CN105652861A

CN105652861A - Mobile robot seat control method

Info

Publication number: CN105652861A
Application number: CN201410550031.4A
Authority: CN
Inventors: 秦建军; 鲁增辉; 刘承荣; 袁齐; 王昌强; 曾锦雯
Original assignee: Beijing University of Civil Engineering and Architecture
Current assignee: Beijing University of Civil Engineering and Architecture
Priority date: 2014-10-17
Filing date: 2014-10-17
Publication date: 2016-06-08

Abstract

The invention relates to a mobile robot seat control method comprising ultrasonic sensors, single-chip microcomputers, a positioning single-chip microcomputer, a wireless transceiver module, a control single-chip microcomputer, an encoder, an AD, a potentiometer and motor driver modules. The mobile robot seat control device is equipped with six ultrasonic sensors which are uniformly distributed and mounted under an upper stool surface 101 and are responsible for receiving ultrasonic signals emitted by handheld ultrasonic emitters. The ultrasonic receiving sensors are in pairs, and match the handheld ultrasonic emitters. The function of positioning is achieved based on the triangle theorem. The ultrasonic sensors are of high precision, and have a stable measurement effect. Through use of the ultrasonic sensors, the problem of mutual positioning between a mobile robot seat structure and people is well solved.

Description

Mobile robot's seat control method

Technical field

Inventive design a kind of mobile robot's seat control method, specifically a kind of robot seat control method with locomotive function.

Background technology

Along with the expansion in robot application field, on a large scale, highly difficult operation requires that robot has bigger activity space and stronger adaptive faculty, as sensor, performer, the married movable carrier of motion planning, mobile apparatus people has broad application prospects and commercial value, and its research is also more and more subject to people's attention. But it is applied to mobile robot technology or an emerging important development direction. Under circumstances not known, this problem has several singularity: first, is usually carry out moving the mutability of the target therefore brought and background and complicacy in the environment of the unknown due to robot, tracking probability and precision are proposed requirements at the higher level. Secondly, the uncertainty of space, target location, time so that the spatial resolution that the real-time of tracking requires and information obtains requires more much higher than fixed target. Finally, being in due to robot itself in moving, the position of self is also uncertain, therefore relates to the relative movement of system of coordinates, compares and turn increases complexity with fixing system. The moveable robot movement target tracking technology being put to engineering practice so far is based on specific place and task mostly, such as Soccer robot etc. Therefore, there is the mobile apparatus people of the autonomous tracking technique of moving target under circumstances not known and in various fields, there is universal significance.

Summary of the invention

The present invention solve above-mentioned existing robot weak point, it provides mobile robot's seat control method, the present invention is as a kind of mobile robot's seat control method being applied to Library, classroom. The present invention adopts following scheme.

Mobile robot's seat control method, it is characterised in that:

Supersonic sensing 1 receives what handheld device sent signal, and send micro-chip 1 to, supersonic sensing 2 receives what handheld device sent signal, and send micro-chip 2 to, supersonic sensing 3, supersonic sensing 4, supersonic sensing 5, supersonic sensing 6 are the same with supersonic sensing 1, and the signal received sends to micro-chip 3, micro-chip 4, micro-chip 5, micro-chip 6 respectively;

The signal that supersonic sensing 1 sends is stored by described micro-chip 1, send gives location micro-chip, described location micro-chip is according to the principle of triangle polyester fibre, receive the position with regard to signal source can be calculated after two data, and positional information is sent to control micro-chip, radio transceiver chip is connected with location micro-chip;

The data that location micro-chip is handled well are stored by described control micro-chip, and information is sent to motor drive module 1 and motor drive module 2, encoder is connected with control micro-chip, motor speed is measured by encoder, feed back to control micro-chip, to improve control accuracy, AD is connected with encoder;

Described AD is responsible for simulating signal is converted to numerary signal, and the information of circular frequency is sent to AD process by potentiometer;

Described motor drive module 1 motor drive module 2, is controlled the control of micro-chip, makes electric machine rotation.

Accompanying drawing explanation

Fig. 1 is mobile robot's chair control device function block diagram;

Fig. 2 is mobile robot's armchair structure entirety assembling schematic diagram;

Embodiment

Below in conjunction with accompanying drawing, the present invention is described in more detail.

