CN110743176B - Outdoor obstacle avoidance type beat double-wheel pilot robot - Google Patents
Outdoor obstacle avoidance type beat double-wheel pilot robot Download PDFInfo
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- CN110743176B CN110743176B CN201910966165.7A CN201910966165A CN110743176B CN 110743176 B CN110743176 B CN 110743176B CN 201910966165 A CN201910966165 A CN 201910966165A CN 110743176 B CN110743176 B CN 110743176B
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- A—HUMAN NECESSITIES
- A63—SPORTS; GAMES; AMUSEMENTS
- A63H—TOYS, e.g. TOPS, DOLLS, HOOPS OR BUILDING BLOCKS
- A63H11/00—Self-movable toy figures
- A63H11/18—Figure toys which perform a realistic walking motion
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Abstract
The invention relates to the technical field of physical training, and discloses an outdoor obstacle avoidance type beat two-wheel neck running robot which comprises a trunk and a head, wherein two wheels are arranged below the trunk, the wheels are connected with stepping motors, the two stepping motors are connected with stepping steering engines arranged inside two sides of the lower part of the trunk through telescopic metal supports, two mechanical beating arms are respectively arranged on two sides of the upper part of the trunk, the mechanical beating arms are connected with the trunk through the beating steering engines, a binocular vision sensor connected with a single chip microcomputer is arranged on the head, a power supply is arranged in the trunk, and a key group is arranged on the surface of the trunk. The outdoor obstacle avoidance type beat two-wheel lead robot provided by the invention provides a scientific and appropriate lead mode by guiding and beating beats in front of a runner through the robot, automatically avoids obstacles and is suitable for outdoor use.
Description
Technical Field
The invention relates to the field of physical training, in particular to an outdoor obstacle avoidance type beat double-wheel pilot robot.
Background
We are educated very little and exercise is constant. Therefore, many people believe that once running begins, it must be adhered to every day. But according to the latest exercise science results, running is not reluctant, and only the training amount is gradually increased. Generally, a person who takes running exercise needs to achieve three basic indexes to achieve a certain training effect: lasting for more than 20 minutes; heart rate of 120 times/min or more (young); the frequency is more than 3 times per week, i.e., 3-4 runs a week.
Rather than make the illusion of achieving the desired result in a short period of time, only frequent exercise will increase the level of exercise. If the user runs only once a week, the distance is longer without much benefit. Since the body tissues have consumed the benefits of running a second time in six days of interrupted running. Thus, no less than three runs must be made within a week. Often people who lack exercise often move too much once a decision has been made to begin regular exercise, which can lead to undesirable consequences. Should be gradual over the workout.
Meanwhile, for runners, the rhythm of running is very important. A good tempo not only improves their fitness better, but also enhances their interest in running. For the elderly, the rhythm of running is related to their physical well being. A good rhythm is a very healthy guide for the old, can effectively strengthen the cardio-pulmonary function and physical endurance of the old, and is beneficial to prolonging the life. For the initial runner, if the scientific running is understood from the beginning and the running rhythm is well mastered, the injury and pain can be avoided and the health of the runner can be obtained through running to the maximum extent. For the senior runners, no matter how to start running, the runner needs to review the running course and experience lessons of the runner and run the runner healthily and durably in a more scientific way.
However, most of the existing devices are professional devices, are mostly used in professional stadiums and are not suitable for being used outdoors by common running enthusiasts.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides an outdoor obstacle avoidance type beat two-wheel lead robot.
