CN105611053A - Mobile robot control system based on smart phone - Google Patents
Mobile robot control system based on smart phone Download PDFInfo
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- CN105611053A CN105611053A CN201510974923.1A CN201510974923A CN105611053A CN 105611053 A CN105611053 A CN 105611053A CN 201510974923 A CN201510974923 A CN 201510974923A CN 105611053 A CN105611053 A CN 105611053A
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- Prior art keywords
- control
- mobile robot
- mobile phone
- smart mobile
- airborne
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Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several 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
-
- 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
- B25J9/1628—Programme controls characterised by the control loop
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Signal Processing (AREA)
- Artificial Intelligence (AREA)
- Human Computer Interaction (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a mobile robot control system based on a smart phone. According to the control system, one smart phone, i.e. an onboard smart phone, is used as a core controller; the onboard smart phone is a server side and is fixed on a machine body of a mobile robot; interaction with the onboard smart phone is carried out by a wireless communication module, a control instruction is received and transmitted, and other applications are associated and called to achieve control on the mobile robot; the other smart phone, i.e. a remote control smart phone, is used as a remote controller; and the remote control smart phone is a client, interacts with the onboard smart phone by a wireless communication module, and sends the control instruction to the server side after selecting a control mode. The mobile robot control system enables the mobile robot to be more convenient and rapid to debug, does not need to be connected with a PC (Personal Computer) machine each time to burn a program, becomes an ideal platform of verifying various control algorithms, and enables the mobile robot to have more powerful functions and become more intelligent; and the diversity of the remote control operation enables a human-computer interaction experience friendly degree to be greatly improved.
Description
Technical field
The present invention relates to the experimental system of scientific research or teaching, relate in particular to smart mobile phone to movingThe control system of mobile robot, this system makes machine more intelligent, improves man-machine interaction and experiences friendGood spending, and be used for checking correctness and the feasibility of various control algolithms at control field.
Background technology
Along with scientific technological advance, social progress, robot just progressively enters into people's daily lifeIn, help people to solve problem miscellaneous, how to allow ice-cold machine as people,This just need to study the balance control of machine, intelligent and man-machine interaction.
Smart mobile phone has very friendly man-machine interaction, powerful function and portability because of it,Make people be unable to do without it in various application scenarios, smart mobile phone has just like become people's lifeIn a very important part, change just gradually daily life.
For above-mentioned situation, the present invention proposes the Mobile Robot Control System based on smart mobile phone,The smart mobile phone that utilizes people to be familiar with very much as the brain of machine, improves robot comprehensivelyLevel of intelligence and mutual friendliness, better control mobile robot.
Summary of the invention
The Mobile Robot Control System based on smart mobile phone of the present invention's design, makes machine moreIntelligence, improves man-machine interaction comprehensively and experiences friendliness, and be used for checking various controls at control fieldThe correctness of algorithm processed and feasibility.
The present invention adopts following technical scheme, with reference to Fig. 1, based on the mobile apparatus of smart mobile phonePeople's control system, this system comprise airborne smart mobile phone (1), Long-distance Control smart mobile phone (2),Mobile robot (3), wireless communication module (4). This control system is done with a smart mobile phoneFor core controller is airborne smart mobile phone (1), airborne smart mobile phone (1) is server end,Be fixed on mobile robot's fuselage, by wireless communication module (4) and airborne smart mobile phone(1) carry out alternately; Another smart mobile phone is Long-distance Control intelligence hand as remote controllersMachine (2), Long-distance Control smart mobile phone (2) is client, by wireless communication module (4)Carry out alternately with airborne smart mobile phone.
Design server end and client application respectively moves in server end applicationMobile robot attitude angle, the collection of the each data of movement velocity, processing, server end receivesFrom the control instruction of client and calculate controlled quentity controlled variable, then send to mobile robot control unit,And then control mobile robot's motion state; And navigation, location are set in this application, clapTake the photograph function choosing-item, when after the command adapted thereto option of receiving from client, direct correlation is called thisThe function of server end map, camera applications, utilize airborne smart mobile phone self carry GPS,Camera sensing device, realizes the navigator fix to mobile robot, and looks captured cameraFrequently teletransmission is on client; In client application, arrange by key control, voice control andThree kinds of control models of gravity sensor control, show the video that airborne smart mobile phone is taken in real time,According to the surrounding environment that photographs realize to mobile robot advance, retreat, the motion control such as turningSystem; And debugging option is set, and carry out in real time mobile robot's debugging, comprise desired motion speedSpend adjusting of big or small change, control algolithm parameter.
