CN104999454B - A kind of remote control Omni-mobile manipulator and its control method - Google Patents

Abstract

A kind of remote control Omni-mobile manipulator and its control method, are related to telemanipulator field.The present invention is that existing mobile robot volume is big in order to solve, and orients the very flexible of walking, handling difference, and can not realize the problem of multinode networking.The 3-axis acceleration sensor for swinging remote control of the present invention, 3-axis acceleration sensor gather three-axis moving data, and the three-axis moving data is activation is given a microprocessor by No. two microprocessors；A number microprocessor moves remote control Omni-mobile manipulator according to four omni-directional wheels of three-axis moving Data Control for receiving；Push button, action control signal is sent to a microprocessor by No. two microprocessors by button, a number microprocessor control infrared obstacle avoidance module detection Obstacle Position, is swung and is captured barrier according to Obstacle Position and the action control signal for receiving control Three Degree Of Freedom catching robot.It can be used for telemanipulator.

Description

A kind of remote control Omni-mobile manipulator and its control method

Technical field

The present invention relates to a kind of remote control Omni-mobile manipulator.Belong to telemanipulator field.

Background technology

Mobile robot has become as an important branch of robot research field.Military risky operation, industry and Many application scenarios such as service trade, need robot to receive control command by wireless telecommunications in real time, with desired velocity attitude Flexibly and comfortably move with track.At present, in developed countries such as the U.S., Japan, robot has been applied to mall shopping, article and has moved Give, household service, exhibition room security personnel and large area clean etc. multiple service fields.Application scenario according to above-mentioned mobile robot is determined Determine to require that with can be in narrow, crowded occasion flexibly and fast free-moving performance, this also becomes robot research Difficulties with design.Wherein kinetic control system directly affects the overall performance of robot system, therefore to robot Motion control research is always one of study hotspot.

Mobile robot can be divided into wheeled, crawler type according to move mode, leg formula etc., and wherein wheeled robot is due to having The features such as mechanism's simple activities are flexible is particularly favored.The type of wheeled locomotion mechanism is a lot, for general wheel type mobile Mechanism, is impossible to arbitrarily be positioned and orient.

Content of the invention

The present invention is that existing mobile robot volume is big in order to solve, the very flexible of orientation walking, handling difference, and And the problem of multinode networking can not be realized.A kind of remote control Omni-mobile manipulator and its control method are now provided.

A kind of remote control Omni-mobile manipulator, it includes mechanically moving device and LCD MODULE,

Mechanically moving device includes infrared obstacle avoidance module, the first motor drive module, the second motor drive module, first straight Stream reducing motor, the second DC speed-reducing, the 3rd DC speed-reducing, the 4th DC speed-reducing, first carry shaft coupling Omni-directional wheel, second with shaft coupling omni-directional wheel, the 3rd with shaft coupling omni-directional wheel, the 4th with shaft coupling omni-directional wheel With Three Degree Of Freedom catching robot,

Three Degree Of Freedom catching robot include the first steering wheel, the second steering wheel, the 3rd steering wheel, the first free degree manipulator, Two degrees of freedom manipulator and three freedom degree manipulator,

First steering wheel is arranged in the first free degree manipulator, for driving the first free degree manipulator to do grasping movement, Second steering wheel is arranged in the second free degree manipulator, for driving the second free degree manipulator to do elevating movement, the 3rd steering wheel It is arranged on three freedom degree manipulator, for driving three freedom degree manipulator to make gyration,

First DC speed-reducing, the second DC speed-reducing, the 3rd DC speed-reducing and the 4th DC speed-reducing Be separately mounted to first with shaft coupling omni-directional wheel, second with shaft coupling omni-directional wheel, the 3rd with shaft coupling omnidirectional Wheel and the 4th is carried on the shaft coupling internal diameter on the omni-directional wheel of shaft coupling, and the first omni-directional wheel and second with shaft coupling is carried The omni-directional wheel for having shaft coupling becomes an angle of 90 degrees to put, and the second DC speed-reducing becomes an angle of 90 degrees to put with the 3rd DC speed-reducing, 3rd omni-directional wheel for carrying shaft coupling and the 4th omni-directional wheel with shaft coupling become an angle of 90 degrees to put, and the 4th with the complete of shaft coupling An angle of 90 degrees is become to put to wheel with the first omni-directional wheel with shaft coupling,

Infrared obstacle avoidance module includes infrared sensor, infrared transmitting tube, amplifier and a microprocessor,

The display signal input part for showing signal output part connection LCD MODULE of a number microprocessor,

The control signal input of the control signal output end connection infrared transmitting tube of a number microprocessor, infrared transmitting tube Output end be used for launching infrared light, the input of infrared sensor is for receiving the infrared light for reflecting, infrared sensor Light signal output end connection amplifier optical signal input, the amplification signal output part of amplifier connects a microprocessor Amplification signal input part,

Four tunnel control signal output ends of a number microprocessor connect the two-way control letter of the first motor drive module respectively Number input and the two path control signal input of the second motor drive module,

The other three tunnels control signal output end of a number microprocessor connect respectively the first steering wheel control signal input, The control signal input of the second steering wheel and the control signal input of the 3rd steering wheel, the two-way of the first motor drive module drive Signal output part connects the driving letter of the driving signal input of the first DC speed-reducing and the second DC speed-reducing respectively Number input, the drive signal of the omni-directional wheel of the drive signal output end connection first of the first DC speed-reducing with shaft coupling Input, the second DC speed-reducing drive signal output end connection second with shaft coupling omni-directional wheel drive signal defeated Enter end,

The two-way drive signal output end of the second motor drive module connects the driving letter of the 3rd DC speed-reducing respectively Number input and the driving signal input of the 4th DC speed-reducing, the drive signal output end of the 3rd DC speed-reducing connect Connect the driving signal input of the 3rd omni-directional wheel with shaft coupling, the drive signal output end connection of the 4th DC speed-reducing The driving signal input of the 4th omni-directional wheel with shaft coupling.

