CN105234937B - General Mobile chassis control system - Google Patents
General Mobile chassis control system Download PDFInfo
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- CN105234937B CN105234937B CN201510657958.2A CN201510657958A CN105234937B CN 105234937 B CN105234937 B CN 105234937B CN 201510657958 A CN201510657958 A CN 201510657958A CN 105234937 B CN105234937 B CN 105234937B
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- 239000011159 matrix material Substances 0.000 claims abstract description 59
- 230000004927 fusion Effects 0.000 claims abstract description 22
- 238000005516 engineering process Methods 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims abstract description 5
- 238000004891 communication Methods 0.000 claims description 43
- 230000001360 synchronised effect Effects 0.000 claims description 17
- 239000004065 semiconductor Substances 0.000 claims description 16
- 230000005611 electricity Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 3
- 238000013475 authorization Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000000155 melt Substances 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000000605 extraction Methods 0.000 description 1
- 230000010354 integration Effects 0.000 description 1
- 238000013507 mapping Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Control Of Multiple Motors (AREA)
- Toys (AREA)
Abstract
The invention provides a kind of General Mobile chassis control system, including universal sensor interface module, universal chassis control module, general-purpose machine drive module and configuration module；On hardware can compatible distinct interface chassis sensor and motor, generation sensor configuration matrix and motor configuring matrix are configured by configuration interface on software, the versatility of software view is realized by the Drive Control Technique of multi-sensor information fusion technology and multiclass motor again, solve the not common question of various chassis control system brought by the various and chassis drive form of different mobile chassis sensor interface modes, meet all kinds of mobile robots to the quick design of chassis control system, the quick requirement developed and quickly tested well.
Description
Technical field
The present invention relates to the mobile chassis control technology in mobile robot field, in particular it relates to a kind of General Mobile
Chassis control system.
Background technology
In mobile robot field, mobile chassis is wherein most crucial part.And the navigation mode that mobile chassis is common
There are a variety of navigation modes such as magnetic navigation, inertial navigation, laser navigation, vision guided navigation.The sensor that different navigation modes uses
Also it is different, there are magnetic navigation sensor, gyroscope, laser scanning and ranging instrument, binocular vision etc..The interface mode of these sensors
It is varied, there is bus-type, also there is analog output, even if same class sensor, the product interface of different company's production
Mode is also various.Meanwhile mobile chassis uses in-wheel driving mostly, motor has a variety of, such as stepper motor, DC brush
Motor and DC brushless motor, and different according to load, driving power is also from more than ten watts to one or two hectowatt.Just due to
The various and chassis drive form of sensor interface mode it is various, cause diversity and the mobile chassis control of mobile chassis product
The transplantability of system processed is not strong, versatility is not high.
Found by the retrieval to prior art literature, Chinese Application No. 201220347852.4, Authorization Notice No. is
CN202641571U, the utility model of entitled mobile robot Universal, modular wheel undercarriage, give one kind and be based on four-wheel
Driving and the mobile robot universal wheel chassis structure of ultrasonic radar anticollision.Chinese Application No. 201320389947.7,
Authorization Notice No. is CN203331024U, a kind of entitled utility model of modular universal wheeled mobile robot, is given
A kind of universal wheel mobile robot structure interconnected based on Three-wheel type and chassis, supporting plate, board mounting trilaminate.Two patents
Although being all directed to the cross-species transferability problem of wheeled mobile robot, what is solved is all the versatility and module of structure design
Change, it is impossible to solve to be brought by the various of the various and chassis drive form of different mobile chassis sensor interface modes well
The not common question of chassis control system, it cannot also meet that all kinds of mobile robots are quickly set to chassis control system well
Meter, the quick requirement developed and quickly tested.
The content of the invention
For in the prior art the defects of, can be with it is an object of the invention to provide a kind of General Mobile chassis control system
Overcome the chassis control brought by the diversity of different mobile chassis sensor interface modes and the diversity of chassis drive form
The uncurrent problem of system.
According to General Mobile chassis control system provided by the invention, including universal sensor interface module, universal chassis
Control module, general-purpose machine drive module and configuration module；
Wherein, the universal sensor interface module connects the general-purpose machine by the universal chassis control module and driven
Dynamic model block；The configuration module connects the universal chassis control module.
