• 机器人制作开源方案 | 桌面级全向底盘--本体说明+驱动控制

    一、本体说明

    1. 底盘概述

          该底盘是一款模块化的桌面级应用型底盘，基于应用级软件架构设计、应用级硬件系统设计、典型应用型底盘机械系统设计。

          底盘本体为一个采用半独立刚性悬挂的四驱全向底盘。

    2. 软件环境介绍

          操作系统：Ubuntu18.04系统。基于Debian GNU/Linux，支持x86、amd64（即x64）、ARM和ppc架构。

          仿真系统：基于开源机器人操作系统ROS melodic和开源软件平台Arduino开发。上位机采用ROS melodic，基于Rviz完成全向移动底盘slam导航运动规划，采用gazebo完成全向移动底盘物理运动仿真；下位机采用Arduino实现对全向移动底盘运动的控制。

          注意：准备一个外接显示器。

    3. 硬件配置及主要参数

    硬件配置及主要参数表

     4. 认识底盘的电器接口

        ① 常用接口说明：

    底盘尺寸示意图
    底盘常用电气接口

        ② 扩展电气接口说明：

    左侧扩展接口对应图
    车头扩展接口对应图
    车尾扩展接口对应图

    5. 底盘简化的系统框图

    底盘的系统框图

    二、驱动及控制

    1. 控制底盘单个轮子

    实现思路

          控制底盘的四个轮子分别转动。

          下面我们先来了解一下底盘的总线舵机ID号。

    底盘的头部、尾部
    底盘上总线舵机ID号

     操作步骤

    ① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_single_bus_steering_gear\Control_single_bus_steering_gear.ino：

    1. /*------------------------------------------------------------------------------------
    3.   版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
    5.            Distributed under MIT license.See file LICENSE for detail or copy at
    7.            https://opensource.org/licenses/MIT
    9.            by 机器谱 2023-08-16 https://www.robotway.com/
    11.   ------------------------------*/
    12.  
    13. /*
    15. *Control single bus steering grar
    17. *
    19. *
    21. ///
    23. *        head
    25. * ID:001       ID:000
    27. *    ___________
    29. *   |           |
    31. *   |           |
    33. *   |           |
    35. *   |           |
    37. *   |           |
    39. *   |           |
    41. *   |___________|
    43. * ID:003       ID:002   
    45. *      Rear end
    47. *
    49. * 2020.8.7 by boris
    51. //
    53. */
    54.  
    55. #define mySerial Serial2           //Serial port used by bus steering gear
    56.  
    57. #define Serial_Baud_Rate 115200    //Serial Port baud rate
    58.  
    59. #define BusServoSerialBaud 115200   //Bus steering gear baud rate
    60.  
    61. #define wheel_speed_forward 0.08   //wheel forward speed
    62.  
    63. #define wheel_speed_back -0.08     //wheel back speed
    64.  
    65. #define wheel_speed_stop 0.0       //wheel stop speed
    66.  
    67. enum{FORWARD_LEFT=1,FORWARD_RIGHT,BACK_LEFT,BACK_RIGHT,STOP};//wheel named
    68.  
    69. void setup(){
    70.  
    71.   delay(1100);Serial.begin(Serial_Baud_Rate);
    72.  
    73.   mySerial.begin(BusServoSerialBaud);delay(1000);
    74.  
    75. }
    76.  
    77. void loop(){
    78.  
    79.   control_bus_steering_gear_test();// control single bus steering gear
    80.  
    81. }
    82.  
    83. void control_bus_steering_gear_test()
    84.  
    85. {
    86.  
    87.   Car_Move(FORWARD_LEFT,wheel_speed_forward);delay(1000);Stop_car();   //left front wheel forward
    88.  
    89.   Car_Move(FORWARD_LEFT,wheel_speed_back);delay(1000);Stop_car();      //left front wheel backword
    90.  
    91.  
    92.  
    93.   Car_Move(FORWARD_RIGHT,wheel_speed_forward);delay(1000);Stop_car();   //right front wheel forward
    94.  
    95.   Car_Move(FORWARD_RIGHT,wheel_speed_back);delay(1000);Stop_car();     //right front wheel backword
    96.  
    97.  
    98.  
    99.   Car_Move(BACK_LEFT,wheel_speed_forward);delay(1000);Stop_car();      //left rear wheel forward
    100.  
    101.   Car_Move(BACK_LEFT,wheel_speed_back);delay(1000);Stop_car();         //left rear wheel backword
    102.  
    103.  
    104.  
    105.   Car_Move(BACK_RIGHT,wheel_speed_forward);delay(1000);Stop_car();     //right rear wheel backword
    106.  
    107.   Car_Move(BACK_RIGHT,wheel_speed_back);delay(1000);Stop_car();        //right rear wheel backword
    108.  
    109. }

