CN104308847A - Clock robot system based on internet of things and work method - Google Patents
Clock robot system based on internet of things and work method Download PDFInfo
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- CN104308847A CN104308847A CN201410660608.7A CN201410660608A CN104308847A CN 104308847 A CN104308847 A CN 104308847A CN 201410660608 A CN201410660608 A CN 201410660608A CN 104308847 A CN104308847 A CN 104308847A
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Abstract
A clock robot system based on an internet of things is characterized by comprising handheld internet-of-things equipment, wireless sensor equipment, a master control chip, a motor driving unit and a writing robot. The work method includes the steps that (1) the wireless sensor equipment receives the signals of the handheld internet-of-things equipment; (2) the signals are processed and transmitted; (3) the writing robot moves. The clock robot system based on the internet of things and the work method have the advantages of being high in flexibility, improving visual readability, and being more compact and beautiful in structure and convenient for a user to carry.
Description
(1) technical field:
The invention belongs to micro robot field, especially based on clock robot system and the method for work of Internet of Things, hand held object networked devices (as mobile phone etc.) can be passed through and instruction is sent to it thus realizes writing and figure painting function of time.
(2) background technology:
Before 30 years, Nobel laureate's American Physical scholar Richard Fei Enman proposes the imagination of development micromachine.Now, there is the new impetus in the developmental research of micromechanical electronics, micromachine and vacuum microtronics and its corresponding structure, device and system.In micromechanical electronics, by the research and development to the trickle process technology of integrated circuit over nearly 30 years, mechanism and its driver and transmission device, sensor, controller and power supply can be integrated on the polysilicon chip of a slice several cubic millimeters, thus produce on cheap, broad-spectrum various microrobot.
The robot utilizing microsystems technology to design is divided into two large classes: 1. make structure devices microminiaturization, precise treatment and improve the robot that its positioning precision maybe can carry out fine operation, this robot becomes jiggle robot; 2. are microrobots of the own microminiaturization of robot.The domestic research to microrobot at present then mainly concentrates on three fields: 1. towards the microrobot of chemical industry, the detection of generating equipment small sized pipeline; 2. for human body, the nothing wound diagnosis and treatment microrobot entering enteron aisle; 3. towards the microrobot of complex mechanical system non collapsible maintenance.The reliability and security of frame for movement and the troubleshooting capabilities of oneself then need to improve further to realize.
Internet of Things is then the important component part of generation information technology, and it is on the basis of internet, expand the network be connected with the thing thing extended out.Internet of Things by various information sensing equipment, various information such as Real-time Collection needs to monitor, the terminal that connects, and described information is sent to connecting platform or terminal.
Clock robot build is less, has the bionic arm that a pair of fixes, and after making controller receive signal by technology of Internet of things, drive motors can rotate corresponding angle, controls mechanical arm and carries out writing of time along the path of having planned.Clock robot can write time figure and wipe within the time of one minute, then jumps to the timing that next minute continue tirelessly to repeat to be accurate to minute, makes observer directly can observe current time clearly.
(3) summary of the invention:
The object of the present invention is to provide a kind of clock robot system based on Internet of Things and method of work, construct a hand held object networked devices transmission data-wireless sensor devices and accept instruction-main control chip to the process of information and control-so a kind of cyclic control system of driver element-mechanical arm-main control chip; User can be allowed to observe the current time intuitively, and can receive corresponding data by wireless sensor devices and carry out graphic plotting, be a kind of micro robot system based on embedded Control.
Technical scheme of the present invention: a kind of clock robot system based on Internet of Things, is characterized in that it comprises hand held object networked devices, wireless sensor devices, main control chip, electric-motor drive unit and Writing robot; Wherein, described wireless sensor devices receives the clock signal and drawing for order signal that input from outside, and its output connects main control chip; Described Writing robot is connected with the output of motor control unit, and input is then connected with main control chip; The input of described main control chip is passed to electric-motor drive unit, to control the motion of Writing robot after getting the data that wireless sensor devices sends.
