CN205334194U - Robot control system based on automated control ware able to programme - Google Patents
Robot control system based on automated control ware able to programme Download PDFInfo
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- CN205334194U CN205334194U CN201521061521.4U CN201521061521U CN205334194U CN 205334194 U CN205334194 U CN 205334194U CN 201521061521 U CN201521061521 U CN 201521061521U CN 205334194 U CN205334194 U CN 205334194U
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Abstract
The utility model discloses a robot control system based on automated control ware able to programme, including different structure multinuclear PAC controller, servo actuating mechanism and pickup assembly, pickup assembly's output passes through the input electric connection of signal acquisition and treatment circuit and different structure multinuclear PAC controller, the input electric connection of different structure multinuclear PAC controller has camera device. The utility model discloses with a plurality of core integration of structure, consumption, function and the operational performance diverse of different structure multinuclear PAC controller on the chip to giving different cores through the task division of labor with the task assignment who divides the difference, letting each core handle the task of oneself being good at, the different structure organizational form of this kind is more efficient than isostructural polycaryon processor perform tasks, has realized the optimization configuration of resource, has reduced whole consumption moreover.
Description
Technical field
This utility model belongs to robotics, is specifically related to a kind of robot control system based on automation controller able to programme。
Background technology
Robot develops into today, and we are always intended to enough complete increasingly complex task, applies more intelligent, develops more simple。From the angle of observing and controlling, the motor that will realize motion controls increasingly complex, the kind of sensor of perception environmental information and more, and the numeral I/O mouths such as the input and output of analog quantity are more, switching value interrupt interface are more, and user program mode is more, programs more simple。The requirements proposed in order to meet modern machines people's control system, it has been proposed that employing automation controller able to programme (PAC) is as robot controller。Automation controller able to programme (PAC) is as a new generation's industrial control unit (ICU), it it is the core of industrial automation platform, also more and more extensive in the application of robot control field in recent years, the robot PAC developing entirely autonomous intellectual property is that the important foundation promoting domestic robotics development works。
Automation controller able to programme (PAC) is gradually replacing programmable logic controller (PLC) (PLC), becomes robot control system and industrial control system ideal chose。But, major part PAC still adopts the pattern of the PLC single microprocessor (MCU) used at present, the load making control system is significantly high, it is easily caused the real time problems under multitask system to occur, therefore, in order to meet performance requirement, improving performance by integrated more multi-core is inevitable choice。Meanwhile, in the market, robot function is comparatively single, it is impossible to user's exchange and interdynamic, therefore can not be called " intelligence " robot product。
Utility model content
The purpose of this utility model is in that to provide a kind of robot control system based on automation controller able to programme, with the problem solving to propose in above-mentioned background technology。
For achieving the above object, this utility model provides following technical scheme: a kind of robot control system based on automation controller able to programme, including heterogeneous polynuclear PAC controller, servo-actuating device and sensor cluster, the input of described heterogeneous polynuclear PAC controller is electrically connected with power supply and memorizer respectively, the input of described servo-actuating device is electrically connected by the outfan of servo-driver with heterogeneous polynuclear PAC controller, the outfan of described sensor cluster is electrically connected by the input of Signal acquiring and processing circuit and heterogeneous polynuclear PAC controller, the input of described heterogeneous polynuclear PAC controller is electrically connected with wireless receiver, the communication interface signal of described wireless receiver is connected to wireless transmitter, the input of described wireless transmitter is electrically connected with remote controller, the input of described heterogeneous polynuclear PAC controller is electrically connected with camera head, the outfan of described heterogeneous polynuclear PAC controller is electrically connected with audio collection and playing module。
Preferably, described sensor cluster at least includes position sensor, touch sensor, IR evading obstacle sensors and limit sensors, described position sensor, touch sensor, IR evading obstacle sensors and limit sensors are in parallel, and position sensor, touch sensor, IR evading obstacle sensors and limit sensors are all electrically connected with Signal acquiring and processing circuit。
