CN101973034A - Robot controlled circuit - Google Patents
Robot controlled circuit Download PDFInfo
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- CN101973034A CN101973034A CN 201010533681 CN201010533681A CN101973034A CN 101973034 A CN101973034 A CN 101973034A CN 201010533681 CN201010533681 CN 201010533681 CN 201010533681 A CN201010533681 A CN 201010533681A CN 101973034 A CN101973034 A CN 101973034A
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Abstract
The invention relates to a robot controlled circuit which comprises a master controller and a slave controller, wherein the master controller is communicated with the slave controller through a wireless communication protocol; the master controller is connected with a robot chassis direct-current servo motor, a chassis ultrasonic sensor and a wireless receiving and sending module; the slave controller is connected with a manipulator hand direct-current servo motor, a mechanical finger part sensing module, a head ultrasonic sensor, a human body sensing module, the wireless receiving and transmitting module and a display module; and the manipulator hand direct-current servo motor comprises a shoulder joint direct-current servo motor, an elbow joint direct-current servo motor and a hand part direct-current servo motor, and the hand part direct-current servo motor controls the opening and the closing of two mechanical fingers. The invention has the advantages of completing the business card delivering action through controlling the opening and the closing of the mechanical fingers, judging whether a guest gets the business card or not by additionally arranging the mechanical finger part sensing module and solving the positioning problem of a reception robot through the ultrasonic sensor.
Description
Technical field
The present invention relates to a kind of intelligence control circuit, especially a kind of have pass the reception ROBOT CONTROL circuit of sending out the business card function.
Background technology
Along with the development of society, the competition between each industrial enterprise progressively improves, and the core of competition is the competition of technology, and the appearance of reception robot of enterprise will improve the professional image of this enterprise to a certain extent, strengthens the approval of client to its technical capability.At the characteristics of reception robot, in its function and control, very big design and development space are arranged.
Summary of the invention
The present invention mainly solves the reception robot mechanical arm and refers to gripping business card how and the technical problem of sending business card, and a kind of robot control circuit is provided, and the control mechanical finger is pinched and is named sheet, unclamps the action of business card.
According to technical scheme provided by the invention, described robot control circuit comprises master controller and slave controller, communicates by wireless communication protocol between master controller and the slave controller; Master controller connects robot chassis DC servo motor, chassis ultrasonic sensor, radio receiving transmitting module, and slave controller connects mechanical arm DC servo motor, manipulator finger induction module, head ultrasonic sensor, human body induction module, radio receiving transmitting module and display module;
Described mechanical arm DC servo motor comprises shoulder joint DC servo motor, elbow joint DC servo motor, hand DC servo motor, the folding of two mechanical fingers of described hand DC servo motor control;
Described master controller comprises first single chip machine controlling circuit, and first single chip machine controlling circuit is connected with base plate electric machine tachometer circuit, chassis ultrasonic ranging interface circuit, chassis rear wheel drive circuit, infrared remote-controlled signal receiving circuit, infrared distance measurement circuit, 9V-5V DC power supply circuit, electric power management circuit, 5V-3.3V DC power supply circuit, the first wireless receiving and dispatching interface circuit;
Described slave controller comprises the second singlechip control circuit, and the second singlechip control circuit is connected with mechanical arm circuit tachometer circuit, finger section ultrasonic ranging circuit, head ultrasonic ranging circuit, mechanical arm motor-drive circuit, 9V-5V DC power supply circuit, electric power management circuit, 5V-3.3V DC power supply circuit, the second wireless receiving and dispatching interface circuit, connects the display circuit of described display module;
Described 9V-5V DC power supply circuit connects rechargeable battery and 5V-3.3V DC power supply circuit, described first, second wireless receiving and dispatching interface circuit connects a radio receiving transmitting module respectively, and described electric power management circuit connects 9V-5V DC power supply circuit and 5V-3.3V DC power supply circuit.
