CN103064393B - Robot carrying control system based on wireless network - Google Patents
Robot carrying control system based on wireless network Download PDFInfo
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- CN103064393B CN103064393B CN201210593439.0A CN201210593439A CN103064393B CN 103064393 B CN103064393 B CN 103064393B CN 201210593439 A CN201210593439 A CN 201210593439A CN 103064393 B CN103064393 B CN 103064393B
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- 238000004891 communication Methods 0.000 claims abstract description 33
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims description 28
- 239000000463 material Substances 0.000 claims description 27
- 230000005540 biological transmission Effects 0.000 claims description 21
- 238000012544 monitoring process Methods 0.000 claims description 9
- 238000012545 processing Methods 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 8
- 238000013439 planning Methods 0.000 claims description 6
- 229910003460 diamond Inorganic materials 0.000 claims description 5
- 239000010432 diamond Substances 0.000 claims description 5
- 238000012360 testing method Methods 0.000 claims description 5
- 238000012546 transfer Methods 0.000 claims description 5
- 230000005611 electricity Effects 0.000 claims description 4
- 101100545272 Caenorhabditis elegans zif-1 gene Proteins 0.000 description 3
- 230000006399 behavior Effects 0.000 description 3
- 238000004519 manufacturing process Methods 0.000 description 3
- 238000010276 construction Methods 0.000 description 2
- 238000006073 displacement reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000007726 management method Methods 0.000 description 2
- 206010011409 Cross infection Diseases 0.000 description 1
- 206010029803 Nosocomial infection Diseases 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 210000004556 brain Anatomy 0.000 description 1
- 230000010485 coping Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012384 transportation and delivery Methods 0.000 description 1
Classifications
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention relates to a multi-robot carrying control system, in particular to a multi-robot carrying control system based on a wireless network. The control system comprises a user control platform, an upper computer control subsystem, a lower computer control subsystem and a radio frequency identification devices (RFID) label, the lower computer control subsystem is arranged on a robot, the RFID label is arranged on a motion trail of the robot or around the robot, the user control platform and the upper computer control subsystem convey information through wire or wireless communication, and the upper computer control subsystem and the lower computer control subsystem convey information through wireless communication. The lower computer control subsystem comprises a RFID reader. The robot carrying control system based on the wireless network reads position information on the RFID label through the RFID reader so as to confirm the specific position of the robot, positioning precision is high, and practical applicability is strong.
Description
Technical field
The present invention relates to a kind of multirobot transport control system, especially relate to the multirobot transport control system based on wireless network.
Background technology
Robot is being commonly called as of robot brain device, comprises the machinery of all simulating human behaviors or thought and simulation other biological.It both can accept mankind commander, can run again the program of layout in advance, also can according to the principle guiding principle action of formulating with artificial intelligence technology.Its task is mainly assisted or replaces the work of the mankind.
Application number be 03139296.2 Chinese invention patent disclose " control system for multi robot carrying based on wireless network ", this control system comprises PC control subsystem, for responding operational order, the planning carrying task monitor slave computer control subsystem of user; Multiple slave computer control subsystem, for joint of robot Motion trajectory, completes motion servo and for host computer transfer robot running state parameter; PC control subsystem is connected by wireless network with slave computer control subsystem.In this control system, slave computer control subsystem is according to joint of robot displacement command dx, dy and dz of host computer, and the joint motor carrying out control completes joint displacements, thus makes robot arrive destination.But the accuracy requirement of which to joint motor and gearing is high, this robot production cost is high, causes the practicality of this robot transport control system not strong.
Summary of the invention
In view of this, be necessary for the problems referred to above, a kind of robot transport control system based on wireless network is provided.This control system is practical, and material can be delivered to destination by robot exactly.
The present invention is by the following technical solutions:
Based on a robot transport control system for wireless network, comprise
User's parametric controller, for receiving the operational order of user and monitoring PC control subsystem;
PC control subsystem, for responding operational order, the planning conveying task monitor slave computer control subsystem of user;
Slave computer control subsystem for the behavior of control, and is PC control subsystem transfer robot state parameter; Described slave computer control subsystem is installed in robot;
RFID label tag, to be installed on robot motion's track or near, include positional information;
Transmission information is carried out by wired or wireless communication between described user's parametric controller and PC control subsystem; Transmission information is carried out by radio communication between described PC control subsystem and slave computer control subsystem;
Described slave computer control subsystem comprises rfid interrogator, and rfid interrogator reads the positional information of RFID label tag on movement locus or neighbouring.
