CN106371361A - Wireless communication system of multifunctional robot - Google Patents
Wireless communication system of multifunctional robot Download PDFInfo
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- CN106371361A CN106371361A CN201610822256.XA CN201610822256A CN106371361A CN 106371361 A CN106371361 A CN 106371361A CN 201610822256 A CN201610822256 A CN 201610822256A CN 106371361 A CN106371361 A CN 106371361A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a wireless communication system of a multifunctional robot. The system comprises a receiving unit and a data processing station, wherein a wireless control unit is connected with a communication link between the receiving unit and the data processing station, the receiving unit comprises an infrared receiver, the input end of the infrared receiver is connected with a remote control detection unit, and the output end of the infrared receiver is connected with a rotation control unit; the data processing station comprises a center server, the input end of the center server is connected with a receiving antenna, and the center server is also connected with a man-machine interaction device; and the wireless control unit comprises a radio frequency processor, the radio frequency processor is provided with a remote sensing receiving variable-frequency module and a remote control sending variable-frequency module, the remote sensing receiving variable-frequency module carries out data exchange with the receiving unit, and the remote control sending variable-frequency module carries out data exchange with the data processing station. The anti-interference capability of the whole communication system is high, and the system has a multiple-access capability and can easily realize a code division multiple access (CDMA) technology.
Description
Technical field
The present invention relates to robotics, specially a kind of wireless communication system of multi-function robot.
Background technology
The birth of robot and application need to be closely bound up, it has been widely used in work with social development and production
The numerous areas such as industry production, development of resources, the disaster relief of getting rid of the danger, military technology and community service, robot not only can be in poisonous, powder
The operation of people is partly replaced under the hostile environments such as dirt, noise and radiation, and can also be under the maximum conditions that people can not reach
Complete the task that people are given as in deep-sea, outer space environment, thus expanding the ability of mankind's nature remodeling.
With the development of the big production of socialization, production line occurs in that tens even up to a hundred robots, this
Socialization produces objectively needs us that multi-robot system is studied, but, if we are simply by multiple robots
Simply it is merged together, then the just very possible conflict producing between robot, antagonism, so that overall performance is very low
Even cannot work, be Given this necessary for launching to the communication between multi-robot system theory, architecture, robot and
The research of the critical problems such as colony's cooperation method, to reaching the purpose that robot group cooperates with each other.
The research contents in multirobot field mainly has control structure or architecture a few days ago, and the solution of communication and conflict is picked out
Problem, wherein, control structure and Communication belong to the senior control task in multi-robot system, and the solution conflicting includes
The problems such as deadlock and collision prevention and path planning is prevented then to belong to the rudimentary control task in multi-robot system, in practical application
In robot wireless communication networks, usually encounter " concealed terminal " problem, so-called hidden terminal problem, refer to the shadow due to geographic barrier
Ring, make some robots in Communication of Muti-robot System system not receive the signal of other robots transmitting, thus cannot communicate.Adopt
With the wireless communication system of csma agreement, because hidden terminal problem will directly affect the result of carrier wave detection, so that system
Penalty.
Content of the invention
For problem above, the invention provides a kind of wireless communication system of multi-function robot, it is provided with master control list
Unit, fully grasps whole environmental informations and the information of each controlled machine people, with planning algorithm and optimized algorithm, main control unit pair
Task is decomposed and is distributed, and issues order to each controlled machine people, and organizes multiple controlled machine people jointly to complete task, can
With the problem in effectively solving background technology.
For achieving the above object, the present invention provides a kind of following technical scheme: wireless communication system of multi-function robot,
Including receiving unit data treating stations, between the communication link of described receiving unit data treating stations, it is connected with controlled in wireless
Unit, described receiving unit includes infrared remote receiver, and the input of described infrared remote receiver is connected with remote control detector unit, infrared
The outfan of receptor is connected with rotation control unit；Described data processing station includes central server, and central server is built-in
There is spi EBI, the input of described central server is connected with reception antenna, and central server is also associated with man-machine interaction
Equipment；Described wireless energy control units include rf processor, described rf processor is provided with telemetry receiving frequency-variable module and
Remote control sends frequency-variable module, and described telemetry receiving frequency-variable module and receiving unit carry out data exchange, and remote control sends frequency-variable module
Carry out data exchange with data processing station.
As a kind of preferred technical scheme of the present invention, described infrared remote receiver includes data transmitter, and described data is sent out
The data terminal sending device is connected with pseudo-code manipulator and qpsk manipulator, and the outfan of described data transmitter is connected with data storage
Device.
