CN103176473A - Wheeled mobile robot motor driving circuit based on multiple sensors - Google Patents
Wheeled mobile robot motor driving circuit based on multiple sensors Download PDFInfo
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- CN103176473A CN103176473A CN2013100573812A CN201310057381A CN103176473A CN 103176473 A CN103176473 A CN 103176473A CN 2013100573812 A CN2013100573812 A CN 2013100573812A CN 201310057381 A CN201310057381 A CN 201310057381A CN 103176473 A CN103176473 A CN 103176473A
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Abstract
The invention relates to a wheeled mobile robot motor driving circuit based on multiple sensors. The driving circuit comprises microprocessors, motor driver chips, an electric compass, a wireless transceiver chip, a storage device, an ultrasound obstacle avoidance sensor, a resistor, an audion, a diode, a stepping motor M1, a stepping motor M2 and a key S1. The microprocessors are respectively connected with the motor driver chip, the electric compass, the wireless transceiver chip, the storage device and the ultrasound obstacle avoidance sensor; the motor driver chips are respectively connected with the resistor and the audion; and the electric compass is connected with the key S1, the stepping motor M1 is connected with the diode, and the stepping motor M2 is connected with the diode. The wheeled mobile robot motor driving circuit is reasonable in design, simple in structure, good in flexibility and simple to operate, meets the monitoring and collecting needs of the real robots, can be used in all kinds of indoor environment, and can be used in outdoor environment if being simply improved.
Description
Technical field
The present invention relates to a kind of robot field, is a kind of wheeled mobile robot motor-drive circuit based on multisensor specifically.
Background technology
Recent several years, the quantity of robot is cumulative year after year with surprising rapidity, and according to the data-speculative of the recent issue of World Robotics company, global robot sum reaches 8,600,000 at least.All 8,600,000 robots comprise 1,300,000 industrial robots and 7,300,000 service robots.Wherein, the service robot growth rate is very fast, when at present quantity has reached 2006 2 times.And this increased number can continue to keep, and the total quantity of robot will reach 1,300 ten thousand in 2012.These robots mainly are engaged in service, the work such as maintenance, maintenance, repairing, transportation, cleaning, monitoring, its common feature is to move in specific working environment, the solution that moves about robot at present has multiple, is that the powerful spherical moving device that increases of 201110330390.5 patented claim comprises crust of the device, driving mechanism, turning mechanism, spherical shell and counterweight as application number.Major axis and shell in spherical shell are connected, and are connected with spherical shell is rotatable.Fixed drive motor on major axis or shell can make spherical shell relatively rotate around major axis by certain kind of drive, but the walking of implement device.Minor axis is arranged on major axis, and is connected with counterweight, and the minor axis motor in turning mechanism can drive the counterweight rotation or swing to realize to turn around the spherical shell centre of sphere, but physical construction is comparatively complicated.The patent No. is that the direction movement device of quadruped robot of the patented invention of ZL201220360756.3 is provided with 4 horizontal steering wheels on mount pad, laterally the steering wheel of steering wheel connects with the lateral rotation frame, on each lateral rotation frame, the vertical rotating frame is set, the steering wheel that is arranged on the vertical steering wheel on vertical steering wheel erecting frame connects with the vertical rotating frame, 4 horizontal steering wheels are connected with the controller of robot by wire with 4 vertical steering wheels, can realize big angle rotary, any direction moves, need not to turn, but need to use a large amount of steering wheels.
Summary of the invention
The invention provides and " a kind of mobile robot and control method thereof based on the predetermined movement path " matching used a kind of wheeled mobile robot motor-drive circuit based on multisensor, can overcome the problems such as complicated in mechanical structure, steering wheel demand that mobile device in present robot field exists are large, adopt motor drive ic to drive the actions such as two two-phase stepper motor can realize, turn right, keep straight on and retreat, and in conjunction with multisensor and wireless communication technology, can get around the barrier in moving process.Have the advantages such as powerful, stable performance, extensibility be strong.