The distance measuring sensor that described manipulator finger induction module adopts is a ultrasonic sensor.Manipulator finger induction module sends the data to slave controller by distance measuring sensor, slave controller operating analysis subprogram, whether have object exist, and according to analysis result, send next step action of instruction control mechanical finger by slave controller if drawing in the preceding setpoint distance of mechanical finger.
Have object to exist before slave controller draws mechanical finger in the setpoint distance, slave controller time-delay control in 3 seconds mechanical finger opens.
Obtain distance values by described chassis ultrasonic sensor and head ultrasonic sensor, and according to the parameter of two sensors, set up sensor model, employing takies grid, according to Bayes rule, work out the global map in the reception robot target scope of activities, and global map is preserved with the form of binary array; In the robot moving process, according to the sensor values of current time, work out the local map of current time robot, and local map and global map are compared the particular location that draws robot.
Described slave controller also is connected with sound circuit.
Advantage of the present invention is: finish by the folding of control mechanical finger and send the business card action, at manipulator finger machine for casing-in or applying cover to book tool finger section induction module, whether obtained business card to judge the guest; Solve reception robot orientation problem by ultrasonic sensor simultaneously.
Description of drawings
Fig. 1 is the robot sketch that the present invention controls.
Fig. 2 is a control circuit theory diagram of the present invention
Fig. 3 is a master controller schematic diagram of the present invention.
Fig. 4 is a slave controller schematic diagram of the present invention.
Fig. 5 is robot positioning system's a software architecture schematic diagram.
The specific embodiment
The invention will be further described below in conjunction with drawings and Examples.The reception robot overall structure that the present invention controlled as shown in Figure 1, chassis trailing wheel 11 and chassis front-wheel 12 are housed on the robot chassis 10, chassis trailing wheel 11 is driven by chassis DC servo motor 4, running gear as the reception robot, mounting robot body and master controller 1 on robot chassis 10, display screen 9 is housed on the robot body, shoulder support is installed in the body top by robot, the built-in slave controller 2 of shoulder support, simultaneously, mechanical arm 14 is equipped with at the two ends of shoulder support, the latter end of mechanical arm 14 is installed with mechanical finger 15, integrated manipulator finger induction module 7 on the mechanical finger 15, head capsule 16 is installed in the shoulder support top, integrated head ultrasonic sensors 5 and human body induction modules 6 in the head capsule 16.Mechanical arm DC servo motor 3 is installed on the mechanical arm 14, comprises shoulder joint DC servo motor, elbow joint DC servo motor, hand DC servo motor.Chassis ultrasonic sensor 8 also is set on the chassis 10.
The frame for movement that the hand of this reception robot is chosen can be pinched mechanical finger 15 and is named sheet, unclamps business card, and at manipulator finger machine for casing-in or applying cover to book tool finger section induction module, whether has obtained business card to judge the guest.
In mechanical finger 15 structures of reception robot, main tooth rotates, drive is rotated from gear, the finger that master gear is coupled, connecting rod, pole, support is formed a parallel four-bar linkage, when master gear rotates, connecting rod also turns over an angle thereupon, thereby make its finger translation, translational movement can be determined by the angle that driving wheel turns over, from the also coupled finger of gear, connecting rod, pole, support is formed a parallel four-bar linkage, and when gear rotated, connecting rod also turned over an angle thereupon, thereby make its finger translation, translational movement also can be by the angle decision of crossing from gear rotation.Master gear rotates the translation that has just realized two fingers like this, has also just realized the opening and closing of two fingers, by the anglec of rotation of control master gear, also just can control the opening and closing amount of two mechanical fingers, gets suitable object to pinch.Slave controller drives master gear by motion control card control wrist DC servo motor, and master gear drives from the gear rotation, and the action by control hand servomotor drives the rotation of master and slave gear, realizes the opening and closing of finger.
The robot control circuit comprises master controller and slave controller, between communicate by wireless communication protocol; Master controller connects robot chassis DC servo motor, chassis ultrasonic sensor, radio receiving transmitting module, and slave controller connects mechanical arm DC servo motor, manipulator finger induction module, head ultrasonic sensor, human body induction module, radio receiving transmitting module and display module.Described mechanical arm DC servo motor is meant aforementioned shoulder joint DC servo motor, elbow joint DC servo motor, hand DC servo motor, by the folding of two mechanical fingers of hand DC servo motor control.