Such as Fig. 1 mobile robot's chair control device, comprise chair control device, it is characterised in that:

Described chair control device comprises ultrasonic transducer 1, micro-chip 13 located by micro-chip 7, radio transceiver chip 14, control micro-chip 15, encoder 16, AD17, potentiometer 18 motor drive module 19;

Described ultrasonic transducer 11 is connected by wire with micro-chip 17, wherein ultrasonic transducer with 101 be bolted above; It is identical that ultrasonic transducer 2, ultrasonic transducer 3, ultrasonic transducer 44, ultrasonic transducer 5, ultrasonic transducer 6 install mode with ultrasonic transducer 11, be bolted with above 101,6 ultrasonic transducers be evenly distributed on above 101 and be connected by wire with corresponding micro-chip;

Described location micro-chip 13 is connected by wire with 6 micro-chips, and described radio transceiver chip 14 is connected with location micro-chip 13 wire;

Described control micro-chip 15 is connected with encoder 16, motor drive module 19, motor drive module 20, described location micro-chip 13 is connected with control micro-chip 15, delivering position information, is sent to motor drive module 19 and motor drive module 20 after the information processing of control micro-chip 15 by location micro-chip 13;

Described AD17 is responsible for simulating signal is converted to numerary signal, is connected with potentiometer 18 with encoder 16, and angle measured by described potentiometer 18, and signal sends to AD17 process.

The realization of automatic following system:

The system for tracking of described mobile robot's armchair structure is made up of station-keeping system and drive system, described station-keeping system comprises: ultrasonic wave receiving sensor, hand-held ultrasound projector, micro-chip, series of cells forms, described ultrasonic wave receiving sensor has 6, it is uniformly distributed and it is arranged on above below 101, it is responsible for the ultrasonic wave signal that reception hand-held ultrasound projector emits, wherein ultrasonic wave receiving sensor one group between two, cooperatively interact with hand-held ultrasound projector, according to trilateral theorem, use ultrasonic transducer can measure the distance launching end and receiving end, two receiving end installation positions are certain, determine the distance between two receiving ends, use the range data of micro-chip process reception thus calculate the position relation between people and mobile robot's armchair structure, realize the function of location, ultrasonic transducer precision height, measurement effect is stablized, ultrasonic transducer is used well to solve the problem of location mutually between mobile robot's armchair structure and people.

Described drive system comprises driving motor 318, steer motor 302, motor drive module, battery composition, described motor drive module is connected with micro-chip, directly send data signal by micro-chip to process through motor drive module, control steer motor 302 is rotated, thus the relative angle turned between transmission shelf structure and people is stated in adjustment, described driving motor 318 receives the instruction of motor drive module, start to rotate, whole body is driven to move to orientation, people place, it is achieved to follow the function of movement.

Automatically the realization of barricade system is hidden: described automatically hide barricade system and comprise avoidance ultrasonic transducer, micro-chip, motor control module forms, described security value (s) ultrasonic transducer of keeping away has six, is uniformly distributed below below being arranged on, is connected with micro-chip, when avoidance ultrasonic transducer mensuration numerical value is less than given numerical value a, motor control module control motor is to not having obstacle and a side nearest with people moves, thus walks around obstacle, it is achieved automatically hide obstacle.

The principal feature of the present invention is:

The invention is not restricted to the above description to embodiment, the content that those skilled in the art disclose according to the present invention, the improvement that need not carry out through creative work on basis of the present invention and amendment, all should within protection scope of the present invention.

Claims

1. mobile robot's seat control method, it is characterised in that:

What supersonic sensing 1 (1) reception handheld device (not shown) sent signal, and send micro-chip 1 (7) to, what supersonic sensing 2 (2) reception handheld device (not shown) sent signal, and send micro-chip 2 (8) to, supersonic sensing 3 (3), supersonic sensing 4 (4), supersonic sensing 5 (5), supersonic sensing 6 (6) is the same with supersonic sensing 1 (1), the signal received is sent to respectively micro-chip 3 (9), micro-chip 4 (10), micro-chip 5 (11), micro-chip 6 (12),

The signal that supersonic sensing 1 (1) sends is stored by described micro-chip 1 (7), send gives location micro-chip (13), described location micro-chip (13) is according to the principle of triangle polyester fibre, receive the position with regard to signal source can be calculated after two data, and positional information is sent to control micro-chip (15), radio transceiver chip (14) is connected with location micro-chip (13);

By locating, the data that micro-chip (13) handles well store described control micro-chip (15), and information is sent to motor drive module 1 (19) and motor drive module 2 (20), encoder (16) is connected with control micro-chip (15), motor speed is measured by encoder, feed back to control micro-chip (15), to improve control accuracy, AD (17) is connected with encoder (16);

Described AD (17) is responsible for simulating signal is converted to numerary signal, and the information of circular frequency is sent to AD (17) and processes by potentiometer (18);

Described motor drive module 1 (19) motor drive module 2 (20), is controlled the control of micro-chip, makes electric machine rotation.