CN102809929A - Standby power consumption reduced mobile robot apparatus - Google Patents
Standby power consumption reduced mobile robot apparatus Download PDFInfo
- Publication number
- CN102809929A CN102809929A CN2011103509715A CN201110350971A CN102809929A CN 102809929 A CN102809929 A CN 102809929A CN 2011103509715 A CN2011103509715 A CN 2011103509715A CN 201110350971 A CN201110350971 A CN 201110350971A CN 102809929 A CN102809929 A CN 102809929A
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- CN
- China
- Prior art keywords
- drive division
- mobile robot
- control part
- sub
- mobile
- 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
- 230000003287 optical effect Effects 0.000 claims abstract description 13
- 238000002604 ultrasonography Methods 0.000 claims description 23
- 230000033001 locomotion Effects 0.000 claims description 5
- 239000003990 capacitor Substances 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 230000002093 peripheral effect Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 3
- 241000219098 Parthenocissus Species 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Images
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- 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
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves
- G01S5/30—Determining absolute distances from a plurality of spaced points of known location
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J13/00—Circuit arrangements for providing remote indication of network conditions, e.g. an instantaneous record of the open or closed condition of each circuitbreaker in the network; Circuit arrangements for providing remote control of switching means in a power distribution network, e.g. switching in and out of current consumers by using a pulse code signal carried by the network
Abstract
The invention relates to a travelable mobile robot apparatus, comprising: a wireless reception unit; a camera; a plurality of ultrasonic wave sensors arranged on the body of the robot for detecting relative positions to surrounding objects according to ultrasonic waves; a power supply unit arranged in the body of the robot for supplying electric power; a plurality of sensor control switches arranged in a plurality of power supply systems from the power supply unit to the ultrasonic wave sensors, respectively, so as to turn on/turn off the power supplied to the ultrasonic wave sensors, respectively; an optical distance sensor arranged in the body of the robot for emitting lights and receiving reflected lights so as to measure the distance of the objects; a wheel driving unit; a main control unit arranged in the body of the robot for processing signals received by the wireless reception unit and signals received from the camera and sending control commands; and sub control units for processing signals received from the main control unit, controlling the sensor control switches to switch on in a predetermined sequence and processing signals received by the ultrasonic wave sensors.
Description
Technical field
The present invention relates to mobile robot device, relate in particular to the mobile robot device that can reduce stand-by power consumption when driving.
Background technology
Recently, the use of robot has been surmounted the utilization in factory, and expanded the use in general job to.Especially the robotization to the conventional sense of atomic power device etc., the plastering that is used for constructions work, cleaning work, the operations such as (painting) of spraying paint produces more demand, thereby this is studied.
In addition; For the robot that can move and can implement operation through wheel; The driven by power of supplying with according to built-in battery comprises the driven by power element of motor, sensor etc.; In this case, but owing to determine the duration of operation according to power consumption rate, so the scheme that can reduce unnecessary power consumption has been produced demand.
Summary of the invention
The present invention proposes in order to solve aforesaid demand, but its purpose is to provide consumption through reducing stand-by power consumption with the mobile robot device of duration of increasing operation.
In order to reach said purpose, mobile robot device according to the present invention comprises: the body that is arranged on said mobile robot is to receive the wireless receiving portion of wireless control signal; Be arranged on said mobile robot's the body with video camera (camera) the neighboring area shooting; The body that is arranged on said mobile robot is with a plurality of ultrasound sensors according to the relative position between ultrasonic detection and the peripheral object; The body that is arranged on said mobile robot is to supply with the power supply unit of electric power; Be separately positioned on a plurality of sensor CSs of the electric power of supplying with to said ultrasound sensors respectively with On/Off to each electric power supply system of said ultrasound sensors from said power supply unit; Thereby the light that the body that is arranged on said mobile robot is reflected with irradiates light and reception is measured the optical distance sensor to the distance of object; Drive the wheel drive portion of said mobile robot's wheel; Lift-launch at said mobile robot's body to handle through said wireless receiving portion's signal that receives and signal that receives from said video camera and to see the master control part of control command off; And handle the said sensor CS of signal that receives from said master control part with the order conducting successively (switch on) set and handle the sub-control part of the signal that receives from said ultrasound sensors.