As a kind of preferred technical scheme of the present invention, described remote control detector unit includes infrared sensor, described infrared
The outfan of sensor is connected with signal synchronization module, and the outfan of described signal synchronization module is connected with low pass filter, institute
The outfan stating low pass filter is connected to the input/output terminal of frequency mixer.
As a kind of preferred technical scheme of the present invention, described rotation control unit includes power governor and course changing control
Device, described power governor is connected with the data terminal of data collecting card with the outfan of steering controller, and data collecting card
Input be also associated with data compressing module.
As a kind of preferred technical scheme of the present invention, the outfan of described reception antenna is connected with deserializer, institute
Show that deserializer includes code generator and frequency multiplier, the outfan of described frequency multiplier is connected with Clock dividers, described clock
The data terminal of frequency divider is connected with spi EBI.
As a kind of preferred technical scheme of the present invention, described human-computer interaction device includes liquid crystal touch screen and control key
Disk, is also associated with clock synchronization module between described liquid crystal touch screen and control keyboard, and described clock synchronization module passes through asynchronous
Detection module is connected with carrier modulation block.
As a kind of preferred technical scheme of the present invention, described telemetry receiving frequency-variable module includes upconverter, described on
The outfan of converter is connected with demodulator of PM signal PM；Described remote control sends frequency-variable module and includes low-converter, described low-converter
Outfan be connected with signal modulator.
As a kind of preferred technical scheme of the present invention, described data transmitter is also associated with information detecting module and gps
Localizer, the outfan of described information detection module is connected with signal exchange arm control platform, and described gps localizer adopts gs-
96h2hx8222 family chip, and the outfan of gps localizer is connected with the data terminal of signal exchange arm control platform.
Compared with prior art, the invention has the beneficial effects as follows: the wireless communication system of this multi-function robot, be provided with
Main control unit, fully grasps whole environmental informations and the information of each controlled machine people, with planning algorithm and optimized algorithm, master control
Unit is decomposed to task and is distributed, and issues order to each controlled machine people, and organizes multiple controlled machine people jointly to complete
Task, machine can carry out communication for information by the means such as communication and other robot per capita, independently carries out decision-making, this side
Formula has motility and adaptable advantage, and multiple robots can be to a certain degree based on the sensor information of itself simultaneously
On realize mutual coordination and cooperate, because each robot is scattered in environment, by communication and mutually coordinated work, whole
Individual system has the ability of higher acquisition external information, in the complex work that some need multi-Robot Cooperative to carry out, respectively
Robot only process self-sensor device acquisition information also far from enough in addition it is also necessary to by the heat transfer agent of other robot and itself
Heat transfer agent is merged to obtain correct to external environment condition and more comprehensive understanding, and therefore, robot not only can utilize
The heat transfer agent of itself, can also be determined using the information that the other robot that its own sensor cannot obtain is perceived
Plan.
Brief description
Fig. 1 is present configuration schematic diagram；
Fig. 2 is electrical block diagram of the present invention.
Fig. 3 is electrical block diagram of the present invention.
In figure: 1- receiving unit；2- data processing station；3- wireless energy control units；4- infrared remote receiver；5- remote control detection is single
Unit；6- rotates control unit；7- central server；8- reception antenna；9- human-computer interaction device；10- rf processor；11- is distant
Survey and receive frequency-variable module；12- remote control sends frequency-variable module；13- data transmitter；14- pseudo-code manipulator；15- data storage；
16- infrared sensor；17- frequency mixer；18- signal synchronization module；19- low pass filter；20- data collecting card；21- power is adjusted
Section device；22- steering controller；23- data compressing module；24-spi EBI；25-spi EBI；26- frequency multiplier；
27- Clock dividers；28- deserializer；29- liquid crystal touch screen；30- clock synchronization module；31- control keyboard；32- is asynchronous
Detection module；33- carrier modulation block；34- upconverter；35- demodulator of PM signal PM；36- low-converter；37- signal modulator；
38- information detecting module；39-gps localizer；40- signal exchange arm control platform；41-qpsk manipulator.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation description is it is clear that described embodiment is only a part of embodiment of the present invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of protection of the invention.
