CN204595519U - A kind of autonomous mobile robot control system - Google Patents
A kind of autonomous mobile robot control system Download PDFInfo
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- CN204595519U CN204595519U CN201520241246.8U CN201520241246U CN204595519U CN 204595519 U CN204595519 U CN 204595519U CN 201520241246 U CN201520241246 U CN 201520241246U CN 204595519 U CN204595519 U CN 204595519U
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Abstract
The utility model provides a kind of autonomous mobile robot control system, comprise carrying equipment module, power module, computer control module and sensor assembly, computer control module is respectively by RS-485 bus and carrying equipment module, power module, sensor assembly is connected, described carrying equipment module comprises motion chassis, electric machine controller, motor and scrambler, electric machine controller is connected with motor, described computer control module comprises embedded type CPU, the 802.11b/g network interface card of PCMCIA form and USB camera, described sensor assembly comprises housing, optoelectronic switch sensor, ultrasonic sonar, sensor signal processing main plate, GPS, 1-3 axle electronic compass, acceleration transducer and camera signal processing module, the utility model provides a kind of autonomous mobile robot control system, can control autonomous, locomotor activity and work capacity all increase significantly.
Description
Technical field
The utility model relates to robot field, particularly relates to a kind of autonomous mobile robot control system.
Background technology
Ground mobile robot departs from the direct control of people, adopts remote control, autonomous or half mode such as autonomous at the object of ground motion.The research of ground mobile robot can trace back to early fifties the earliest, and Barrett electronics, inc. of the U.S. researchs and develops the first in the world platform automated guided vehicle system.Because electronic applications was still in the transistor epoch at that time, this car function is limited, only moves among a small circle specific, and object improves transport automatization level.To the 60 to 70's, fairchild company of the U.S. develops integrated circuit, occurs integrated microprocessor subsequently, for hardware foundation has been established in control circuit miniaturization.Arrived the eighties, started Research on Intelligent Robots upsurge abroad, the mobile robot wherein with broad prospect of application and military value is subject to the common concern of west various countries.In mobile apparatus man-based development, occur big country of Liang Ge robot, one is Japan, a Ge Shi U.S..Even to this day, various types of ground robot is developed one after another, and its range of application is used military from civilian, work, relates to the every aspect of mankind's activity.Existing autonomous mobile robot control system, can not control autonomous well, and locomotor activity and work capacity all have much room for improvement.
Utility model content
The technical problems to be solved in the utility model is, for the deficiencies in the prior art, provides a kind of autonomous mobile robot control system, can control autonomous, and locomotor activity and work capacity all increase significantly.
A kind of autonomous mobile robot control system, comprise carrying equipment module, power module, computer control module and sensor assembly, computer control module is respectively by RS-485 bus and carrying equipment module, power module, sensor assembly is connected, described carrying equipment module comprises motion chassis, electric machine controller, motor and scrambler, electric machine controller is connected with motor, described power module comprises casing, rechargeable battery, power management, power protection system, pilot lamp and charger, power module is connected with motor, described computer control module comprises embedded type CPU, the 802.11b/g network interface card of PCMCIA form and USB camera, computer control module is located at above sensor assembly, described sensor assembly comprises housing, optoelectronic switch sensor, ultrasonic sonar, sensor signal processing main plate, GPS, 1-3 axle electronic compass, acceleration transducer and camera signal processing module.
Optionally, described sensor assembly also comprises 24V power interface and DS9-9 pin data bus mouth.
Optionally, described motion chassis comprises two rubber wheels, two motors and installs dull and stereotyped, and described motor is provided with speed reduction unit and code-wheel.
Optionally, a kind of autonomous mobile robot control system also comprises: basic chasisis, is fixedly connected with sensor assembly by 4 bolts.
Optionally, described computer control module also comprises: support and 4 rubber buffers, described support is connected by 4 pieces of bolts, and described rubber buffer is located at bottom embedded type CPU.
Optionally, described power module also comprises interchange input port.
Optionally, described motion chassis is connected with the aviation plug of power module by two 12 pins, described power module is connected with the D shape head of sensor assembly by 25 pins, and described sensor assembly is connected with the D shape head of computer module by 25 pins.
Optionally, what described motion chassis adopted is crawler belt combined type chassis.
The utility model becomes the ground moving versatility platform of a main oriented towards education and scientific research after adopting said structure.It is the high-end autonomous mobile robot teaching and scientific research experimental system with high performance-price ratio, and it adopts modular design concept, more emphasizes application.Adopt the actuated control system of high load capability and high kinematic accuracy; computing machine controls the embedded controller of optional High performance industrial PC or rich wound advanced person; peripheral hardware can match sonac, infrared, the actuator such as sensor and mechanical arm such as vision, compass, GPS, can be used for high-end robot innovative experiment and colleges and universities' robot teaching.
