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A cluster-oriented miniature desktop robot

A robot and miniature technology, applied in the field of robotics, can solve the problems of staying, the validity of cluster self-organizing motion control algorithms, and the inability to verify the transferability, and achieve the effects of stable work, good engineering application value, and strong flexibility

Active Publication Date: 2022-07-26
NORTHWESTERN POLYTECHNICAL UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0004] At present, most of the research on the self-organizing motion control algorithm of swarm robots stays at the level of computer simulation, and the effectiveness and transferability of the swarm self-organizing motion control algorithm designed by researchers cannot be verified.

Method used

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  • A cluster-oriented miniature desktop robot
  • A cluster-oriented miniature desktop robot
  • A cluster-oriented miniature desktop robot

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Experimental program
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specific Embodiment

[0028] like figure 1 As shown, the perception decision-making layer includes a micro central processing unit. The micro central processing unit is an embedded central processing unit with a 32-bit ARM architecture based on the cortex-M3 core. Perform environmental perception and motion decision-making, and the background system receives information from the host computer in an interrupted manner. The infrared communication module includes a total of 6 groups of infrared transmitter-receiver tubes and their signal processing circuits. The 6 groups of infrared transmitter-receiver tubes are evenly distributed around the perception decision-making layer to achieve 360-degree infrared communication without blind spots. The 2.4g wireless communication module adopts the SMD NRF24L01. The SMD chip helps to efficiently use space to accommodate more sensor devices. The 2.4g wireless communication module communicates with the miniature CPU chip through the SPI interface. The module rec...

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Abstract

The invention discloses a cluster-oriented miniature desktop robot. A stepping motor is arranged between an upper top plate and a lower top plate of the robot, and two ends of the stepping motor are respectively fixed on the left motor fixing plate and the right motor fixing plate by screws. ; The left motor fixing plate and the right motor fixing plate are fixed between the upper top plate and the lower top plate; the universal support wheel, the left wheel and the right wheel contact the ground at the same time, and the contact points between the three and the ground form an isosceles triangle; The perception decision layer is set, and the execution driver layer is set on the lower top board; the perception decision layer and the execution driver layer are double-layer printed circuit boards. The interface sends motion control commands; the invention has the advantages of stable operation, strong flexibility, low cost, easy development, and good engineering application value.

Description

technical field [0001] The invention belongs to the technical field of robots, in particular to a miniature desktop robot. Background technique [0002] An intelligent mobile robot is a comprehensive system with multiple functions such as environmental perception, dynamic decision-making and planning, behavior control and execution. It focuses on multi-disciplinary research results such as sensor technology, automation control engineering and artificial intelligence. [0003] For complex application scenarios, multi-robot collaboration gradually replaces a single robot and becomes an effective way to improve the efficiency of task execution. The traditional central control method is to plan the behavior of all robots uniformly according to the system state, which solves the problem of multi-robot collaboration to a certain extent. However, when the scale of the system is large, the central control method faces many challenges, such as insufficient fault tolerance, a few in...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B25J9/16B25J9/00B25J5/00
CPCB25J9/1605B25J9/1669B25J9/00B25J5/00
Inventor 彭星光郑志成周永建宋保维潘光李乐张福斌高剑张立川
Owner NORTHWESTERN POLYTECHNICAL UNIV
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