    ② 将底盘轮子朝上，观察每个轮子的转动效果。

    2. 底盘的基本运动

    实现思路

          实现底盘前进、后退、左平移、右平移、左转、右转的功能。

    操作步骤

    ① 下载文末资料中的参考程序Base_Experiment\Chassis_Drive\Control_Car_Movement\Control_Car_Movement.ino：

    1. /*------------------------------------------------------------------------------------
    3.   版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
    5.            Distributed under MIT license.See file LICENSE for detail or copy at
    7.            https://opensource.org/licenses/MIT
    9.            by 机器谱 2023-08-16 https://www.robotway.com/
    11.   ------------------------------*/
    12.  
    13. /*
    15. * car action test (include:forward, back, turnleft,turnright, left translation, right translation)
    17. *                         
    19. *
    21. * IP address of bus steering gear
    23. *        head
    25. * ID:001       ID:000
    27. *    ___________
    29. *   |           |
    31. *   |           |
    33. *   |           |
    35. *   |           |
    37. *   |           |
    39. *   |           |
    41. *   |___________|
    43. * ID:003       ID:002   
    45. *      Rear end
    47. *
    49. * 2020.8.7 by boris
    53. */
    54.  
    55. #define ActionDelayTimes 1000
    56.  
    57. #define mySerial Serial2
    58.  
    59. #define BusServoSerialBaud 115200
    60.  
    61. #define wheel_speed_forward 0.08    //car forward speed
    62.  
    63. #define wheel_speed_back -0.08      //car back speed
    64.  
    65. #define wheel_speed_stop 0.0        //car stop speed
    66.  
    67. #define wheel_speed_left 0.08       //car turnleft speed
    68.  
    69. #define wheel_speed_right -0.08     //car turnright speed
    70.  
    71. #define wheel_speed_left_translation 0.08   //speed of car left translation
    72.  
    73. #define wheel_speed_right_translation -0.08 //speed of car right translation
    74.  
    75. enum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP}; //the movement state of the car
    76.  
    77. float wheel_Speed[4]={0,0,0,0};
    78.  
    79. char cmd_return[200];
    80.  
    81. void setup()
    82.  
    83. {
    84.  
    85.   delay(1000);
    86.  
    87.   Serial.begin(57600);delay(1000);//open serial
    88.  
    89.   mySerial.begin(BusServoSerialBaud);delay(1000);//open serial2
    90.  
    91.   car_move_test();
    92.  
    93. }
    94.  
    95. void loop()
    96.  
    97. {
    98.  
    99.    //car_move_test();//car action test
    100.  
    101.    //car_stop();
    102.  
    103. }
    104.  
    105. void car_move_test()//car action test
    106.  
    107. {
    108.  
    109.   Car_Move(FORWARD);delay(ActionDelayTimes);          // forward
    110.  
    111.   car_stop();
    112.  
    113.   Car_Move(BACK);delay(ActionDelayTimes);             // back
    114.  
    115.   car_stop();
    116.  
    117.   Car_Move(LEFT_TRANSLATION);delay(ActionDelayTimes); //left translation
    118.  
    119.   car_stop();
    120.  
    121.   Car_Move(RIGHT_TRANSLATION);delay(ActionDelayTimes);//right translation
    122.  
    123.   car_stop();
    124.  
    125.   Car_Move(LEFT);delay(ActionDelayTimes);             //turnleft
    126.  
    127.   car_stop();
    128.  
    129.   Car_Move(RIGHT);delay(ActionDelayTimes);            //turn right
    130.  
    131.   car_stop();  
    132.  
    133. }

