, is used for the white line between labyrinth piece and the piece is detected, and to realize the location of robot in the labyrinth, is convenient to the function that robot realizes its intelligent decision and memory modification labyrinth information.Second photoelectric sensor 7 is positioned at the place ahead of bracing frame bottom, cooperates first photoelectric sensor 2 to carry out end point determination, stops armed state when the robot probe enters after the endpoint information.
Control procedure of the present utility model, specifically referring to Fig. 5, the function of microprocessor is that the signal of sensing system input is handled and merged and control the motor corresponding actions.The robot startup enters waits for the acoustic control coomand mode, give signal of microprocessor receive the sound of sufficient intensity when the acoustic control input circuit after, microprocessor then begins constantly to judge first photoelectric sensor 2, the detection signal of second photoelectric sensor, 7 inputs, when first photoelectric sensor 2 that receives, when second photoelectric sensor 7 does not all detect white line, microprocessor just sends instruction according to the signal input condition of three groups of infrared ray emission receiving sensors 4, by driving two motors, make driving wheel 6, universal wheel 1 corresponding actions, and then control advancing and turning to of robot.Pronunciation circuit can send corresponding sound simultaneously.Can be in the internal memory of microprocessor according to remembering labyrinth information according to certain algorithm when first three groups infrared sensor state, when first photoelectric sensor 2 detects white line and second photoelectric sensor 7 when not detecting white line, illustrate that robot enters in the new labyrinth piece, microprocessor repeats above process, walks on.The explanation robot has entered terminal point when first photoelectric sensor 2 and second photoelectric sensor 7 detect white line simultaneously, and robot enters and stops armed state.
The beneficial effects of the utility model are to realize the function of search of autonomous labyrinth and intelligent memory judgement optimal path under the support of software programming, simultaneously, because the number of sensors of using is few, have reduced the probability of maloperation, have strengthened the stability of system.
Description of drawings
Fig. 1 is a control circuit schematic diagram of the present utility model
Fig. 2 is an articulatory system circuit diagram of the present utility model
Fig. 3 is voice activated control input circuit figure of the present utility model
Fig. 4 is the interior mechanical mechanism schematic diagram of robot
Fig. 5 is a robot control circuit frame diagram
The labyrinth schematic diagram is walked by Fig. 6 robot
Among the figure: 1, universal wheel, 2, first photoelectric sensor, 3, belt strip reduction gearing motor, 4, the infrared emission receiving sensor, 5, battery compartment, 6, driving wheel, 7, second photoelectric sensor, 8, circuit board, 9, bracing frame, 10, labyrinth inlet, 11, the labyrinth outlet.
The specific embodiment
1～Fig. 6 further specifies specific embodiment of the utility model below in conjunction with accompanying drawing.
Present embodiment mainly includes bracing frame 9, universal wheel 1 of two the independent driving wheels 6 in rear and the place ahead central authorities, microprocessor, sensing system, voice activated control, articulatory system, two driving wheels 6 connect and compose the chassis of robot by bracing frame and universal wheel 1, be provided with at the rear on chassis and be used to deposit battery storehouse 5, for microprocessor provides power supply.Two belt strip reduction gearing motors 3 are through driving two driving wheels separately after the reduction gearing.
Sensing system includes both sides and the place ahead that three groups of infrared emission receiving sensors 4, first photoelectric sensor 2,7, three groups of infrared emission receiving sensors 4 of second photoelectric sensor lay respectively at bracing frame, is used for the detection to barrier; First photoelectric sensor 2 is positioned at the rear of bracing frame, is used to detect the white line between labyrinth piece and the piece; Second photoelectric sensor 7 is positioned at the right front of bracing frame, cooperates first photoelectric sensor 2 to carry out end point determination.Wherein, three groups of infrared emission receiving sensors 4, first photoelectric sensor 2, second photoelectric sensors 7 link to each other with microprocessor respectively, microprocessor is according to the action of the input signal of three groups of infrared emission receiving sensors 4 control motor, so the walking of control robot with turn to; Whether microprocessor enters a new labyrinth piece according to the input-signal judging robot of first photoelectric sensor 2; Whether the input-signal judging robot according to first photoelectric sensor 2, second photoelectric sensor 7 has entered terminal point.Voice activated control, voice activated control links to each other with microprocessor, controls the startup of microprocessor with sound.Articulatory system can corresponding robot corresponding actions send corresponding sound.