According to the control method that a kind of remote control Omni-mobile manipulator is realized, it includes procedure below：

The 3-axis acceleration sensor of swing remote control, 3-axis acceleration sensor collection three-axis moving data, No. two The three-axis moving data is activation is given a microprocessor by microprocessor；

A number microprocessor makes remote control Omni-mobile manipulator according to four omni-directional wheels of three-axis moving Data Control for receiving Move；

Push button, action control signal is sent to a microprocessor by No. two microprocessors by button, No. one micro- Processor control infrared obstacle avoidance module detection Obstacle Position, according to Obstacle Position and the action control signal for receiving control three Free degree catching robot is swung and is captured barrier.

Beneficial effects of the present invention are：The present invention passes through to swing 3-axis acceleration sensor, by 3-axis acceleration sensor The three-axis moving data of collection are sent to a microprocessor by No. two microprocessors, control first by a microprocessor Motor drive module and the second motor drive module drive respectively the first DC speed-reducing, the second DC speed-reducing, the 3rd DC speed-reducing and the 4th DC speed-reducing, so as to drive the first omni-directional wheel with shaft coupling, second with shaft coupling Omni-directional wheel, the 3rd with the omni-directional wheel of shaft coupling and the 4th omni-directional wheel Omni-mobile with shaft coupling, grab Three Degree Of Freedom Take manipulator to be moved；It is strong have the advantages that flexibility,

By pushing button, action control signal is sent to a microprocessor by No. two microprocessors, No. one micro- Processor control infrared obstacle avoidance module detection Obstacle Position, according to Obstacle Position and the action control signal for receiving control the One steering wheel and the second steering wheel difference first free degree of driving mechanical hand and second free degree of manipulator are rotated, and are driven by the 3rd steering wheel Dynamic manipulator Three Degree Of Freedom realizes the action of crawl barrier and swaying direction, specifically handling strong advantage,

Using direction and the tracking of motor control omni-directional wheel, directional wheel is without the need for lubrication or on-site maintenance, and installs and be Very simple and stable；Four direct currents are driven to slow down respectively using the first motor drive module and the second motor drive module electric Machine, response speed are fast, and dynamic property will be got well.Additionally, action sensitivity is high, it is easy to centralized Control, should possesses efficiency high, body Product little, light weight, automatic control is strong, reliability is high；

In addition, adopting two zigbee modules, a zigbee module connects PC as telegon, another zigbee Module is placed on the Three Degree Of Freedom catching robot of Omni-mobile as terminal node, connects a pin conduct of microprocessor The feedback end of the system signal, realizes multinode networking and the control of multiple nodes.

Description of the drawings

Fig. 1 is a kind of principle schematic of the remote control Omni-mobile manipulator described in specific embodiment one,

Fig. 2 is Three Degree Of Freedom catching robot in a kind of remote control Omni-mobile manipulator described in specific embodiment one Structural representation,

Fig. 3 is the schematic diagram of the first motor drive module in specific embodiment three,

Fig. 4 is the schematic diagram of LM7805 power module of voltage regulation in specific embodiment four,

Fig. 5 is the schematic diagram of LCD MODULE in specific embodiment three,

Fig. 6 is the schematic diagram of 3-axis acceleration sensor in specific embodiment three.

Specific embodiment

Specific embodiment one：See figures.1.and.2 and present embodiment is illustrated, the one kind described in present embodiment is distant Control Omni-mobile manipulator, it includes mechanically moving device and LCD MODULE 20,

Mechanically moving device include infrared obstacle avoidance module 3, the first motor drive module 4, the second motor drive module 5, One DC speed-reducing 6, the second DC speed-reducing 7, the 3rd DC speed-reducing 8, the 4th DC speed-reducing 9, first band There are omni-directional wheel 18 of omni-directional wheel 17, threeth of the omni-directional wheel 16, second of shaft coupling with shaft coupling with shaft coupling, the 4th band There are omni-directional wheel 19 and the Three Degree Of Freedom catching robot of shaft coupling,

Three Degree Of Freedom catching robot includes the first steering wheel 10, the second steering wheel 11, the 3rd steering wheel 12, first free degree machinery Hand 10-1, the second free degree manipulator 11-1 and three freedom degree manipulator 12-1,

First steering wheel 10 is arranged in the first free degree manipulator 10-1, for driving the first free degree manipulator 10-1 to do Grasping movement, the second steering wheel 11 are arranged in the second free degree manipulator 11-1, for driving the second free degree manipulator 11-1 Elevating movement is done, the 3rd steering wheel 12 is arranged on three freedom degree manipulator 12-1, for driving three freedom degree manipulator 12- 1 makees gyration, and the first DC speed-reducing 6, the second DC speed-reducing 7, the 3rd DC speed-reducing 8 and the 4th direct current subtract Speed motor 9 is separately mounted to omni-directional wheel 17, threeth of first omni-directional wheel 16, second with shaft coupling with shaft coupling with connection The omni-directional wheel 18 and the 4th of axial organ is carried on the shaft coupling internal diameter on the omni-directional wheel 19 of shaft coupling, and adjacent first carries shaft coupling Omni-directional wheel 18 and fourth of omni-directional wheel 17, threeth of the omni-directional wheel 16, second of device with shaft coupling with shaft coupling carries shaft coupling 90 degree of positions are all become to put between the omni-directional wheel 19 of device,

Infrared obstacle avoidance module 3 includes infrared sensor 3-1, infrared transmitting tube 3-2, amplifier 3-3 and a microprocessor 3-4,

A number microprocessor 3-4 shows that signal output part connects the display signal input part of LCD MODULE 20,

The control signal input of the control signal output end connection infrared transmitting tube 3-2 of a number microprocessor 3-4, infrared The output end of transmitting tube 3-2 is used for launching infrared light, and the input of infrared sensor 3-1 is for receiving reflect infrared Light, the optical signal input of the light signal output end connection amplifier 3-3 of infrared sensor 3-1, the amplification signal of amplifier 3-3 Output end connects the amplification signal input part of a microprocessor 3-4,