Preferably; Also comprise: comprise resistive element and be connected the low-pass filter of the capacitor between said resistive element and the ground connection; To remove the included noise (noise) of signal by said optical distance sensor output; Thereby provide to said sub-control part, said resistive element is connected between the input end of output terminal and said sub-control part of said optical distance sensor; The arm drive division of actuating arm, said arm is arranged on said mobile apparatus human body with the mode of articulatable; A drive division of driving head, said head is combined in said mobile apparatus human body's body with the mode that can move; Drive the eye drive division of eye, said eye is combined in said mobile apparatus human body's head with the mode that can move; Reception from the control command of said sub-control part transmission with motion (motion) handling part to said arm drive division, said drive division and the output of eye drive division; Be separately positioned on from the power supply path of said power supply unit to said arm drive division, said drive division and said eye drive division a plurality of driving electric CSs with the supply of On/Off electric power; Thereby and be arranged between said sub-control part and the said mobile handling part with will be from the some relay and control switches that can transmit that optionally is connected the control signal of said sub-control part output and said mobile handling part and the subconnector; During some when drive said arm drive division, said drive division and said eye drive division through said mobile handling part in; Said sub-control part is controlled said relay and control switch and is connected with said mobile handling part, and the corresponding said driving electric CS conducting of driven object in control and said arm drive division, said drive division and the said eye drive division.
According to mobile robot device of the present invention,, thereby has the advantage that can reduce the electric power power consumption through the stand-by power consumption of reduction to sensor and the supply of mobile driving element.
Description of drawings
Fig. 1 is the front view (FV) that shows according to mobile robot one embodiment of the present invention;
Fig. 2 is the mobile robot's of Fig. 1 a control system circuit diagram.
Description of reference numerals
10: power supply unit; 110: wireless receiving portion;
120: video camera; 130: wheel drive portion;
140: master control part; 150: sub-control part;
160: ultrasound sensors; 170: optical distance sensor;
310: the sensor CS; 321 to 324: the driving electric CS.
Embodiment
Below, with reference to accompanying drawing further explain mobile robot device according to a preferred embodiment of the invention.
Fig. 1 is the front view (FV) that shows according to mobile robot one embodiment of the present invention, and Fig. 2 is the mobile robot's of Fig. 1 a control system circuit diagram.
Like Fig. 1 and shown in Figure 2, mobile robot device 100 comprises: power supply unit 10, wireless receiving portion 110, video camera 120, wheel drive portion 130, master control part 140, sub-control part 150, ultrasound sensors 160, optical distance sensor 170, location recognition sensor 180, mobile handling part 210, sensor CS 310 and driving electric CS 321 to 324.
Mobile apparatus human body 101 is formed through wheel 103 and can drives.
Certainly, different with illustrated instance, wheel 103 can also be suitable for the creeper truck (caterpillar) that rotates with creeper tread.
Mobile apparatus human body 101 forms with the structure that comprises body 101a, a 101b and eye (eye) 102; Wherein, Body 101a is provided with the left side arm 104 and right arm 105 of articulatable; Said 101b is formed and can carries out relative motion to body 101a, and eye 102 is installed on the 101b and correct 101b can carry out relative motion.
Wireless receiving portion 110 is arranged on body 101, thereby receives the wireless control signal of being seen off with the remote controllers (not shown) of the wireless user's of seeing off operation signal, to export to master control part 140.
Certainly, the eye 102 that is arranged on the 101b also can be made into video camera.
Sensor CS 310 is separately positioned on the electric power supply system from power supply unit 10 to a plurality of ultrasound sensors 160, and is set to the control of acceptor control part 150, thus the electric power of can On/Off supplying with to ultrasound sensors 160 respectively.
For being risen to, precision of measurement compares ultrasound sensors 160 higher and suitable optical distance sensors 170.
Wheel drive portion 130 is by master control part 140 controls, thereby driving is used for first motor 131 and second motor 132 of the wheel 103 of Driving Mobile Robot 100.Wherein, Become complicated for fear of accompanying drawing; Thereby for for the continuous electric power supply line of power supply unit 10 to driving element, the left side arm drive division 331 that only illustrate ultrasound sensors 310, will narrate in the back, right arm drive division 332, a drive division 333 and eye (EYE) drive division 334.
As an instance; Master control part 104 is calculated current position and direction through utilizing the signal that is received by scrambler (not shown); And control wheel drive portion 130 is to implement operation according to predefined operation path; And the driving of the element that arm 104, arm 105, a 101b or eye 102 is moved through 150 controls of sub-control part, wherein, said scrambler detects first motor 131 that is able to drive according to wheel drive portion 130 and the rotation number of second motor 132.