Preferably, the universal sensor interface module include bus communication interface unit, discrete signal interface unit and
Analog signal interface unit；
Wherein, the bus communication interface unit, the discrete signal interface unit and the analog signal interface unit
The sensor multi-path choice matrix unit of the general-purpose machine drive module is connected in parallel；
Bus communication interface unit is used for the sensor for connecting bus output type, and discrete signal interface unit is defeated for connecting
Go out the sensor for Transistor-Transistor Logic level or CMOS level signals, analog signal interface unit is used for the sensor for connecting analog output.
Preferably, described universal chassis control module includes sensor multi-path choice matrix unit, multi-sensor information
Integrated unit, path locus tracking cell, driver multi-path choice matrix unit, drive and control of electric machine unit and the first channel radio
Believe interface unit；
Wherein, the sensor multi-path choice matrix unit passes sequentially through the multi-sensor information fusion unit, described
Path locus tracking cell, the driver multi-path choice matrix unit connect the drive and control of electric machine unit；
The sensor multi-path choice matrix unit and the driver multi-path choice matrix unit pass through described respectively
One wireless communication interface unit connects the configuration module.
Preferably, the configuration module includes user configuration interface and the second wireless communication interface unit；
Wherein, the second wireless communication interface unit connects the sensing by the first wireless communication interface unit
Device multi-path choice matrix unit and the driver multi-path choice matrix unit.
Preferably, the general-purpose machine drive module include driving stepper motor unit, brush direct current motor driver element,
Driven by Brush-Less DC motor unit and permagnetic synchronous motor driver element；
Wherein, the driving stepper motor unit, the brush direct current motor driver element, the DC brushless motor drive
Moving cell and the permagnetic synchronous motor driver element connect drive and control of electric machine unit in parallel, receive motor driving
The pulse-width signal that control unit transmits.
Preferably, the user configuration interface is used to generate sensor configuration matrix and motor configuring matrix；
The sensor configuration matrix realizes that universal sensor interface module is general by multi-sensor information fusion technology；
Motor configuring matrix realizes the general of general-purpose machine drive module by the Drive Control Technique of multiclass motor.
Preferably, the bus communication interface unit includes wired communication interface and wireless communication interface；
The wired communication interface includes any of serial ports, CAN and Ethernet or appointed a variety of；The channel radio
Believe that interface includes any of WiFi module, bluetooth module and ZigBee module or appointed a variety of.
Preferably, the general-purpose machine drive module is used to drive a variety of different type motors selected in mobile chassis；
A variety of different type motors include stepper motor, brush direct current motor, DC brushless motor and permagnetic synchronous motor.
Preferably, the driving stepper motor unit includes the H bridges that the first connected integrated drive chips and metal-oxide-semiconductor are built
Drive circuit；The brush direct current motor driver element includes the H bridges that the second connected integrated drive chips and metal-oxide-semiconductor are built and driven
Dynamic circuit；The driven by Brush-Less DC motor unit includes the three-phase bridge that the 3rd connected integrated drive chips and metal-oxide-semiconductor are built
Drive circuit；The permagnetic synchronous motor driver element includes the three-phase that the 4th connected integrated drive chips and metal-oxide-semiconductor are built
Bridge drive circuit；
First integrated drive chips, second integrated drive chips, the 3rd integrated drive chips and institute
State the 4th integrated drive chips and connect the drive and control of electric machine unit.
Preferably, the multi-sensor information fusion unit melts for handling the information of mobile chassis multiple sensors in real time
Close, the digital drive that the drive and control of electric machine unit is used for a variety of different type mobile chassis motors controls.
Compared with prior art, the present invention has following beneficial effect：
1st, the processor in hardware system of the invention has the computing capability of high speed, wherein, pass through sensor interface mould
Block is equipped with abundant I/O interface modules and supported, user can be combined as needed；
2nd, software system function of the invention is powerful and easy to use, includes multi-sensor information fusion unit, path rail
Mark tracking cell, movement control technology, the drive control unit of multiclass motor and the user configuration interface based on radio communication；
3rd, according to actual mobile chassis be connected sensor and motor, by the present invention can rapid configuration generation possess
The mobile chassis of independent navigation, so as to solve the various and chassis driving by different mobile chassis sensor interface modes well
The not common question of various chassis control system brought of form, also just meet that all kinds of mobile robots are controlled to chassis well
The requirement that system processed is quickly designed, quickly develops and quickly tested；
4th, the present invention has the integration and modularity of height, it is allowed to which user carrys out the production of fast assembling mobile chassis according to demand
Product, either software or hardware, both provide multinomial selection.
