CN106393121A - Mobile robot control system - Google Patents
Mobile robot control system Download PDFInfo
- Publication number
- CN106393121A CN106393121A CN201610926159.5A CN201610926159A CN106393121A CN 106393121 A CN106393121 A CN 106393121A CN 201610926159 A CN201610926159 A CN 201610926159A CN 106393121 A CN106393121 A CN 106393121A
- Authority
- CN
- China
- Prior art keywords
- module
- signal acquisition
- control system
- mobile robot
- robot control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a mobile robot control system. An ultrasonic distance measuring sensor is connected with the signal acquisition end of a first signal acquisition module through a first amplifier circuit. A transmission type photoelectric sensor is connected with the signal acquisition end of a second signal acquisition module through a second amplifier circuit. The signal output end of the first signal acquisition module and the signal output end of the second signal acquisition module are connected with a single-chip microcomputer. The single-chip microcomputer is also connected with a motor driving module, a touch screen module and a wireless remote controller. The motor driving module is used for controlling a mobile manipulator to move. The wireless remote controller is used for receiving a wireless control signal in the outside. The single-chip microcomputer is also in wireless communication with a mobile terminal through a wireless communication module. According to the mobile robot control system, remote control is achieved through the remote controller, operation is convenient, the control precision is high, the structure is simple, and the mobile robot control system can be realized easily and has good application prospects.
Description
Technical field
The present invention relates to technical field of robot control is and in particular to a kind of Mobile Robot Control System.
Background technology
Mobile manipulator is a kind of simple mobile robot, can complete some simple tasks, such as on explosive
Application, can replace people that dangerous explosive is grabbed appointed place, be also applicable in other dangerous situations.But, at present
For controlling the control system of mobile manipulator, remote pilot can't be realized, control inconvenient, and, using single sensing
Device is acquired controlling, and mobile accuracy is not good, suppresses its applicable situation.
Content of the invention
Technical problem solved by the invention is to overcome the existing control system for controlling mobile manipulator, can't
Realize remote pilot, control inconvenient, and, the not good problem of mobile accuracy.The Mobile Robot Control System of the present invention, energy
Enough using remote control remotely control, easy to operate, and carried out using ultrasonic distance-measuring sensor cooperation transmission-type photoelectric sensor
Data acquisition, control accuracy is high, and structure is simple, easily realizes, has a good application prospect.
In order to achieve the above object, the technical solution adopted in the present invention is：
A kind of Mobile Robot Control System it is characterised in that：Including single-chip microcomputer, motor drive module, mobile manipulator, touch
Panel module, Digiplex, ultrasonic distance-measuring sensor, transmission-type photoelectric sensor, the first amplifier circuit, the second amplifier
Circuit, the first signal acquisition module, secondary signal acquisition module, described ultrasonic distance-measuring sensor passes through the first amplifier circuit
Be connected with the signal acquisition terminal of the first signal acquisition module, described transmission-type photoelectric sensor pass through the second amplifier circuit with
The signal acquisition terminal of secondary signal acquisition module is connected, described first signal acquisition module, the letter of secondary signal acquisition module
Number outfan is connected with single-chip microcomputer respectively, described single-chip microcomputer also respectively with motor drive module, touch screen module, wireless remote control
Device is connected, and described motor drive module is used for controlling mobile manipulator to move, and described Digiplex is used for receiving the external world
Wireless control signal, described single-chip microcomputer carries out radio communication also by wireless communication module and mobile terminal.
A kind of aforesaid Mobile Robot Control System it is characterised in that：Described Digiplex is Radio infrared remote control
Device, for receiving the infrared signal in the external world.
A kind of aforesaid Mobile Robot Control System it is characterised in that：Also include memory module, watchdog module, institute
State memory module, watchdog module is connected with single-chip microcomputer respectively.
A kind of aforesaid Mobile Robot Control System it is characterised in that：Described mobile terminal is mobile phone or hand-held end
End.
A kind of aforesaid Mobile Robot Control System it is characterised in that：Described single-chip microcomputer is MPS430 chip.
A kind of aforesaid Mobile Robot Control System it is characterised in that：Described ultrasonic distance-measuring sensor is HC-SR04
Ultrasonic distance-measuring sensor, described transmission-type photoelectric sensor is GK102 transmission-type photoelectric sensor.
The invention has the beneficial effects as follows：The Mobile Robot Control System of the present invention, can use remote control remotely control,
Easy to operate, and data acquisition is carried out using ultrasonic distance-measuring sensor cooperation transmission-type photoelectric sensor, control accuracy is high, knot
Structure is simple, easily realizes, has a good application prospect.
Brief description
Fig. 1 is the system block diagram of the Mobile Robot Control System of the present invention.
Specific embodiment
Below in conjunction with Figure of description, the present invention is further illustrated.
