CN108731701A - Biped robot's mileage travelled metering device - Google Patents

Abstract

The invention discloses a mileage measuring device for a biped robot, which includes a minimum system of a single chip microcomputer, a power supply circuit, a sensor circuit, a display circuit, an alarm circuit, a motor drive circuit, and a steering gear control circuit. The power supply circuit provides power for the entire device; The minimum system of the single-chip microcomputer is composed of a single-chip microcomputer, a crystal oscillator circuit, and a reset circuit. The single-chip microcomputer is connected with the crystal oscillator circuit and the reset circuit; the sensor circuit converts the driving speed into a pulse signal through a Hall element and transmits it to the single-chip microcomputer. to the display circuit for display. The invention has the characteristics of convenient operation, accurate measurement, complete functions, easy portability and low power consumption, and can be widely used in other mileage measurement fields other than biped robots.

Description

Mileage Measuring Device for Biped Robot

technical field

The invention relates to the technical field of single-chip microcomputers, in particular to a biped robot mileage measuring device with a single-chip microcomputer as the core.

Background technique

A robot is actually an automated device. It is still a machine, but it can imitate a human being to complete certain tasks. Why develop robotics. Simply put, there are three reasons: 1. Do things that people don't want to do. 2. To liberate people from toxic, harmful and dangerous environments. 3. Ensure the efficiency and accuracy of work. People get tired, machines don't. This improves productivity in a disguised form and liberates the labor force.

With the development of the times, robot technology is also changing with each passing day. From traditional crawler robots to today's biped walking robots, the application range of robots is becoming wider and wider. As a product of science and technology, robots have provided more and more convenience to people. They can do things that humans cannot do, and they can also replace people to do some dangerous work. Biped upright walking robot is the development direction of future robots. Compared with traditional robots, they can serve humans better and more conveniently. By imitating the characteristics of human bipedal walking, they can reach more places that traditional robots cannot reach.

The biped robot not only has a wide working space, but also has very low requirements on the walking environment. It can adapt to various types of ground and has a high ability to overcome obstacles. Its walking performance is unmatched by other walking structures. It is of great significance to study the biped walking robot. During the driving process of the biped robot, the operator can clearly know the physical quantities such as the driving speed and mileage, and can control it more accurately.

Contents of the invention

In view of the deficiencies in the prior art, the object of the present invention is to provide a biped robot mileage measuring device, which has the characteristics of complete functions, easy portability and low power consumption.

In order to achieve the above object, the technical solution adopted in the present invention is as follows: the biped robot mileage metering device includes the minimum system of a single-chip microcomputer, a power supply circuit, a sensor circuit, a display circuit, an alarm circuit, a motor drive circuit, and a steering gear control circuit. The power supply circuit provides power for the whole device; the minimum system of the single-chip microcomputer is composed of a single-chip microcomputer, a crystal oscillator circuit, and a reset circuit, and the single-chip microcomputer is connected with the crystal oscillator circuit and the reset circuit; The signal is transmitted to the single-chip microcomputer, and the single-chip microcomputer transmits the obtained data to the display circuit for display, and the alarm circuit receives the data of the single-chip microcomputer to report to the police; the motor drive circuit is used to amplify the signal to form a strong electric signal; the steering gear control circuit is composed of The steering gear controller is composed of a serial port communication circuit, and the steering gear controller is connected to the single-chip microcomputer through the serial port communication circuit.

As a preferred solution, the AT89C51 single-chip microcomputer is preferred.

As a preferred solution, the reset circuit adopts a button reset circuit.

As a preferred solution, the crystal oscillator circuit adopts a 12M crystal oscillator.

As a preferred solution, the display circuit uses LED digital tubes for display.

As a preferred solution, the alarm circuit uses an audible and visual alarm to alarm.

Compared with the prior art, the invention has the advantages of convenient operation, accurate measurement, complete functions, easy portability and low power consumption, and can be widely used in other mileage measurement fields other than biped robots.

Description of drawings

Fig. 1 is a block diagram of the present invention;

Fig. 2 is a circuit diagram one of the present invention;

Fig. 3 is circuit diagram two of the present invention;

Fig. 4 is a circuit diagram three of the present invention.

Detailed ways

The present invention will be further described below in conjunction with specific embodiments. The following examples are only used to illustrate the technical solution of the present invention more clearly, but not to limit the protection scope of the present invention.

Example:

As shown in Figures 1 to 4, the biped robot mileage measurement device includes a minimum system of a single chip microcomputer, a power supply circuit, a sensor circuit, a display circuit, an alarm circuit, a motor drive circuit, and a steering gear control circuit. Power supply; the minimum system of the single-chip microcomputer is made up of single-chip microcomputer, crystal oscillator circuit, reset circuit, and described single-chip microcomputer is connected with crystal oscillator circuit, reset circuit; The obtained data is transmitted to the display circuit for display, and the alarm circuit receives the data of the single chip microcomputer for alarm; the motor drive circuit is used to amplify the signal to form a strong electric signal; the steering gear control circuit communicates with the serial port by the steering gear controller Circuit composition, the steering gear controller is connected to the single-chip microcomputer through the serial port communication circuit.