With the detailed description of carrying out antithetical phrase control part 150 in the back.
Low-pass filter 175 is formed; Comprise resistive element 176 and be connected the capacitor 177 between resistive element 176 and the ground connection; So that remove the included noise (noise) of signal by optical distance sensor 170 outputs; Thereby provide to sub-control part 150, wherein, resistive element 176 is connected between the input end of output terminal and sub-control part 150 of optical distance sensor 170.Preferably, low-pass filter 175 is formed the following signal of 1KHz is passed through.
The arm drive division comprises: the mode that can drive with articulatable is arranged on the arm 104 of body 101 and left side arm drive division 331, the right arm drive division 332 of arm 105; Operation signal according to receiving will drive as the motor or the actuator (actuator) of driving element.
Eye (EYE) drive division 334 drives eye 102 according to the operation signal that receives and through motor or actuator as driving element, and eye 102 is combined on the 101b of body 101 with movable mode.
Driving electric CS 321 to 324 is separately positioned on from the power supply path of power supply unit 10 to arm drive division 331, arm drive division 332, a drive division 333 and eye drive division 334, thereby supplies with according to the control signal On/Off electric power of sub-control part 150.
Relay and control switch 220 be arranged between sub-control part 150 and the mobile handling part 210 with will be from the control signal of sub-control part 150 outputs and mobile handling part 210 and subconnector 230 somely optionally be connected, thereby can implement to transmit.
Wherein, subconnector 230 is a satellite interface, makes in the time will increasing the function of robot, to use.
When moving some in handling part 210 actuating arm drive divisions 331, arm drive division 332, a drive division 333 and the eye drive division 334, sub-control part 150 be controlled to be relay and control switch 220 connect with mobile handling part 210 and be controlled to be with arm drive division 331, arm drive division 332, a drive division 333 and a drive division 334 in the corresponding driving electric CS 321 to 324 of driven object be able to conducting.Promptly; When making a 101b to body 101 rotating drive; Sub-control part 150 is controlled to be; Relay and control switch 220 is able to conducting with the driving electric CS 324 that mobile handling part 210 is connected, is arranged on the power supply path from power supply unit 10 to a drive division 333, thereby realizes the electric power supply.In this case, realize that the electric power of a drive division 333 is supplied with, then can become the state that can move, and according to operation signal CD-ROM drive motor or actuator, wherein, said operation signal receives through moving handling part 210.
And sub-control part 150 is able to conducting successively with the order that sensor CS 310 is controlled to be to set, and handles the signal that receives from ultrasound sensors 160.Promptly; Under the situation that is provided with eight ultrasound sensors 160; Sub-control part 150 only conducting and first ultrasound sensors 160 corresponding sensor CSs 310 to handle the signal that is received; Only conducting and second ultrasound sensors 160 corresponding sensor CS 310 are to implement to handle the process of the signal that is received then, and through this process, only the ultrasound sensors 160 corresponding sensor CSs 310 of conducting and last order are to handle the signal that is received; Then, repeat the process of only conducting and first ultrasound sensors 160 corresponding sensor CSs 310 once more.
In this case, all receive the electric power of being supplied with all ultrasound sensors 160 and compare, can reduce power consumption.
According to this mobile robot device 100; Not often to sensor element and operation element supply capability; But only in when operation supply capability, and sensor also is suitable for the mode of supply capability successively and processing signals, thus unnecessary stand-by power consumption consumption can be reduced.
Claims (2)
1. mobile robot device that can drive comprises:
Wireless receiving portion, the body that is arranged on said mobile robot is to receive wireless control signal;
Video camera is arranged on said mobile robot's the body being made a video recording in the neighboring area;
A plurality of ultrasound sensors are arranged on said mobile robot's body, with detect according to ultrasonic and peripheral object between relative position;
Power supply unit, the body that is arranged on said mobile robot is to supply with electric power;
A plurality of sensor CSs are separately positioned on from said power supply unit to each electric power supply system of said ultrasound sensors, the electric power of supplying with to said ultrasound sensors respectively with On/Off;
Optical distance sensor is arranged on said mobile robot's body, the light that is reflected with irradiates light and reception, thus measure distance to object;
Wheel drive portion drives said mobile robot's wheel;
Master control part is carried the body said mobile robot, handling signal that receives and the signal that receives from said video camera through said wireless receiving portion, and sees control command off; And
Sub-control part is handled the signal that receives from said master control part, and controls the order successively conducting of said sensor CS to set, and handles the signal that receives from said ultrasound sensors.