    ② 观察底盘的运动情况。

    三、传感器使用

    1. 底盘循迹-灰度传感器

    实现思路

          实现全向底盘可以按指定路线进行行走的功能（实验场景如下图所示）。

    操作步骤

    ① 连接电路。如下图所示是全向底盘上的4个灰度接线，但本实验中我们只需要用到头部的两个灰度传感器即可。

    底盘的头部、尾部
    头部的灰度传感器：接42、44号引脚

    ② 下载文末资料中的参考程序Base_Experiment\Tracking_Car\Tracking_Car.ino：

    1. /*------------------------------------------------------------------------------------
    3.   版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
    5.            Distributed under MIT license.See file LICENSE for detail or copy at
    7.            https://opensource.org/licenses/MIT
    9.            by 机器谱 2023-08-16 https://www.robotway.com/
    11.   ------------------------------*/
    12.  
    13. /*
    15. *Tracking Car
    17. *
    19. *        head
    21. * pin:42      pin:44
    23. *    ___________
    25. *   |           |
    27. *   |           |
    29. *   |           |
    31. *   |           |
    33. *   |___________|
    35. * pin:36      pin:34   
    37. *      Rear end
    39. * 2020.8.7 by boris
    41. */
    42.  
    43. #define mySerial Serial2         //statement serial2
    44.  
    45. #define Sensor_Numbers 4         //numbers of sensor
    46.  
    47. #define Serial_Baud_Rate 115200   //serial port baud rate
    48.  
    49. #define BusServoSerialBaud 115200//bus steering gear baud rate
    50.  
    51. #define wheel_speed_forward 0.06 //car forward speed
    52.  
    53. #define wheel_speed_back -0.06   //car back speed
    54.  
    55. #define wheel_speed_stop 0.0     //car stop speed
    56.  
    57. #define wheel_speed_left 0.1    //car turnleft speed
    58.  
    59. #define wheel_speed_right -0.1   //car turnright speed
    60.  
    61. enum{FORWARD=1,BACK,LEFT,RIGHT,STOP};//the movement state of the car
    62.  
    63. const int Gray_Sensor_Pin[Sensor_Numbers] = {44,42,36,34};//define gray sensor pin
    64.  
    65. const int GraySensorNumbers = sizeof(Gray_Sensor_Pin)/sizeof(Gray_Sensor_Pin[0]);
    66.  
    67. char cmd_return[200];
    68.  
    69. void setup(){
    70.  
    71.   delay(1100);Serial.begin(Serial_Baud_Rate);
    72.  
    73.   Gray_Sensor_Init();
    74.  
    75.   mySerial.begin(BusServoSerialBaud);delay(1000);
    76.  
    77. }
    78.  
    79. void loop(){
    80.  
    81.   tracking_car();//car tracking
    82.  
    83.   //Car_Move(STOP);
    84.  
    85. }
    86.  
    87. void Gray_Sensor_Init()//sensor init
    88.  
    89. {
    90.  
    91.   for(int i=0;i
    92.  
    93.   {
    94.  
    95.      pinMode(Gray_Sensor_Pin[i],INPUT);delay(2);
    96.  
    97.   } delay(200);
    98.  
    99. }
    100.  
    101. void tracking_car() //car tracking
    102.  
    103. {
    104.  
    105.   int sensor_data[Sensor_Numbers] = {0,0,0,0};
    106.  
    107.   int sum = 0;
    108.  
    109.   for(int i=0;i2;i++)
    110.  
    111.   {
    112.  
    113.      sensor_data[i] = digitalRead(Gray_Sensor_Pin[i]);
    114.  
    115.      sum |= sensor_data[i] << i;
    116.  
    117.   }  
    118.  
    119.   switch(sum)
    120.  
    121.   {
    122.  
    123.     case 0: Car_Move(FORWARD); break;
    124.  
    125.     case 1: Car_Move(LEFT); break;
    126.  
    127.     case 2: Car_Move(RIGHT); break;
    128.  
    129.     case 3: Car_Move(FORWARD); break;
    130.  
    131.     default: break;
    132.  
    133.   }
    134.  
    135. }