In order to achieve the purpose, the outdoor obstacle avoidance type beat two-wheel neck running robot comprises a trunk and a head mounted on the trunk, wherein two wheels which are bilaterally symmetrical are arranged below the trunk, the wheels are connected with stepping motors, the two stepping motors are connected with stepping steering engines mounted inside two sides of the lower portion of the trunk through telescopic metal supports, the stepping motors and the stepping steering engines are connected with a single chip microcomputer, two mechanical beating arms are mounted on two sides of the upper portion of the trunk respectively, the mechanical beating arms are connected with the trunk through the beating steering engines, the beating steering engines are connected with the single chip microcomputer, a binocular vision sensor connected with the single chip microcomputer is arranged on the head and comprises two cameras for collecting image information in a visual range right in front of the robot, the trunk is internally provided with the stepping motors, and the stepping motors, The power supply for supplying power to the stepping steering engine, the single chip microcomputer, the tapping steering engine and the binocular vision sensor is arranged on the surface of the trunk, and a key group connected with the single chip microcomputer is arranged on the surface of the trunk.
Preferably, the tail end of the mechanical beating arm is provided with an oval protrusion, and a beating surface is arranged on the position, corresponding to the oval protrusion, of the trunk, so that drum spots which are crisp and pleasant and do not interfere with other people can be beaten.
Preferably, be equipped with in the truck with the inclination sensor that the singlechip is connected, inclination sensor can give the information transmission at the inclination about the robot the singlechip, the singlechip drives through control the angle of step steering wheel metal support makes step motor reciprocates, for example when the robot appears high right low condition about in the motion process, step steering wheel can drive with the left side metal support that the step motor of wheel links to each other moves upwards, makes the robot can keep controlling the level and go steadily on unstable road surface.
Preferably, be equipped with a plurality of on the truck on same horizontal plane evenly distributed with the infrared sensor that the singlechip is connected, be equipped with a plurality of on the truck on same horizontal plane evenly distributed with the ultrasonic sensor that the singlechip is connected, guarantee that the robot can detect the barrier in peripheral 360 degrees spatial range.
Preferably, the head still be equipped with light dark sensor, temperature and humidity sensor that the singlechip is connected, light dark sensor can the perception degree of light dark on every side, and when the degree of light dark reached certain threshold value respectively, the robot the camera of binocular vision sensor can automatic selection open or close night vision function, temperature and humidity sensor can the perception surrounding environment, through the corresponding procedure of operation, selects the optimum sensor to the maximize guarantees under the environmental condition of difference, and the robot can both correctly perceive obstacle information.
Preferably, a front illuminating lamp is arranged in front of the trunk, a rear illuminating lamp is arranged behind the trunk, a safe visual field is provided for a person getting a match, and the front illuminating lamp and the rear illuminating lamp are both connected with the power supply and the single chip microcomputer.
Preferably, the power is a lithium battery pack, and a USB interface for charging the power is arranged at the bottom of the rear of the trunk.
Preferably, the trunk is internally provided with containing spaces for containing two wheels, the two wheels of the robot are driven by the stepping steering engine to retract into the containing spaces of the trunk of the robot under the condition of stopping working, and the two wheels are driven by the stepping steering engine to extend out of the trunk of the robot.
Preferably, be equipped with on the truck with bluetooth communication module and the infrared receiving module that the singlechip is connected, infrared receiving module is located the rear portion of truck, through bluetooth communication module and infrared receiving module realize the remote control of robot, in addition, when not beating the beat with the mechanical arm of beating, still can transmit to bluetooth headset through bluetooth communication module and connect beat information.
Preferably, the trunk is provided with a liquid crystal display screen connected with the single chip microcomputer and the power supply.
