CN106671082A - Wireless control system of intelligent mobile robot - Google Patents
Wireless control system of intelligent mobile robot Download PDFInfo
- Publication number
- CN106671082A CN106671082A CN201611096098.0A CN201611096098A CN106671082A CN 106671082 A CN106671082 A CN 106671082A CN 201611096098 A CN201611096098 A CN 201611096098A CN 106671082 A CN106671082 A CN 106671082A
- Authority
- CN
- China
- Prior art keywords
- module
- mobile robot
- input
- control system
- output end
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a wireless control system of an intelligent mobile robot. The wireless control system comprises an intelligent control unit and a signal processing module. The output end of the intelligent control unit is connected with a power driver through a circular distributor. The input end of the power driver is connected with a stepping motor. The output end of the circular distributor is further connected with an element detection module. The input end of the intelligent control unit is further connected with the signal processing module. The input end of the signal processing module is further connected with a limiting position sensor. A sensor set is arranged at the input end of the limiting position sensor. A PC control unit is further connected to the output end of the sensor set. The output end of the PC control unit is connected with a man-machine interaction module. Wireless communication between a computer and a single chip microcomputer is achieved, so that the mobile robot is controlled wirelessly through interfaces between the single chip microcomputer and the robot; and the whole system is stable in operation and high in practicability.
Description
Technical field
The present invention relates to wireless control system technical field, the controlled in wireless system of specially a kind of intelligent mobile robot
System.
Background technology
Modern electronic technology, computer hardware technique, artificial intelligence technology and automatic control technology are developed rapidly,
Promote progress of the mobile robot in key technology areas such as navigation, visual spatial attention and straighforward operations.Mobile robot remote control
Technology has huge application prospect, in recent years, welding robot in fields such as industrial production, daily life and Aero-Space
But is obtained a wide range of applications at aspects such as automobile making, space explorations in many application scenarios, the control of robot is logical
Wire cable realization is crossed, it is all very inconvenient on using and operating, and also it is unstable that data are received in terms of wireless control system
It is fixed, influence normal picture collection so that whole operation system is unstable, it is impossible to meet the requirement of whole device, existing market
On wireless control system, not only operating system is complicated, and use it is also cumbersome, while be unfavorable for normal maintenance,
The cost time is more, and costly.
The content of the invention
For problem above, the invention provides a kind of wireless control system of intelligent mobile robot, to move machine
People realizes radio communication as control platform between computer and single-chip microcomputer, and then by between single-chip microcomputer and robot
Interface, realizes that wireless mode controls mobile robot, also realizes the monitor in real time to tele-robotic, can effectively solve background
Problem in technology.
To achieve the above object, the present invention provides following technical scheme：A kind of controlled in wireless system of intelligent mobile robot
System, including intelligent control unit and signal processing module, the output end of the intelligent control unit pass through ring distributor and work(
Rate driver is connected, and the input of the analog line driver is connected with stepper motor, the output end of the annular driver
Element testing module is also associated with, the input of the intelligent control unit is also associated with signal processing module, at the signal
The input for managing module is also associated with limit position sensor, and the input of the limit position sensor is provided with sensor
Group, the inside of the sensor group is additionally provided with infrared sensor and velocity sensor, and the output end of the sensor group also connects
PC control units are connected to, the output end of the PC control units is connected with human-computer interaction module, the human-computer interaction module
Data terminal is also associated with data storage.
Used as a kind of preferred technical scheme of the present invention, the intelligent control unit includes host scm module, the master
One-chip computer module using AT89C51 series process chip, the FPDP of the host scm module be provided with I/O interfaces and
The output end of multi-channel serial port module, the I/O interfaces and multi-channel serial port module is connected by control line with radio receiving transmitting module
Connect, the radio receiving transmitting module is using PTR2000 serial process chip.
Used as a kind of preferred technical scheme of the present invention, the input of the radio receiving transmitting module is connected with radio-frequency module
Connect.
Used as a kind of preferred technical scheme of the present invention, the PC control units include data acquisition unit, the data
Collecting unit is connected with ZigBee wireless communication modules, and the output end of the ZigBee wireless communication modules is also turned by power supply
Change unit to be connected with PC, the power conversion unit is using MAX232 serial process chip.
Used as a kind of preferred technical scheme of the present invention, the input of the PC is also associated with KBC, described
The power end of KBC is also associated with power module.