As shown in Figure 2, be core with the single chip machine controlling circuit in the master controller, be connected with the base plate electric machine tachometer circuit on it, expand circuit, chassis ultrasonic ranging interface circuit, chassis rear wheel drive circuit, infrared remote-controlled signal receiving circuit, 9V-5VDC power circuit, electric power management circuit, 5V-3.3VDC power circuit, wireless receiving and dispatching interface circuit outward, can also connect the infrared distance measurement circuit.As shown in Figure 3, be core with the single chip machine controlling circuit in the slave controller, be connected with on it mechanical arm motor speed measuring circuit, outward expand circuit, finger section ultrasonic ranging circuit, head ultrasonic ranging circuit, mechanical arm motor-drive circuit (driving aforementioned 3 motors), 9V-5VDC power circuit, electric power management circuit, 5V-3.3VDC power circuit, wireless receiving and dispatching interface circuit, connect the display circuit of display module, can also connect sound circuit.
Described 9V-5V DC power supply circuit connects rechargeable battery and 5V-3.3V DC power supply circuit, described first, second wireless receiving and dispatching interface circuit connects a radio receiving transmitting module respectively, and described electric power management circuit connects 9V-5V DC power supply circuit and 5V-3.3V DC power supply circuit.
Main controller circuit as shown in Figure 3 in the present embodiment, master controller adopts the STC89S52 single-chip microcomputer, adopt the external crystal oscillator of 12MHz, be connected in series the 10uF polar capacitor between 5V power supply and the RESET pin, 10uF polar capacitor and RESET pin be other to connect 10K Ω resistance and power supply ground joins, constitute an automatic power-on reset circuit, P0 ~ P7 mouth is pulled on and is drawn exclusion on the 10K, more than constitutes minimum system.The program burn writing circuit adopts the PL2303 chip, the same employing and the same external crystal oscillation circuit of master chip, baud rate is 9600b/S, the P3.0 of single-chip microcomputer, the P3.1 mouth meets the TXD of PL2303 chip respectively, the RXD mouth, power supply is with the master chip power supply, other PL2303 chip pin external circuits sees Fig. 3 for details, P0 among the figure ~ P3 device links to each other with 32 single-chip processor i/os respectively, with as expanded circuit, convenient external expansion board, the 9V-5VDC power circuit, adopt MP7805 voltage stabilizing chip, 9V power supply "+" and MP7805 chip vin pin join, between the other respectively 470uF polar capacitor that connects, 104 electric capacity and power supply ground join, and the effect of two electric capacity is respectively the filtering of 9V power supply, lotus root is closed, the 5V pin direct circuit plate power supply "+" of MP7805, and and ground between connect the 470uF polar capacitor respectively, 104 electric capacity carry out filtering to master controller 5V power supply, lotus root is closed, with the output burning voltage.5V-3.3VDC power circuit adopts MP2104 voltage stabilizing chip, wherein CAP1 is the 3.3V power supply interface.J1 in the master controller, J2 are the interface circuit of base plate electric machine, and U2 is a latch cicuit, link to each other with eight pins of P1 mouth, in order to latch the signal of these eight mouths, play the usefulness of signal maintenance, gating, expansion P1 mouth.The wireless transmitter module interface circuit chips adopts the ULN2003 chip, and this chip generally links to each other by the SPI interface with single-chip microcomputer, and the SPI interface is not set in this master controller, realizes by simulation SPI mouth in software.As shown in Figure 4, slave controller circuit and main controller circuit are similar, and difference is, needs the motor on 6 mechanical arms of control, simultaneously, increases sound circuit, the human body induction module interface circuit.Therefore, need multichannel expansion I/O mouth, add a latch cicuit for this reason, be U12, U13 two latch cicuits, human body induction module interface circuit, be three-pin conncetor, respectively with system power supply+/-, the P1.0 mouth links to each other, and during in the target zone activity, is output as high level as the people, when unmanned or people is static, be output as low level.Sound circuit adopts the ISD1700A-40S speech chip, REC, PLAY, ERASE, FWD, VOL, FT, link to each other with h1, i1, j1, h2, i2, j2 pin on U12, the U13 latch respectively, thereby by the Single-chip Controlling speech chip: play, recording, play a section selection, playing sequence etc.