Brief description of the drawings
The detailed description made by reading with reference to the following drawings to non-limiting example, further feature of the invention,
Objects and advantages will become more apparent upon：
Fig. 1 is the structural representation of the present invention.
Embodiment
With reference to specific embodiment, the present invention is described in detail.Following examples will be helpful to the technology of this area
Personnel further understand the present invention, but the invention is not limited in any way.It should be pointed out that the ordinary skill to this area
For personnel, without departing from the inventive concept of the premise, various modifications and improvements can be made.These belong to the present invention
Protection domain.
In the present embodiment, General Mobile chassis control system provided by the invention, including universal sensor interface module
1st, universal chassis control module 2, general-purpose machine drive module 3 and configuration module 4；
Wherein, the universal sensor interface module 1 connects the general-purpose machine by the universal chassis control module 2
Drive module 3；The configuration module 4 connects the universal chassis control module 2.
The universal sensor interface module 1 includes bus communication interface unit 11, discrete signal interface unit 12 and mould
Intend signal interface unit 13；Wherein, the bus communication interface unit 11, the discrete signal interface unit 12 and the simulation
Signal interface unit 13 connects the sensor multi-path choice matrix unit of the general-purpose machine drive module 3 in parallel
21；Bus communication interface unit 11 is used for the sensor for connecting bus output type, receives the reality of the various kinds of sensors of bus output
Data are surveyed, and are transmitted to sensor multi-path choice matrix unit；It is Transistor-Transistor Logic level that discrete signal interface unit 12, which is used to connect output,
Or the sensor of CMOS level signals, the measured data of the various kinds of sensors of TTL or CMOS level signals output is received, and transmit
To sensor multi-path choice matrix unit；Analog signal interface unit 13 is used for the sensor for connecting analog output, receives mould
The measured data of the various kinds of sensors of analog quantity output, and transmit to sensor multi-path choice matrix unit.
Described universal chassis control module 2 includes sensor multi-path choice matrix unit 21, multi-sensor information fusion
Unit 22, path locus tracking cell 23, driver multi-path choice matrix unit 24, the nothing of drive and control of electric machine unit 25 and first
Line communications interface unit 26；Wherein, the sensor multi-path choice matrix unit 21 passes sequentially through the multi-sensor information and melted
Close unit 22, the path locus tracking cell 23, the driver multi-path choice matrix unit 24 and connect the motor driving
Control unit 25；The sensor multi-path choice matrix unit 21 and the driver multi-path choice matrix unit 24 pass through respectively
The first wireless communication interface unit 26 connects the configuration module 4.
More specifically, first wireless communication interface unit of the connection of sensor multi-path choice matrix unit 21 26 and more sensings
Device information fusion unit 22, receive the actual multiple sensor number being connected of product that universal sensor interface module 1 transmits
According to, and according to the sensor configuration matrix received by the first wireless communication interface unit 26, multiple sensor data are entered
The pretreatment of row matrix transformed mappings, then by the data transfer after processing to multi-sensor information fusion unit.Multisensor is believed
The access path track following unit 23 of integrated unit 22 is ceased, multi-sensor information fusion unit can handle the letter of various kinds of sensors
Breath fusion, has higher System Error-tolerance Property and real-time, it is to via sensor multi-path choice matrix Hou Mei roads sensor
Data carry out each independent feature extraction and identifying processing, the estimated information per road sensor are obtained, further according to decision rule
Fusion optimization is carried out to the result of decision of every road sensor, finally obtains the result of decision of multi-sensor data fusion system, and pass
Transport to path locus tracking cell.Path locus tracking cell 23 connects driver multi-path choice matrix unit 24, path locus
Tracking cell 23 receive multi-sensor data fusion unit send over coordinate of ground point information, chassis coordinate information, barrier
Information and motor rotation angle measurement information, realize the trajectory planning with avoidance constraint, velocity close-loop control, controlled quentity controlled variable output
To driver multi-path choice matrix unit 24.Driver multi-path choice matrix unit 24 connects the first wireless communication interface unit 26
With drive and control of electric machine unit 25, the signal output part connection universal motor drive module 3 of drive and control of electric machine unit 25, driving
Device multi-path choice matrix unit 24, will be from path according to the motor configuring matrix received by wireless communication interface unit
The controlled quentity controlled variable that track following unit receives is mapped to the corresponding drive and control of electric machine algorithm of drive and control of electric machine unit 25.Motor
Drive control unit 25 can realize the electric current of stepper motor, brush direct current motor, DC brushless motor and permagnetic synchronous motor
Pulse-width signal needed for closed-loop control and generation corresponding motor, and export to general-purpose machine drive module.Stepper motor drives
Moving cell 31, brush direct current motor driver element 32, driven by Brush-Less DC motor unit 33 and permagnetic synchronous motor driver element
The pulse-width signal that the drive and control of electric machine unit 25 of 34 reception universal chassis control modules 2 transmits.