Described airborne smart mobile phone (1) can be Android smart mobile phone or apple smart mobile phone;
Described Long-distance Control smart mobile phone (2) can be Android smart mobile phone or apple intelligenceMobile phone;
Described mobile robot (3) can be double-wheel self-balancing robot;
Described wireless communication module (4) can be bluetooth communication or WiFi communication module.
The present invention can obtain following beneficial effect: make mobile robot's debugging convenient fastVictory need not all connect PC programming program at every turn, becomes the ideal of the various control algolithms of checkingPlatform; Make mobile robot's function more powerful, become more intelligent; Remote control operationDiversity, makes man-machine interaction experience friendliness and increases substantially.
Brief description of the drawings
The Mobile Robot Control System structural representation of Fig. 1 based on smart mobile phone;
The Mobile Robot Control System main program flow chart of Fig. 2 based on smart mobile phone;
The Mobile Robot Control System interruption subroutine flow chart of Fig. 3 based on smart mobile phone;
In figure: 1, airborne smart mobile phone; 2, Long-distance Control smart mobile phone; 3, mobile apparatusPeople; 4, wireless communication module.
Detailed description of the invention
Be further described for the present invention below in conjunction with the drawings and specific embodiments.
As shown in Figure 1, based on the Mobile Robot Control System of smart mobile phone, comprise airborne intelligenceEnergy mobile phone (1), Long-distance Control smart mobile phone (2), mobile robot (3) and radio communicationModule (4). This control system, using a smart mobile phone as core controller, is server end,Be fixed on mobile robot's fuselage, communicate by wireless communication module and mobile robot,Another smart mobile phone, as remote controllers, is client, by wireless communication module and machineCarry smart mobile phone communication. Design server end and client application respectively, at server endIn application, carry out collection, the processing of the various data such as pose of mobile robot angle, movement velocity,Receive the control instruction from client, according to the quantity of state obtaining, calculate controlled quentity controlled variable, thenSend to mobile robot control unit, the PWM ripple that control module sends certain dutycycle toMotor driver, and then control mobile robot's motion and balance; And arrange in this applicationThe function choosing-items such as navigation, location, shooting, when after the command adapted thereto option of receiving from client,The function of the application such as book server end map, camera is called in direct correlation, utilizes airborne intelligent handGPS, the first-class sensor of making a video recording that machine self carries, realize the navigator fix to mobile robot,And by captured camera video teletransmission on client; In client application, arrange and pressKey control, voice control and three kinds of control models of gravity sensor control, in real time display serverThe video that end is taken, according to the surrounding environment that photographs realize to mobile robot advance, retreat,The motion controls such as turning; And debugging option is set, can carry out in real time mobile robot's debugging,Comprise the adjusting etc. of change, control algolithm parameter of desired motion velocity magnitude.
Described airborne smart mobile phone (1) can be Android smart mobile phone or apple smart mobile phone;
Described Long-distance Control smart mobile phone (2) can be Android smart mobile phone or apple intelligenceMobile phone;
Described mobile robot (3) can be double-wheel self-balancing robot;
Described wireless communication module (4) can be bluetooth communication or WiFi communication module.
Be illustrated in figure 2 the main program flow chart of native system, control step is:
Step 1. initializes the airborne control module of mobile robot (3), configuration corresponding registers.
Step 2. enables to interrupt, and waits for corresponding registers receive interruption.
Step 3. is used Do statement, has ceaselessly judged whether interruption, interrupts control cycle and establishesFor 10ms, jump to interruption subroutine flow chart as shown in Figure 3 whenever satisfying condition,Enter interruption.