The four tunnel control signal output ends of a number microprocessor 3-4 connect the two-way control of the first motor drive module 4 respectively Signal input part processed and the two path control signal input of the second motor drive module 5,

The control signal that the other three tunnels control signal output end of a number microprocessor 3-4 connects the first steering wheel 10 respectively is defeated Enter the control signal input of end, the control signal input of the second steering wheel 11 and the 3rd steering wheel 12, the first motor drive module 4 Two-way drive signal output end connect the driving signal input of the first DC speed-reducing 6 respectively and the second direct current slows down electricity The driving signal input of machine 7, the drive signal output end connection first of the first DC speed-reducing 6 carry the omnidirectional of shaft coupling The driving signal input of wheel 16, the drive signal output end connection second of the second DC speed-reducing 7 is with the complete of shaft coupling To the driving signal input of wheel 17,

The two-way drive signal output end of the second motor drive module 5 connects the driving of the 3rd DC speed-reducing 8 respectively Signal input part and the driving signal input of the 4th DC speed-reducing 9, the drive signal output of the 3rd DC speed-reducing 8 The driving signal input of omni-directional wheel 18 of the end connection the 3rd with shaft coupling, the drive signal of the 4th DC speed-reducing 9 are defeated Go out the driving signal input of omni-directional wheel 19 of the end connection the 4th with shaft coupling.

In present embodiment, the present invention can also pass through a moving direction by key control omni-directional wheel, a button Control signal output end connects the control signal input of No. two microprocessor 15-1.A number button is omni-directional wheel toward top rake Advance, a button is retreated toward rear-inclined for omni-directional wheel, a button is moved to left toward left bank for omni-directional wheel, and a button is toward Right deviation Tiltedly move to right for omni-directional wheel.

In present embodiment, omni-directional wheel includes wheel hub and driven pulley, uniformly offers 3 or 3 at the excircle of the wheel hub Individual above wheel hub tooth, is equiped with a driven pulley, the radial direction of the driven pulley and wheel hub excircle between each two wheel hub tooth Tangential direction vertical.All one's effort can be released by omni-directional wheel in many different direction movements, the little CD of left and right wheelses, but Great convenience is slid laterally.This is a method for setting up complete driver.Omni-directional wheel can be as a normal car Wheel or the roller side rolling using roller.It is suitable for using robot, handcart, transfer conveyer, freight, luggage Perfect performance will be provided Deng, all-directional wheel, when integrated with traditional wheel.Directional wheel movement and rotation, this is to hold very much Easy direction controlling and tracking, and rotate as quickly as possible.Directional wheel is without the need for lubrication or on-site maintenance and Installation Options right and wrong Often simple and stable.

DC speed-reducing also known as toothed gearing electric motor, are on the basis of common DC motor, add associated gear and subtract Fast case.The effect of gear reduction box is to provide relatively low rotating speed and larger torque, while the different speed reducing ratio of gear-box is permissible Different rotating speeds and torque are provided.Which greatly enhances utilization rate of the direct current generator in automation industry.

The type of drive of common autonomous mobile platform is mainly Motor drive, the main Types of its motor and respective property Energy characteristic comparing is as shown in table 1-1.

Table 1-1 difference motor type comparison sheet

Described in consolidated statement 1-1, it can be seen that DC speed-reducing its efficiency in four kinds of motors is very high, response Speed is most fast, while reliability is also highest, and low price.Thus it more conforms to the motion of this paper flexibly, OK Sail the steady, design requirement of efficiency high.Thus DC speed-reducing will be considered as herein and be driven.While comprehensive institute above State, it can be seen that system belongs to a kind of needing to resist the driving shafting that high intensity is reversed and flexibly can be operated.While by There is in motor itself characteristic of high rotating speed, little torque, and system is it is desirable that the drive environment of the slow-speed of revolution, high-torque, thus Requirement to speed reducing ratio is also higher.

L298N is the product of SGS company, and that relatively common is the L298N of 15 pin Multiwatt encapsulation, internal same bag Containing 4 channel logic drive circuits, in that context it may be convenient to drive two direct current generators or a two-phase stepping motor.

L298N acceptable standard TTL logic level signal VSS, VSS can connect 4.5～7V voltage.4 pin VS connect supply voltage, VS voltage range VIH is+2.5～46V.Output current can drive inductive load up to 2.5A.The sending out of 1 pin and 15 underfooting pipes Emitter-base bandgap grading is individually drawn to access current sampling resistor, forms current sensing signal.One L298 can drive 2 motors, OUT1, OUT2 and OUT3, can connect motor respectively between OUT4.INPUT1, INPUT2, INPUT3, INPUT4 connect input control Level, the rotating of controlled motor.EnA, EnB connect control Enable Pin, the stalling of controlled motor.Microprocessor machine is exported Pwm signal is exported to Enable Pin, carries out speed governing by changing the output duty cycle of PWM, by exporting PWM level with Enable Pin The operating condition of corresponding relation control machine motor.Its corresponding relation is shown in Table 1-2.

Table 1-2 LM298N function form

Whole system provides system energy by the battery of 12V, but as the component devices of the system need to provide the energy of 5V Source, is made up of the power circuit of stable output 5V, is embodied as other and sets the LM7805 chip of scheme final choice identified above The standby operating voltage that 5V is provided.Mu balanced circuit is as shown in Figure 4.

When an obstacle is detected, infrared photodiode is received and reflects infrared light, and its output occurs high immediately Low spot flat turn is changed, and the amplified device of the signal is sent to microprocessor and is analyzed processing after amplifying.Then the result after process is sent out Motor drive module is sent to, is corrected.Control which to turn right, turn left and retreat.Avoidance is phase with the design principle for tracking With, difference is that the sensitivity of sensor is different, and the sensitivity for keeping in obscurity is higher than the sensitivity for tracking, as long as having in front of dolly Barrier, infrared ray break the barriers and reflex to photosensitive tube, and sensor output low spot is put down, and is sent to microprocessor and is processed, Then microprocessor processes drive L298N control trolley travelling and direction.

