KR100860706B1 - Robot control circuit and robot - Google Patents

Abstract

A robot control circuit and a robot using the same are provided to control various operations such as stand, movement, and line tracing. A robot control circuit includes an H-bridge circuit(50), an amplifier(70), a decoder(60), and a micom(40). The H-bridge circuit generates driving motor control signals for controlling driving motors which perform forward rotation, reverse rotation, stop, and brake operations. The amplifier generates micom feedback signals by amplifying output currents from the driving motors. The decoder outputs forward rotation, reverse rotation, stop, and brake signals to the H-bridge circuit using forward rotation, reverse rotation, and pulse width modulation control signals. The micom outputs the forward rotation, reverse rotation, and pulse width modulation control signals using external input signals outputted from a control signal input unit, micom feedback signals outputted from the amplifier, and measurement signal outputted from a sensor unit.

Description

Wheel type inverted robot control circuit and wheel type inverted and mobile robot using it {Robot control circuit and Robot}

The present invention is a control circuit for controlling the driving operation of the drive motor of the inverted robot, the inverted function in which the body is erected and the wheel-type inverted and mobile combined robot to enable free movement and line tracing by standing or lying on the body. It is about.

Recently, due to the development of control technology, robots are used throughout the industry, and a number of learning robots have been used to increase interest in these robots and to understand the principles of the robots.

Most of these learning robots are walking robots and inverted robots using joints, and are used for learning the basic structure and control principle of the robots.

In addition, the prior art of the robot for learning or practical use is Japanese Patent Laid-Open No. 2005-219206, and the prior art of the inverted robot is Japanese Laid-Open Patent 2007-223399, Japanese Laid-Open 2007-280408, Japanese Laid-Open 2006-136962, and the like.

Among the robots, the inverted robot typically attaches wheels driven by gears to the lower part of the body, and enables the forward / backward movement of the body by using a gyro sensor and an angular velocity sensor to drive the gears. The output current is measured through a current sensor, converted into an analog-to-digital converter, input to the microcomputer, and the drive control signal value selected by the user is input to the microcomputer. By operating at the microcomputer, the driving motor is controlled to forward / reverse rotation and stop so that the invert is possible.

However, such an inverted robot has a problem that it is impossible to learn a variety of driving because it is configured to only forward / backward with the body inverted.

In addition, the current sensor is not only lowered learning efficiency by using an expensive current sensor that is commercially available, but also became an economic burden to use for learning at a high price.

The present invention provides a wheel-type inverted robot control circuit and a wheel-type invert using the same, which enables the free movement and line tracing to be freed from the limitations of the inverted motion of the conventional inverted robot and enables the current control of the driving motor at a low cost with a simple structure. And to provide a mobile combined robot.

A feature of the present invention for achieving the above object is composed of the first to fourth FET (FET1) (FET2) (FET3) (FET4) is input of four signals of forward rotation, reverse rotation, stop, braking H An H-bridge circuit 50 for outputting a drive motor operation control signal so that the drive motor 30 performs the corresponding operation in accordance with the motor control signal for the bridge circuit operation; An amplifier 70 for amplifying the output current of the driving motor 30 and outputting it as a microcomputer feedback signal; By using only AND-GATE and NOT-GATE, and using the forward-turning signal (CW signal), the reverse-turning signal (CCW signal) and the control pulse width modulation signal (PWM signal). The motor control signal for forward operation, reverse rotation, stop, and braking of the H-bridge circuit is operated so that the driving motor 30 can perform forward rotation, reverse rotation, stop, and braking operation by the H-bridge circuit 50. A decoder 60 for outputting a branch signal; External input signal output from the control signal input unit including a remote control and a key button and a computer, a microcomputer feedback signal output from the amplifying unit 70, and a measurement output from the sensor unit 20 including a gyro sensor and an angular velocity sensor And a microcomputer 40 for outputting a forward-only signal (CW signal), a reverse-only signal (CCW signal) and a control pulse width modulation signal (PWM signal), which are digital signals, to the decoder 60 using the value signal. By configuring the wheel type inverted robot control circuit, the current control and current detection output to the driving motor can be performed simultaneously, while enabling a cheap and simple circuit configuration.