Compared with the prior art, the invention has the following advantages:
1. the problem of insufficient comfort in outdoor running in actual life is solved, the running rhythm is controlled by the beat, the running comfort is improved, and when a dangerous condition occurs in the running process, the running robot can lead people to break away from the front danger, so that the user is prevented from being inattentive due to overlong movement;
2. the robot can adapt to various environments by mainly using a binocular vision sensor and by using an infrared sensor and an ultrasonic sensor as assistance;
3. by combining the stepping motor and the stepping steering engine, the robot can be ensured to stably run on an uneven road surface, and abrasion is reduced;
4. the light and dark sensors can sense two banks of the surrounding environment, so that the camera is controlled to be turned on or off for night vision, and the illuminating lamp is controlled to be turned on, so that a safe visual field is provided for the running, pedestrians can avoid the running, and accidents are not easy to happen;
5. when the temperature or the humidity is extremely high, the ultrasonic wave and the infrared signal are affected to influence the obstacle avoidance function of the robot, the temperature and the humidity of the surrounding environment are sensed through the temperature and humidity sensor, and whether the infrared sensor and the ultrasonic sensor are turned off or not is selected to adapt to more environments;
6. the indoor exercise is taken to the open air through keeping away barrier and independently navigating, takes the exercise to the open air, has promoted the enthusiasm of the motion of whole people, and through providing the beat, makes fat person lose weight and old person can more healthy effectual exercise, especially aerobic exercise, and the motion efficiency is higher.
Drawings
FIG. 1 is a schematic structural diagram of an outdoor obstacle avoidance type beat two-wheel lead robot of the present invention
Fig. 2 is a schematic structural diagram of the back of the outdoor obstacle avoidance type beat two-wheel pilot robot.
The components in the figures are numbered as follows:
the device comprises a trunk 1, a head 2, wheels 3, a stepping steering engine 4, a single chip microcomputer 5, a mechanical beating arm 6, a binocular vision sensor 7, a key group 8, an inclination angle sensor 9, an infrared sensor 10, an ultrasonic sensor 11, a light and dark sensor 12, a temperature and humidity sensor 13, a front illuminating lamp 14, a rear illuminating lamp 15, a USB interface 16, a Bluetooth communication module 17 and an infrared receiving module 18.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1 and 2, the outdoor obstacle avoidance type beat two-wheel neck running robot comprises a trunk 1 and a head 2 arranged on the trunk 1, two wheels 3 which are bilaterally symmetrical are arranged below the trunk 1, a containing space for containing the two wheels 3 is arranged in the trunk 1, the wheels 3 are connected with stepping motors, the two stepping motors are connected with stepping steering engines 4 arranged inside the two sides of the lower part of the trunk 1 through telescopic metal supports, the stepping motors and the stepping steering engines 4 are connected with a single chip microcomputer 5, two mechanical beating arms 6 are respectively arranged on the two sides of the upper part of the trunk 1, the mechanical beating arms 6 are connected with the trunk 1 through beating steering engines, the beating steering engines are connected with the single chip microcomputer 5, a binocular vision sensor 7 connected with the single chip microcomputer 5 is arranged on the head 2, the binocular vision sensor 7 comprises two cameras for collecting image information in a 165-degree vision range right in front of the robot, be equipped with the power of beating steering wheel and binocular vision sensor 7 power supply for step motor, step steering wheel 4, singlechip 5 in the truck 1, the power is the lithium cell group, and 1 rear bottom of truck is equipped with the USB interface 16 that charges for the power, and 1 surface of truck is equipped with the key group 8 of being connected with singlechip 5.
Wherein, the tail end of the mechanical beating arm 6 is provided with an elliptical bulge, and the position of the trunk 1 corresponding to the elliptical bulge is provided with a beating surface.
In addition, as shown in fig. 1, 20 infrared sensors 10 connected to the single chip microcomputer 5 are uniformly distributed on the same horizontal plane on the trunk 1, an angle between each infrared sensor 10 is 18 degrees, 12 ultrasonic sensors 11 connected to the single chip microcomputer 5 are uniformly distributed on the same horizontal plane on the trunk 1, and an angle between each ultrasonic sensor 11 is 30 degrees.
In this embodiment, be equipped with the inclination sensor 9 of being connected with singlechip 5 in truck 1, bluetooth communication module 17 and infrared receiving module 18, wherein, infrared receiving module 18 is located truck 1's rear portion, and truck 1 the place ahead is equipped with front lighting 14, and truck 1 rear is equipped with rear lighting 15, and front lighting 14 and rear lighting 15 all are connected with power and singlechip 5, still are equipped with the liquid crystal display who is connected with singlechip 5 and power on truck 1.
In addition, the head 2 is also provided with a light and dark sensor 12 and a temperature and humidity sensor 13 which are connected with the singlechip 5.
When the fitness trainer is used, the left side and the right side of the trunk 1 are beaten by the mechanical beating arms 6 to beat beats, so that the fitness trainer can provide running beats which are most suitable for being healthier for runners, especially for weight loss through aerobic exercise or body exercise of old people. When the robot runs, the distance between the object and the camera can be calculated by utilizing parameters such as the position of the camera, the size of the binocular vision sensor 7 and the like, so that the obstacle avoidance function is realized. In order to guarantee that the robot can both accurately avoid obstacles in different environments, the infrared sensor 10 and the ultrasonic sensor 11 guarantee that the robot can detect obstacles in a peripheral 360-degree space range.
In addition, the light-dark sensor 12 can sense the light-dark degree of the surroundings, and when the light-dark degree reaches a certain threshold value, the robot camera automatically selects to turn on or turn off the night vision function. And inclination sensor 9 can give different signals according to the inclination of robot, singlechip 5 can make the robot balanced according to the operation of signal commander step motor, specifically speaking, singlechip 5 drives the metal support through the angle of control step steering wheel 4 and makes step motor reciprocate, for example, when the robot appears high-high right-low condition in the motion process, through controlling step steering wheel 4 and driving the metal support that links to each other with the step motor of left side wheel 3 and upwards moving, make the robot can keep controlling the level and go steadily on unstable road surface.
When the robot is used, the bluetooth communication module 17 and the infrared receiving module 18 can realize the remote control of the robot to be started or stopped, and can also select the motion mode or speed of the robot to control the front illuminating lamp 14 or the rear illuminating lamp 15 of the robot to be started or stopped.
In this embodiment, the tapping steering engine is a 180-degree controllable 40kg high-torque digital steering engine, and different angles of the tapping steering engine can be adjusted according to PWM waves with different duty ratios provided by the single chip microcomputer 5, so that beats with different frequencies can be tapped by the mechanical tapping arm 6.
In this embodiment, the key group 8 is disposed at a position near the bottom of the trunk 1, and by tapping keys in the key group 8, the power on/off of the robot, the selection of the race mode, the speed adjustment, and the tapping frequency of the mechanical tapping arm 6 are achieved.
Specifically, when the robot in this embodiment is used, the specific scheme for realizing the functions of beating the beat, navigating, avoiding the obstacle and balancing two wheels is as follows:
(1) beating beat: firstly, the most comfortable running frequency of a large number of people is obtained through investigation records obtained through investigation of the people, then the robot outputs PWM waves with different duty ratios through the singlechip 5 according to different frequencies, so that the 180-degree controllable tapping steering engine is driven to rotate to a corresponding angle, and beats with different frequencies can be realized by controlling the PWM waves with different duty ratios;
(2) navigation: after the approach mode is selected, the robot plans a moving path according to the existing navigation algorithm and walks according to the planned path;
(3) the obstacle avoidance scheme is as follows:
firstly, binocular vision obstacle avoidance: because the positions of the cameras are different, the two cameras see that the same position has different pixel positions when imaging, the distance of the point can be measured by a triangular distance measurement method, and the robot can walk around an object by using an obstacle avoidance algorithm;
secondly, infrared obstacle avoidance: the infrared sensor 10 emits infrared light, when the infrared light returns to an object, after the reflected light is detected, the distance of the object can be calculated according to the geometric relationship, and obstacle avoidance of the object in front is achieved through an obstacle avoidance algorithm;
thirdly, ultrasonic obstacle avoidance: and calculating the distance from the robot to the surrounding obstacles by using the distance, namely the speed, the time and 2 according to the flight time of the ultrasonic wave.
(4) Two rounds of balance: the inclination angle sensor 9 converts the front and back inclination angle signals and the left and right inclination angle signals of the robot into electric signals, and then the pid algorithm is utilized to balance the trolley when the trolley is static, and the pid algorithm is also utilized to control the balance of the trolley in the movement process.
The outdoor obstacle avoidance type beat two-wheel lead robot solves the problem of insufficient comfort of outdoor running in actual life, controls running rhythm by beats, improves running comfort, and can lead people to break away from danger in front when dangerous conditions occur in the running process, so that the user is prevented from being inattentive due to overlong movement; in addition, the robot can adapt to various environments by mainly using the binocular vision sensor 7 and by using the infrared sensor 10 and the ultrasonic sensor 11 as the auxiliary devices, the combination of the stepping motor and the stepping steering engine 4 can ensure that the robot can stably run on uneven road surfaces, reduce abrasion, can sense two banks of the surrounding environment through the light and dark sensor 12, thereby controlling the camera to turn on or off the night vision function and controlling the illumination lamp to turn on, providing a safe visual field for the walk, being beneficial to the pedestrians to avoid, being not easy to have accidents, when the temperature or the humidity is extremely high, the ultrasonic wave and the infrared signal can be influenced, the obstacle avoidance function of the robot is influenced, the temperature and humidity of the surrounding environment are sensed through the temperature and humidity sensor 13, and whether the infrared sensor 10 and the ultrasonic sensor 11 are turned off or not is selected, so that the device is suitable for more environments; the invention brings indoor exercise to the outdoors through obstacle avoidance and autonomous navigation, brings the exercise to the outdoors, improves the enthusiasm of all-people exercise, and enables fat people to lose weight and old people to exercise healthily and effectively, especially aerobic exercise, and has higher exercise efficiency by providing beats.
Claims (8)
1. The utility model provides an obstacle-avoiding type beat two-wheel robot of getting involved in open air, includes truck (1) and installs head (2) on truck (1), its characterized in that: the robot comprises a trunk (1), two wheels (3) which are bilaterally symmetrical are arranged below the trunk (1), the wheels (3) are connected with stepping motors, the two stepping motors are connected with stepping steering engines (4) which are arranged inside two sides of the lower part of the trunk (1) through telescopic metal supports, the stepping motors and the stepping steering engines (4) are connected with a single chip microcomputer (5), two mechanical beating arms (6) are respectively arranged on two sides of the upper part of the trunk (1), the mechanical beating arms (6) are connected with the trunk (1) through beating steering engines, the beating steering engines are connected with the single chip microcomputer (5), a binocular vision sensor (7) connected with the single chip microcomputer (5) is arranged on the head (2), and the binocular vision sensor (7) comprises two cameras for collecting image information in a vision range in the front of the robot, the novel multifunctional electric bicycle is characterized in that a power supply for supplying power to the stepping motor, the stepping steering engine (4), the single chip microcomputer (5), the tapping steering engine and the binocular vision sensor (7) is arranged in the trunk (1), a key group (8) connected with the single chip microcomputer (5) is arranged on the surface of the trunk (1), the head (2) is further provided with a light and dark sensor (12) and a temperature and humidity sensor (13) which are connected with the single chip microcomputer (5), a front illuminating lamp (14) is arranged in front of the trunk (1), a front illuminating lamp (14) is arranged behind the trunk (1), the front illuminating lamp (14) and a rear illuminating lamp (15) are both connected with the power supply and the single chip microcomputer (5), the binocular vision sensor (7) is adopted, an obstacle avoidance algorithm is utilized, objects are bypassed to walk, two banks of the surrounding environment are sensed through the light and dark sensor (12) is used for controlling the camera to open or close a night vision function, and the front illuminating lamp (14) are controlled to be turned on, so that a safe visual field is provided for running.
2. The outdoor obstacle avoidance type beat two-wheel pilot robot according to claim 1, characterized in that: the tail end of the mechanical beating arm (6) is provided with an oval protrusion, and a beating surface is arranged on the position, corresponding to the oval protrusion, of the trunk (1).
3. The outdoor obstacle avoidance type beat two-wheel pilot robot according to claim 1, characterized in that: an inclination angle sensor (9) connected with the single chip microcomputer (5) is arranged in the trunk (1).
4. The outdoor obstacle avoidance type beat two-wheel pilot robot according to claim 1, characterized in that: be equipped with a plurality of on truck (1) evenly distributed on same horizontal plane with infrared sensor (10) that singlechip (5) are connected, be equipped with a plurality of on truck (1) evenly distributed on same horizontal plane with ultrasonic sensor (11) that singlechip (5) are connected.
5. The outdoor obstacle avoidance type beat two-wheel pilot robot according to claim 1, characterized in that: the power is a lithium battery pack, and a USB interface (16) for charging the power is arranged at the bottom of the rear part of the trunk (1).
6. The outdoor obstacle avoidance type beat two-wheel pilot robot according to claim 1, characterized in that: the trunk (1) is internally provided with an accommodating space for accommodating the two wheels (3).
7. The outdoor obstacle avoidance type beat two-wheel pilot robot according to claim 1, characterized in that: be equipped with on truck (1) with bluetooth communication module (17) and infrared receiving module (18) that singlechip (5) are connected, infrared receiving module (18) are located the rear portion of truck (1).
8. The outdoor obstacle avoidance type beat two-wheel pilot robot according to claim 1, characterized in that: and a liquid crystal display screen connected with the single chip microcomputer (5) and the power supply is arranged on the trunk (1).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201910966165.7A CN110743176B (en) | 2019-10-12 | 2019-10-12 | Outdoor obstacle avoidance type beat double-wheel pilot robot |
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| CN201910966165.7A CN110743176B (en) | 2019-10-12 | 2019-10-12 | Outdoor obstacle avoidance type beat double-wheel pilot robot |
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| CN110743176B true CN110743176B (en) | 2021-11-12 |
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| CN111599252B (en) * | 2020-05-12 | 2021-09-17 | 桂林电子科技大学 | Programmable teaching robot based on game mechanism |
Citations (5)
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|---|---|---|---|---|
| EP1393866A1 (en) * | 2001-06-07 | 2004-03-03 | Japan Science and Technology Corporation | Apparatus walking with two legs; walking control apparatus; and walking control method thereof |
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN106201429A (en) * | 2016-07-26 | 2016-12-07 | 广东小天才科技有限公司 | Method and device for controlling exercise rhythm |
| CN106956736A (en) * | 2017-03-13 | 2017-07-18 | 沈阳星聚创新设计服务有限公司 | A kind of intelligence is with robot |
| CN209188074U (en) * | 2018-12-18 | 2019-08-02 | 王中耀 | One kind is taken the lead in race device |
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2019
- 2019-10-12 CN CN201910966165.7A patent/CN110743176B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1393866A1 (en) * | 2001-06-07 | 2004-03-03 | Japan Science and Technology Corporation | Apparatus walking with two legs; walking control apparatus; and walking control method thereof |
| CN101915339A (en) * | 2010-07-29 | 2010-12-15 | 中国科学院深圳先进技术研究院 | Pipeline robot |
| CN106201429A (en) * | 2016-07-26 | 2016-12-07 | 广东小天才科技有限公司 | Method and device for controlling exercise rhythm |
| CN106956736A (en) * | 2017-03-13 | 2017-07-18 | 沈阳星聚创新设计服务有限公司 | A kind of intelligence is with robot |
| CN209188074U (en) * | 2018-12-18 | 2019-08-02 | 王中耀 | One kind is taken the lead in race device |
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