Interruption subroutine flow chart step shown in Fig. 3 is:
The packet that step 1. receives the airborne attitude transducer of mobile robot (3), obtains appearanceState data, comprise inclination angle, inclination angle speed.
Step 2. server end reads client application telecommand, selects mobile robotMotor pattern.
Step 3. reads the information of left and right motor encoder, calculates mobile robot's displacement,Speed, acceleration.
Step 4., according to the quantity of state obtaining, adopts the control algolithm of setting, should at server endWith calculating controlled quentity controlled variable in program.
The left and right Electric Machine Control amount size obtaining is sent to airborne control module by step 5., obtainsTwo PWM ripples of certain dutycycle, airborne control module sends to motor by PWM ripple againServo-driver module.
Step 6. EOI, returns to main program.
Interrupting in flow process, by selecting button, voice, the gravity in client applicationSensor control model, sends command adapted thereto by effector, and client application enters instructionRow resolves identification, then sends to server end, controls in real time mobile robot's moving equilibrium;
Can be by navigating, locate, take the photograph in selection client application under arbitrary patternsThe function such as look like, the affiliate application such as map, camera of invoking server end, realizes corresponding meritEnergy.
Described mobile robot (3) is that airborne control module is singlechip chip, this single-chip microcomputerChip can be dsp chip or ARM chip;
The airborne attitude transducer of described mobile robot (3) can be gyroscope MTI or inclination angleInstrument.
Finally be noted that: above embodiment only for the present invention is described and unrestricted send outBright described technical scheme; Although therefore this description has carried out with reference to above-described embodimentDetailed explanation, still, those of ordinary skill in the art should be appreciated that still can be to thisBrightly modify or be equal to replacement; And all do not depart from invention spirit and scope technical scheme andIt improves, and all should be encompassed in the middle of claim scope of the present invention.
Claims (5)
1. the Mobile Robot Control System based on smart mobile phone, is characterized in that: this systemComprise airborne smart mobile phone (1), Long-distance Control smart mobile phone (2), mobile robot (3),Wireless communication module (4); This control system is machine using a smart mobile phone as core controllerCarry smart mobile phone (1), airborne smart mobile phone (1) is server end, is fixed on mobile apparatusWith it man-machine, undertaken alternately by wireless communication module (4) and airborne smart mobile phone (1);Another smart mobile phone is Long-distance Control smart mobile phone (2) as remote controllers, Long-distance ControlSmart mobile phone (2) is client, enters by wireless communication module (4) and airborne smart mobile phoneRow is mutual;
Design server end and client application respectively moves in server end applicationMobile robot attitude angle, the collection of the each data of movement velocity, processing, server end receivesFrom the control instruction of client and calculate controlled quentity controlled variable, then send to mobile robot control unit,And then control mobile robot's motion state; And navigation, location are set in this application, clapTake the photograph function choosing-item, when after the command adapted thereto option of receiving from client, direct correlation is called thisThe function of server end map, camera applications, utilize airborne smart mobile phone self carry GPS,Camera sensing device, realizes the navigator fix to mobile robot, and looks captured cameraFrequently teletransmission is on client; In client application, arrange by key control, voice control andThree kinds of control models of gravity sensor control, show the video that airborne smart mobile phone is taken in real time,According to the surrounding environment that photographs realize to mobile robot advance, retreat, the motion control such as turningSystem; And debugging option is set, and carry out in real time mobile robot's debugging, comprise desired motion speedSpend adjusting of big or small change, control algolithm parameter.
2. the Mobile Robot Control System based on smart mobile phone according to claim 1,It is characterized in that: the control step of native system main program flow is as follows,
Step 1. initializes the airborne control module of mobile robot (3), configuration corresponding registers;
Step 2. enables to interrupt, and waits for corresponding registers receive interruption;
Step 3. is used Do statement, has ceaselessly judged whether interruption, interrupts control cycle and establishesFor 10ms, jump to interruption subroutine flow process whenever satisfying condition, enter interruption.
3. the Mobile Robot Control System based on smart mobile phone according to claim 1,It is characterized in that: described mobile robot (3) is that airborne control module is singlechip chip,This singlechip chip is dsp chip or ARM chip.