Accompanying drawing explanation
The structural representation of autonomous mobile robot control system of Fig. 1 for providing in the utility model embodiment;
Fig. 2 is the power supply input that provides in the utility model embodiment and the schematic diagram of simple protective circuit.
The module expansion interface circuit figure of Fig. 3 for providing in the utility model embodiment.
Embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearly understand, below in conjunction with accompanying drawing, the utility model is further described.Should be appreciated that specific embodiment described herein only in order to explain the utility model, and be not used in restriction the utility model.
According to the utility model embodiment, as Fig. 1, shown in Fig. 2 and Fig. 3, a kind of autonomous mobile robot control system is provided, comprises carrying equipment module, power module, computer control module and sensor assembly, computer control module is respectively by RS-485 bus and carrying equipment module, power module, sensor assembly is connected, and described carrying equipment module comprises motion chassis, electric machine controller, motor and scrambler, electric machine controller is connected with motor, and described power module comprises casing, rechargeable battery, power management, power protection system, pilot lamp and charger, power module is connected with motor, and described computer control module comprises embedded type CPU, the 802.11b/g network interface card of PCMCIA form and USB camera, computer control module is located at above sensor assembly, and described sensor assembly comprises housing, optoelectronic switch sensor, ultrasonic sonar, sensor signal processing main plate, GPS, 1-3 axle electronic compass, acceleration transducer and camera signal processing module.
Wherein, described sensor assembly also comprises 24V power interface and DS9-9 pin data bus mouth.
Wherein, described motion chassis comprises two rubber wheels, two motors and installs dull and stereotyped, and described motor is provided with speed reduction unit and code-wheel.
Wherein, a kind of autonomous mobile robot control system also comprises: basic chasisis, is fixedly connected with sensor assembly by 4 bolts.
Wherein, described computer control module also comprises: support and 4 rubber buffers, described support is connected by 4 pieces of bolts, and described rubber buffer is located at bottom embedded type CPU.
Wherein, described power module also comprises interchange input port.
Wherein, described motion chassis is connected with the aviation plug of power module by two 12 pins, and described power module is connected with the D shape head of sensor assembly by 25 pins, and described sensor assembly is connected with the D shape head of computer module by 25 pins.
It should be noted that; embedded type CPU that select is PHILIPS company LPC2129; it is based on ARM7TDMI-S kernel; have employed the internal bus access program Flash of 128bit width; actual speed is faster than general ARM7 core CPU; integrated peripheral hardware is also abundanter; in addition the packing forms of LPC2129 is less; and power consumption is only the half of C2000 series DSP; what Power Management Unit battery was selected is high capacity lithium ion battery group; adopt 7 unit lithium ion battery series connection, and with protection circuit.
In the present embodiment, what sensor assembly adopted is 24 sonar sensor interfaces, can configure the sonar sensor of varying number as required.600 serial face type ultrasonic sensors of the PolaroidInc. production of this system configuration, are mainly used in range finding, detect the situation of surrounding environment.This sensor is integrated, comparatively simple with the interface of MCU, processing ease, stable performance, and has stainless protective cover, and may be used for indoor or non-severe outdoor environment, what motion chassis adopted is crawler belt combined type chassis, and obstacle climbing ability is strong.
The course of work of this master control system is described below:
Pass through distributed AC servo system, computer control module is coordinated modules by unified bus and agreement, motion chassis is the movement executing mechanism of robot, power module and motor are just as the fuel tank of automobile and engine, and do not have power supply, robot does not just have power, sensor assembly is integrated with a large amount of sensor interfaces, be equivalent to " face " of robot, the environment that robot relies on these sensors to come around perception, thus for execute the task and decision-making provides foundation.Computer control module is the brain of robot, according to the motion of the information control of sensor feedback, is the decision center that robot is the highest.
In the process of walking, first sensor is waited in robot, launches the ultrasound wave of the 50KHz of certain hour and wait for echo after receiving " beginning " pulse signal of embedded type CPU; At receive MUT to after from the reflective sound wave of barrier, to embedded type CPU feedback pulse signal, the time span between namely embedded type CPU can transmit and receive and the velocity of sound calculate the distance between robot and barrier.
After the practical said structure of the utility model, provide a kind of autonomous mobile robot control system, can control autonomous, locomotor activity and work capacity all increase significantly.