As shown in figure 1, the Mobile Robot Control System of the present invention, including single-chip microcomputer, motor drive module, mechanically moving
Handss, touch screen module, Digiplex, ultrasonic distance-measuring sensor, transmission-type photoelectric sensor, the first amplifier circuit,
Two amplifier circuits, the first signal acquisition module, secondary signal acquisition module, described ultrasonic distance-measuring sensor is put by first
Big device circuit is connected with the signal acquisition terminal of the first signal acquisition module, and described transmission-type photoelectric sensor passes through second and amplifies
Device circuit is connected with the signal acquisition terminal of secondary signal acquisition module, described first signal acquisition module, secondary signal collection
The signal output part of module is connected with single-chip microcomputer respectively, described single-chip microcomputer also respectively with motor drive module, touch screen module,
Digiplex is connected, and described motor drive module is used for controlling mobile manipulator to move, and described Digiplex is used for connecing
Receive extraneous wireless control signal, described single-chip microcomputer carries out radio communication also by wireless communication module and mobile terminal, wirelessly
Remote control can use remote control remotely control, easy to operate, and is passed using ultrasonic distance-measuring sensor cooperation transmission type photoelectric
Sensor carries out data acquisition, and control accuracy is high, and, it is provided with wireless communication module, can be with telecommunication control.
Described ultrasonic distance-measuring sensor is used for detecting object distance, certainly can also when mobile manipulator is mobile
Prevent mobile manipulator from motion, mechanical collision occurring for detecting obstacles thing；Transmission-type photoelectric sensor is used for recording impulse
Number, extracts angle of turn and mobile manipulator relative displacement information, coordinates ultrasonic distance-measuring sensor, improves control accuracy, control
Systematic procedure processed is as follows：Control mobile manipulator by remote control near crawl thing, after distance reaches in the scope specified,
Control mobile manipulator to reach suitable crawl position, captured.
Described Digiplex is wireless infrared remote control, for receiving the infrared signal in the external world, easy to control, reliability
High.
The Mobile Robot Control System of the present invention also includes memory module, watchdog module, described memory module, guards the gate
Canis familiaris L. module is connected with single-chip microcomputer respectively, memory module, for storing control program；Described watchdog module, is used for preventing list
Piece machine is when by external interference（As static interference）, during control program collapse, restart single-chip microcomputer it is ensured that mobile robot control
System reliable.
Described mobile terminal is mobile phone or handheld terminal.
Described single-chip microcomputer is MPS430 chip, and Peripheral Interface is many, is easy to extend, and low cost, low in energy consumption.
Described ultrasonic distance-measuring sensor is HC-SR04 ultrasonic distance-measuring sensor, and described transmission-type photoelectric sensor is
GK102 transmission-type photoelectric sensor.
In sum, the Mobile Robot Control System of the present invention, can use remote control remotely control, easy to operate,
And data acquisition is carried out using ultrasonic distance-measuring sensor cooperation transmission-type photoelectric sensor, control accuracy is high, and structure is simple, holds
Easily realize, have a good application prospect.
Ultimate principle, principal character and the advantage of the present invention have been shown and described above.The technical staff of the industry should
Understand, the present invention is not restricted to the described embodiments, the simply explanation present invention's described in above-described embodiment and description is former
Reason, without departing from the spirit and scope of the present invention, the present invention also has various changes and modifications, these changes and improvements
Both fall within scope of the claimed invention.Claimed scope is by appending claims and its equivalent circle.
Fixed.
Claims (6)
1. a kind of Mobile Robot Control System it is characterised in that：Including single-chip microcomputer, motor drive module, mobile manipulator, touch
Touch panel module, Digiplex, ultrasonic distance-measuring sensor, transmission-type photoelectric sensor, the first amplifier circuit, the second amplification
Device circuit, the first signal acquisition module, secondary signal acquisition module, described ultrasonic distance-measuring sensor passes through the first amplifier electricity
Road is connected with the signal acquisition terminal of the first signal acquisition module, and described transmission-type photoelectric sensor passes through the second amplifier circuit
It is connected with the signal acquisition terminal of secondary signal acquisition module, described first signal acquisition module, secondary signal acquisition module
Signal output part is connected with single-chip microcomputer respectively, described single-chip microcomputer also respectively with motor drive module, touch screen module, wireless remote
Control device is connected, and described motor drive module is used for controlling mobile manipulator to move, and described Digiplex is used for receiving the external world
Wireless control signal, described single-chip microcomputer carries out radio communication also by wireless communication module and mobile terminal.
2. a kind of Mobile Robot Control System according to claim 1 it is characterised in that：Described Digiplex is no
Line IR remote controller, for receiving the infrared signal in the external world.
3. a kind of Mobile Robot Control System according to claim 1 it is characterised in that：Also include memory module, see
Door Canis familiaris L. module, described memory module, watchdog module are connected with single-chip microcomputer respectively.
4. a kind of Mobile Robot Control System according to claim 1 it is characterised in that：Described mobile terminal is mobile phone
Or handheld terminal.
5. a kind of Mobile Robot Control System according to claim 1 it is characterised in that：Described single-chip microcomputer is MPS430
Chip.