And a two-wheel drive gearbox having one body and a two-wheel drive gear installed at a lower end of the body by using a fastening means such as a bolt and being replaced according to the purpose of use, and a one-wheel drive gear having one drive motor. A box, a drive wheel detachable from the drive shaft of the gearbox, an idle wheel installed on the upper portion of the body, a sensor including a position sensor and a gyro sensor installed on the body, and the control circuit described above. It is used to control one or a plurality of drive motors with the same output to drive two-wheel drive or one-wheel drive and the control unit is installed on the body, and the remote control and key buttons for outputting the operation control signal to the control unit of the body Providing a wheel type inverted and mobile robot composed of a control signal input unit, Perform a function, using a two-wheel drive gearbox, and to enable the tracing lines and knock free movement in the inverted state or body condition.

In the above configuration, a weight body is installed on the driving wheel side of the body, and the weight body uses a weight body such as a separate weight or, in the case of a learning robot, uses a battery which is a power source as a weight body.

In addition, the body is further provided with a display unit and a music playing unit of the dot light emitting diode (DOT LED) method.

By the configuration as described above, the present invention can configure the control circuit for driving wheel drive at a low cost and simple configuration to satisfy the low cost condition, which is the most demanded condition in the learning robot, to enable universal use for learning. It is effective.

In addition, since inverting, free movement, and line tracing are possible, interest in the robot is enhanced, and various motion control is possible, thereby improving learning effects.

In addition, the display unit using the LED, the music output unit and the like is further provided, and it is possible to enhance the learning effect by inducing interest.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing a wheeled inverted robot control circuit according to the present invention will be described by using a remote control as a control signal input unit as an example.

The control circuit according to the present invention is composed of first to fourth FETs (FET1), FET2, FET3, and FET4, and is a signal input among four signals of forward rotation, reverse rotation, stop, and braking (hereinafter referred to as H-bridge circuit). And amplifying the output current of the driving motor 30 and the H-bridge circuit 50 for outputting the driving motor operation control signal so that the driving motor 30 performs the corresponding operation according to the motor control signal for the operation. By using only the amplifying unit 70, AND-GATE and NOT-GATE, and outputting a signal for forward rotation (CW signal), a reverse rotation signal (CCW signal), and a control pulse width modulation signal. Four signals of forward rotation, reverse rotation, stop, and braking to enable the drive motor 30 to perform forward rotation, reverse rotation, stop, and braking operation using the H-bridge circuit 50 using (PWM signal). That is, an external input output from the decoder 60 and the remote controller 10 for outputting a motor control signal for operating the H-bridge circuit. The signal and the signal output from the amplifying unit 70 (hereinafter referred to as a microcomputer feedback signal) and the measured value signal output from the sensor unit 20 including a gyro sensor and an angular velocity sensor are polished to the decoder 60 described above. And a microcomputer 40 for outputting a digital signal that is a dedicated signal (CW signal), a reverse rotational signal (CCW signal), and a control pulse width modulation signal (PWM signal).

In the above configuration, the decoder 60 includes the first and gate AND1 having the CW and CCW signals as inputs, the first natgate NOT1 connected to the output terminal of the first and gate AND1, and the above-mentioned. The second AND gate AND2, which receives the output of the first natgate NOT1 and the PWM signal, inputs the second natgate NOT2, which is connected to the second FET FET2, and the CCW signal. As a input, the third nat gate NOT3 connected to the first FET1, the CW signal, and the second and gate AND2 output signals are inputted to the third end gate AND3 and CCW connected to the third FET3. Four motors for driving the H-bridge circuit with the H-bridge circuit 50 composed of the fourth and gate AND4 connected to the fourth FET4 with the signal and the second and gate AND2 output signals as inputs. Output a control signal.