4. the Mobile Robot Control System based on smart mobile phone according to claim 1,It is characterized in that: the airborne attitude transducer of described mobile robot (3) can be gyroscope MTIOr inclinator.
5. the Mobile Robot Control System based on smart mobile phone according to claim 2,It is characterized in that: interruption subroutine process step is as follows,
The packet that step 1. receives the airborne attitude transducer of mobile robot (3), obtains appearanceState data, comprise inclination angle, inclination angle speed;
Step 2. server end reads client application telecommand, selects mobile robotMotor pattern;
Step 3. reads the information of left and right motor encoder, calculates mobile robot's displacement,Speed, acceleration;
Step 4., according to the quantity of state obtaining, adopts the control algolithm of setting, should at server endWith calculating controlled quentity controlled variable in program;
The left and right Electric Machine Control amount size obtaining is sent to airborne control module by step 5., obtainsTwo PWM ripples of certain dutycycle, airborne control module sends to motor by PWM ripple againServo-driver module;
Step 6. EOI, returns to main program;
Interrupting in flow process, by selecting button, voice, the gravity in client applicationSensor control model, sends command adapted thereto by effector, and client application enters instructionRow resolves identification, then sends to server end, controls in real time mobile robot's moving equilibrium;
Can be by navigating, locate, take the photograph in selection client application under arbitrary patternsThe function such as look like, the map of invoking server end, camera affiliate application, realize corresponding function.
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Cited By (19)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106584453A (en) * | 2016-06-15 | 2017-04-26 | 北京卫星环境工程研究所 | Spacecraft manipulator man-machine interactive system integrated with intelligent terminal |
| CN107016920A (en) * | 2017-06-06 | 2017-08-04 | 河池学院 | The experiment porch and its experimental method of a kind of intelligent carriage control system's development |
| CN107015490A (en) * | 2017-02-28 | 2017-08-04 | 北京光年无限科技有限公司 | A kind of intelligent robot and intelligent robot operating system |
| CN107238387A (en) * | 2017-05-03 | 2017-10-10 | 广东精讯科技股份有限公司 | Utilize the method for smart mobile phone planning robot's track route |
| CN107300974A (en) * | 2017-07-10 | 2017-10-27 | 深圳市动平衡科技有限公司 | A kind of mobile robot exchange method and mobile robot interactive system |
| CN107360477A (en) * | 2017-07-04 | 2017-11-17 | 北京理工大学 | A kind of multifunctional remote debugging apparatus |
| CN107589703A (en) * | 2017-10-27 | 2018-01-16 | 成都常明信息技术有限公司 | A kind of robot that speed control is realized by terminal speech |
| CN107657957A (en) * | 2017-10-27 | 2018-02-02 | 成都常明信息技术有限公司 | A kind of robot that far distance controlled is realized by terminal speech |
| CN107819593A (en) * | 2016-09-14 | 2018-03-20 | 北京京东尚科信息技术有限公司 | Method, system and the terminal device of smart machine group communication |
| CN108189026A (en) * | 2017-12-01 | 2018-06-22 | 北京建筑大学 | Guest-meeting robot interaction control method and device |
| WO2018148876A1 (en) * | 2017-02-15 | 2018-08-23 | 深圳市前海中康汇融信息技术有限公司 | Robot management system for sharing camera module and method therefor |
| CN108527358A (en) * | 2017-03-06 | 2018-09-14 | 常州爱尔威智能科技有限公司 | The control method of remote control robot equipment |
| WO2019014929A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Method of operating robot and robot |
| WO2019014951A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Information transmission method of robot and robot |