Described " a kind of mobile robot and control method thereof based on the predetermined movement path " (submit applications), the technical scheme that adopts is: the mobile robot is comprised of wheeled mobile device and telepilot, and wheeled mobile device is connected by the short-distance wireless communication mode with telepilot; Wherein, wheeled mobile device is comprised of microprocessor A, motor-drive circuit, digital compass, wireless transceiver A, storer and the ultrasonic barrier sensor of keeping away, and microprocessor A is connected with motor-drive circuit, digital compass, wireless transceiver A, storer and the ultrasonic barrier sensor of keeping away respectively; Telepilot is comprised of microprocessor B, wireless transceiver B, keyboard and LCD display, microprocessor B is connected with wireless transceiver B, keyboard and LCD display respectively, the mobile robot has logging mode and two kinds of mode of operations of Move Mode, under logging mode, utilize telepilot to control mobile robot's left-hand rotation, right-hand rotation, the action such as keep straight on, retreat and complete mobile robot's motion path according to specific work environments by the user, and the store path status information; Under Move Mode, the user controls mobile robot's movement by the disposable transmission control command of telepilot.
for realizing that the technical scheme that purpose of the present invention adopts is: circuit is by microprocessor, motor drive ic, digital compass, radio transmitting and receiving chip, storer, the ultrasonic barrier sensor of keeping away, resistance R 1, R2, R3, R4, triode Q1, Q2, diode D1, D2, D3, D4, D5, D6, D7, D8, stepper motor M1, M2 and button S1 form, microprocessor respectively with motor drive ic, digital compass, radio transmitting and receiving chip, storer is connected with the ultrasonic barrier sensor of keeping away, motor drive ic respectively with resistance R 1, R2, R3, R4, triode Q1, Q2 is connected, digital compass is connected with button S1, stepper motor M1 respectively with diode D1, D2, D3 is connected with D4, stepper motor M2 respectively with diode D5, D6, D7 is connected with D8.
Described microprocessor adopts single-chip microcomputer STC8952, motor drive ic adopts L298, and digital compass adopts chip GY-26, and radio transmitting and receiving chip adopts PTR2000, storer adopts the chip 24LC512 of Microchip company, and the ultrasonic barrier sensor of keeping away adopts chip HC-SR04.
Described circuit, operating voltage has 5 volts and 12 volts two kinds, wherein 12 volts of voltage is connected with motor drive ic and for it provides power supply source, 5 volts of voltages are connected and provide power supply for it with microprocessor, digital compass, radio transmitting and receiving chip, storer and the ultrasonic barrier sensor of keeping away respectively.
Described single-chip microcomputer STC8952, its pin 1 with are connected the pin 6 and 5 that connects respectively storage chip 24LC512, pin 10,11,12,13 and 14 is connected respectively the pin 3,4,2,6 and 7 of radio transmitting and receiving chip PTR2000; Pin 21,22,23,24,25,26,27 and 28 is connected respectively the pin 6 of motor drive ic L298, the base stage of triode Q1, the pin 11 of motor drive ic L298, the base stage of triode Q2, the ultrasonic pin 2 and 3 of barrier sensor chip HC-SR04, the pin 5 and 4 of digital compass chip GY-26 kept away, pin 20 ground connection, pin 40 connects 5 volts of power supplys.
Described storage chip 24LC512, its pin 1,2,3,4 and 7 is ground connection respectively, and pin 8 connects 5 volts of power supplys.
Described radio transmitting and receiving chip PTR2000, its pin 1 connects 5 volts of power supplys, pin 5 ground connection.
The described ultrasonic pin 1 of keeping away barrier sensor chip HC-SR04 connects 5 volts of power supplys, pin 4 ground connection.