Looking at the output of the decoder 60 and the energization of the H-bridge circuit 50 in the above configuration, first, a high signal is input to the CW signal, a clock signal is input to the PWM signal, and low to the CCW signal. ), The first FET (FET1) of the H-bridge circuit 50 is turned on, the second FET (FET2) is turned off, the third FET (FET3) is turned off, and the fourth FET (FET4) is turned on. The drive motor 30 rotates forward.

When the high signal is input to the CCW signal, the clock signal is input to the PWM signal, and the low signal is input to the CW signal, the first FET FET1 of the H-bridge circuit 50 is turned off and the second FET ( The FET2 is turned on, the third FET FET3 is turned on, and the fourth FET FET4 is turned off so that the driving motor 30 reverses.

In addition, when the CW signal and the CCW signal become a low signal and a pulse is applied to the PWM signal, all of the first to fourth FETs FET1, FET2, FET3, and FET4 of the H-bridge circuit 50 are turned off. When the driving motor 30 is stopped and the high signal is input to the CW signal and the CCW signal, and the PWM signal is output, the first to fourth FETs (FET1) (FET2) (FET3) of the H-bridge circuit 50 are output. (FET4) are all turned on to brake the driving motor 30.

The structure of the wheel-type inverted and mobile combined robot using the control circuit as described above will be described below.

2 is a front view of the robot according to the present invention, FIG. 3 is a rear view of the robot, and FIG. 4 is a side view of the robot, and FIG. 3 illustrates a two-wheel drive gearbox as an example.

The robot according to the present invention is installed to be detachable using a fastening means 121 such as a bolt at the bottom of the body 110 and the body 110, and a two-wheeled motor having two driving motors installed and replaced according to the purpose of use. The gearbox part 120 is composed of a one-wheel drive gearbox having a drive gearbox and one drive motor, a drive wheel 130 detachable from the drive shaft 122 of the gearbox part 120, and the body described above. The idle wheel 140 installed on the upper portion of the 110, the front sensor 21, the infrared remote control sensor 22, the gyro and the acceleration sensor 23 installed on the body 110, the temperature and illuminance Sensor 24, floor sensor 25 and the body 110 is installed in the two-wheel drive or one-wheel using the control circuit and the same output to control one or a plurality of drive motors 30 The controller 150 to be driven, and the controller 150 of the body 110 ) Is configured with a remote controller (shown in FIG. 1: 10) for outputting an operation control signal.

And, in the above configuration, the weight body 160 is installed on the drive wheel 130 side of the body 110, the weight body 160 is a weight body, such as a separate weight as in the embodiment of the present invention In the embodiment of the present invention, the battery 170 is located at the center of the body 110, but the battery 170 is used as the weight by using the battery 170 as the driving wheel 130 side. Can also be.

In addition, the body 110 may be provided with a display unit 180 of the DOT LED method to display the current temperature and illuminance measured by the sensors, and to display various characters set by the user.

The body 110 may further include a music player (including a speaker 190).

On the other hand, in the above configuration, the gear box 120 has a bolt fastening hole (121a) is formed, the body 110 also has a bolt fastening hole (121b) is installed in the same position as the gear box 120, a plurality of The gear box 120 is attached and detached by fastening the bolt 121c with the bolt fastening holes 121a and 121b.

In addition, the driving wheel 130 may be inserted into the drive shaft 122 protruding from both sides of the gear box 120 by force fit, and the reference numeral 31 in the drawing is a rotary encoder to the rotational speed of the drive motor. Measured by two-phase pulse signal having a matching 90-degree phase difference and output to the microcomputer.

The controller configuration of the inverted robot of the present invention having the configuration as described above will be described with reference to FIGS. 4 and 5.