Two driving wheels in robot rear adopt two direct current generators through driving separately after the reduction gearing, by pulsewidth (recently regulating the armature voltage at direct current generator two ends) speed governing by regulating the output voltage duty, by the action such as turn of two rotating speed of motor differences, universal wheel of the place ahead central authorities cooperates two driving wheels, has realized turning to flexibly and action such as forward-reverse of robot.
The walking of robot realizes by universal wheel 1 and two driving wheels 6, realizes the turning of robot by the speed discrepancy of two belt strip reduction gearing motors, the 3 independent driving wheels of controlling.As shown in Figure 1, two motors link to each other with microprocessor by motor 1 control circuit, motor 2 control circuits respectively, two motors in the present embodiment are connected on two outputs of JP4 and JP5 respectively, that motor 1 control circuit and motor 2 control circuits are selected for use is motor control chip TA8428, promptly J1 as shown in Figure 1 and J2 are motor control chip TA8428, its control signal input connects PD7, PD6, PD5, the PD4 pin of microprocessor respectively, by with actions such as positive and negatively directly walking of having realized robot cooperating of universal wheel 1, arbitrarily angled turning and pivot turn.What the microprocessor in the present embodiment was selected for use is the ATmaga16L chip of atmel corp, and this family chip adopts reduced instruction set computer, has at a high speed low cost, advantage such as low-power consumption and being used widely.
The detection of obstacles of robot is to realize by the infrared sensor 4 in robot both sides and the place ahead, left, the PB0 of microprocessor in the output signal line difference map interlinking 1 of the place ahead and right-hand infrared sensor, PB1 and PB3 pin, infrared ray sensor is by directed infrared ray to external world's emission certain frequency, the infrared reflection that has certain intensity during barrier in running into certain distance is returned, and infrared receiver tube will be made a response after receiving the infrared ray that reflects and give high level of microprocessor, thereby finished detection to barrier in this direction certain distance, detection of obstacles by three directions, robot can set up the information of a solid to the labyrinth environment, and realizes the corresponding action scheme according to corresponding control strategies.
Control strategy is as follows: the state of infrared ray sensor can represent that (0 expression does not have barrier with 0 and 1,1 expression has barrier), if left, the place ahead and right-hand sensor states are 011 o'clock, expression the place ahead and the right-hand barrier that runs into, robot just turn 90 degrees left, when being 110, sensor states represents that left and the place ahead run into barrier, the robot right side turn 90 degrees, robot is with regard to the slow astern lattice when sensor states is 111, being that 010 o'clock left side turn 90 degrees, is that 000,001,100,101 o'clock robots advance.
The holding wire of first photoelectric sensor 2 of robot afterbody connects the PB5 pin of microprocessor, be used for detecting the white line between labyrinth piece and the piece, when detecting white line, return low level, mean that robot advances in new labyrinth piece of people, robot can carry out certain judgement and modification to the obstacle information in the piece of current labyrinth, promptly the current state of left, the place ahead and right-hand sensor is stored with 0 and 1 form, and carry out next step action according to control strategy.Some impracticable dead ends of can not going further when this modification can make robot go further this labyrinth next time, but memory based information is moved, its process is as follows: after robot detects white line, call the labyrinth information that writes down in the memory and carry out corresponding actions, thereby do not rely on sensor and walk out the labyrinth along optimal path smoothly fast according to control strategy.
Second photoelectric sensor 7 that robot keeps right in the place ahead connects the PB4 pin of microprocessors, is used for terminal point is detected, and represents that robot enters terminal state when this sensor and first photoelectric sensor 2 detect white line simultaneously, and robot finds an exit.
The sound control circuit input pin is the PB2 of microprocessor, and pronunciation circuit connects the PC0 pin of microprocessor.
The program download circuit is used for carrying out program and exchanges data with host computer.
The used labyrinth of robot as shown in Figure 6, ground, labyrinth is the wood materials of black, the labyrinth wall be white wood materials, with the white line interval of wide 2mm, the ground in exit, labyrinth is white, the long 15cm of each labyrinth fritter between labyrinth piece and the piece, wide 20cm, high 10cm.