This system can control multiple stage robot simultaneously in real time, monitors in real time, but also can realize Long-distance Control, is easy to information automation management.Adopt rfid interrogator to read and be positioned at RFID label tag to determine the position of robot, positional precision is high, and low to topworks's accuracy requirement of robot, thus reduces the production cost of robot.
Further, the wireless network transmissions information based on Zigbee communication agreement is passed through between described PC control subsystem and slave computer control subsystem.
Based on the wireless network low complex degree of Zigbee communication agreement, low-power consumption, low cost, adopt the wireless network transmissions information based on Zigbee communication agreement, system Construction cost and operation cost can be reduced.
Further, the local network transport information based on ethernet communication protocol is passed through between described user's parametric controller and PC control subsystem.
Further, the network traffic based on serial communication protocol is passed through between described user's parametric controller and PC control subsystem.
The described robot transport control system based on wireless network also comprises and detects material and whether be positioned over the first peripheral unit of material diamond, the first peripheral unit by testing result by the wireless network transmissions based on Zigbee communication agreement to host computer control subsystem; PC control subsystem is according to testing result planning robot task.
Further, described first peripheral unit comprises photoelectric sensor.
Further, described material is positioned in materials vehicle, and materials vehicle is provided with the RFID label tag including destination information.
Described PC control subsystem also comprises crossroad and to pass through processing module, when two or more robot is simultaneously by certain crossroad, the higher slave computer control subsystem of task right of priority is preferentially issued in current order by crossroad processing module of passing through, by slave computer control subsystem to robot stop/moving line operate.
Described PC control subsystem also comprises elevator controlling module, for controlling the running of elevator, carrys out transmission information between PC control subsystem and elevator by wire communication; The described robot transport control system based on wireless network also comprises and is installed on the second peripheral unit on elevator door or neighbouring, after second peripheral unit detects robot, by information by based on the wireless network transmissions of Zigbee communication agreement to host computer control subsystem, order is sent to elevator by elevator controlling module.
Further, the local network transport information based on ethernet communication protocol is passed through between described PC control subsystem and elevator.
Further, the network traffic based on serial communication protocol is passed through between described PC control subsystem and elevator.
Further, described second peripheral unit comprises photoelectric sensor.
Described slave computer control subsystem also comprises electric quantity monitoring module, for the electricity of monitoring robot, and information about power is transferred to PC control subsystem; When robot electric quantity is not enough, PC control subsystem sends charge command to slave computer control subsystem, and robot goes to charging station to charge.
Described slave computer control subsystem also comprises charging station control module, and charging station control module sends charging signals to charging station.
Further, described charging station control module sends charging signals to charging station based on IrDA protocol.
Further, described charging station control module sends charging signals to charging station based on bluetooth communication agreement.
The described robot transport control system based on wireless network also comprises the 3rd peripheral unit being positioned at working terminal, for the accident process request of receiving workstation point, and by accident process request by based on the wireless network transmissions of Zigbee communication agreement to host computer control subsystem, accident request is transferred to user's parametric controller by PC control subsystem.
Further, described 3rd peripheral unit comprises touch-screen.
Relative to prior art, beneficial effect of the present invention is:
1, can control in real time multiple stage machine tool people, monitor in real time, but also can Long-distance Control be realized, be easy to information automation management.
2, adopt rfid interrogator to read and be positioned at RFID label tag to determine the position of robot, positional precision is high, and to the propulsion system of robot and gearing accuracy requirement low, thus reduce the production cost of robot.
3, the robot transport control system based on wireless network adopts based on after the wireless network transmission of information of Zigbee communication agreement, and system rejection to disturbance is strong, and construction cost is low, and operation cost is low.
Accompanying drawing explanation
Fig. 1 is the composition diagram of one of them embodiment of the present invention.