Software architecture in the present embodiment as shown in Figure 5.What wherein each frame was interior is subfunction, states before main program, defines.The framework of main program promptly is the program architecture in the accompanying drawing 5.Systems soft ware comprises automatic cruising program, voice program, ultrasonic ranging program, human body sensing program, wireless communication protocol, digital-to-analogue/analog-to-digital conversion program.
Master controller and slave controller respectively by the master control system program with from the control system driven by program, between communicate by wireless communication protocol.When manipulator finger induction module detects external information, transmit signal and give slave controller, slave controller time-delay control in 3 seconds mechanical finger opens.
Obtain distance values by chassis ultrasonic sensor and head ultrasonic sensor, the numerical value that hot nose obtains is by the radio receiving transmitting module of master/slave controller, send to master controller, and the data of two sensors are handled on the single-chip microcomputer of master controller: according to the parameter of two ultrasonic sensors, (ultrasonic sensor detects distance to set up sensor model, ripple fan angle), employing takies grid, according to Bayes rule, formulate the global map in the reception robot target scope of activities, and global map is preserved with the form of binary array; Robot is in moving process, and according to the sensor values of current time, master/slave controller repeats above-mentioned action, makes the local map of current time robot, and local map and global map are compared, and judges the particular location of robot.
Adopt the robot of the present invention's control, its control system adopts modularization, and versatility is good, and interchangeability is strong; Frame for movement is brief, ease of assembly, maintenance; Software adopts the C language compilation, modularization, and transplantability is strong.
Claims (6)
1. a robot control circuit comprises master controller and slave controller, it is characterized in that: communicate by wireless communication protocol between described master controller and the slave controller; Master controller connects robot chassis DC servo motor, chassis ultrasonic sensor, radio receiving transmitting module, and slave controller connects mechanical arm DC servo motor, manipulator finger induction module, head ultrasonic sensor, human body induction module, radio receiving transmitting module and display module;
Described mechanical arm DC servo motor comprises shoulder joint DC servo motor, elbow joint DC servo motor, hand DC servo motor, the folding of two mechanical fingers of described hand DC servo motor control;
Described master controller comprises first single chip machine controlling circuit, and first single chip machine controlling circuit is connected with base plate electric machine tachometer circuit, chassis ultrasonic ranging interface circuit, chassis rear wheel drive circuit, infrared remote-controlled signal receiving circuit, infrared distance measurement circuit, 9V-5V DC power supply circuit, electric power management circuit, 5V-3.3V DC power supply circuit, the first wireless receiving and dispatching interface circuit;
Described slave controller comprises the second singlechip control circuit, and the second singlechip control circuit is connected with mechanical arm circuit tachometer circuit, finger section ultrasonic ranging circuit, head ultrasonic ranging circuit, mechanical arm motor-drive circuit, 9V-5V DC power supply circuit, electric power management circuit, 5V-3.3V DC power supply circuit, the second wireless receiving and dispatching interface circuit, connects the display circuit of described display module;
Described 9V-5V DC power supply circuit connects rechargeable battery and 5V-3.3V DC power supply circuit, described first, second wireless receiving and dispatching interface circuit connects a radio receiving transmitting module respectively, and described electric power management circuit connects 9V-5V DC power supply circuit and 5V-3.3V DC power supply circuit.
2. robot control circuit according to claim 1 is characterized in that the distance measuring sensor that described manipulator finger induction module adopts is a ultrasonic sensor.