2. mobile robot device according to claim 1 is characterized in that, also comprises:
Low-pass filter; Comprise resistive element and capacitor; To remove the included noise of signal by said optical distance sensor output; Thereby provide to said sub-control part, said resistive element is connected between the input end of output terminal and said sub-control part of said optical distance sensor, and said capacitor is connected between said resistive element and the ground connection;
The arm drive division drives the arm that is arranged on said mobile apparatus human body with the mode that can carry out joint motions;
Drive division drives the head that is combined in said mobile apparatus human body's body with the mode that can move;
The eye drive division drives the eye that is combined in said mobile apparatus human body's head with the mode that can move;
Move handling part, receive, to export to said arm drive division, said drive division and said eye drive division from the control command of said sub-control part transmission;
A plurality of driving electric CSs are separately positioned on from the power supply path of said power supply unit to said arm drive division, said drive division and said eye drive division, with the supply of On/Off electric power; And
The relay and control switch is arranged between said sub-control part and the said mobile handling part, thereby will be from the control signal of said sub-control part output and said mobile handling part and subconnector any one optionally be connected, so that can transmit;
During when drive said arm drive division, said drive division and said eye drive division through said mobile handling part in any one; Said sub-control part is controlled said relay and control switch and is connected with said mobile handling part, and the corresponding said driving electric CS conducting of driven object in control and said arm drive division, said drive division and the said eye drive division.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR10-2011-0052989 | 2011-06-01 | ||
| KR1020110052989A KR101252096B1 (en) | 2011-06-01 | 2011-06-01 | robot apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102809929A true CN102809929A (en) | 2012-12-05 |
Family
ID=47233656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011103509715A Pending CN102809929A (en) | 2011-06-01 | 2011-11-01 | Standby power consumption reduced mobile robot apparatus |
Country Status (2)
| Country | Link |
|---|---|
| KR (1) | KR101252096B1 (en) |
| CN (1) | CN102809929A (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101382506B1 (en) * | 2013-05-23 | 2014-04-07 | 주식회사 하이소닉 | Light receiving device of motion sensing switch |
| WO2017115891A1 (en) * | 2015-12-30 | 2017-07-06 | 대구대학교 산학협력단 | Industrial embedded device to which low power technique is applied |
| KR102454105B1 (en) * | 2021-02-25 | 2022-10-12 | 한국로봇융합연구원 | Reduced power consumption type robot for disasters accident |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63113709A (en) * | 1986-10-31 | 1988-05-18 | Shinko Electric Co Ltd | Power supply controller for mobile robot |
| CN1512384A (en) * | 2002-12-31 | 2004-07-14 | 北京数维时空科技发展有限公司 | Movable multimedia device |
| JP2005348475A (en) * | 2004-06-01 | 2005-12-15 | Matsushita Electric Ind Co Ltd | Motor drive unit |
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
Family Cites Families (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100576171B1 (en) * | 2002-12-31 | 2006-05-03 | 이지로보틱스 주식회사 | Modular Robot Device, System and method for controlling the same |
| KR20050039934A (en) * | 2003-10-27 | 2005-05-03 | (주) 와우로봇 | Power apparatus of robot with self-battery and its power management method |
| WO2007132571A1 (en) * | 2006-05-16 | 2007-11-22 | Murata Kikai Kabushiki Kaisha | Robot |
-
2011
- 2011-06-01 KR KR1020110052989A patent/KR101252096B1/en not_active IP Right Cessation
- 2011-11-01 CN CN2011103509715A patent/CN102809929A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS63113709A (en) * | 1986-10-31 | 1988-05-18 | Shinko Electric Co Ltd | Power supply controller for mobile robot |
| CN1512384A (en) * | 2002-12-31 | 2004-07-14 | 北京数维时空科技发展有限公司 | Movable multimedia device |
| JP2005348475A (en) * | 2004-06-01 | 2005-12-15 | Matsushita Electric Ind Co Ltd | Motor drive unit |
| CN101590323A (en) * | 2009-07-08 | 2009-12-02 | 北京工业大学 | A kind of one-wheel robot system and control method thereof |
Also Published As
| Publication number | Publication date |
|---|---|
| KR101252096B1 (en) | 2013-04-12 |
| KR20120134213A (en) | 2012-12-12 |
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| C06 | Publication | ||
| PB01 | Publication | ||
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Application publication date: 20121205 |