The configuration module 4 includes the wireless communication interface unit 41 of user configuration interface 42 and second；Wherein, described second
Wireless communication interface unit 41 connects the sensor multi-path choice matrix list by the first wireless communication interface unit 26
Member 21 and the driver multi-path choice matrix unit 24.User configuration interface 42 is graphical interfaces.User configuration interface 42 with
The mode of graphic interface receives sensor configuration information and motor configuration information of the user to General Mobile chassis.Sensing
Device configuration information includes channel position, sensing type and the parameter sensing with the actual sensor being connected of product.After the completion of configuration,
Generate sensor configuration matrix and motor configuring matrix, then by the first wireless communication interface unit 26 by sensor configuration
Matrix and motor configuring matrix are transmitted to universal chassis control module 2.
The general-purpose machine drive module 3 includes driving stepper motor unit 31, brush direct current motor driver element 32, straight
Flow brushless electric machine driver element 33 and permagnetic synchronous motor driver element 34；Wherein, the driving stepper motor unit 31, described
Brush direct current motor driver element 32, the driven by Brush-Less DC motor unit 33 and the permagnetic synchronous motor driver element 34
Drive and control of electric machine unit 25 is connected in parallel, receives the pulsewidth modulation letter that drive and control of electric machine unit 25 transmits
Number.
The user configuration interface is used to generate sensor configuration matrix and motor configuring matrix；The sensor is matched somebody with somebody
Put matrix and realize that universal sensor interface module 1 is general by multi-sensor information fusion technology；Motor configuring matrix leads to
The Drive Control Technique for crossing multiclass motor realizes the general of general-purpose machine drive module 3.
The bus communication interface unit 11 includes wired communication interface and wireless communication interface；The wired communication interface
Including any of serial ports, CAN and Ethernet or appoint a variety of；The wireless communication interface includes WiFi module, bluetooth
Any of module and ZigBee module are appointed a variety of.
The general-purpose machine drive module is used to drive a variety of different type motors selected in mobile chassis；A variety of differences
Type motor includes stepper motor, brush direct current motor, DC brushless motor and permagnetic synchronous motor.
The driving stepper motor unit 31 includes the H bridges driving that the first connected integrated drive chips and metal-oxide-semiconductor are built
Circuit；The brush direct current motor driver element 32 includes the H bridges driving that the second connected integrated drive chips and metal-oxide-semiconductor are built
Circuit；The driven by Brush-Less DC motor unit 33 includes the three-phase bridge that the 3rd connected integrated drive chips and metal-oxide-semiconductor are built
Drive circuit；The permagnetic synchronous motor driver element 34 includes three that the 4th connected integrated drive chips and metal-oxide-semiconductor are built
Phase bridge drive circuit；First integrated drive chips, second integrated drive chips, the 3rd integrated drive chips with
And the 4th integrated drive chips connect the drive and control of electric machine unit 25.