6. a kind of Mobile Robot Control System according to claim 1 it is characterised in that：Described ultrasonic ranging sensing
Device is HC-SR04 ultrasonic distance-measuring sensor, and described transmission-type photoelectric sensor is GK102 transmission-type photoelectric sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610926159.5A CN106393121A (en) | 2016-10-31 | 2016-10-31 | Mobile robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610926159.5A CN106393121A (en) | 2016-10-31 | 2016-10-31 | Mobile robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106393121A true CN106393121A (en) | 2017-02-15 |
Family
ID=58013582
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610926159.5A Pending CN106393121A (en) | 2016-10-31 | 2016-10-31 | Mobile robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106393121A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107818673A (en) * | 2017-11-21 | 2018-03-20 | 沈阳师范大学 | A kind of stored equipment multi-machine collaborative servo remote control system |
| CN110505947A (en) * | 2017-04-11 | 2019-11-26 | 川崎重工业株式会社 | Robot system and its operation method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549498A (en) * | 2009-04-23 | 2009-10-07 | 上海交通大学 | Automatic tracking and navigation system of intelligent aid type walking robots |
| CN101973028A (en) * | 2010-10-15 | 2011-02-16 | 北京航空航天大学 | Multi-joint series wheeled mobile robot |
| CN202397747U (en) * | 2011-12-08 | 2012-08-29 | 华南理工大学 | Robot for helping old people and handicapped |
| CN103909514A (en) * | 2013-01-05 | 2014-07-09 | 科沃斯机器人科技(苏州)有限公司 | Control assembly for movement of long-side works of self-moving robot, and control method thereof |
| US20160282863A1 (en) * | 2013-01-18 | 2016-09-29 | Irobot Corporation | Environmental Management Systems Including Mobile Robots and Methods Using Same |
-
2016
- 2016-10-31 CN CN201610926159.5A patent/CN106393121A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101549498A (en) * | 2009-04-23 | 2009-10-07 | 上海交通大学 | Automatic tracking and navigation system of intelligent aid type walking robots |
| CN101973028A (en) * | 2010-10-15 | 2011-02-16 | 北京航空航天大学 | Multi-joint series wheeled mobile robot |
| CN202397747U (en) * | 2011-12-08 | 2012-08-29 | 华南理工大学 | Robot for helping old people and handicapped |
| CN103909514A (en) * | 2013-01-05 | 2014-07-09 | 科沃斯机器人科技(苏州)有限公司 | Control assembly for movement of long-side works of self-moving robot, and control method thereof |
| US20160282863A1 (en) * | 2013-01-18 | 2016-09-29 | Irobot Corporation | Environmental Management Systems Including Mobile Robots and Methods Using Same |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110505947A (en) * | 2017-04-11 | 2019-11-26 | 川崎重工业株式会社 | Robot system and its operation method |
| CN110505947B (en) * | 2017-04-11 | 2022-10-11 | 川崎重工业株式会社 | Robot system and method for operating the same |
| CN107818673A (en) * | 2017-11-21 | 2018-03-20 | 沈阳师范大学 | A kind of stored equipment multi-machine collaborative servo remote control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US9357893B2 (en) | Mobile device generating map information to an electronic device | |
| CN103400108B (en) | Face identification method, device and mobile terminal | |
| CN203828847U (en) | Cleaning robot | |
| CN202409427U (en) | Portable intelligent electronic blind guide instrument | |
| KR101356161B1 (en) | Robot cleaner, and system and method for remotely controlling the same | |
| CN105383696A (en) | Air quality monitoring aircraft based on mobile phone client | |
| CN203038111U (en) | Indoor robot positioning and navigating system based on RFID | |
| CN106393121A (en) | Mobile robot control system | |
| CN103149935A (en) | Remote wireless touch screen control system of mountain farming robot | |
| KR100645818B1 (en) | Wireless control system for a moving robot and method thereof | |
| CN203241824U (en) | Multi-modality intelligent delivery robot | |
| CN103337145A (en) | Intelligent reconnaissance system based on wireless image transmission | |
| CN205679996U (en) | Rescue trolley device based on gesture control | |
| CN209579578U (en) | Robot and robot system | |
| CN203455278U (en) | Machine-mounted dust concentration sensor | |
| CN105652865A (en) | Line-hunting control system of robot | |
| CN203117786U (en) | Mountain agricultural robot remote wireless touch screen control system | |
| CN204926455U (en) | Car is surveyed to intelligence | |
| CN204375021U (en) | A kind of indoor intelligent inspection device | |
| CN205068742U (en) | Appearance is examined to intelligence point based on wireless sensing unit | |
| CN203301643U (en) | Intelligent reconnoitre system based on wireless image transmission | |
| CN205068048U (en) | Based on wireless remote control system of panel computer windows system | |
| CN104848852B (en) | A kind of alignment system and method for annular sensor array | |
| CN209750926U (en) | Control robot of sweeping floor | |
| CN207115192U (en) | Mainboard control device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170215 |