In present embodiment, the catching robot for adopting herein is the manipulator of Three Degree Of Freedom, and the so-called free degree is to say " certainly Dimension by space ".It is respectively as shown in Figure 2：1 free degree is arranged at bottom, makees gyration；Crawl position has one The free degree, does grasping movement；There is one degree of freedom below crawl position, do elevating movement.

In present embodiment, 3-axis acceleration parameter is as shown in table 1-3.

Table 1-3 3-axis acceleration parameter list

Specific embodiment two：Present embodiment is mechanical to a kind of remote control Omni-mobile described in specific embodiment one Hand is described further, and in present embodiment, first carries the omni-directional wheel (16) of shaft coupling, the second omni-directional wheel with shaft coupling (17), the external diameter of the 3rd omni-directional wheel (18) and the 4th omni-directional wheel (19) for carrying shaft coupling for carrying shaft coupling is 40mm, interior Hole is 8mm, and width is 29mm, and material is nylon material,

Supporting shaft coupling internal diameter is 6mm,

First steering wheel (10), the second steering wheel (11) and the 3rd steering wheel (12) are all realized using the steering wheel of model MG995.

In present embodiment, train of reduction gears is driven by motor, and its terminal (output end) drives a linear ratio Position detection made by potentiometer, and the potentiometer feeds back to control circuit board, control circuit corner Coordinate Conversion for a ratio-voltage Which is compared by plate with the control wave of input, produces adjustment pulse, and drive motor is rotated forward or backwards, makes gear The outgoing position of group is consistent with desired value, adjustment pulse is tended to be 0, makes the pinpoint purpose of steering wheel so as to reach.

It is 20 milliseconds or so that the conventional control signal of steering wheel is a cycle, and width is 1 millisecond to 2 milliseconds of pulse letter Number.After steering wheel receives the signal, can inspire at once one same, width is in 1.5 milliseconds of negative sense standard Digit pulse.Two pulses carry out addition in an adder and have obtained so-called difference pulses afterwards.Input signal pulse is such as Fruit is wider than the calibration pulse of negative sense, and obtained is exactly positive difference pulses.If input pulse is narrower than calibration pulse, after addition To be negative pulse certainly.This difference pulses is exactly the power signal for driving steering wheel positive and negative rotation after amplifying.Steering gear electric-machine Rotate, after being slowed down by gear train, simultaneously drive rotating disk and nominal pulse width to adjust potentiometer and rotate.Until calibration pulse with When input pulse width is identical, difference pulses can be just stopped operating when disappearing.Band gear reduction unit inside the steering wheel, is suitable for The speed of Indoor Robot, low price, interface are simple, and power is suitable for small scale robot, and model is many, it is easy to install, easily with Wheel is assembled, and which has the disadvantage that load capacity is relatively low, and the adjustable range of speed is less, so being suitable for small scale robot and walking machine Device people.

The control of steering wheel generally requires the when main pulse of 20ms or so, the low level part of the pulse be generally 0.5ms～ Angle ambiguity segment pulse in the range of 2.5ms.The corresponding relation of low duration and motor angle is as shown in table 1-4

Table 1-4 low duration and the corresponding relation of motor corner

By voluntarily writing the delay procedure of Millisecond, when driving steering wheel, first given by the pin output of microprocessor The low duration of the steering wheel 2ms of corresponding holding wire, then the high level lasting time to 10ms, just can motor turn 135 degree of angles.

Specific embodiment three：Present embodiment is described with reference to Fig. 3 to Fig. 6, present embodiment be to specific embodiment A kind of remote control Omni-mobile manipulator described in one is described further, in present embodiment, the first motor drive module 4 and The structure of two motor drive modules 5 is identical, and the first motor drive module 4 includes that constant pressure and flow bridge-type 2A of model L298N is driven Dynamic chip, electric capacity C1, electric capacity C2, electrochemical capacitor C3, resistance R11, resistance R12, diode D1, No. two diode D2, three Number diode D3, No. four diode D4, No. five diode D5, No. six diode D6, No. seven diode D7 and No. eight diode D8,

The two path control signal input of the first motor drive module 4 is respectively as the constant pressure and flow bridge of model L298N 10 to No. 12 pins of the constant pressure and flow bridge-type 2A driving chip of 5 to No. 8 pins of formula 2A driving chip and model L298N, No. 8 pin connection power supply ground of the constant pressure and flow bridge-type 2A driving chip of model L298N,

No. 9 pins of the constant pressure and flow bridge-type 2A driving chip of model L298N are simultaneously connected with the+5V of one end of electric capacity C1 Power supply, the other end connection power supply ground of electric capacity C1, No. 4 of the constant pressure and flow bridge-type 2A driving chip of model L298N draw Pin is simultaneously connected with the positive pole of+9V power supply, one end of electric capacity C2 and electrochemical capacitor C3, the other end of electric capacity C2 and electrochemical capacitor The negative pole of C3 is all connected with power supply ground,

No. 2 pins of the constant pressure and flow bridge-type 2A driving chip of model L298N are simultaneously connected with the sun of a diode D1 One end of pole, the negative electrode of No. three diode D3 and the first DC speed-reducing 6, the negative electrode of a diode D1 are simultaneously connected with power supply The negative electrode on ground, the negative electrode of No. two diode D2, the negative electrode of No. five diode D5 and No. six diode D6,

The anode of No. two diode D2 is simultaneously connected with the another of the negative electrode of No. four diode D4 and the first DC speed-reducing 6 End, the anode of No. five diode D5 are simultaneously connected with the negative electrode of No. seven diode D7 and one end of the second DC speed-reducing 7, No. six The anode of diode D6 is simultaneously connected with the other end of the negative electrode of No. eight diode D8 and the second DC speed-reducing 7, No. three two poles The anode of pipe D3 be simultaneously connected with the anode of No. four diode D4, the anode of No. seven diode D7, the anode of No. eight diode D8 and Power supply ground,