Described motor drive ic L298, the end of its pin 1 contact resistance R3, pin 2 connects the anode of stepper motor M1, pin 3 connects the negative terminal of stepper motor M1, pin 4 connects 12 volts of power supplys, the collector of pin 5 connecting triode Q1, the base stage of pin 5 connecting triode Q1, pin 8 ground connection, pin 9 connects 5 volts of power supplys, the collector of pin 10 connecting triode Q2, the base stage of pin 12 connecting triode Q2, pin 13 connects the anode of stepper motor M2, and pin 14 connects the negative terminal of stepper motor M2, the end of pin 15 contact resistance R4.
Described triode Q1, the end of its collector contact resistance R1, grounded emitter; Triode Q2, the end of its collector contact resistance R2, grounded emitter.
Described resistance R 1, its other end connects 5 volts of power supplys; Resistance R 2, its other end connects 5 volts of power supplys; Resistance R 3, its other end ground connection; Resistance R 4, one end other end ground connection.
Described diode D1, the positive pole of its cathode connecting diode D3, its negative pole connects the positive pole of diode D2;
Described diode D2, its anodal anode that connects stepper motor M1, its negative pole connects the negative pole of diode D4;
Described diode D3, the positive pole of its cathode connecting diode D5, its negative pole connects the positive pole of diode D4;
Described diode D4, its anodal negative terminal that connects stepper motor M1, its negative pole connects the negative pole of diode D6;
Described diode D5, the positive pole of its cathode connecting diode D7, its negative pole connects the positive pole of diode D6;
Described diode D6, its anodal anode that connects stepper motor M2, its negative pole connects the negative pole of diode D8;
Described diode D7, its plus earth, its negative pole connects the positive pole of diode D8;
Described diode D8, its anodal negative terminal that connects stepper motor M2, its negative pole connects 12 volts of power supplys;
Described digital compass chip GY-26, its pin 1 connects respectively 5 volts of power supplys with being connected, and pin 6,7 and 8 is ground connection respectively, and pin 9 connects the end of button S1.
Described button S1, its other end ground connection.
Described 5 volts and 12 volts of power supplys are provided by the external dc power circuit.
The invention has the beneficial effects as follows: reasonable in design, simple in structure, dirigibility is good, simple to operate, can promote the use of the simultaneously requirement that gathers as monitoring of realistic robot in robot.Achievement can be used for various types of indoor environments, particularly is applied in the Smart Home environment, as simple modifications in addition, also can be used for outdoor environment.
Description of drawings
Fig. 1 is the embodiment circuit diagram of wheeled mobile robot motor-drive circuit of the present invention.
Embodiment
Describe the specific embodiment of the present invention in detail below in conjunction with accompanying drawing.
In Fig. 1, U1 is microprocessor STC8952 single-chip microcomputer; U2 is storage chip 24LC512; U3 is radio transmitting and receiving chip PTR2000; U4 is the ultrasonic barrier sensor chip HC-SR04 that keeps away; U5 is motor drive ic L298; U6 is digital compass chip GY-26; Q1 and Q2 are NPN triode 9013; D1, D2, D3, D4, D5, D6, D7 and D8 are diode IN4004.