Preferably, it is provided with cmos sensor in described camera head。
Preferably, described wireless transmitter is FRID reader or infrared transmitter or bluetooth transmitters。
Preferably, described wireless receiver is FRID electronic tag or infrared remote receiver or Bluetooth Receiver。
Preferably, the outfan of described heterogeneous polynuclear PAC controller is electrically connected with expansion I/O interface。
Technique effect of the present utility model and advantage: should based on the robot control system of automation controller able to programme (PAC), its heterogeneous polynuclear PAC controller is connected with touch sensor and IR evading obstacle sensors, can Real-time Collection to the touch event of user, the state of robot is controlled, it is also possible to by the touch event of personalized design response user with this；In robot ambulation process, the data that avoidance sensor sends analyzed by heterogeneous polynuclear PAC controller, it is possible to hide the barrier in front；By audio collection and playing module in order to gather the phonetic order of user, it is sent to the polycaryon processor of heterogeneous polynuclear PAC controller, the phonetic order of user is carried out feedback response simultaneously；Camera head can the action of precise acquisition user, and be sent to the polycaryon processor storage of heterogeneous polynuclear PAC controller；Therefore, multiple cores different to the structure of heterogeneous polynuclear PAC controller, power consumption, function and operational performance are integrated on chip by this utility model, and divide the work by task and divide different tasks is distributed to different cores, allow the task that each core processing is good at oneself, this isomery organizational form performs task more efficiently than the polycaryon processor of isomorphism, achieve the optimization configuration of resource, and reduce overall power, and this utility model diverse in function, it is possible to user interaction。
Accompanying drawing explanation
Fig. 1 is structural representation of the present utility model。
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model, rather than whole embodiments。Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art obtain under not making creative work premise, broadly fall into the scope of this utility model protection。
This utility model provides a kind of robot control system based on automation controller able to programme as shown in Figure 1, including heterogeneous polynuclear PAC controller, servo-actuating device and sensor cluster, the outfan of described heterogeneous polynuclear PAC controller is electrically connected with expansion I/O interface, the input of described heterogeneous polynuclear PAC controller is electrically connected with power supply and memorizer respectively, the input of described servo-actuating device is electrically connected by the outfan of servo-driver with heterogeneous polynuclear PAC controller, the outfan of described sensor cluster is electrically connected by the input of Signal acquiring and processing circuit and heterogeneous polynuclear PAC controller, described sensor cluster at least includes position sensor, touch sensor, IR evading obstacle sensors and limit sensors, described position sensor, touch sensor, IR evading obstacle sensors and limit sensors are in parallel, and position sensor, touch sensor, IR evading obstacle sensors and limit sensors are all electrically connected with Signal acquiring and processing circuit, its heterogeneous polynuclear PAC controller is connected with touch sensor and IR evading obstacle sensors, can Real-time Collection to the touch event of user, the state of robot is controlled with this, the touch event of personalized design response user can also be passed through；In robot ambulation process, the data that avoidance sensor sends analyzed by heterogeneous polynuclear PAC controller, it is possible to hide the barrier in front；The input of described heterogeneous polynuclear PAC controller is electrically connected with wireless receiver, described wireless receiver is FRID electronic tag or infrared remote receiver or Bluetooth Receiver, the communication interface signal of described wireless receiver is connected to wireless transmitter, described wireless transmitter is FRID reader or infrared transmitter or bluetooth transmitters, the input of described wireless transmitter is electrically connected with remote controller, the input of described heterogeneous polynuclear PAC controller is electrically connected with camera head, it is provided with cmos sensor in described camera head, camera head can the action of precise acquisition user, and it is sent to the polycaryon processor storage of heterogeneous polynuclear PAC controller；The outfan of described heterogeneous polynuclear PAC controller is electrically connected with audio collection and playing module, by audio collection and playing module in order to gather the phonetic order of user, it is sent to the polycaryon processor of heterogeneous polynuclear PAC controller, the phonetic order of user is carried out feedback response simultaneously；Therefore, multiple cores different to the structure of heterogeneous polynuclear PAC controller, power consumption, function and operational performance are integrated on chip by this utility model, and divide the work by task and divide different tasks is distributed to different cores, allow the task that each core processing is good at oneself, this isomery organizational form performs task more efficiently than the polycaryon processor of isomorphism, achieve the optimization configuration of resource, and reduce overall power, and this utility model diverse in function, it is possible to user interaction。