LCD MODULE includes the liquid crystal of model 1602, slide rheostat R21, No. two slide rheostat R22 With terminal block J2,

No. 1 pin of the liquid crystal of model 1602 and No. 16 pins are all connected with power supply ground, No. 2 of the liquid crystal of model 1602 Pin is simultaneously connected with power supply, No. 2 ports of terminal block J2 and one end of No. two slide rheostat R22, model 1602 No. 3 pins of liquid crystal are simultaneously connected with one end of a slide rheostat R21 and the sliding end of a slide rheostat R21, No. one The other end connection power supply ground of slide rheostat R21, No. 15 pins of the liquid crystal of model 1602 be simultaneously connected with power supply and No. 19 ports of terminal block J2,

No. 4 ports that No. 4 pins of the liquid crystal of model 1602 distinguish connection terminal row J2 to No. 14 pins are held to No. 14 Mouthful, display signal input part of No. 4 ports of terminal block J2 to No. 17 ports all as LCD MODULE,

No. 3 ports of terminal block J2 connect the sliding end of No. two slide rheostat R212, and No. two slide rheostat R22's is another One end connection terminal arranges No. 18 ports of J2, and No. 1 port of terminal block J2 and No. 20 ports are all connected with power supply ground,

3-axis acceleration sensor 15 includes the chip of model RT9161, the chip of model MMA736IL, electric capacity C35, No. six electrochemical capacitor C36, No. seven electrochemical capacitor C37, electric capacity C31, electric capacity C32, electric capacity C33, electric capacity C34, resistance R44, LED, a terminal J1 and No. three terminal J3,

No. 2 pins of the chip of model MMA736IL are simultaneously connected with No. 1 port of No. three terminal J3 and the one of electric capacity C31 End, the other end of electric capacity C31 are simultaneously connected with one end of power supply ground, one end of electric capacity C32 and electric capacity C33, the other end of electric capacity C32 No. 3 pins of No. 2 ports of No. three terminal J3 and the chip of model MMA736IL are simultaneously connected with, the other end of electric capacity C33 is same When connect No. three terminal J3 No. 3 ports and model MMA736IL chip No. 4 pins, the chip of model MMA736IL No. 5 pins with being simultaneously connected with power supply and electric capacity C34 one end, the other end of C34 is simultaneously connected with the core of model MMA736IL No. 6 pins of piece and power supply, No. 13 pins of the chip of model MMA736IL connect No. 5 ports of a terminal J1, No. 4 ports of No. 10 pins number terminal J1 of connection of the chip of model MMA736IL, the 9 of the chip of model MMA736IL Number pin connects No. 5 ports of No. three terminal J3, and No. 7 pins of the chip of model MMA736IL connect the 4 of No. three terminal J3 Number port, No. 2 ports of a terminal J1 and No. 3 ports are respectively as power supply connection end and the connection end on power supply ground, type Number the positive pole of No. six electrochemical capacitor C36 and one end of electric capacity C35, electric capacity C35 is simultaneously connected with for No. 1 pin of chip of RT9161 The other end be simultaneously connected with the other end of No. six electrochemical capacitor C36, model RT9161 chip No. 2 pins, power supplies With the negative pole of No. seven electrochemical capacitor C37, No. seven electrochemical capacitor C37 positive pole connection model RT9161 chip No. 3 pins, 2 to No. 4 pins of the chip of model MMA736IL are respectively as 3 induced signal outputs of 3-axis acceleration sensor 15 End.

In present embodiment, LCD MODULE is controlled showing figure to its viewing area by voltage.Wherein Vo pin, i.e. the 3rd pin have added the slide rheostat of a 10K, and the rheostatic purpose is displaying contrast for adjustable liquid crystal display, Change the magnitude of voltage of Vo by adjusting sliding resistance, so that liquid crystal display is in most clearly state.

Specific embodiment four：Present embodiment is mechanical to a kind of remote control Omni-mobile described in specific embodiment one Hand is described further, and in present embodiment, it also includes LM7805 power module of voltage regulation, for for a kind of remote control Omni-mobile Manipulator provides 5V power supply, and LM7805 power module of voltage regulation includes 12V power supply, the chip of model LM7805, electrolysis electricity Hold C11, electrochemical capacitor C12, diode D12 and Zener diode D11,

No. 1 pin of the chip of model LM7805 is simultaneously connected with the positive pole of 12V power supply and electrochemical capacitor C11, electricity The negative pole of solution electric capacity C11 is simultaneously connected with No. 2 pins of chip of model LM7805, the negative electrode of Zener diode D11, diode No. 2 pins of the chip of the anode of D12, the negative pole of electrochemical capacitor C12 and model LM7805, the anode of Zener diode D11 Connection power supply ground, the negative electrode of diode D12 are just being simultaneously connected with No. 3 pins, electrochemical capacitor C12 of the chip of model LM7805 Pole and 5V power supply.

Specific embodiment five：Present embodiment is mechanical to a kind of remote control Omni-mobile described in specific embodiment one Hand is described further, and in present embodiment, it also includes remote control, and remote control includes 3-axis acceleration sensor (15), wireless sending module (14), wireless receiving module (13), No. two microprocessors (15-1) and button,

3 induced signal output ends of 3-axis acceleration sensor (15) connect 3 senses of No. two microprocessors (15-1) Induction signal input, No. two microprocessors (15-1) and microprocessor (3-4) respectively by wireless sending module (14) and Wireless receiving module (13) connects,

The control signal output end of button connects the control signal input of No. two microprocessors (15-1).

Specific embodiment six：Present embodiment is mechanical to a kind of remote control Omni-mobile described in specific embodiment one Hand is described further, and in present embodiment, it also includes two zigbee modules, and a zigbee module connects PC conduct Telegon, another zigbee module are placed on Three Degree Of Freedom catching robot as terminal node, connect a microprocessor A pin as the system signal feedback end.