| CN110390810A (en) * | 2019-07-25 | 2019-10-29 | 中国科学院合肥物质科学研究院 | A kind of remote controler and its remote control method of high motor-driven unmanned ground vehicle |
| CN110465939A (en) * | 2019-07-09 | 2019-11-19 | 南昌大学 | A kind of robot touch system based on Winform |
| CN110587634A (en) * | 2019-09-09 | 2019-12-20 | 深圳市三宝创新智能有限公司 | Control system of service robot |
| CN113459096A (en) * | 2021-06-23 | 2021-10-01 | 深圳市加糖电子科技有限公司 | Robot remote control terminal |
| CN116687274A (en) * | 2023-06-19 | 2023-09-05 | 深圳市毫准科技有限公司 | Pluggable sweeping robot based on mobile phone and sweeping cleaning control method |
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| CN106584453A (en) * | 2016-06-15 | 2017-04-26 | 北京卫星环境工程研究所 | Spacecraft manipulator man-machine interactive system integrated with intelligent terminal |
| CN107819593B (en) * | 2016-09-14 | 2021-09-03 | 北京京东尚科信息技术有限公司 | Intelligent equipment group communication method and system and terminal equipment |
| CN107819593A (en) * | 2016-09-14 | 2018-03-20 | 北京京东尚科信息技术有限公司 | Method, system and the terminal device of smart machine group communication |
| WO2018148876A1 (en) * | 2017-02-15 | 2018-08-23 | 深圳市前海中康汇融信息技术有限公司 | Robot management system for sharing camera module and method therefor |
| CN107015490A (en) * | 2017-02-28 | 2017-08-04 | 北京光年无限科技有限公司 | A kind of intelligent robot and intelligent robot operating system |
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| CN108527358A (en) * | 2017-03-06 | 2018-09-14 | 常州爱尔威智能科技有限公司 | The control method of remote control robot equipment |
| CN107238387A (en) * | 2017-05-03 | 2017-10-10 | 广东精讯科技股份有限公司 | Utilize the method for smart mobile phone planning robot's track route |
| CN107016920A (en) * | 2017-06-06 | 2017-08-04 | 河池学院 | The experiment porch and its experimental method of a kind of intelligent carriage control system's development |
| CN107360477A (en) * | 2017-07-04 | 2017-11-17 | 北京理工大学 | A kind of multifunctional remote debugging apparatus |
| CN107360477B (en) * | 2017-07-04 | 2020-09-11 | 北京理工大学 | Multifunctional remote debugging device |
| CN107300974A (en) * | 2017-07-10 | 2017-10-27 | 深圳市动平衡科技有限公司 | A kind of mobile robot exchange method and mobile robot interactive system |
| WO2019014929A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Method of operating robot and robot |
| WO2019014951A1 (en) * | 2017-07-21 | 2019-01-24 | 深圳市萨斯智能科技有限公司 | Information transmission method of robot and robot |
| CN107657957A (en) * | 2017-10-27 | 2018-02-02 | 成都常明信息技术有限公司 | A kind of robot that far distance controlled is realized by terminal speech |
| CN107589703A (en) * | 2017-10-27 | 2018-01-16 | 成都常明信息技术有限公司 | A kind of robot that speed control is realized by terminal speech |
| CN108189026A (en) * | 2017-12-01 | 2018-06-22 | 北京建筑大学 | Guest-meeting robot interaction control method and device |
| CN110465939A (en) * | 2019-07-09 | 2019-11-19 | 南昌大学 | A kind of robot touch system based on Winform |
| CN110390810A (en) * | 2019-07-25 | 2019-10-29 | 中国科学院合肥物质科学研究院 | A kind of remote controler and its remote control method of high motor-driven unmanned ground vehicle |
| CN110390810B (en) * | 2019-07-25 | 2020-11-17 | 中国科学院合肥物质科学研究院 | Remote controller of high-mobility ground unmanned platform and remote control method thereof |
| CN110587634A (en) * | 2019-09-09 | 2019-12-20 | 深圳市三宝创新智能有限公司 | Control system of service robot |
| CN113459096A (en) * | 2021-06-23 | 2021-10-01 | 深圳市加糖电子科技有限公司 | Robot remote control terminal |
| CN116687274A (en) * | 2023-06-19 | 2023-09-05 | 深圳市毫准科技有限公司 | Pluggable sweeping robot based on mobile phone and sweeping cleaning control method |
| CN116687274B (en) * | 2023-06-19 | 2024-04-16 | 深圳市毫准科技有限公司 | Pluggable sweeping robot based on mobile phone and sweeping cleaning control method |
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