In figure: 1-user's parametric controller, 2-PC control subsystem, 3-slave computer control subsystem, 4-robot, 6-first RFID label tag, 7-RFID read write line, 8-first peripheral unit, 9-materials vehicle, 10-photoelectric sensor, 11-second RFID label tag, 12-passes through crossroad processing module, 13-elevator controlling module, 14-elevator, 15-charging station control module, 16-second peripheral unit, 17-electric quantity monitoring module, 18-charging station, 19-the 3rd peripheral unit, 20-touch-screen.
Embodiment
Describe a kind of robot 4 based on wireless network of the present invention in detail below in conjunction with accompanying drawing and carry control system.
Figure 1 shows that one of them embodiment of the present invention, control system should be carried based on the robot 4 of wireless network and comprise: user's parametric controller 1, PC control subsystem 2, some slave computer control subsystem 3.Described user's parametric controller 1 receives the operational order of user, and monitors PC control subsystem 2; Described PC control subsystem 2 responds operational order, the planning conveying task monitor slave computer control subsystem 3 of user; The behavior of described slave computer control subsystem 3 control 4, and be PC control subsystem 2 transfer robot 4 state parameter.By based on the network traffic of serial communication protocol between described user's parametric controller 1 and PC control subsystem 2, by wireless network (following by " wireless network based on Zigbee communication agreement " referred to as " Zigbee the wireless network ") transmission information based on Zigbee communication agreement between described PC control subsystem 2 and slave computer control subsystem 3.Described slave computer control subsystem 3 is installed in robot 4, and is electrical connected with topworks of robot 4.
The described robot 4 based on wireless network carries control system and also comprises the first RFID label tag 6 be installed on robot 4 movement locus, this first RFID label tag 6 includes the information of position.Described slave computer control subsystem 3 comprises rfid interrogator 7, after described rfid interrogator 7 reads the positional information of the first RFID label tag 6 on movement locus, by Zigbee wireless network transmissions to upper computer control system, thus realizes locating robot 4.
The first peripheral unit 8 that control system also comprises the material diamond being installed on working terminal is carried by the described robot 4 based on wireless network, described first peripheral unit 8 comprises photoelectric sensor 10, after photoelectric sensor 10 detects that material is positioned over material diamond, testing result is passed through Zigbee wireless network transmissions to host computer control subsystem 2 by the first peripheral unit 8; PC control subsystem 2 is according to testing result planning robot 4 task.When the material of certain working terminal is placed on diamond, then PC control subsystem 2 send immediately from this working terminal nearest perform this task without task equipment people 4, namely operational order is sent to corresponding slave computer control subsystem 3 by PC control subsystem 2, then is executed the task by slave computer control subsystem 3 control 4.
Described material is positioned in materials vehicle 9, described materials vehicle 9 is provided with the second RFID label tag 11 including destination information, after slave computer control subsystem 3 reads destination information, destination information is transferred to PC control subsystem 2, after PC control subsystem 2 identifying purpose ground information, transmit operation order is to slave computer control subsystem 3.
Described PC control subsystem 2 also comprises crossroad and to pass through processing module 12, when robot 4 is by a crossroad, crossroad processing module 12 of passing through has judged whether that its robot 4 needs to pass through simultaneously, then by command transfer to slave computer control subsystem 3, by slave computer control subsystem 3 pairs of robots 4 stop/moving line operate.Namely, when multiple robot 4 needs simultaneously by certain crossroad, processing module 12 is passed through by current order priority allocation to priority of task higher grade robot 4 in crossroad.