In present embodiment, setting up a complete zigbee mesh network includes two steps：Netinit, node Network is added, its interior joint adds network to include two steps again：Networked and by existing father node by being connected with telegon Network.

The exploitation of zigbee 2007 wireless network is carried out using CC2530 development kit herein.CC2530 development board all claims For zigbee module.

It is made up of three kinds of device types in zigbee wireless sensor network, is telegon respectively, router and terminal Node.Telegon is used for building network, only has telegon just can set up new network in zigbee network, once group is built up Work(, the effect of the equipment is exactly router.The selection of device type is to compile options by the difference of zigbee agreement stack to determine , point-to-point communication is carried out by two zigbee nodes, zigbee terminal node sends data, zigbee coordinator node Data after receiving data to receiving judge, if receiving the signal that terminal node feeds back, in AccessPort Show the thing block number that manipulator is grabbed on assistant.

The thing block message that manipulator is grabbed is fed back on zigbee telegon to be realized showing by COM Debug Assistant in PC Show feedback information.

Specific embodiment seven：A kind of remote control omnidirectional according to specific embodiment one or specific embodiment five moves The control method that dynamic manipulator is realized, in present embodiment, methods described includes procedure below：

The 3-axis acceleration sensor 15 of remote control is swung, 3-axis acceleration sensor 15 gathers three-axis moving data, The three-axis moving data is activation is given a microprocessor 3-4 by No. two microprocessor 15-1；

A number microprocessor 3-4 makes remote control Omni-mobile machine according to four omni-directional wheels of three-axis moving Data Control for receiving Tool hand is moved；

Push button, action control signal is sent to a microprocessor 3-4 by No. two microprocessor 15-1 by button, A number microprocessor 3-4 control infrared obstacle avoidance module 3 detects Obstacle Position, according to Obstacle Position and the action control for receiving Signal control Three Degree Of Freedom catching robot is swung and is captured barrier.

In present embodiment, toward top rake for Three Degree Of Freedom catching robot to front curve, button toward rear-inclined is button Three Degree Of Freedom catching robot is bent backward, and button opens manipulator first freely toward left bank for Three Degree Of Freedom catching robot Degree 10-1, button are closed first free degree 10-1 of manipulator toward right bank for Three Degree Of Freedom catching robot.

The process of PWM output driving motor is：Initialization operation is carried out to port I/0 first, and configuration XBR0 causes PCA0 External counter input connectivity port pin and CEX0, CEX1, CEX2, CEX3 connect 4 port pinouts, configure XBR2= 0x40 enables cross bar switch.And then to PCA initialize and PCA0 initialization, start PCA counter, using system clock and PCA overflow interruption forbids, configuration register CPA0CPM0, CPA0CPM1, CPA0CPM2, CPA0CPM4 for 0x42 cause CEX0, CEX1, CEX2, CEX3 are 8 PWM output modes.P02, P03, P04, P05 connect for push pull mode output pwm signal for configuration port Connect the Enable Pin of drive module.By arranging the dutycycle of PWM to electric machine speed regulation.

Specific embodiment eight：Present embodiment is mechanical to a kind of remote control Omni-mobile described in specific embodiment seven The control method of hand is described further, and in present embodiment, methods described also includes to realize showing using LCD MODULE, Using the flow process of LCD MODULE realization display it is：

Step one, liquid crystal display mode initialization block,

Step 2, a microprocessor send instruction and data per timing 5S to the liquid crystal of model 1602, control model For 1602 liquid crystal display character.

Claims (8)

1. a kind of remote control Omni-mobile manipulator, it is characterised in that it includes mechanically moving device and LCD MODULE (20),

Mechanically moving device include infrared obstacle avoidance module (3), the first motor drive module (4), the second motor drive module (5), First DC speed-reducing (6), the second DC speed-reducing (7), the 3rd DC speed-reducing (8), the 4th DC speed-reducing (9), the first omni-directional wheel (16) with shaft coupling, the second omni-directional wheel (17) with shaft coupling, the 3rd complete with shaft coupling The omni-directional wheel (19) with shaft coupling and Three Degree Of Freedom catching robot to wheel (18), the 4th,

Three Degree Of Freedom catching robot includes the first steering wheel (10), the second steering wheel (11), the 3rd steering wheel (12), the first free degree machine Tool hand (10-1), the second free degree manipulator (11-1) and three freedom degree manipulator (12-1),

First steering wheel (10) is arranged in the first free degree manipulator (10-1), for driving the first free degree manipulator (10-1) Grasping movement is done, the second steering wheel (11) is arranged in the second free degree manipulator (11-1), for driving second free degree machinery Hand (11-1) does elevating movement, and the 3rd steering wheel (12) is arranged on three freedom degree manipulator (12-1), for driving the 3rd certainly Gyration is made by degree manipulator (12-1),

First DC speed-reducing (6), the second DC speed-reducing (7), the 3rd DC speed-reducing (8) and the 4th direct current slow down Motor (9) be separately mounted to first with shaft coupling omni-directional wheel (16), second with shaft coupling omni-directional wheel (17), the 3rd band There is the omni-directional wheel (18) of shaft coupling and the 4th to carry on the shaft coupling internal diameter on the omni-directional wheel (19) of shaft coupling, and first carries connection The omni-directional wheel (16) of axial organ and the second omni-directional wheel (17) with shaft coupling become an angle of 90 degrees to put, the second omnidirectional with shaft coupling Wheel (17) and the 3rd becomes an angle of 90 degrees to put with the omni-directional wheel (18) of shaft coupling, and the 3rd carries the omni-directional wheel (18) of shaft coupling and the Four omni-directional wheels (19) with shaft coupling become an angle of 90 degrees to put, and the 4th omni-directional wheel (19) and first with shaft coupling carries shaft coupling The omni-directional wheel (16) of device becomes an angle of 90 degrees to put,

Infrared obstacle avoidance module (3) includes infrared sensor (3-1), infrared transmitting tube (3-2), amplifier (3-3) and a micro- place Reason device (3-4),