It should be noted that and understand, when not departing from the spirit and scope of the present utility model required by accompanying claim, various amendment and improvement can be made to the utility model of foregoing detailed description.Therefore, the scope of claimed technical scheme is not by the restriction of given any specific exemplary teachings.
Claims (9)
1. an autonomous mobile robot control system, it is characterized in that: comprise carrying equipment module, power module, computer control module and sensor assembly, computer control module is respectively by RS-485 bus and carrying equipment module, power module, sensor assembly is connected, described carrying equipment module comprises motion chassis, electric machine controller, motor and scrambler, electric machine controller is connected with motor, described power module comprises casing, rechargeable battery, power management, power protection system, pilot lamp and charger, power module is connected with motor, described computer control module comprises embedded type CPU, the 802.11b/g network interface card of PCMCIA form and USB camera, computer control module is located at above sensor assembly, described sensor assembly comprises housing, optoelectronic switch sensor, ultrasonic sonar, sensor signal processing main plate, GPS, 1-3 axle electronic compass, acceleration transducer and camera signal processing module.
2. autonomous mobile robot control system according to claim 1, is characterized in that, described sensor assembly also comprises 24V power interface and DS9-9 pin data bus mouth.
3. autonomous mobile robot control system according to claim 1, is characterized in that, described rechargeable battery is high capacity lithium ion battery group.
4. autonomous mobile robot control system according to claim 1, is characterized in that, described motion chassis comprises two rubber wheels, two motors and installs dull and stereotyped, and described motor is provided with speed reduction unit and code-wheel.
5. autonomous mobile robot control system according to claim 1, is characterized in that, also comprise: basic chasisis, is fixedly connected with sensor assembly by 4 bolts.
6. autonomous mobile robot control system according to claim 1, is characterized in that, described computer control module also comprises: support and 4 rubber buffers, described support is connected by 4 pieces of bolts, and described rubber buffer is located at bottom embedded type CPU.
7. autonomous mobile robot control system according to claim 1, is characterized in that, described power module also comprises interchange input port.
8. autonomous mobile robot control system according to claim 1, it is characterized in that, described motion chassis is connected with the aviation plug of power module by two 12 pins, described power module is connected with the D shape head of sensor assembly by 25 pins, and described sensor assembly is connected with the D shape head of computer module by 25 pins.
9. autonomous mobile robot control system according to claim 1, is characterized in that: what described motion chassis adopted is crawler belt combined type chassis.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201520241246.8U CN204595519U (en) | 2015-04-20 | 2015-04-20 | A kind of autonomous mobile robot control system |
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| CN201520241246.8U CN204595519U (en) | 2015-04-20 | 2015-04-20 | A kind of autonomous mobile robot control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105827727A (en) * | 2016-04-29 | 2016-08-03 | 深圳前海勇艺达机器人有限公司 | Robot system capable of walking long distance |
| CN106323269A (en) * | 2015-12-10 | 2017-01-11 | 上海思岚科技有限公司 | Self-positioning and navigation device, positioning and navigation method and self-positioning and navigation system |
| CN107260071A (en) * | 2016-04-06 | 2017-10-20 | 王方明 | Public sweeping robot system and automatic recharging method |
-
2015
- 2015-04-20 CN CN201520241246.8U patent/CN204595519U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106323269A (en) * | 2015-12-10 | 2017-01-11 | 上海思岚科技有限公司 | Self-positioning and navigation device, positioning and navigation method and self-positioning and navigation system |
| WO2017097170A1 (en) * | 2015-12-10 | 2017-06-15 | 上海思岚科技有限公司 | Autonomous positioning and navigation device, positioning and navigation method and autonomous positioning and navigation system |
| CN106323269B (en) * | 2015-12-10 | 2019-06-07 | 上海思岚科技有限公司 | Autonomous positioning navigation equipment, positioning navigation method and automatic positioning navigation system |
| US10974390B2 (en) | 2015-12-10 | 2021-04-13 | Shanghai Slamtec Co., Ltd. | Autonomous localization and navigation equipment, localization and navigation method, and autonomous localization and navigation system |
| CN107260071A (en) * | 2016-04-06 | 2017-10-20 | 王方明 | Public sweeping robot system and automatic recharging method |
| CN105827727A (en) * | 2016-04-29 | 2016-08-03 | 深圳前海勇艺达机器人有限公司 | Robot system capable of walking long distance |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150826 Termination date: 20160420 |
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| CF01 | Termination of patent right due to non-payment of annual fee |