Used as a kind of preferred technical scheme of the present invention, it is right that the input of the limit position sensor is also associated with control
As module.
Used as a kind of preferred technical scheme of the present invention, the input of the radio receiving transmitting module is also associated with IMAQ
Module, the data terminal of described image acquisition module is also associated with receiver.
Compared with prior art, the beneficial effects of the invention are as follows：The wireless control system of the intelligent mobile robot, to move
Mobile robot realizes radio communication as control platform between computer and single-chip microcomputer, and then by single-chip microcomputer and robot
Between interface, realize wireless mode control mobile robot, also realize the monitor in real time to tele-robotic, i.e., locally giving
Go out the control command of robot, distal end is sent to by wireless transport module, then controlled by the robot control system of distal end
Robot performs corresponding action；The action of robot is carried out Real-time Collection by video camera simultaneously, then the image after compression
Data are transferred to locally by wireless transport module, and being reduced into video image finally by decompression plays out, and the system will
The major technique of solution includes：The real-time Transmission of control command, to the real-time control of robot, the Real-time Collection of video image,
Compression and transmit, and robot motion's data message in good time feedback.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is cross-sectional view of the present invention；
Fig. 3 is PC control modules structural representation of the present invention；
Fig. 4 is serial interface circuit diagram of the present invention.
In figure：1- intelligent control units；2- signal processing modules；3- ring distributors；4- analog line drivers；5- steppings electricity
Machine；6- element testing modules；7- limit position sensors；8- sensor groups；9- infrared sensors；10- velocity sensors；11-
PC control units；12- human-computer interaction modules；13- data storages；14- host scm modules；15-I/O interfaces；16- multichannel strings
Mouth mold block；17- radio receiving transmitting modules；18- radio-frequency modules；19- data acquisition units；20-ZigBee wireless communication modules；21-
Power conversion unit；22-PC machines；23- KBCs；24- power modules；25- control object modules；26- IMAQ moulds
Block；27- receivers.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment：
Fig. 1 to Fig. 4 is referred to, the present invention provides a kind of technical scheme：A kind of wireless control system of intelligent mobile robot, bag
Intelligent control unit 1 and signal processing module 2 are included, the output end of the intelligent control unit 1 passes through ring distributor 3 and power
Driver 4 is connected, and the input of the analog line driver 4 is connected with stepper motor 5, the output of the annular driver 3
End is also associated with element testing module 6, and the input of the intelligent control unit 1 is also associated with signal processing module 2, the letter
The input of number processing module 2 is also associated with limit position sensor 7, and the input of the limit position sensor 7 is also connected with
Have a control object module 25, the input of the limit position sensor 7 is provided with sensor group 8, the sensor group 8 it is interior
Portion is additionally provided with infrared sensor 9 and velocity sensor 10, and the output end of the sensor group 8 is also associated with PC control units
11, the output end of the PC control units 11 is connected with human-computer interaction module 12, the data terminal of the human-computer interaction module 12
It is also associated with data storage 13.
The intelligent control unit 1 includes host scm module 14, and the host scm module 14 is using AT89C51 series
Process chip, the FPDP of the host scm module 14 is provided with I/O interfaces 15 and multi-channel serial port module 16, the I/
The output end of O Interface 15 and multi-channel serial port module 16 is connected by control line with radio receiving transmitting module 17, the wireless receipts
Hair module 17 is connected using PTR2000 serial process chip, the input of the radio receiving transmitting module 17 with radio-frequency module 18
Connect, the input of the radio receiving transmitting module 17 is also associated with image capture module 26, the data of described image acquisition module 26
End is also associated with receiver 27.
The PC control units 11 include data acquisition unit 19, the data acquisition unit 19 and ZigBee radio communications
Module 20 is connected, and the output end of the ZigBee wireless communication modules 20 is also connected by power conversion unit 21 with PC 22
Connect, the power conversion unit 21 is also associated with keyboard using MAX232 serial process chip, the input of the PC 22
Controller 23, the power end of the KBC 23 is also associated with power module 24.
The ZigBee wireless communication modules 20：Realize the bidirectional data exchange of director and robot, wireless data
Transceiver module is using the PTR2000 microminiatures based on RF401 radio communication single-chip microcomputers, low-power consumption, two-forty 19.2kb/s is wireless
Transmitting-receiving number passes MODEM, the device using the stronger FSK modulation/demodulation mode of antijamming capability, its working frequency is reliable and stable,
Peripheral cell is few, power consumption is extremely low and is easy to design.