The display signal input part of display signal output part connection LCD MODULE (20) of a number microprocessor (3-4),

The control signal input of control signal output end connection infrared transmitting tube (3-2) of a number microprocessor (3-4), infrared The output end of transmitting tube (3-2) is used for launching infrared light, and the input of infrared sensor (3-1) is for receiving reflect red Outer light, the optical signal input of light signal output end connection amplifier (3-3) of infrared sensor (3-1), amplifier (3-3) Amplify the amplification signal input part that signal output part connects a microprocessor (3-4),

Four tunnel control signal output ends of a number microprocessor (3-4) connect the two-way control of the first motor drive module (4) respectively Signal input part processed and the two path control signal input of the second motor drive module (5),

The control signal that the other three tunnels control signal output end of a number microprocessor (3-4) connects the first steering wheel (10) respectively is defeated Enter the control signal input of end, the control signal input of the second steering wheel (11) and the 3rd steering wheel (12), the first Motor drive The two-way drive signal output end of module (4) connects the driving signal input and second of the first DC speed-reducing (6) respectively The driving signal input of DC speed-reducing (7), the drive signal output end connection first band of the first DC speed-reducing (6) There are the driving signal input of the omni-directional wheel (16) of shaft coupling, the drive signal output end connection of the second DC speed-reducing (7) The driving signal input of the second omni-directional wheel (17) with shaft coupling,

The two-way drive signal output end of the second motor drive module (5) connects the driving of the 3rd DC speed-reducing (8) respectively Signal input part and the driving signal input of the 4th DC speed-reducing (9), the drive signal of the 3rd DC speed-reducing (8) The driving signal input of omni-directional wheel (18) of the output end connection the 3rd with shaft coupling, the drive of the 4th DC speed-reducing (9) The driving signal input of omni-directional wheel (19) of the dynamic signal output part connection the 4th with shaft coupling.

2. a kind of remote control Omni-mobile manipulator according to claim 1, it is characterised in that first with the complete of shaft coupling Omni-directional wheel (17) to wheel (16), second with shaft coupling, the 3rd omni-directional wheel (18) and the 4th with shaft coupling carry shaft coupling The external diameter of the omni-directional wheel (19) of device is 40mm, and endoporus is 8mm, and width is 29mm, and material is nylon material,

Supporting shaft coupling internal diameter is 6mm,

First steering wheel (10), the second steering wheel (11) and the 3rd steering wheel (12) are all realized using the steering wheel of model MG995.

3. a kind of remote control Omni-mobile manipulator according to claim 1, it is characterised in that the first motor drive module (4) structure of with the second motor drive module (5) is identical, and the first motor drive module (4) includes the constant pressure and constant of model L298N Stream bridge-type 2A driving chip, electric capacity (C1), No. two electric capacity (C2), electrochemical capacitor (C3), resistance (R11), two Number resistance (R12), diode (D1), No. two diodes (D2), No. three diodes (D3), No. four diodes (D4), No. five Diode (D5), No. six diodes (D6), No. seven diodes (D7) and No. eight diodes (D8),

The two path control signal input of the first motor drive module (4) is respectively as the constant pressure and flow bridge-type of model L298N 10 to No. 12 pins of the constant pressure and flow bridge-type 2A driving chip of 5 to No. 8 pins of 2A driving chip and model L298N, type Number for L298N constant pressure and flow bridge-type 2A driving chip No. 8 pins connection power supplys ground,

No. 9 pins of the constant pressure and flow bridge-type 2A driving chip of model L298N be simultaneously connected with one end of an electric capacity (C1)+ 5V power supply, the other end connection power supply ground of an electric capacity (C1), the constant pressure and flow bridge-type 2A driving chip of model L298N No. 4 pins be simultaneously connected with the positive pole of+9V power supply, one end of No. two electric capacity (C2) and an electrochemical capacitor (C3), No. two The negative pole of electric capacity (C2) other end and an electrochemical capacitor (C3) is all connected with power supply ground,

No. 2 pins of the constant pressure and flow bridge-type 2A driving chip of model L298N be simultaneously connected with a diode (D1) anode, The negative electrode of No. three diodes (D3) and one end of the first DC speed-reducing (6), the negative electrode of a diode (D1) are simultaneously connected with The negative electrode on power supply ground, the negative electrode of No. two diodes (D2), the negative electrode of No. five diodes (D5) and No. six diodes (D6),

The anode of No. two diodes (D2) is simultaneously connected with the another of the negative electrode of No. four diodes (D4) and the first DC speed-reducing (6) One end, the anode of No. five diodes (D5) are simultaneously connected with the negative electrode of No. seven diodes (D7) and the second DC speed-reducing (7) One end, the anode of No. six diodes (D6) are simultaneously connected with the negative electrode of No. eight diodes (D8) and the second DC speed-reducing (7) The other end, the anode of No. three diodes (D3) be simultaneously connected with the anode of No. four diodes (D4), the anode of No. seven diodes (D7), The anode of No. eight diodes (D8) and power supply ground,

LCD MODULE includes the liquid crystal of model 1602, slide rheostat (R21), No. two slide rheostats (R22) With terminal block (J2),

No. 1 pin of the liquid crystal of model 1602 and No. 16 pins are all connected with power supply ground, No. 2 pins of the liquid crystal of model 1602 One end of power supply, No. 2 ports of terminal block (J2) and No. two slide rheostats (R22) is simultaneously connected with, model 1602 No. 3 pins of liquid crystal are simultaneously connected with one end of a slide rheostat (R21) and the sliding end of a slide rheostat (R21), The other end connection power supply ground of a number slide rheostat (R21), No. 15 pins of the liquid crystal of model 1602 are simultaneously connected with power supply Power supply and No. 19 ports of terminal block (J2),

No. 4 pins of the liquid crystal of model 1602 distinguish No. 4 ports of connection terminal row (J2) to No. 14 ports to No. 14 pins, Display signal input part of No. 4 ports of terminal block (J2) to No. 17 ports all as LCD MODULE,