), 구동바퀴의 각도값(θ), 구동바퀴의 각속도값(

)의 가충치 이득값을 이용하여 모터토크 산출회로(43)에서 모터토크값 τ(t)을 하기의 수학식 1에 따라 연산하여 출력하며, 출력된 모터토크값 τ(t)과 구동모터의 모터 전류값을 입력받아서 가산기(44)에서 가산한다.Figure 5 is a block diagram showing the configuration of the controller of the inverted robot according to the present invention, the microcomputer 40 is a control signal that is transmitted from a control signal input unit including a key button, a computer connected to the body and the remote control or itself The angle (speed) input signal and the posture angle (speed) velocity measurement signal of the body and the driving wheel outputted from the posture angle (speed) velocity measurement unit including a gyro sensor and the angular velocity sensor are input and subtracted from the subtractor 41. Gain value K1, K2, K3, K4 of the PI controller 42 for the inverted maintenance received this signal, that is, the angle value of the body (φ), the angular velocity value of the body (

), The angular value of the driving wheel (θ), the angular velocity of the driving wheel (

Motor torque calculation circuit 43 calculates and outputs the motor torque value τ (t) according to Equation 1 below, and outputs the motor torque value τ (t) and the driving motor. The motor current value is received and added by the adder 44.

In Equation 1, θ ₀ represents an angle value of the driving wheel at the initial position.

In addition, the decoder 60 described in FIG. 1 calculates and outputs a motor control signal K _PI for operating the H-bridge circuit, that is, a forward rotation, reverse rotation, braking, a stop signal, and a driving speed. According to the H-bridge circuit 50, the motor driving circuit controls the drive motor 30, the output current of the drive motor is amplified through the amplifier 70 is input back to the microcomputer 40 to be used as a control signal do.

The operation of the robot configured as described above will be described with reference to the flowcharts of FIGS. 6A to 6C attached below.

FIG. 6A is a flowchart showing an inverted operation of the robot, FIG. 6B is a flowchart showing a free movement operation, and FIG. 6C is a line tracing operation.

First, for the inverted operation, a single wheel drive gearbox is installed on the body.

As shown in FIG. 6A, the microcomputer judges whether the inverted operation signal is input by using the sampling frequency (frequency for synchronizing signal for controlling the robot system, (eg) 100 Hz) as shown in FIG. 6A. If there is a sampling frequency, calculate the angle and angular velocity of the body (S102), determine whether the angle initialization is necessary (S103), if the angle initialization is required to set the inverted angle (S104), the preset value without the angle initialization When inverted or inverted by the set inverted angle, the wheel angle and the angular velocity is calculated (S105) by applying the attitude control values (K1, K2, K3, K4) of the set body (S106) to control the motor (K _PI ) PWM value ( The output value of the decoder) (S107). At this time, even when the sampling frequency is not present, the motor control (K _PI ) PWM value (output value of the decoder) is calculated (S107).

It is determined whether the PWM value (PWM_duty) calculated as described above is smaller than '0' (S108). When the PWM value is smaller than '0', the motor rotates forward (S110). In operation S109, when the motor is greater than '0', the motor rotates in reverse (S111), and when the motor is '0', the motor stops or brakes (S112).

Then, the single-wheel drive gearbox is removed from the body and the two-wheel drive gearbox is installed using bolts, and then free movement and line tracing operations are performed in an inverted state or the body lying down.

First, as shown in FIG. 6B, the microcomputer determines the input sampling frequency (S201) to determine whether there is a free movement command in an inverted state or in a laid state, based on the signal output from the front sensor when there is a sampling frequency input. If there is an object in front (S202), if there is an object in front of the drive motor to output a stop or brake signal to stop or brake (S203) (S204), if there is no object in front By determining the input remote control signal, the controller calculates control modes such as left and right turning, forward and backward (S205), and performs operation (S206) to accelerate and decelerate the driving speed of the driving motor to operate the driving motor (S207). Make it possible.