Specifically, in order to ensure the stability of the provided voltage, a DC voltage level capable of providing +12V is used, and then a simple level conversion circuit is designed to reduce the voltage to 5V.

Specifically, AT89C51 single-chip microcomputer is preferred for the single-chip microcomputer. The electric pulse is converted by the Hall element of the sensor circuit from the number of rotations of the biped robot. After being converted into a standard signal, it is transmitted to the single-chip microcomputer for data processing. The timing/counter of the single-chip microcomputer measures the time of each lap and the total number of pulses, and then is processed by the single-chip microcomputer and transmitted to the display circuit for display. This is the measurement of the speed and mileage of the biped robot.

Specifically, the reset circuit adopts a button reset circuit. After the microcontroller circuit works, if the microcontroller wants to perform an initial reset, there must be more than two high levels on the RET pin. As long as RET remains high, the AT89C51 microcontroller will be reset cyclically. A button K1 of the microcontroller generates a high-level reset, which is a manual reset. When the power is turned on, the capacitor C5 is equal to a short circuit, and the voltage of +5V is added to the RET terminal immediately, so that the AT89C51 single-chip microcomputer can automatically reset; just press the button K1, and the system can be reset. This process is a manual reset process. After reset, P0 to P3 and I/O ports are all high level, only the working state of the SBUF register is uncertain, and the rest are all cleared. More specifically, when the power is turned on, the system is charging, and a high level appears on the RST pin of the single-chip microcomputer. It only needs 10ms of high level, and the single-chip microcomputer can be reset.

Specifically, the crystal oscillator circuit uses a 12M crystal oscillator. More specifically, the main function of the crystal oscillator circuit is to output pulse signals to the single-chip microcomputer during the period of time, so that the single-chip microcomputer can complete the action according to the instructions of the clock signal.

Specifically, the display circuit uses LED digital tubes for display. The LED display screen of the LED nixie tube stroke is generally used to display various characters in the single-chip microcomputer. Because of its long service life, clear display and not easy to be damaged, it is widely used. There are two different forms of LED digital tubes: one is called common anode LED display; the other is called common cathode LED display. The present invention adopts the second common cathode connection method. Dynamic and static display are two kinds of display modes of LED, and the present invention adopts the dynamic display interface circuit that eight stroke segments a-h same-name ends of all displays are connected together, and the common pole COM of each display is controlled by the I/O line. When the CPU outputs the font code to the field outlet, all displays will receive the same font code, and the final display is determined by COM. In other words, through the time-sharing method, each display can be turned on in turn. During this process, each display will only be on for a short time.

Specifically, the alarm circuit uses a sound and light alarm to alarm, that is, once the instantaneous speed is higher than the preset value, the buzzer alarm will sound, the alarm light will jump, and the warning needs to slow down.

More specifically, the present invention is also provided with a 24C02 storage circuit for storing data.

Specifically, the serial port communication circuit uses a DC-DC module of two LM2596S chips, which has the characteristics of simple wiring, low cost, good stability and high conversion efficiency. The impact on the robot caused by the instability of the battery is avoided. At the same time, reducing the power supply voltage is conducive to the stable operation of the single-chip microcomputer and prolongs the service life. Provide the appropriate voltage to the steering gear to make the steering gear work in the best state. A good power supply system plays a key role in the use of the entire robot.

The above is only a preferred embodiment of the present invention, it should be pointed out that for those of ordinary skill in the art, without departing from the technical principle of the present invention, some improvements and modifications can also be made. It should also be regarded as the protection scope of the present invention.

Claims (6)

1. biped robot's mileage travelled metering device, it is characterised in that：Including single-chip minimum system, power circuit, sensing Device circuit, display circuit, warning circuit, motor-drive circuit, helm control circuit, the power circuit provide for whole device Power supply；The single-chip minimum system is made of microcontroller, crystal oscillating circuit, reset circuit, and the microcontroller and crystal oscillating circuit are answered Position circuit is connected；Travel speed is changed into pulse signal transmission to microcontroller by the sensor circuit by Hall element, Obtained data transmission to display circuit is shown that the data that the warning circuit receives microcontroller are reported by microcontroller It is alert；The motor-drive circuit is used for amplified signal, forms forceful electric power signal；The helm control circuit is by steering engine controller and string Port communications circuit forms, and the steering engine controller is connected to by serial communication circuit on microcontroller.

2. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The microcontroller is preferred to use AT89C51 microcontrollers.

3. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The reset circuit is adopted Use key reset circuit.

4. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The crystal oscillating circuit is adopted With the crystal oscillator of 12M.

5. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The display circuit is adopted It is shown with LED charactrons.

6. biped robot's mileage travelled metering device according to claim 1, it is characterised in that：The warning circuit is adopted It is alarmed with audible-visual annunciator.