Specifically, the drive and control of electric machine unit 25 that driving stepper motor unit 31 receives universal chassis control module 2 passes
The defeated stepper motor pulse-width signal to come, the H-bridge drive circuit built via the first integrated drive chips and metal-oxide-semiconductor can
With for realizing the driving of stepper motor.The motor that brush direct current motor driver element 32 receives universal chassis control module 2 drives
The brush motor pulse-width signal that dynamic control unit 25 transmits, the H built via the second integrated drive chips and metal-oxide-semiconductor
Bridge drive circuit, it can be used for realizing the driving of brush direct current motor.Driven by Brush-Less DC motor unit 33 receives universal chassis
The brushless electric machine pulse-width signal that the drive and control of electric machine unit 25 of control module 2 transmits, via the 3rd integrated driving
The three-phase bridge drive circuit that chip and metal-oxide-semiconductor are built, it can be used for realizing the driving of DC brushless motor.Permagnetic synchronous motor drives
The permagnetic synchronous motor pulsewidth that the drive and control of electric machine unit 25 that moving cell 34 receives universal chassis control module 2 transmits is adjusted
Signal processed, the three-phase bridge drive circuit built via the 4th integrated drive chips and metal-oxide-semiconductor, it can be used for realizing permanent magnet synchronous electric
The driving of machine.
General Mobile chassis control system provided by the invention, in addition to multi-sensor information fusion unit and motor driving
Control unit；Wherein, the multi-sensor information fusion unit melts for handling the information of mobile chassis multiple sensors in real time
Close, the digital drive that the electric-motor drive unit is used for a variety of different type mobile chassis motors controls.
In the present embodiment, on hardware of the present invention can compatible distinct interface chassis sensor and motor, software
It is upper that generation sensor configuration matrix and motor configuring matrix are configured by configuration interface, then pass through multi-sensor information fusion
Technology and the Drive Control Technique of multiclass motor realize the versatility of software view, solve and are connect by different mobile chassis sensors
The not common question of various chassis control system brought of the various and chassis drive form of mouth mode, meets all kinds of well
Mobile robot is to the quick design of chassis control system, the quick requirement developed and quickly tested.
The specific embodiment of the present invention is described above.It is to be appreciated that the invention is not limited in above-mentioned
Particular implementation, those skilled in the art can make various deformations or amendments within the scope of the claims, this not shadow
Ring the substantive content of the present invention.
Claims (8)
1. a kind of General Mobile chassis control system, it is characterised in that including universal sensor interface module (1), universal chassis
Control module (2), general-purpose machine drive module (3) and configuration module (4)；
Wherein, the universal sensor interface module (1) connects the general-purpose machine by the universal chassis control module (2)
Drive module (3)；The configuration module (4) connects the universal chassis control module (2)；
The universal sensor interface module (1) include bus communication interface unit (11), discrete signal interface unit (12) and
Analog signal interface unit (13)；
Wherein, the bus communication interface unit (11), the discrete signal interface unit (12) and the analog signal interface
Unit (13) connects the sensor multi-path choice matrix unit (21) of the general-purpose machine drive module (3) in parallel；
Bus communication interface unit (11) is used for the sensor for connecting bus output type, and discrete signal interface unit (12) is used to connect
Output is connect as Transistor-Transistor Logic level or the sensor of CMOS level signals, analog signal interface unit (13) is used to connect analog output
Sensor；
Described universal chassis control module (2) includes sensor multi-path choice matrix unit (21), multi-sensor information fusion
Unit (22), path locus tracking cell (23), driver multi-path choice matrix unit (24), drive and control of electric machine unit (25)
With the first wireless communication interface unit (26)；
Wherein, the sensor multi-path choice matrix unit (21) pass sequentially through the multi-sensor information fusion unit (22),
The path locus tracking cell (23), the driver multi-path choice matrix unit (24) connect the drive and control of electric machine list
First (25)；
The sensor multi-path choice matrix unit (21) and the driver multi-path choice matrix unit (24) pass through institute respectively
State the first wireless communication interface unit (26) and connect the configuration module (4).
2. General Mobile chassis control system according to claim 1, it is characterised in that the configuration module (4) includes
User configuration interface (42) and the second wireless communication interface unit (41)；
Wherein, the second wireless communication interface unit (41) passes through described in the first wireless communication interface unit (26) connection
Sensor multi-path choice matrix unit (21) and the driver multi-path choice matrix unit (24).
3. General Mobile chassis control system according to claim 2, it is characterised in that the general-purpose machine drive module
(3) driving stepper motor unit (31), brush direct current motor driver element (32), driven by Brush-Less DC motor unit (33) are included
With permagnetic synchronous motor driver element (34)；
Wherein, the driving stepper motor unit (31), the brush direct current motor driver element (32), brush DC electricity
Machine driver element (33) and the permagnetic synchronous motor driver element (34) connect drive and control of electric machine unit in parallel
(25) pulse-width signal that drive and control of electric machine unit (25) transmits, is received.