The PC control units 11：Wireless telecommunications between PC control units and robot body unit.Two PTR2000
Module is used to carry out radio communication between serial ports of computers and single-chip microcomputer, and PC is passed through various control commands and data by serial ports
PTR2000 is sent to host scm (AT89C51), controls the process of whole system；The kinematic parameter of robot is passed through simultaneously
PTR2000 can feed back to PC again, so as to realize man-machine interaction.
Operation principle of the invention：The wireless control system of the intelligent mobile robot, using mobile robot as control
Platform, realizes radio communication, and then by the interface between single-chip microcomputer and robot, realize nothing between computer and single-chip microcomputer
Line mode controls mobile robot, also realizes the monitor in real time to tele-robotic, i.e., ordered in the control for locally providing robot
Order, distal end is sent to by wireless transport module, is then performed by the robot control system control robot of distal end corresponding
Action；The action of robot is carried out Real-time Collection by video camera simultaneously, then the view data after compression by being wirelessly transferred
Module transfer is reduced into video image and plays out to local finally by decompression, the major technique bag that the system to be solved
Include：The real-time Transmission of control command, to the real-time control of robot, the Real-time Collection of video image, compression and transmits, Yi Jiji
The in good time feedback of device people's exercise data information.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (7)
1. a kind of wireless control system of intelligent mobile robot, including intelligent control unit（1）And signal processing module（2）,
It is characterized in that：The intelligent control unit（1）Output end pass through ring distributor（3）With analog line driver（4）It is connected,
The analog line driver（4）Input and stepper motor（5）It is connected, the annular driver（3）Output end be also connected with
There is element testing module（6）, the intelligent control unit（1）Input be also associated with signal processing module（2）, the signal
Processing module（2）Input be also associated with limit position sensor（7）, the limit position sensor（7）Input set
It is equipped with sensor group（8）, the sensor group（8）Inside be additionally provided with infrared sensor（9）And velocity sensor（10）, institute
State sensor group（8）Output end be also associated with PC control units（11）, the PC control units（11）Output end with it is man-machine
Interactive module（12）It is connected, the human-computer interaction module（12）Data terminal be also associated with data storage（13）.
2. the wireless control system of a kind of intelligent mobile robot according to claim 1, it is characterised in that：The intelligence
Control unit（1）Including host scm module（14）, the host scm module（14）Using the treatment core of AT89C51 series
Piece, the host scm module（14）FPDP be provided with I/O interfaces（15）With multi-channel serial port module（16）, the I/O
Interface（15）With multi-channel serial port module（16）Output end pass through control line and radio receiving transmitting module（17）It is connected, the nothing
Line transceiver module（17）Using the process chip of PTR2000 series.
3. the wireless control system of a kind of intelligent mobile robot according to claim 2, it is characterised in that：It is described wireless
Transceiver module（17）Input and radio-frequency module（18）It is connected.
4. the wireless control system of a kind of intelligent mobile robot according to claim 1, it is characterised in that：The PC controls
Unit processed（11）Including data acquisition unit（19）, the data acquisition unit（19）With ZigBee wireless communication modules（20）Phase
Connection, the ZigBee wireless communication modules（20）Output end also pass through power conversion unit（21）With PC（22）It is connected
Connect, the power conversion unit（21）Using the process chip of MAX232 series.
5. the wireless control system of a kind of intelligent mobile robot according to claim 4, it is characterised in that：The PC
（22）Input be also associated with KBC（23）, the KBC（23）Power end be also associated with power module
（24）.
6. the wireless control system of a kind of intelligent mobile robot according to claim 1, it is characterised in that：The limit
Position sensor（7）Input be also associated with control object module（25）.