Described PC control subsystem 2 also comprises elevator controlling module 13, by the network delivery information based on serial communication protocol between PC control subsystem 2 and elevator 14; The described robot 4 based on wireless network carries control system and also comprises the second peripheral unit 16 be installed near 14, elevator, described second peripheral unit 16 comprises photoelectric sensor 10, after photoelectric sensor 10 detects that robot 4 arrives 14 mouthfuls, elevator, information is passed through Zigbee wireless network transmissions to host computer control subsystem 2 by the second peripheral unit 16, by elevator controlling module 13, movement order is sent to elevator 14 again, then elevator 14 loads robot 4 to corresponding floor.Elevator 14 once loads Liang Ge robot 4 at most, if tenth floor, Yao Qu in elevator 14,4th floor, another Yao Qu, when elevator 14 arrives 4th floors, after robot 4 exits, elevator 14 can load a robot 4 according to priority level 9th floors, when tenth floor, arrival, after robot 4 exits again at four Lou Dao, elevator 14 loads a robot 4 according to Stall to attic priority level again, if load a robot 4 again according to priority level between 5th floor, Shi Qu, Na Shilou and five building, repeatedly perform with this.
Described slave computer control subsystem 3 also comprises electric quantity monitoring module 17, for the electricity of monitoring robot 4, and information about power is transferred to PC control subsystem 2; When robot 4 electricity is not enough, PC control subsystem 2 sends charge command to slave computer control subsystem 3, and robot 4 goes to charging station 18 to charge.Described slave computer control subsystem 3 also comprises charging station control module 15, and after robot 4 has been charging station 18, charging station control module 15 sends and controls signal to charging station 18 based on IrDA protocol, and charging station 18 pairs of robots 4 are energized.
The described robot 4 based on wireless network carries control system and also comprises the 3rd peripheral unit 19 being positioned at working terminal, described 3rd peripheral unit 19 comprises touch-screen 20, after the accident process request of touch-screen 20 receiving workstation point, accident process request is passed through Zigbee wireless network transmissions to host computer control subsystem 2 by the 3rd peripheral unit 19, and accident request is transferred to user's parametric controller 1 by PC control subsystem 2.Staff by fill perhaps priority processing order input user parametric controller 1 after, this task sends to from this working terminal recently and without the robot 4 executed the task by PC control subsystem 2, from just coping with contingencies.
It is as follows that control system general work flow process is carried by the described robot 4 based on wireless network:
Step 1), after the materials vehicle 9 that certain working terminal loads material is positioned over material rest area, the robot 4 without task that PC control subsystem 2 is sent immediately from workstation is nearest performs this task;
Step 2), robot 4 slips in materials vehicle 9, starts inner topworks, firmly " is embraced " by materials vehicle 9, and after arriving destination, the topworks that release is inner, then robot 4 straight line slow astern segment distance, departs from materials vehicle 9.If the now materials vehicle 9 that is not fully loaded with of this website, robot 4 does not receive again the order of executing the task simultaneously, and upper seat in the plane control subsystem order robot 4 loads at our station the starting point that this subtask got back to by an empty truck 9; If now our station has fully loaded materials vehicle 9, upper seat in the plane control subsystem order robot 4 by mass transport to destination.
Step 3), after tasks carrying completes, robot 4 gets back to initial position immediately and awaits orders, if receive the order of executing the task of central control system in this process, executing the task, repeatedly running continuing with this.
After the present invention can be applicable to the logistics distribution of hospital, relative to artificial dispensing, the present invention can discharge the distribution time of 34%, saves the transportation cost of 75%, reduces the transport changeability of 38%, effectively reduces doctor's cross infection in hospital probability, optimizes medical service flowchart.
The above embodiment only have expressed one embodiment of the present invention, and it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.Therefore, the protection domain of patent of the present invention should be as the criterion with claims.
Claims (17)
1. based on a robot transport control system for wireless network, it is characterized in that, comprising: user's parametric controller, for receiving the operational order of user and monitoring PC control subsystem; PC control subsystem, for responding operational order, the planning conveying task monitor slave computer control subsystem of user; Slave computer control subsystem for the behavior of control, and is PC control subsystem transfer robot state parameter; Described slave computer control subsystem is installed in robot; RFID label tag, to be installed on robot motion's track or near, include positional information; Transmission information is carried out by wired or wireless communication between described user's parametric controller and PC control subsystem; Transmission information is carried out by radio communication between described PC control subsystem and slave computer control subsystem; Described slave computer control subsystem comprises rfid interrogator, and rfid interrogator reads the positional information of RFID label tag on movement locus or neighbouring; Described PC control subsystem comprises elevator controlling module, for controlling the running of elevator, carrys out transmission information between PC control subsystem and elevator by wire communication; The described robot transport control system based on wireless network also comprises and is installed on the second peripheral unit on elevator door or neighbouring, after second peripheral unit detects robot, by solicited message by based on the wireless network transmissions of Zigbee communication agreement to host computer control subsystem, order is sent to elevator by elevator controlling module.