Described hand held object networked devices is made up of internet of things equipment data processor, input module, memory module and wireless sending module; Wherein said input module and memory module respectively with internet of things equipment data processor in being bi-directionally connected; The output of described wireless sending module sends a signal to the input of internet of things equipment data processor and the input of wireless sensor devices respectively.
Described wireless sensor devices is made up of wireless sensor data processor and wireless receiving module; The output of described wireless receiving module is connected with the input of wireless sensor data processor; The output of described wireless sensor data processor is connected with the input of described main control chip; Described wireless receiving module is for the wireless signal that receives from described wireless sending module and send wireless sensor data processor to.
Based on a method of work for the clock robot system of Internet of Things, it is characterized in that it comprises the following steps:
1. wireless sensor devices receives hand held object networked devices signal: hand held object networked devices sends media information to wireless sensor devices by wireless sending module; Memory module is for storing all media informations, and input module is used for input medium information and transmit operation instruction; When internet of things equipment data processor is when receiving the media information from input module, media information is transferred to memory module, and store in a storage module; When internet of things equipment data processor is after receiving the operational order from input module, read the media information prestored accordingly from memory module according to operational order, then the media information of reading is converted to the wireless signal being applicable to radio communication, is sent to wireless sending module; Wireless sending module is for the wireless signal that receives from internet of things equipment data processor and forward;
2. the process of signal and transmission: the signal collected by wireless sensor devices sends main control chip to by wireless sensor data processor, by main control chip, the signal received is inverted to ASCII character value, and the result after process is exported to electric-motor drive unit; Electric-motor drive unit is by the control of timer, and the angle of rotating needed for mechanical arm, exports impulse wave and produce PWM ripple;
3. the motion of Writing robot: after Writing robot motor with it receives the PWM ripple that electric-motor drive unit sends, by regulating the dutycycle of PWM ripple, rotating corresponding angle and entering to move with the landing of the mechanical arm of control and along specified path; The behavior of writing terminates rear mechanical arm and can control blackboard eraser and wipe the writing on platen.
Described step 1. in media information be time signal or drawing for order.
Described step 2. in the required angle of rotating of mechanical arm be 0 ~ 180 degree, the signal period that can produce the impulse wave of PWM ripple of output is 20ms, and effective pulse width is 0.4-2.4ms.
Described step 3. in the adjustment of PWM ripple dutycycle is made up of following steps:
(1) when pulse width is 1.5ms, Writing robot motor does not with it rotate, and the angle of mechanical arm is 90 degree;
(2) and when pulse width often increases 10us, then motor is turned right 1 degree, and when pulse width is increased to 2.4ms, the angle of mechanical arm reaches 180 degree;
(3) when pulse width often reduces 10us, motor turns left 1 degree, and when pulse width is reduced to 0.4ms, the angle of mechanical arm is 0 degree.
Superiority of the present invention is: 1, the present invention is based on technology of Internet of things, can realize the analysis to product real-time performance information, and hand held object networked devices can use mobile phone and PC to replace, and has very large flexibility; 2, make the current time that writes, make the time can not be observed person more intuitively and caught, enhance visual readability; 3, adopt motor drive mode, drive unit and telecontrol equipment are combined closely, makes the structure of time robot compacter, meanwhile, the connection of robotic surface structure have employed groove coupling and connects, and outward appearance is linked up attractive in appearance; 4, robot mainly adopts acrylic material the time, significantly reduces the weight of device, and compact, similar with general used clock volume, person easy to use carries.
(4) accompanying drawing illustrates:
The overall structure block diagram of Fig. 1 a kind of clock robot system based on Internet of Things involved by the present invention.
(5) detailed description of the invention:
Embodiment: a kind of clock robot system (see Fig. 1) based on Internet of Things, is characterized in that it comprises hand held object networked devices, wireless sensor devices, main control chip, electric-motor drive unit and Writing robot; Wherein, described wireless sensor devices receives the clock signal and drawing for order signal that input from outside, and its output connects main control chip; Described Writing robot is connected with the output of motor control unit, and input is then connected with main control chip; The input of described main control chip is passed to electric-motor drive unit, to control the motion of Writing robot after getting the data that wireless sensor devices sends.
