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A spherical tension integral robot control system and control method based on mobile phone bluetooth app software

A tensioning and robotic technology, applied in the direction of program control manipulators, manipulators, electrical components, etc., can solve the problems of inability to flexibly reach the target point, low efficiency, inability to achieve linear motion, etc., and achieve one-key multi-step movement of the target point. , Easy to operate, accurate target point movement effect

Active Publication Date: 2022-07-15
HARBIN ENG UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0002] The spherical tensegrity robot is a tumbling mobile robot based on the overall tensegrity structure. Due to its special structure, it cannot achieve ideal linear motion and cannot reach the target point as flexibly as a wheeled robot. The traditional control method adopts Common mobile phone Bluetooth serial port applications, sending data to the HC-06 on the microcontroller
In this application, it is necessary to observe the landing state of the robot before driving, and manually input a series of data each time, including 6 numbers and 5 commas, that is, each number controls the extension or shortening of a motor. In actual control, After each step of the robot movement, you need to input "10, 10, 10, 10, 10, 10" to restore the robot to the initial state for the next movement. This method is simple to operate, but the efficiency is very low, and manual input is required each time All data can only make the robot move one step at a time

Method used

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  • A spherical tension integral robot control system and control method based on mobile phone bluetooth app software
  • A spherical tension integral robot control system and control method based on mobile phone bluetooth app software
  • A spherical tension integral robot control system and control method based on mobile phone bluetooth app software

Examples

Experimental program
Comparison scheme
Effect test

Embodiment 1

[0056] First, turn on the switch on the controller of the spherical tensioning integral robot, and the spherical tensioning integral robot will automatically deform and become a folded state when it is started. Open the APP software on the mobile phone, click the start button in the overall control area, connect the Bluetooth module on the mobile phone to the controller, and click the restore button "O" in the input area to restore the robot to a spherical state. Observe the landing status of the robot, input the string corresponding to the telescopic amount of the linear motor in the text command input area for independent control of the linear motor according to the landing rod, click the send button, the robot begins to deform and flip, which will be automatically recorded in the historical information display area Gait information, and then click the restore button in the input area to restore the robot to a spherical state, thus completing the first movement of the robot. ...

example 2

[0059] The difference between this example and example 1 is that the functional areas implemented in the mobile phone terminal software APP interface are different. First, turn on the switch on the controller of the spherical tensioning integral robot, and the spherical tensioning integral robot will automatically deform and become a folded state when it is started. Open the APP software on the mobile phone, click the start button in the overall control area, connect the Bluetooth module on the mobile phone to the controller, and click the restore button "O" in the input area to restore the robot to a spherical state. Observe the landing status of the robot, click the side drawer menu in the APP software interface of the mobile phone, select the corresponding landing triangle, and click any direction button in the button area of ​​the 8 fixed-direction path movements. The robot will move in multiple steps according to the corresponding direction. Straight-line distance, and au...

example 3

[0062] This example is further improved based on Example 2, and the functional areas implemented in the described mobile terminal software APP interface are different. First, turn on the switch on the controller of the spherical tensioning integral robot, and the spherical tensioning integral robot will automatically deform and become a folded state when it is started. Open the APP software on the mobile phone, click the start button in the overall control area, connect the Bluetooth module on the mobile phone to the controller, and click the restore button "O" in the input area to restore the robot to a spherical state. Observe the landing status of the robot, click the side drawer menu in the APP software interface of the mobile phone, select the corresponding landing triangle, enter the coordinates you want to reach in the target point coordinate input area, click the planning button, the robot will automatically flip to the target point coordinates , and the gait informati...

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PUM

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Abstract

The invention relates to a spherical tension integral robot control system and a control method based on mobile phone bluetooth app software, and belongs to the technical field of electrical control. Including a spherical tensioning robot, a controller, a mobile phone with Bluetooth function and a mobile phone APP; the spherical tensioning robot is equipped with a controller and a power supply, and the controller includes a Bluetooth module, a motor drive module, and a transformer module; the mobile phone APP The main interface of the application includes 8 fixed path motion mode control areas, text command input area for independent control of linear motors and target point coordinate input area, three input areas, an overall control area and a historical information display area; the controller communicates with the controller through the Bluetooth module. The mobile phone establishes a communication connection. On the one hand, the controller receives the control commands sent from the mobile phone APP through the Bluetooth module, and on the other hand, the robot feeds back the gait information to the mobile phone software interface through the Bluetooth module. The invention realizes one-key multi-step movement and precise target point movement, and the operation is convenient and simple.

Description

technical field [0001] The invention relates to a spherical tension integral robot control system and a control method based on mobile phone bluetooth app software, and belongs to the technical field of electrical control. Background technique [0002] The spherical tensegrity robot is a tumbling mobile robot based on the tensegrity structure. Due to the particularity of its structure, it cannot achieve ideal linear motion and cannot reach the target point as flexibly as a wheeled robot, and the traditional control method adopts A common Bluetooth serial port application on the mobile phone sends data to the HC-06 on the microcontroller. In this application, it is necessary to observe the landing state of the robot before driving, and manually enter a series of data each time, including 6 numbers and 5 commas, that is, each number controls the extension or shortening of a motor. In actual control, After each movement of the robot, you need to input "10, 10, 10, 10, 10, 10" ...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J11/00B25J13/00H04M1/72415H04M1/72484
CPCB25J9/1664B25J9/1602B25J11/00B25J13/006H04M1/72412H04M1/72415H04M1/72484H04M1/72469
Inventor 罗阿妮张恒祥刘贺平
Owner HARBIN ENG UNIV