3. robot control circuit according to claim 1, it is characterized in that described manipulator finger induction module sends the data to slave controller by distance measuring sensor, slave controller operating analysis subprogram, whether draw in the preceding setpoint distance of mechanical finger has object to exist, and, send next step action of instruction control mechanical finger by slave controller according to analysis result.
4. as robot control circuit as described in the claim 3, it is characterized in that having object to exist before the mechanical finger in the setpoint distance when slave controller draws, slave controller time-delay control in 3 seconds mechanical finger opens.
5. robot control circuit according to claim 1, it is characterized in that obtaining distance values by described chassis ultrasonic sensor and head ultrasonic sensor, and according to the parameter of two sensors, set up sensor model, employing takies grid, according to Bayes rule, work out the global map in the reception robot target scope of activities, and global map is preserved with the form of binary array; In the robot moving process, according to the sensor values of current time, work out the local map of current time robot, and local map and global map are compared the particular location that draws robot.
6. robot control circuit according to claim 1 is characterized in that described slave controller also is connected with sound circuit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201010533681 CN101973034A (en) | 2010-11-06 | 2010-11-06 | Robot controlled circuit |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201010533681 CN101973034A (en) | 2010-11-06 | 2010-11-06 | Robot controlled circuit |
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| CN101973034A true CN101973034A (en) | 2011-02-16 |
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| CN 201010533681 Pending CN101973034A (en) | 2010-11-06 | 2010-11-06 | Robot controlled circuit |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102825603A (en) * | 2012-09-10 | 2012-12-19 | 江苏科技大学 | Network teleoperation robot system and time delay overcoming method |
| CN102854794A (en) * | 2012-08-14 | 2013-01-02 | 王兆进 | Intelligent medium-short wave infrared drying equipment controller |
| CN105652869A (en) * | 2016-01-04 | 2016-06-08 | 江苏科技大学 | CMAC and PID-based omnidirectional mobile robot and moving control method |
| CN106345129A (en) * | 2016-10-19 | 2017-01-25 | 广州智惟高教育科技有限公司 | Intelligent toy robot control system |
| CN109070357A (en) * | 2017-03-20 | 2018-12-21 | 深圳配天智能技术研究院有限公司 | Industrial robot system, control system and method, controller and calculating equipment |
| CN110303502A (en) * | 2019-07-27 | 2019-10-08 | 南京市晨枭软件技术有限公司 | A kind of robot instruction's method of controlling operation and its system |
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| CN201464650U (en) * | 2009-07-29 | 2010-05-12 | 上海工程技术大学 | Ultrasonic receiving circuit for moving region robot |
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| JP2003255991A (en) * | 2002-03-06 | 2003-09-10 | Sony Corp | Interactive control system, interactive control method, and robot apparatus |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102854794A (en) * | 2012-08-14 | 2013-01-02 | 王兆进 | Intelligent medium-short wave infrared drying equipment controller |
| CN102825603A (en) * | 2012-09-10 | 2012-12-19 | 江苏科技大学 | Network teleoperation robot system and time delay overcoming method |
| CN102825603B (en) * | 2012-09-10 | 2015-01-21 | 江苏科技大学 | Network teleoperation robot system and time delay overcoming method |
| CN105652869A (en) * | 2016-01-04 | 2016-06-08 | 江苏科技大学 | CMAC and PID-based omnidirectional mobile robot and moving control method |
| CN106345129A (en) * | 2016-10-19 | 2017-01-25 | 广州智惟高教育科技有限公司 | Intelligent toy robot control system |
| CN106345129B (en) * | 2016-10-19 | 2019-01-18 | 广州智惟高教育科技有限公司 | A kind of control system of intelligent toy robot |
| CN109070357A (en) * | 2017-03-20 | 2018-12-21 | 深圳配天智能技术研究院有限公司 | Industrial robot system, control system and method, controller and calculating equipment |
| CN110303502A (en) * | 2019-07-27 | 2019-10-08 | 南京市晨枭软件技术有限公司 | A kind of robot instruction's method of controlling operation and its system |
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