Described hand held object networked devices (see Fig. 1) is made up of internet of things equipment data processor, input module, memory module and wireless sending module; Wherein said input module and memory module respectively with internet of things equipment data processor in being bi-directionally connected; The output of described wireless sending module sends a signal to the input of internet of things equipment data processor and the input of wireless sensor devices respectively.
Described wireless sensor devices (see Fig. 1) is made up of wireless sensor data processor and wireless receiving module; The output of described wireless receiving module is connected with the input of wireless sensor data processor; The output of described wireless sensor data processor is connected with the input of described main control chip; Described wireless receiving module is for the wireless signal that receives from described wireless sending module and send wireless sensor data processor to.
Based on a method of work for the clock robot system of Internet of Things, it is characterized in that it comprises the following steps:
1. wireless sensor devices receives hand held object networked devices signal: hand held object networked devices sends media information to wireless sensor devices by wireless sending module; Memory module is for storing all media informations, and input module is used for input medium information and transmit operation instruction; When internet of things equipment data processor is when receiving the media information from input module, media information is transferred to memory module, and store in a storage module; When internet of things equipment data processor is after receiving the operational order from input module, read the media information prestored accordingly from memory module according to operational order, then the media information of reading is converted to the wireless signal being applicable to radio communication, is sent to wireless sending module; Wireless sending module is for the wireless signal that receives from internet of things equipment data processor and forward;
2. the process of signal and transmission: the signal collected by wireless sensor devices sends main control chip to by wireless sensor data processor, by main control chip, the signal received is inverted to ASCII character value, and the result after process is exported to electric-motor drive unit; Electric-motor drive unit is by the control of timer, and the angle of rotating needed for mechanical arm, exports impulse wave and produce PWM ripple;
3. the motion of Writing robot: after Writing robot motor with it receives the PWM ripple that electric-motor drive unit sends, by regulating the dutycycle of PWM ripple, rotating corresponding angle and entering to move with the landing of the mechanical arm of control and along specified path; The behavior of writing terminates rear mechanical arm and can control blackboard eraser and wipe the writing on platen.
Described step 1. in media information be time signal or drawing for order.
Described step 2. in the required angle of rotating of mechanical arm be 0 ~ 180 degree, the signal period that can produce the impulse wave of PWM ripple of output is 20ms, and effective pulse width is 0.4-2.4ms.
Described step 3. in the adjustment of PWM ripple dutycycle is made up of following steps:
(1) when pulse width is 1.5ms, Writing robot motor does not with it rotate, and the angle of mechanical arm is 90 degree;
(2) and when pulse width often increases 10us, then motor is turned right 1 degree, and when pulse width is increased to 2.4ms, the angle of mechanical arm reaches 180 degree;
(3) when pulse width often reduces 10us, motor turns left 1 degree, and when pulse width is reduced to 0.4ms, the angle of mechanical arm is 0 degree.
Claims (7)
1., based on a clock robot system for Internet of Things, it is characterized in that it comprises hand held object networked devices, wireless sensor devices, main control chip, electric-motor drive unit and Writing robot; Wherein, described wireless sensor devices receives the clock signal and drawing for order signal that input from outside, and its output connects main control chip; Described Writing robot is connected with the output of motor control unit, and input is then connected with main control chip; The input of described main control chip is passed to electric-motor drive unit, to control the motion of Writing robot after getting the data that wireless sensor devices sends.
2. a kind of clock robot system based on Internet of Things according to claim 1, is characterized in that described hand held object networked devices is made up of internet of things equipment data processor, input module, memory module and wireless sending module; Wherein said input module and memory module respectively with internet of things equipment data processor in being bi-directionally connected; The output of described wireless sending module sends a signal to the input of internet of things equipment data processor and the input of wireless sensor devices respectively.
3. a kind of clock robot system based on Internet of Things according to claim 1, is characterized in that described wireless sensor devices is made up of wireless sensor data processor and wireless receiving module; The output of described wireless receiving module is connected with the input of wireless sensor data processor; The output of described wireless sensor data processor is connected with the input of described main control chip; Described wireless receiving module is for the wireless signal that receives from described wireless sending module and send wireless sensor data processor to.