Last it is noted that the foregoing is only preferred embodiment of the present utility model; it is not limited to this utility model; although this utility model being described in detail with reference to previous embodiment; for a person skilled in the art; technical scheme described in foregoing embodiments still can be modified by it; or wherein portion of techniques feature is carried out equivalent replacement; all within spirit of the present utility model and principle; any amendment of being made, equivalent replacement, improvement etc., should be included within protection domain of the present utility model。
Claims (6)
1. the robot control system based on automation controller able to programme, including heterogeneous polynuclear PAC controller, servo-actuating device and sensor cluster, the input of described heterogeneous polynuclear PAC controller is electrically connected with power supply and memorizer respectively, it is characterized in that: the input of described servo-actuating device is electrically connected by the outfan of servo-driver with heterogeneous polynuclear PAC controller, the outfan of described sensor cluster is electrically connected by the input of Signal acquiring and processing circuit and heterogeneous polynuclear PAC controller, the input of described heterogeneous polynuclear PAC controller is electrically connected with wireless receiver, the communication interface signal of described wireless receiver is connected to wireless transmitter, the input of described wireless transmitter is electrically connected with remote controller, the input of described heterogeneous polynuclear PAC controller is electrically connected with camera head, the outfan of described heterogeneous polynuclear PAC controller is electrically connected with audio collection and playing module。
2. a kind of robot control system based on automation controller able to programme according to claim 1, it is characterized in that: described sensor cluster at least includes position sensor, touch sensor, IR evading obstacle sensors and limit sensors, described position sensor, touch sensor, IR evading obstacle sensors and limit sensors are in parallel, and position sensor, touch sensor, IR evading obstacle sensors and limit sensors are all electrically connected with Signal acquiring and processing circuit。
3. a kind of robot control system based on automation controller able to programme according to claim 1, it is characterised in that: it is provided with cmos sensor in described camera head。
4. a kind of robot control system based on automation controller able to programme according to claim 1, it is characterised in that: described wireless transmitter is FRID reader or infrared transmitter or bluetooth transmitters。
5. a kind of robot control system based on automation controller able to programme according to claim 1, it is characterised in that: described wireless receiver is FRID electronic tag or infrared remote receiver or Bluetooth Receiver。
6. a kind of robot control system based on automation controller able to programme according to claim 1, it is characterised in that: the outfan of described heterogeneous polynuclear PAC controller is electrically connected with expansion I/O interface。
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521061521.4U CN205334194U (en) | 2015-12-17 | 2015-12-17 | Robot control system based on automated control ware able to programme |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521061521.4U CN205334194U (en) | 2015-12-17 | 2015-12-17 | Robot control system based on automated control ware able to programme |
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| CN205334194U true CN205334194U (en) | 2016-06-22 |
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| CN201521061521.4U Expired - Fee Related CN205334194U (en) | 2015-12-17 | 2015-12-17 | Robot control system based on automated control ware able to programme |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444607A (en) * | 2016-10-09 | 2017-02-22 | 福州大学 | Multi-heterogeneous industrial robot data communication and control method |
| CN109996185A (en) * | 2017-12-29 | 2019-07-09 | 腾讯科技（深圳）有限公司 | The localization method and device of terminal, storage medium, electronic device |
-
2015
- 2015-12-17 CN CN201521061521.4U patent/CN205334194U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106444607A (en) * | 2016-10-09 | 2017-02-22 | 福州大学 | Multi-heterogeneous industrial robot data communication and control method |
| CN106444607B (en) * | 2016-10-09 | 2018-09-18 | 福州大学 | Polyisocyanate structure industrial machine personal data communicates and control method |
| CN109996185A (en) * | 2017-12-29 | 2019-07-09 | 腾讯科技（深圳）有限公司 | The localization method and device of terminal, storage medium, electronic device |
| CN109996185B (en) * | 2017-12-29 | 2022-02-15 | 腾讯科技（深圳）有限公司 | Terminal positioning method and device, storage medium and electronic device |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160622 Termination date: 20191217 |
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| CF01 | Termination of patent right due to non-payment of annual fee |