The utility model is the function that can realize search of robot autonomous labyrinth and intelligent memory judgement optimal path under the support of software programming.Detect barrier and walk with regard to being no longer dependent on three groups of infrared emission receiving sensors 4 according to memory fully when this labyrinth walked once more by robot, also can turn back to the labyrinth starting point from the labyrinth terminal point in former road, some dead ends of can't going further, thus its gait of march accelerated.Robot carries out acoustic control and starts, and carried the LED light of pronunciation circuit and the green three kinds of colors of red orchid, cooperate robot under different conditions, to send the different sound and the light of different colours, the LED in shell dead ahead can give out light when for example robot advanced, during left-hand rotation the LED on the left side luminous and when turning right the LED on the right side luminous, the acoustic control indicator lamp of correspondence can be luminous etc. when acoustic control started, when being over during the search of labyrinth of robot success, it can send joy and the song of taking pride in is expressed its emotion.
Claims (1)
1, a kind of intelligent maze robot, mainly include two driving wheels (6), the universal wheel of the place ahead central authorities (1), bracing frame (9), two driving wheels (6) are connected with universal wheel (1) by bracing frame (9), constitute the chassis of robot, two motors drive two driving wheels separately, it is characterized in that: also include microprocessor, sensing system, sensing system includes three groups of infrared emission receiving sensors (4), first photoelectric sensor (2), second photoelectric sensor (7), three groups of infrared emission receiving sensors (4) lay respectively at both sides and the place ahead of bracing frame (9), are used for the detection to barrier; First photoelectric sensor (2) is positioned at the rear of bracing frame, is used to detect the white line between labyrinth piece and the piece; Second photoelectric sensor (7) is positioned at the place ahead of bracing frame, cooperates first photoelectric sensor (2) to carry out end point determination; Wherein, three groups of infrared emission receiving sensors (4), first photoelectric sensor (2), second photoelectric sensor (7) link to each other with microprocessor respectively, microprocessor is according to the action of the input signal of three groups of infrared emission receiving sensors (4) control motor, so the walking of control robot with turn to; Whether microprocessor enters a new labyrinth piece according to the input-signal judging robot of first photoelectric sensor (2); Whether the input-signal judging robot according to first photoelectric sensor (2), second photoelectric sensor (7) has entered terminal point.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620023237 CN2931011Y (en) | 2006-07-10 | 2006-07-10 | Intelligent labyrinth robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620023237 CN2931011Y (en) | 2006-07-10 | 2006-07-10 | Intelligent labyrinth robot |
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| CN2931011Y true CN2931011Y (en) | 2007-08-08 |
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| CN 200620023237 Expired - Lifetime CN2931011Y (en) | 2006-07-10 | 2006-07-10 | Intelligent labyrinth robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100409130C (en) * | 2006-07-10 | 2008-08-06 | 北京工业大学 | Intelligent maze robot |
| CN103472841A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Full-digital servo controller based on ARM9 four-wheeled microcomputer mouse |
| CN103472838A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Fast sprint controller of four-wheel micro-mouse based on double processors |
| CN103472833A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Full-digital servo controller of four-wheel micro-mouse based on dual processors |
| CN103878772A (en) * | 2014-03-31 | 2014-06-25 | 北京工业大学 | Biomorphic wheeled robot system with simulation learning mechanism and method |
| RU2610810C1 (en) * | 2015-09-30 | 2017-02-15 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | Device for mobile robots testing |
| CN111227564A (en) * | 2020-01-15 | 2020-06-05 | 青岛黄海学院 | Robot seat capable of automatically walking |
-
2006
- 2006-07-10 CN CN 200620023237 patent/CN2931011Y/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100409130C (en) * | 2006-07-10 | 2008-08-06 | 北京工业大学 | Intelligent maze robot |
| CN103472841A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Full-digital servo controller based on ARM9 four-wheeled microcomputer mouse |
| CN103472838A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Fast sprint controller of four-wheel micro-mouse based on double processors |
| CN103472833A (en) * | 2013-09-16 | 2013-12-25 | 苏州工业园区职业技术学院 | Full-digital servo controller of four-wheel micro-mouse based on dual processors |
| CN103878772A (en) * | 2014-03-31 | 2014-06-25 | 北京工业大学 | Biomorphic wheeled robot system with simulation learning mechanism and method |
| RU2610810C1 (en) * | 2015-09-30 | 2017-02-15 | Федеральное государственное автономное научное учреждение "Центральный научно-исследовательский и опытно-конструкторский институт робототехники и технической кибернетики" (ЦНИИ РТК) | Device for mobile robots testing |
| CN111227564A (en) * | 2020-01-15 | 2020-06-05 | 青岛黄海学院 | Robot seat capable of automatically walking |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Effective date of abandoning: 20060710 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |