CN214098225U

CN214098225U - Labyrinth robot with self-feedback function based on raspberry group

Info

Publication number: CN214098225U
Application number: CN202120270133.6U
Authority: CN
Inventors: 宋立红; 严正飞
Original assignee: Tianjin Qicheng Weiye Technology Co ltd
Current assignee: Tianjin Qicheng Weiye Technology Co ltd
Priority date: 2021-01-29
Filing date: 2021-01-29
Publication date: 2021-08-31
Anticipated expiration: 2031-01-29

Abstract

The utility model provides a labyrinth robot based on raspberry group has self-feedback function, including labyrinth robot body, install driving motor, gyroscope and main control chip on the labyrinth robot body, main control chip is connected with the driving motor electricity, install the encoder in the driving motor, the encoder with the main control chip electricity is connected, the encoder is used for acquireing labyrinth robot's speed, the gyroscope through information transmission circuit with main control chip connects, the gyroscope is used for acquireing labyrinth robot's acceleration and steadiness, information transmission circuit is used for handling the signal that the gyroscope acquireed, main control chip is used for acquireing signal control driving motor rotational speed according to gyroscope and encoder. The utility model discloses the functioning speed and the gesture skew angle that can accurate detection maze robot to realize the accurate control of turning angle degree, the steady of operation process is quick.

Description

Labyrinth robot with self-feedback function based on raspberry group

Technical Field

The utility model relates to a labyrinth robot turning control technical field, concretely relates to labyrinth robot based on raspberry group has self-feedback function.

Background

In a normal maze robot match, a maze robot walks in a maze, the maze robot needs to automatically run, automatically detect a wall, automatically correct the posture of a car, automatically turn, and preferentially go out of the maze for winning.

When the maze robot was walked in the maze, the maze robot need acquire the ambient condition on every side, when meetting the turn condition, nimble quick turn by oneself, consequently need the circuit that can accurate detection maze robot's operational aspect to realize the accurate control of turn angle degree, the steady of operation process is quick, in order to obtain the victory of match more easily.

SUMMERY OF THE UTILITY MODEL

In view of this, the to-be-solved problem of the utility model is to provide a labyrinth robot who has self-feedback function based on raspberry group, the circuit of the operational aspect that can accurate detection labyrinth robot to realize the accurate control of turning angle, the steady of operation process is quick, with the victory of more easily obtaining the match.

In order to solve the technical problem, the utility model discloses a technical scheme is:

a maze robot with a self-feedback function based on a raspberry group comprises a maze robot body, wherein a driving motor, a gyroscope and a main control chip are mounted on the maze robot body, the main control chip is electrically connected with the driving motor, an encoder is mounted in the driving motor, the encoder is electrically connected with the main control chip, and the encoder is used for acquiring the turning speed of the maze robot;

the gyroscope is connected with the main control chip through an information transmission circuit, the gyroscope is used for acquiring the acceleration and the stability of the maze robot, and the information transmission circuit is used for processing signals acquired by the gyroscope;

and the main control chip is used for controlling the rotating speed of the driving motor according to the signals acquired by the gyroscope and the encoder.

Furthermore, the gyroscope and the information transmission circuit are both electrically connected with a power circuit, and the power circuit is used for providing 3.3V and 5V voltage for the gyroscope 3 and the information transmission circuit.

Further, the information transmission circuit comprises a first MOS tube and a second MOS tube, the source electrodes of the first MOS tube and the second MOS tube are connected with the gyroscope, the drain electrodes of the first MOS tube and the second MOS tube are connected with a socket, and the socket is used for connecting a main control chip.

Further, the gyroscope 3 includes a data processing chip, and MPU SDA and MPU SCL ports of the data processing chip are connected to the source electrodes of the first MOS transistor and the second MOS transistor, respectively, for implementing transmission and reception of the detection data.

Furthermore, the drain electrodes of the first MOS tube and the second MOS tube are both connected with a first resistor, and a second resistor is connected between the source electrodes and the grid electrodes of the first MOS tube and the second MOS tube in series.

Further, power supply circuit includes the pressure regulating chip, pressure regulating chip port 1 and port 5 are 5V and 3.3V voltage respectively, all connect in series the pressure regulating electric capacity between pressure regulating chip port 1, port 5 and port 3 and the ground, pressure regulating chip port 5 has concatenated the indicator diode with end diameter, pressure regulating chip U1 port 3 direct ground.

Further, the data processing chip is of a type of MPU 6050.

Further, the encoder is a magnetic encoder.

Further, the main control chip is a raspberry pie.

The utility model has the advantages and positive effects that:

the slewing speed of the different wheels of labyrinth robot is monitored through the encoder, obtain labyrinth robot's turn angle, the acceleration that the gyroscope detected labyrinth robot and the skew balanced position's of labyrinth robot the condition, and transmit the data that obtain to main control chip through the gyroscope chip, main control chip changes driving motor's rotation condition in real time according to the feedback of receiving, the turned angle who is used for accurate control labyrinth robot, guarantee the stationarity that labyrinth robot turned simultaneously, make the quick steady completion turn action of labyrinth robot, the time of turning is saved.

Drawings

The accompanying drawings are included to provide a further understanding of the invention, and are incorporated in and constitute a part of this specification, illustrate embodiments of the invention, and together with the description serve to explain the invention and not to limit the invention. In the drawings:

FIG. 1 is a diagram of the working process of a gyroscope during drifting of a labyrinth robot with a self-feedback function based on a raspberry group of the utility model;

fig. 2 is a circuit diagram of a gyroscope chip of a labyrinth robot with a self-feedback function based on a raspberry and a JP1 peripheral interface;

fig. 3 is an information transmission circuit diagram of a maze robot with self-feedback function based on raspberry group of the present invention;

FIG. 4 is a power circuit diagram of a maze robot with self-feedback function based on raspberry group of the present invention;

fig. 5 is a bottom view of a raspberry-based maze robot with a self-feedback function;

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.

The utility model provides a labyrinth robot based on raspberry group has self-feedback function, like the labyrinth robot bottom view shown in fig. 4, including driving motor 2, gyroscope 3 and main control chip, driving

motor

2 and 1 fixed connection of wheel. The driving motor 2 is used for driving the wheels 1 on the labyrinth robot to rotate, so that the labyrinth robot finishes the actions of advancing, retreating and turning. The gyroscope 3 can detect the acceleration condition and the deviation condition of the balance position of the maze robot to ensure that the maze robot keeps stable when turning, and the fig. 2 shows a gyroscope 3 chip and a JP1 peripheral interface. The type of the gyroscope 3 is MPU6050, the gyroscope 3 is connected with the main control chip through MPU SDA and MPU SCL to perform real-time data transmission, and the moving state of the labyrinth robot detected by the gyroscope 3 is input into the main control chip in real time. The main control chip is raspberry group, and the raspberry group adjusts the operating condition of driving motor 2 in real time according to the moving state self-feedback of the maze robot who obtains, makes the steady turn of maze robot for the turning speed of maze robot in the match, speed is too fast when avoiding the maze robot to turn, because of losing balance and overturning.

Install the encoder in driving motor 2, the encoder is magnetic encoder, and magnetic encoder outputs two passageway signals, and two signals of saying transmit main control chip through JP1 peripheral hardware interface, and main control chip judges the rotation state of maze robot wheel 1 according to the signal of receiving. Meanwhile, the main control chip is electrically connected with the driving motor 2, and the main control chip controls the driving motor 2 to act according to the received signals.

Meanwhile, when the encoder detects the rotation condition of the wheel 1 of the labyrinth robot, two channels of square wave signals are generated, namely an A-phase pulse wave and a B-phase pulse wave, wherein the A phase and the B phase have only 90-degree phase difference, one is that the A phase lags behind the B phase by 90 degrees, and the other is that the A phase leads the B phase by 90 degrees, and the positive rotation and the negative rotation of the wheel 1 are respectively represented. Meanwhile, the number of square waves generated by one rotation of the wheel 1 is certain, and the rotating speed of the wheel 1 can be obtained through the number of pulse waves in a fixed time. The main control chip obtains the rotation condition and the difference condition of the two wheels 1 of the labyrinth robot by receiving the square wave condition generated by the encoder, and further judges the turning angle of the labyrinth robot.

The gyroscope 3 is connected with an information transmission circuit, data are transmitted between the gyroscope 3 and the main control chip, the information transmission circuit is connected with a JP1 peripheral interface, an encoder is linked outside the JP1 peripheral interface, and data generated by the encoder are transmitted to the main control chip through the JP1 peripheral interface.

Encoder and gyroscope 3 detect maze robot's turn condition data and transmit main control chip in real time, and main control chip controls driving motor 2 action according to received data real time, and then makes the angle that maze robot can be accurate rotate, realizes that maze robot is quick turn in the maze.

Fig. 3 shows two information transmission circuits, where the information transmission circuit includes a first MOS transistor Q1 and a second MOS transistor Q1, the sources of the first MOS transistor Q1 and the second MOS transistor Q1 are both connected to the gyroscope 3, the drains of the first MOS transistor Q1 and the second MOS transistor Q1 are both connected to a socket JP1, the sources of the first MOS transistor Q1 and the second MOS transistor Q1 are respectively connected to a first resistor R3 and a second resistor R5, and the drains of the first MOS transistor Q1 and the second MOS transistor Q1 are respectively connected to a gate of the first MOS transistor Q2 and a gate of the second MOS transistor Q4 in series. The socket JP1 is used for connecting a main control chip, and the gyroscope transmits the data detected by the passage into the main control chip through the information transmission circuit and the socket JP 1.

The gyroscope 3 comprises a data processing chip IC1, and MPU SDA and MPU SCL ports of the data processing chip IC1 are respectively connected with the sources of the first MOS transistor Q1 and the second MOS transistor Q1, and are used for transmitting and receiving detection data.

And the gyroscope 3 and the information transmission circuit are both electrically connected with a power circuit, and the power circuit is used for providing 3.3V and 5V voltage for the gyroscope 3 and the information transmission circuit. The power circuit comprises a voltage regulating chip U1 for converting 5V voltage into 3.3V voltage. The port 1 and the port 5 of the voltage regulating chip U1 are respectively 5V and 3.3V voltages, and the port 1, the port 5 and the port 3 of the voltage regulating chip U1 are connected with voltage regulating capacitors in series with the diameter of the bottom for ensuring the stability of the voltage at the port 1 and the port 5. The port 5 and the bottom diameter of the voltage regulating chip U1 are connected in series with an indicating diode LED1 for reminding the voltage regulating chip U1 whether to work, when the indicating diode LED1 is lighted, the voltage regulating chip U1 goes out the working state, and the port 3 of the voltage regulating chip U1 is directly grounded.

The utility model discloses a theory of operation and working process as follows:

other devices for detecting the surrounding environment of the labyrinth robot are installed on the labyrinth robot, the labyrinth robot detects that a turn exists in the front and detects the corner of the intersection, after the labyrinth robot reaches the intersection, a signal needing to be turned is transmitted to the main control chip, and the main control chip inputs the signal to the gyroscope 3.

After the gyroscope 3 receives the turning signal, the data in the gyroscope 3 is cleared, after the clearing is completed, the gyroscope 3 takes the position condition of the labyrinth robot as a balance position, and meanwhile, the main control chip controls the driving motor 2 to rotate in a difference mode, and the labyrinth robot starts to turn.

The gyroscope 3 can detect the acceleration condition and the angle of the deviation balance position of the maze robot, and delivers the acceleration condition and the deviation angle of the maze robot to the main control chip in real time, and the main control chip controls the rotating speed of the driving motor 2 in real time according to the received condition, so that the stability of the maze robot is maintained, and the maze robot can turn stably.

In the turning process of the labyrinth robot, the encoder transmits the rotation conditions of two wheels 1 of the labyrinth robot to a main control chip in a square wave form, the main control chip detects the deviation angle and the acceleration condition according to the received differential condition of the wheels 1 of the labyrinth robot and a gyroscope 3, and the driving motor 2 is controlled to act integrally so as to control the stable and accurate turning of the labyrinth robot.