As shown in FIG. 6C, the microcomputer determines whether an input sampling frequency is present (S301) to determine whether there is a line tracing command, and when there is a line tracing command, the microcomputer judges a signal output from the front sensor to detect an object. If there is an object in front (S302), if there is an object in front of the drive motor to output a stop or brake signal to perform a stop or braking operation (S303) (S304), if there is no object in front of the floor sensor After confirming the line of the floor through (S305) to calculate the driving direction, that is, the control mode (left / right, etc.) (S306) and then calculate the motor speed (S307) to operate the drive motor (S308).

On the other hand, Figure 7a and 7b is a view showing a single-wheel drive gearbox and a two-wheel drive gearbox, the gearbox is already known to those skilled in the relevant configuration, so the detailed description is omitted, if necessary use a different gear ratio Can be.

1 is a block diagram showing a wheeled inverted robot control circuit according to the present invention.

2 is a front view of the robot according to the present invention.

3 is a rear view of the robot.

5 is a side view of the robot.

Figure 5 is a block diagram showing the configuration of the controller of the inverted robot according to the present invention.

6A is a flowchart illustrating the inverting operation of the robot.

6B is a flowchart showing a free movement operation.

6C is a flowchart illustrating a line tracing operation.

7A and 7B show a single wheel drive gearbox and a two wheel drive gearbox.

Claims (4)

The drive motor is composed of the first to fourth FETs (FET1), (FET2), (FET3), and FET4, according to a motor control signal for operating an H-bridge circuit, which is input among four signals of forward rotation, reverse rotation, stop, and braking. An H-bridge circuit 50 for outputting a drive motor operation control signal so that 30 performs the corresponding operation; An amplifying unit 70 for amplifying the output current of the driving motor 30 and outputting it as a microcomputer feedback signal; By using only AND-GATE and NOT-GATE, and using the forward-turning signal (CW signal), the reverse-turning signal (CCW signal) and the control pulse width modulation signal (PWM signal). The motor control signal for forward operation, reverse rotation, stop, and braking of the H-bridge circuit is operated so that the driving motor 30 can perform forward rotation, reverse rotation, stop, and braking operation by the H-bridge circuit 50. A decoder 60 for outputting a branch signal, External input signal output from the control signal input unit including a remote control and a key button and a computer, a microcomputer feedback signal output from the amplifying unit 70, and a measurement output from the sensor unit 20 including a gyro sensor and an angular velocity sensor The microcomputer 40 is configured to output a forward-only signal (CW signal), a reverse-only signal (CCW signal) and a control pulse width modulation signal (PWM signal), which are digital signals, to the decoder 60 using the value signal. Wheel type inverted robot control circuit, characterized in that. Body, A two-wheel drive gearbox having two drive motors and one drive motor, which are installed to be detachable using a fastening means such as a bolt at the bottom of the body, and are installed and replaced according to the purpose of use; A drive wheel detachable from the drive shaft of the gear box; Idle wheels installed on the upper portion of the body, A sensor comprising a position sensor and a gyro sensor installed on the body; A control unit installed in the body to enable two-wheel drive or one-wheel drive by using the control circuit of claim 1 to control one or a plurality of drive motors with the same output; The one-wheel drive gearbox performs a forward / backward operation in an inverted state, and the two-wheel drive gearbox, characterized in that it comprises a control signal input unit including a remote control and a key button for outputting an operation control signal to the controller of the body. The furnace is a wheel-type inverted and movable robot that enables free movement in the inverted state and the body lying down. 3. The wheel according to claim 2, wherein a weight body is installed on the driving wheel side of the body, and the weight body uses a weight body such as a separate weight or a battery, which is a power supply source in the case of a learning robot, as a weight body. Type inverted and mobile robot. The wheel type inverted and mobile robot according to claim 2, wherein the body further includes a display unit or a music player unit of a dot light emitting diode (DOT LED) method.

Images