The pin 1 of microprocessor U1 with are connected the pin 6 and 5 that connects respectively storage chip U2, pin 10,11,12,13 and 14 is connected respectively the pin 3,4,2,6 and 7 of radio transmitting and receiving chip U3; Pin 21,22,23,24,25,26,27 and 28 is connected respectively the pin 6 of motor drive ic U5, the base stage of triode Q1, the pin 11 of motor drive ic U5, the base stage of triode Q2, the ultrasonic pin 2 and 3 of barrier sensor chip U4, the pin 5 and 4 of digital compass chip U6 kept away, pin 20 ground connection, pin 40 connects 5 volts of power supplys;
The pin 1,2,3 of storage chip U2,4 and 7 is ground connection respectively, and pin 8 connects 5 volts of power supplys;
The pin 1 of radio transmitting and receiving chip U3 connects 5 volts of power supplys, pin 5 ground connection;
The ultrasonic pin 1 of keeping away barrier sensor chip U4 connects 5 volts of power supplys, pin 4 ground connection;
The end of the pin 1 contact resistance R3 of motor drive ic U5, pin 2 connects the anode of stepper motor M1, pin 3 connects the negative terminal of stepper motor M1, pin 4 connects 12 volts of power supplys, the collector of pin 5 connecting triode Q1, the base stage of pin 5 connecting triode Q1, pin 8 ground connection, pin 9 connects 5 volts of power supplys, the collector of pin 10 connecting triode Q2, the base stage of pin 12 connecting triode Q2, pin 13 connects the anode of stepper motor M2, pin 14 connects the negative terminal of stepper motor M2, the end of pin 15 contact resistance R4;
The end of the collector contact resistance R1 of triode Q1, grounded emitter; The end of the collector contact resistance R2 of triode Q2, grounded emitter;
The other end of resistance R 1 connects 5 volts of power supplys; The other end of resistance R 2 connects 5 volts of power supplys; The other end ground connection of resistance R 3; One end other end ground connection of resistance R 4;
The positive pole of the cathode connecting diode D3 of diode D1, negative pole connects the positive pole of diode D2; The positive pole of diode D2 connects the anode of stepper motor M1, and negative pole connects the negative pole of diode D4; The positive pole of the cathode connecting diode D5 of diode D3, negative pole connects the positive pole of diode D4; The positive pole of diode D4 connects the negative terminal of stepper motor M1, and negative pole connects the negative pole of diode D6; The positive pole of the cathode connecting diode D7 of diode D5, negative pole connects the positive pole of diode D6; The positive pole of diode D6 connects the anode of stepper motor M2, and negative pole connects the negative pole of diode D8; The plus earth of diode D7, negative pole connects the positive pole of diode D8; The positive pole of diode D8 connects the negative terminal of stepper motor M2, and negative pole connects 12 volts of power supplys;
The pin 1 of digital compass chip U6 connects respectively 5 volts of power supplys with being connected, and pin 6,7 and 8 is ground connection respectively, and pin 9 connects the end of button S1; The other end ground connection of button S1.
5 volts and 12 volts of power supplys are provided by the external dc power circuit.
Claims (5)
1. wheeled mobile robot motor-drive circuit based on multisensor, it is characterized in that: circuit is by microprocessor, motor drive ic, digital compass, radio transmitting and receiving chip, storer, the ultrasonic barrier sensor of keeping away, resistance R 1, R2, R3, R4, triode Q1, Q2, diode D1, D2, D3, D4, D5, D6, D7, D8, stepper motor M1, M2 and button S1 form, microprocessor respectively with motor drive ic, digital compass, radio transmitting and receiving chip, storer is connected with the ultrasonic barrier sensor of keeping away, motor drive ic respectively with resistance R 1, R2, R3, R4, triode Q1, Q2 is connected, digital compass is connected with button S1, stepper motor M1 respectively with diode D1, D2, D3 is connected with D4, stepper motor M2 respectively with diode D5, D6, D7 is connected with D8.
2. a kind of wheeled mobile robot motor-drive circuit based on multisensor according to claim 1, it is characterized in that microprocessor adopts single-chip microcomputer STC8952, motor drive ic adopts L298, digital compass adopts chip GY-26, radio transmitting and receiving chip adopts PTR2000, storer adopts the 24LC512 chip, and the ultrasonic barrier sensor of keeping away adopts the HC-SR04 chip.
3. a kind of wheeled mobile robot motor-drive circuit based on multisensor according to claim 1, it is characterized in that described circuit, there are 5 volts and 12 volts two kinds, wherein 12 volts of voltages are connected with motor drive ic, and 5 volts of voltages are connected with microprocessor, digital compass, radio transmitting and receiving chip, storer and the ultrasonic barrier sensor of keeping away respectively.