7. the wireless control system of a kind of intelligent mobile robot according to claim 2, it is characterised in that：It is described wireless
Transceiver module（17）Input be also associated with image capture module（26）, described image acquisition module（26）Data terminal also connect
It is connected to receiver（27）.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611096098.0A CN106671082A (en) | 2016-12-02 | 2016-12-02 | Wireless control system of intelligent mobile robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611096098.0A CN106671082A (en) | 2016-12-02 | 2016-12-02 | Wireless control system of intelligent mobile robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106671082A true CN106671082A (en) | 2017-05-17 |
Family
ID=58867243
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611096098.0A Pending CN106671082A (en) | 2016-12-02 | 2016-12-02 | Wireless control system of intelligent mobile robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106671082A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214450A (en) * | 2017-06-12 | 2017-09-29 | 上海电力学院 | The mobile welding robot wireless control system of fuel cell hybrid driving |
| CN109531603A (en) * | 2017-09-22 | 2019-03-29 | 江苏智谋科技有限公司 | Robot operating control system based on artificial intelligence |
| CN109648599A (en) * | 2018-12-25 | 2019-04-19 | 它酷科技(大连)有限公司 | A kind of exercising elbow joint control method of emulated robot |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2764574Y (en) * | 2004-12-31 | 2006-03-15 | 广东工业大学 | Integrated vision apparatus for football robot |
| WO2006091111A1 (en) * | 2005-02-25 | 2006-08-31 | Stephen John Regelous | A method of generating behaviour for a graphics character and robotic devices |
| CN101947788A (en) * | 2010-06-23 | 2011-01-19 | 焦利民 | Intelligent robot |
| CN203038075U (en) * | 2012-12-19 | 2013-07-03 | 西安理工大学 | Android phone and computer based remote voice intelligent control system |
-
2016
- 2016-12-02 CN CN201611096098.0A patent/CN106671082A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2764574Y (en) * | 2004-12-31 | 2006-03-15 | 广东工业大学 | Integrated vision apparatus for football robot |
| WO2006091111A1 (en) * | 2005-02-25 | 2006-08-31 | Stephen John Regelous | A method of generating behaviour for a graphics character and robotic devices |
| CN101947788A (en) * | 2010-06-23 | 2011-01-19 | 焦利民 | Intelligent robot |
| CN203038075U (en) * | 2012-12-19 | 2013-07-03 | 西安理工大学 | Android phone and computer based remote voice intelligent control system |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107214450A (en) * | 2017-06-12 | 2017-09-29 | 上海电力学院 | The mobile welding robot wireless control system of fuel cell hybrid driving |
| CN109531603A (en) * | 2017-09-22 | 2019-03-29 | 江苏智谋科技有限公司 | Robot operating control system based on artificial intelligence |
| CN109648599A (en) * | 2018-12-25 | 2019-04-19 | 它酷科技(大连)有限公司 | A kind of exercising elbow joint control method of emulated robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106671082A (en) | Wireless control system of intelligent mobile robot | |
| CN102880176A (en) | Smart trolley and visual smart home control method based on smart trolley | |
| CN204945794U (en) | Based on the wireless remote control dolly of gesture identification | |
| CN203973545U (en) | A kind of puma manipulator wireless control system based on PC | |
| CN203235258U (en) | Remote control model wireless control system based on gesture recognition | |
| CN103064329A (en) | Photovoltaic device data collection system and implementation method based on singlechip | |
| CN106681163A (en) | Robot system for controlling household appliances and control method | |
| CN106384850A (en) | Wireless battery management system | |
| CN102323856A (en) | Data glove based on acceleration sensors and ZigBee | |
| CN201698199U (en) | Remote wireless real-time monitoring management device | |
| CN207908886U (en) | Intelligent domestic control device | |
| CN105785917A (en) | Numerical control machine tool electronic equipment monitoring and operating system | |
| CN205920595U (en) | Long -range accuse system of copying of intelligence water gauge with high commonality | |
| CN206671808U (en) | A kind of wireless remote switch executing agency | |
| CN209400899U (en) | The control system and equipment of x-ray protection device | |
| CN202728142U (en) | Car-mounted terminal based on combined positioning technology | |
| CN204103996U (en) | The mobile terminal device of a kind of security protection based on Bluetooth technology | |
| CN202872774U (en) | Interactive terminal with power line carrier communication access function | |
| CN207265739U (en) | A kind of intelligent electric meter local telegram in reply system based on Internet of Things | |
| CN102223274B (en) | Chemical safety monitoring system based on mixed field bus technology | |
| CN208126143U (en) | A kind of intelligent carriage wireless control system | |
| CN206287975U (en) | A kind of portable vehicle monitor control system | |
| CN201035730Y (en) | Explosion-proof wireless rope hoist signal pickup assembly | |
| CN205983122U (en) | Alert robot development platform of using | |
| CN205721370U (en) | A kind of WIFI wireless monitor intelligent carriage |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170517 |