4., based on a method of work for the clock robot system of Internet of Things, it is characterized in that it comprises the following steps:
1. wireless sensor devices receives hand held object networked devices signal: hand held object networked devices sends media information to wireless sensor devices by wireless sending module; Memory module is for storing all media informations, and input module is used for input medium information and transmit operation instruction; When internet of things equipment data processor is when receiving the media information from input module, media information is transferred to memory module, and store in a storage module; When internet of things equipment data processor is after receiving the operational order from input module, read the media information prestored accordingly from memory module according to operational order, then the media information of reading is converted to the wireless signal being applicable to radio communication, is sent to wireless sending module; Wireless sending module is for the wireless signal that receives from internet of things equipment data processor and forward;
2. the process of signal and transmission: the signal collected by wireless sensor devices sends main control chip to by wireless sensor data processor, by main control chip, the signal received is inverted to ASCII character value, and the result after process is exported to electric-motor drive unit; Electric-motor drive unit is by the control of timer, and the angle of rotating needed for mechanical arm, exports impulse wave and produce PWM ripple;
3. the motion of Writing robot: after Writing robot motor with it receives the PWM ripple that electric-motor drive unit sends, by regulating the dutycycle of PWM ripple, rotating corresponding angle and entering to move with the landing of the mechanical arm of control and along specified path; The behavior of writing terminates rear mechanical arm and can control blackboard eraser and wipe the writing on platen.
5. the method for work of a kind of clock robot system based on Internet of Things according to claim 4, is characterized in that the media information during described step is 1. time signal or drawing for order.
6. the method for work of a kind of clock robot system based on Internet of Things according to claim 4, it is characterized in that the required angle of rotating of mechanical arm during described step is 2. 0 ~ 180 degree, the signal period that can produce the impulse wave of PWM ripple exported is 20ms, and effective pulse width is 0.4-2.4ms.
7. the method for work of a kind of clock robot system based on Internet of Things according to claim 4, is characterized in that being made up of following steps the adjustment of PWM ripple dutycycle during described step is 3.:
(1) when pulse width is 1.5ms, Writing robot motor does not with it rotate, and the angle of mechanical arm is 90 degree;
(2) and when pulse width often increases 10us, then motor is turned right 1 degree, and when pulse width is increased to 2.4ms, the angle of mechanical arm reaches 180 degree;
(3) when pulse width often reduces 10us, motor turns left 1 degree, and when pulse width is reduced to 0.4ms, the angle of mechanical arm is 0 degree.
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| CN105034009A (en) * | 2015-09-22 | 2015-11-11 | 邱炳辉 | Robot and control method |
| CN105718880A (en) * | 2016-01-20 | 2016-06-29 | 华东交通大学 | Remote office signing and handwriting verification robot system design |
| CN107127756A (en) * | 2017-05-17 | 2017-09-05 | 北京九星智元科技有限公司 | A kind of Internet of Things robot control system |
| CN107538504A (en) * | 2017-09-30 | 2018-01-05 | 珠海市领创智能物联网研究院有限公司 | A kind of Intelligent internet of things household safe service robot |
| CN108363975A (en) * | 2018-02-09 | 2018-08-03 | 黑龙江大学 | A kind of writing removing system and method based on camera vision-based detection |
| CN110893621A (en) * | 2019-12-16 | 2020-03-20 | 华南理工大学广州学院 | Control system and control method of intelligent remote control writing robot |
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| CN108363975A (en) * | 2018-02-09 | 2018-08-03 | 黑龙江大学 | A kind of writing removing system and method based on camera vision-based detection |
| CN110893621A (en) * | 2019-12-16 | 2020-03-20 | 华南理工大学广州学院 | Control system and control method of intelligent remote control writing robot |
| CN110893621B (en) * | 2019-12-16 | 2021-07-30 | 华南理工大学广州学院 | Control method of control system of intelligent remote control writing robot |
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