4. a kind of wheeled mobile robot motor-drive circuit based on multisensor according to claim 1, is characterized in that described 5 volts and 12 volts of power supplys, provided by the external dc power circuit.
5. a kind of wheeled mobile robot motor-drive circuit based on multisensor according to claim 1, the pin 1 that it is characterized in that single-chip microcomputer STC8952 with are connected the pin 6 and 5 that connects respectively storage chip 24LC512, pin 10,11,12,13 and 14 is connected respectively the pin 3,4,2,6 and 7 of radio transmitting and receiving chip PTR2000; Pin 21,22,23,24,25,26,27 and 28 is connected respectively the pin 6 of motor drive ic L298, the base stage of triode Q1, the pin 11 of motor drive ic L298, the base stage of triode Q2, the ultrasonic pin 2 and 3 of barrier sensor chip HC-SR04, the pin 5 and 4 of digital compass chip GY-26 kept away, pin 20 ground connection, pin 40 connects 5 volts of power supplys; The pin 1,2,3 of storage chip 24LC512,4 and 7 is ground connection respectively, and pin 8 connects 5 volts of power supplys; The pin 1 of radio transmitting and receiving chip PTR2000 connects 5 volts of power supplys, pin 5 ground connection; The ultrasonic pin 1 of keeping away barrier sensor chip HC-SR04 connects 5 volts of power supplys, pin 4 ground connection; The end of the pin 1 contact resistance R3 of motor drive ic L298, pin 2 connects the anode of stepper motor M1, pin 3 connects the negative terminal of stepper motor M1, pin 4 connects 12 volts of power supplys, the collector of pin 5 connecting triode Q1, the base stage of pin 5 connecting triode Q1, pin 8 ground connection, pin 9 connects 5 volts of power supplys, the collector of pin 10 connecting triode Q2, the base stage of pin 12 connecting triode Q2, pin 13 connects the anode of stepper motor M2, pin 14 connects the negative terminal of stepper motor M2, the end of pin 15 contact resistance R4; The end of the collector contact resistance R1 of triode Q1, grounded emitter; The end of the collector contact resistance R2 of triode Q2, grounded emitter; The other end of resistance R 1 connects 5 volts of power supplys; The other end of resistance R 2 connects 5 volts of power supplys; The other end ground connection of resistance R 3; One end other end ground connection of resistance R 4; The positive pole of the cathode connecting diode D3 of diode D1, negative pole connects the positive pole of diode D2; The positive pole of diode D2 connects the anode of stepper motor M1, and negative pole connects the negative pole of diode D4; The positive pole of the cathode connecting diode D5 of diode D3, negative pole connects the positive pole of diode D4; The positive pole of diode D4 connects the negative terminal of stepper motor M1, and negative pole connects the negative pole of diode D6; The positive pole of the cathode connecting diode D7 of diode D5, negative pole connects the positive pole of diode D6; The positive pole of diode D6 connects the anode of stepper motor M2, and negative pole connects the negative pole of diode D8; The plus earth of diode D7, negative pole connects the positive pole of diode D8; The positive pole of diode D8 connects the negative terminal of stepper motor M2, and negative pole connects 12 volts of power supplys; The pin 1 of digital compass chip GY-26 connects respectively 5 volts of power supplys with being connected, and pin 6,7 and 8 is ground connection respectively, and pin 9 connects the end of button S1; The other end ground connection of button S1,5 volts and 12 volts of power supplys are provided by the external dc power circuit.
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| CN2013100573812A CN103176473A (en) | 2013-02-22 | 2013-02-22 | Wheeled mobile robot motor driving circuit based on multiple sensors |
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| CN107414844A (en) * | 2017-04-11 | 2017-12-01 | 上海电机学院 | Home-services robot |
| CN109291032A (en) * | 2018-10-18 | 2019-02-01 | 国网山西省电力公司太原供电公司 | Buried cable channel information sniffing robot |
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Application publication date: 20130626 |