4. General Mobile chassis control system according to claim 2, it is characterised in that the user configuration interface is used for
Generate sensor configuration matrix and motor configuring matrix；
The sensor configuration matrix realizes that universal sensor interface module (1) is general by multi-sensor information fusion technology；
Motor configuring matrix realizes the general of general-purpose machine drive module (3) by the Drive Control Technique of multiclass motor.
5. General Mobile chassis control system according to claim 1, it is characterised in that the bus communication interface unit
Including wired communication interface and wireless communication interface；
The wired communication interface includes any of serial ports, CAN and Ethernet or appointed a variety of；The radio communication connects
Mouth includes any of WiFi module, bluetooth module and ZigBee module or appointed a variety of.
6. General Mobile chassis control system according to claim 1, it is characterised in that the general-purpose machine drive module
For driving a variety of different type motors selected in mobile chassis；A variety of different type motors include stepper motor, direct current has
Brush motor, DC brushless motor and permagnetic synchronous motor.
7. General Mobile chassis control system according to claim 3, it is characterised in that the driving stepper motor unit
(31) H-bridge drive circuit that the first connected integrated drive chips and metal-oxide-semiconductor are built is included；The brush direct current motor driving is single
First (32) include the H-bridge drive circuit that the second connected integrated drive chips and metal-oxide-semiconductor are built；The driven by Brush-Less DC motor
Unit (33) includes the three-phase bridge drive circuit that the 3rd connected integrated drive chips and metal-oxide-semiconductor are built；The permanent magnet synchronous electric
Machine driver element (34) includes the three-phase bridge drive circuit that the 4th connected integrated drive chips and metal-oxide-semiconductor are built；
First integrated drive chips, second integrated drive chips, the 3rd integrated drive chips and described
Four integrated drive chips connect the drive and control of electric machine unit (25).
8. General Mobile chassis control system according to claim 1, it is characterised in that the multi-sensor information fusion
Unit is used for the information fusion for handling mobile chassis multiple sensors in real time, and the drive and control of electric machine unit is used for a variety of differences
The digital drive control of type mobile chassis motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510657958.2A CN105234937B (en) | 2015-10-13 | 2015-10-13 | General Mobile chassis control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510657958.2A CN105234937B (en) | 2015-10-13 | 2015-10-13 | General Mobile chassis control system |
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| Publication Number | Publication Date |
|---|---|
| CN105234937A CN105234937A (en) | 2016-01-13 |
| CN105234937B true CN105234937B (en) | 2017-12-22 |
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| CN201510657958.2A Active CN105234937B (en) | 2015-10-13 | 2015-10-13 | General Mobile chassis control system |
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Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107193277B (en) * | 2017-05-05 | 2020-05-08 | 宁波华狮智能科技有限公司 | Autonomous mobile fire-fighting robot capable of automatically detecting and extinguishing fire and control method |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1844909A1 (en) * | 2006-04-11 | 2007-10-17 | Abb Ab | Multi-input control of an industrial robot system |
| KR101041375B1 (en) * | 2009-03-23 | 2011-06-15 | 한국과학기술연구원 | Network transformation-apparatus, system and method for controlling robot using the same |
| CN101667807B (en) * | 2009-10-12 | 2011-09-07 | 浙江华章科技有限公司 | Motor control method based on DCS system |
| CN201609898U (en) * | 2009-10-26 | 2010-10-20 | 北京智能佳科技有限公司 | Robot |
| CN203331024U (en) * | 2013-07-02 | 2013-12-11 | 福建师范大学 | Modularization general wheeled mobile robot |
| CN103419202B (en) * | 2013-08-02 | 2015-12-09 | 于宝成 | A kind of family expenses make an inspection tour intelligent robot |
| CN204471382U (en) * | 2014-12-31 | 2015-07-15 | 南京阿凡达机器人科技有限公司 | A kind of security robot stored based on high in the clouds |
| CN205310270U (en) * | 2015-10-13 | 2016-06-15 | 上海宾奥智能机器人科技有限公司 | General removal chassis control system |
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