     ③ 观察全向底盘循迹的效果。

    2. 底盘避障-超声测距

    实现思路

          实现全向底盘可以在模拟的场景下进行避障然后行进的功能（实验场景如下图所示）。

    操作步骤

    ① 连接电路，如下图所示是全向底盘的8个超声测距接线图。

    ② 下载文末资料中的参考程序Base_Experiment\Avoiding_Obstacles_Car\Avoiding_Obstacles_Car.ino： 

    1. /*------------------------------------------------------------------------------------
    3.   版权说明：Copyright 2023 Robottime(Beijing) Technology Co., Ltd. All Rights Reserved.
    5.            Distributed under MIT license.See file LICENSE for detail or copy at
    7.            https://opensource.org/licenses/MIT
    9.            by 机器谱 2023-08-16 https://www.robotway.com/
    11.   ------------------------------*/
    12.  
    13. /*
    15. * Avoid obstacles car
    17. *
    19. *
    21. *   车身位置及传感器接线:
    23. *
    25. * // Y
    27. * // |
    29. * // |
    31. * // |              t:53                   t:8  
    33. * // |     (ID:003) e:A15                  e:9   (ID:001)
    35. * // |   t:37    A - - - - - - - - - - - - - - - - - -Y: t:39
    37. * // |   e:38    |                                    |   e:40
    39. * // |          |                                    |         车头
    41. * // |   t:31    |                                    |   t:45
    43. * // |   e:32    Z - - - - - - - - - - - - - - - - - -X: e:46
    45. * // |     (ID:002) t:47                   t:A13   (ID:000)
    47. * // |              e:48                   e:A14
    49. * // 0-- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- -- X
    51. * 
    53. *  
    55. * 2020.8.7 by boris
    57. */
    58.  
    59. #define mySerial Serial2            //Serial port used by bus steering gear           
    60.  
    61. #define Serial_Baud_Rate 115200     //Serial Port baud rate
    62.  
    63. #define BusServoSerialBaud 115200   //Bus steering gear baud rate
    64.  
    65. #define wheel_speed_forward 0.04    //car forward speed
    66.  
    67. #define wheel_speed_forward_up 0.06 //forward speed up
    68.  
    69. #define wheel_speed_back -0.04      //car back speed
    70.  
    71. #define wheel_speed_stop 0.0        //car stop speed
    72.  
    73. #define wheel_speed_left 0.1      //car turnleft speed
    74.  
    75. #define wheel_speed_right -0.1    //car turnright speed
    76.  
    77. #define wheel_speed_left_translation 0.04   //speed of car left translation
    78.  
    79. #define wheel_speed_right_translation -0.04 //speed of car right translation
    80.  
    81. enum{FORWARD=1,BACK,LEFT,RIGHT,LEFT_TRANSLATION,RIGHT_TRANSLATION,STOP,FORWARD_UP}; //the movement state of the car
    82.  
    83. char cmd_return[200];
    84.  
    85. float wheel_Speed[4]={0,0,0,0};
    86.  
    87. void setup(){
    88.  
    89.   delay(1100);Serial.begin(Serial_Baud_Rate);
    90.  
    91.   init_Ultrasonic();delay(200);
    92.  
    93.   mySerial.begin(BusServoSerialBaud);delay(1000);
    94.  
    95. }
    96.  
    97. void loop(){
    98.  
    99.   //Car_Move(STOP);delay(1000);
    100.  
    101.   car_move();
    102.  
    103.   //get_ultrasonic_sensor_data();
    104.  
    105. }

     ③ 观察全向底盘避障的效果。

    程序源代码详见 桌面级全向底盘

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  • 原文地址：https://blog.csdn.net/Robotway/article/details/132649101