2. the robot transport control system based on wireless network according to claim 1, is characterized in that: by the wireless network transmissions information based on Zigbee communication agreement between described PC control subsystem and slave computer control subsystem.
3. the robot transport control system based on wireless network according to claim 1 and 2, is characterized in that: by the local network transport information based on ethernet communication protocol between described user's parametric controller and PC control subsystem.
4. the robot transport control system based on wireless network according to claim 1 and 2, is characterized in that: by the network traffic based on serial communication protocol between described user's parametric controller and PC control subsystem.
5. the robot transport control system based on wireless network according to claim 1 and 2, it is characterized in that: also comprise and detect material and whether be positioned over the first peripheral unit of material diamond, the first peripheral unit by testing result by the wireless network transmissions based on Zigbee communication agreement to host computer control subsystem.
6. the robot transport control system based on wireless network according to claim 5, is characterized in that: described first peripheral unit comprises photoelectric sensor.
7. the robot transport control system based on wireless network according to claim 5 or 6, it is characterized in that: described material is positioned in materials vehicle, materials vehicle is provided with the RFID label tag including destination information.
8. the robot transport control system based on wireless network according to claim 1 and 2, it is characterized in that: described PC control subsystem also comprises crossroad and to pass through processing module, when two or more robot is simultaneously by certain crossroad, the higher slave computer control subsystem of task right of priority is preferentially issued in current order by crossroad processing module of passing through.
9. the robot transport control system based on wireless network according to claim 1, is characterized in that: by the local network transport information based on ethernet communication protocol between described PC control subsystem and elevator.
10. the robot transport control system based on wireless network according to claim 1, is characterized in that: by the network traffic based on serial communication protocol between described PC control subsystem and elevator.
The 11. robot transport control system based on wireless network according to claim 1, is characterized in that: described second peripheral unit comprises photoelectric sensor.
The 12. robot transport control system based on wireless network according to claim 1 and 2, it is characterized in that: described slave computer control subsystem also comprises electric quantity monitoring module, for the electricity of monitoring robot, and information about power is transferred to PC control subsystem.
The 13. robot transport control system based on wireless network according to claim 12, it is characterized in that: when robot electric quantity is not enough, PC control subsystem sends charge command to slave computer control subsystem, robot goes to charging station to charge, described slave computer control subsystem also comprises charging station control module, after robot has been charging station, charging station control module sends charging signals to charging station, and charging station charges to robot.
The 14. robot transport control system based on wireless network according to claim 13, is characterized in that: described charging station control module sends charging signals to charging station based on IrDA protocol.
The 15. robot transport control system based on wireless network according to claim 13, is characterized in that: described charging station control module sends charging signals to charging station based on bluetooth communication agreement.
The 16. robot transport control system based on wireless network according to claim 1 and 2, it is characterized in that: also comprise the 3rd peripheral unit being positioned at working terminal, for the accident process request of receiving workstation point, and by accident process request by based on the wireless network transmissions of Zigbee communication agreement to host computer control subsystem, accident request is transferred to user's parametric controller by PC control subsystem.
The 17. robot transport control system based on wireless network according to claim 16, is characterized in that: described 3rd peripheral unit comprises touch-screen.
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| CN201210593439.0A CN103064393B (en) | 2012-12-31 | 2012-12-31 | Robot carrying control system based on wireless network |
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| CN201210593439.0A CN103064393B (en) | 2012-12-31 | 2012-12-31 | Robot carrying control system based on wireless network |
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| CN103064393A CN103064393A (en) | 2013-04-24 |
| CN103064393B true CN103064393B (en) | 2015-06-24 |
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| CN104331791A (en) * | 2014-10-13 | 2015-02-04 | 广西南宁推特信息技术有限公司 | Logistics distribution system and logistics distribution method based on intelligent robots |
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