The gyroscope 3 finishes turning action according to the working steps shown in figure 1, inputs the angle required to turn into the main control chip, and the main control chip controls the driving motor 2 to rotate in a differential mode. When turning is started, the labyrinth robot and the ground form a certain included angle, the gyroscope 3 detects that an angle threshold value is not zero, the main control chip controls the driving motor 2 to rotate in a differential mode in real time according to active data, when the gyroscope 3 detects that the angle threshold value is zero, turning is completed, and the main control chip controls the driving motor 2 to stop rotating in the differential mode.

The method can realize the drifting turning of the maze robot, the maze robot has an included angle with the ground when turning, and after the maze robot finishes turning, the maze robot returns to the balance position, so that the maze robot can finish turning action at a higher speed.

The embodiments of the present invention have been described in detail, but the description is only for the preferred embodiments of the present invention and should not be construed as limiting the scope of the present invention. All equivalent changes and modifications made within the scope of the present invention should be covered by the present patent.

Claims

1. A maze robot with a self-feedback function based on a raspberry group is characterized by comprising a maze robot body, wherein a driving motor (2), a gyroscope (3) and a main control chip are mounted on the maze robot body, the main control chip is electrically connected with the driving motor (2), an encoder is mounted in the driving motor (2), the encoder is electrically connected with the main control chip, and the encoder is used for acquiring the speed of the maze robot;

the gyroscope (3) is connected with the main control chip through an information transmission circuit, the gyroscope (3) is used for acquiring the acceleration and the stability of the labyrinth robot, and the information transmission circuit is used for processing signals acquired by the gyroscope (3);

the main control chip is used for controlling the rotating speed of the driving motor (2) according to the signals obtained by the gyroscope (3) and the encoder.

2. The raspberry pi based maze robot with self-feedback function of claim 1, wherein: the gyroscope (3) and the information transmission circuit are both electrically connected with a power circuit, and the power circuit is used for providing 3.3V and 5V voltage for the gyroscope (3) and the information transmission circuit.

3. The raspberry pi based maze robot with self-feedback function of claim 1, wherein: the information transmission circuit comprises a first MOS tube (Q1) and a second MOS tube (Q1), the sources of the first MOS tube (Q1) and the second MOS tube (Q1) are connected with the gyroscope (3), the drains of the first MOS tube (Q1) and the second MOS tube (Q1) are connected with a socket (JP1), and the socket (JP1) is used for connecting a main control chip.

4. The raspberry pi based maze robot with self-feedback function of claim 1, wherein: the gyroscope (3) comprises a data processing chip (IC1), and MPU SDA and MPU SCL ports of the data processing chip (IC1) are respectively connected with the sources of the first MOS tube (Q1) and the second MOS tube (Q1) and are used for realizing the transceiving of detection data.

5. The raspberry pi based maze robot with self-feedback capability of claim 3 wherein: the drain electrodes of the first MOS transistor (Q1) and the second MOS transistor (Q1) are connected with a first resistor, and a second resistor is connected between the source electrode and the grid electrode of the first MOS transistor (Q1) and the second MOS transistor (Q1) in series.

6. The raspberry pi based maze robot with self-feedback function of claim 2, wherein: the power supply circuit includes voltage regulation chip (U1), voltage regulation chip (U1) port 1 and port 5 are 5V and 3.3V voltage respectively, all have concatenated the pressure regulating electric capacity between voltage regulation chip (U1) port 1, port 5 and the port 3 and the ground, voltage regulation chip (U1) port 5 has concatenated indicating diode (LED1) with end diameter, voltage regulation chip (U1) port 3 direct ground.

7. The raspberry pi based maze robot with self-feedback function of claim 1, wherein: the model of the data processing chip (IC1) is MPU 6050.

8. The raspberry pi based maze robot with self-feedback function of claim 1, wherein: the encoder is a magnetic encoder.

9. The raspberry pi based maze robot with self-feedback function of claim 1, wherein: the master control chip is a raspberry pie.