No. 3 ports of terminal block (J2) connect the sliding end of No. two slide rheostats (R22), No. two slide rheostats (R22) No. 18 ports of other end connection terminal row (J2), No. 1 port of terminal block (J2) and No. 20 ports are all connected with power supply ground,

The chip of 3-axis acceleration sensor (15) including model RT9161, the chip of model MMA736IL, No. three electric capacity (C35), No. two electrochemical capacitors (C36), No. three electrochemical capacitors (C37), No. four electric capacity (C31), No. five electric capacity (C32), No. six electricity Hold (C33), No. seven electric capacity (C34), No. three resistance (R44), light emitting diode (LED), a terminal (J1) and No. three terminals (J3),

No. 2 pins of the chip of model MMA736IL are simultaneously connected with No. 1 port of No. three terminals (J3) and No. four electric capacity (C31) One end, the other end of No. four electric capacity (C31) is simultaneously connected with power supply ground, one end of No. five electric capacity (C32) and No. six electric capacity (C33) One end, the other end of No. five electric capacity (C32) is simultaneously connected with No. 2 ports of No. three terminals (J3) and the core of model MMA736IL No. 3 pins of piece, the other end of No. six electric capacity (C33) are simultaneously connected with No. 3 ports and the model of No. three terminals (J3) No. 4 pins of the chip of MMA736IL, No. 5 pins of the chip of model MMA736IL are with being simultaneously connected with power supply and No. seven electric capacity (C34) one end, the other end of No. seven electric capacity (C34) are simultaneously connected with No. 6 pins of the chip of model MMA736IL and power supply Power supply, No. 13 pins of the chip of model MMA736IL connect No. 5 ports of a terminal (J1), model MMA736IL No. 10 pins of chip connect No. 4 ports of a terminal (J1), and No. 9 pins of the chip of model MMA736IL connect No. three No. 5 ports of terminal (J3), No. 4 ports of No. 7 pins No. three terminals (J3) of connection of the chip of model MMA736IL, No. one No. 2 ports of terminal (J1) and No. 3 ports are respectively as power supply connection end and the connection end on power supply ground, model RT9161 No. 1 pin of chip be simultaneously connected with the positive pole of No. two electrochemical capacitors (C36) and one end of No. three electric capacity (C35), No. three electric capacity (C35) the other end is simultaneously connected with No. 2 pins, confessions of the other end of No. two electrochemical capacitors (C36), the chip of model RT9161 Power supply and the negative pole of No. three electrochemical capacitors (C37), the chip of positive pole connection model RT9161 of No. three electrochemical capacitors (C37) No. 3 pins, 2 to No. 4 pins of the chip of model MMA736IL are felt respectively as 3 of 3-axis acceleration sensor (15) Induction signal output end.

4. a kind of remote control Omni-mobile manipulator according to claim 1, it is characterised in that it also includes LM7805 voltage stabilizing Power module, for providing 5V power supply for a kind of remote control Omni-mobile manipulator, LM7805 power module of voltage regulation includes that 12V powers Power supply, the chip of model LM7805, No. four electrochemical capacitors (C11), No. five electrochemical capacitors (C12), diode (D12) and voltage stabilizings Diode (D11),

No. 1 pin of the chip of model LM7805 is simultaneously connected with the positive pole of 12V power supply and No. four electrochemical capacitors (C11), The negative pole of No. four electrochemical capacitors (C11) is simultaneously connected with No. 2 pins of the chip of model LM7805, Zener diode (D11) No. 2 pins of the chip of negative electrode, the anode of diode (D12), the negative pole of No. five electrochemical capacitors (C12) and model LM7805, The anode connection power supply ground of Zener diode (D11), the negative electrode of diode (D12) are simultaneously connected with the chip of model LM7805 No. 3 pins, the positive pole of No. five electrochemical capacitors (C12) and 5V power supplies.

5. a kind of remote control Omni-mobile manipulator according to claim 1, it is characterised in that it also includes remote control, Remote control includes 3-axis acceleration sensor (15), wireless sending module (14), wireless receiving module (13), No. two microprocessors Device (15-1) and button,

3 induced signal output ends of 3-axis acceleration sensor (15) connect 3 sensing letters of No. two microprocessors (15-1) Number input, No. two microprocessors (15-1) and microprocessor (3-4) are respectively by wireless sending module (14) and wirelessly Receiver module (13) connects,

The control signal output end of button connects the control signal input of No. two microprocessors (15-1).

6. a kind of remote control Omni-mobile manipulator according to claim 1, it is characterised in that it also includes two zigbee Module, used as telegon, another zigbee module is placed on three freely as terminal node to a zigbee module connection PC On degree catching robot, connect the feedback end of the pin as the system signal of a microprocessor.

7. a kind of control claim 1 or 5 described in remote control Omni-mobile manipulator method, it is characterised in that methods described Including procedure below：

The 3-axis acceleration sensor (15) of remote control is swung, 3-axis acceleration sensor (15) gathers three-axis moving data, The three-axis moving data is activation is given a microprocessor (3-4) by No. two microprocessors (15-1)；

A number microprocessor (3-4) makes remote control Omni-mobile machinery according to four omni-directional wheels of three-axis moving Data Control for receiving Hand is moved；

Push button, action control signal is sent to a microprocessor (3-4) by No. two microprocessors (15-1) by button, Number microprocessor (3-4) control infrared obstacle avoidance module (3) detection Obstacle Position, according to Obstacle Position and the action for receiving Control signal control Three Degree Of Freedom catching robot is swung and is captured barrier.

8. according to claim 7 a kind of control remote control Omni-mobile manipulator method, it is characterised in that methods described Also include to realize showing using LCD MODULE, the flow process that realizes showing using LCD MODULE is：

Step one, liquid crystal display mode initialization block,

Step 2, a microprocessor send instruction and data per timing 5S to the liquid crystal of model 1602, control model 1602 liquid crystal display character.