Embodiment:
Refer to Fig. 1 to Fig. 3, the present invention provides a kind of a kind of technical scheme: wireless communication system of multi-function robot,
Including receiving unit 1 data treating stations 2, it is connected with wireless between the communication link of described receiving unit 1 data treating stations 2
Control unit 3, described receiving unit 1 includes infrared remote receiver 4, and described infrared remote receiver 4 includes data transmitter 13, described number
It is connected with pseudo-code manipulator 14 and qpsk manipulator 41 according to the data terminal of transmitter 13, the outfan of described data transmitter 13 is even
It is connected to data storage 15, described data transmitter 13 is also associated with information detecting module 38 and gps localizer 39, described information
The outfan of detection module 38 is connected with signal exchange arm control platform 40, and described gps localizer 39 adopts gs-
96h2hx8222 family chip, and the outfan of gps localizer 39 is connected with the data terminal of signal exchange arm control platform 40
Connect, the input of described infrared remote receiver 4 is connected with remote control detector unit 5, and described remote control detector unit 5 includes infrared sensor
16, the outfan of described infrared sensor 16 is connected with signal synchronization module 18, and the outfan of described signal synchronization module 18 is even
It is connected to low pass filter 19, the outfan of described low pass filter 19 is connected to the input/output terminal of frequency mixer 17, infrared receiver
The outfan of device 4 is connected with rotation control unit 6, and described rotation control unit 6 includes power governor 21 and steering controller
22, described power governor 21 is connected with the data terminal of data collecting card 20 with the outfan of steering controller 22, and data
The input of capture card 20 is also associated with data compressing module 23；Described data processing station 2 includes central server 7, in genuinely convinced
Business device 7 is built-in with spi EBI 24, and the input of described central server 7 is connected with reception antenna 8, described reception antenna 8
Outfan be connected with deserializer 28, shown deserializer 28 includes code generator 25 and frequency multiplier 26, described spread spectrum
The outfan of device 26 is connected with Clock dividers 27, and the data terminal of described Clock dividers 27 is connected with spi EBI 24,
Central server 7 is also associated with human-computer interaction device 9, and described human-computer interaction device 9 includes liquid crystal touch screen 29 and control keyboard
31, it is also associated with clock synchronization module 30, described clock synchronization module 30 between described liquid crystal touch screen 29 and control keyboard 31
It is connected with carrier modulation block 33 by asynchronous detection module 32；Described wireless energy control units 3 include rf processor 10, institute
State and telemetry receiving frequency-variable module 11 and remote control transmission frequency-variable module 12, described telemetry receiving frequency conversion are provided with rf processor 10
Module 11 and receiving unit 1 carry out data exchange, and remote control sends frequency-variable module 12 and carries out data exchange, institute with data processing station 2
State telemetry receiving frequency-variable module 11 and include upconverter 34, the outfan of described upconverter 34 is connected with demodulator of PM signal PM 35；
Described remote control sends frequency-variable module 12 and includes low-converter 36, and the outfan of described low-converter 36 is connected with signal modulator
37.
(1) described modulating part is the such as microwave frequency band in suitable band transmissions for the symbol after enabling channel to encode,
Shortwave frequency range etc., spread spectrum and despreading are the signal spectrum broadenings and reduction technique carrying out for certain purpose, in spread spectrum communication
In system, after receiver does spread spectrum demodulation, only extract the bandwidth information after pseudorandomcode relevant treatment, and exclude broadband
The communication impact of the external disturbance of middle w, noise and its ground user, therefore, processing gain g reflects spread spectrum communication system signal to noise ratio
The degree improved.
(2) described spread spectrum communication is to be modulated information data to be sent by pseudorandomcode, realizes after spread spectrum again
Transmission receiving terminal then using identical coding be demodulated and relevant treatment, recover original information data, this communication mode with
Conventional arrow path communication mode be distinguishing one be information spread spectrum after to form broadband transmission two be extensive after relevant treatment
Become narrow band information data again.Just because of this two major features, make spread spectrum communication have many narrow band communications and be difficult to the excellent of replacement
Victory can, mainly have following items feature: 1) strong antijamming capability, particularly anti-arrowband interference performance.In ECM environment,
It is the maximally effective measure improving communication equipment capacity of resisting disturbance using spread spectrum, it has played huge in modern war
Power；2) property examined low it is not easy to be tracked down.Transmission signal, after spread processing, is almost uniformly dispersed in very wide frequency
Band, power spectral density is very low, is similar to noise characteristic.This advantageously reduces the interference to other communication systems, reduces simultaneously
" eavesdropping " and the chance being " captured ".Further, since spread spectrum communication carries out spread spectrum using pseudo noise code, listener-in does not slap
Hold the pseudo-code rule that transmission signal is adopted, cannot interpret and can understand information it is impossible to the information of understanding transmission, This prevents
The danger that information is ravesdropping, can meet the requirement of proposed information hiding；3) there is multiple access capability, it is easy to accomplish code division is many
Location technology.This communication makes many users can work using identical frequency simultaneously.Different by making each user use
Code sequence, and make the cross-correlation coefficient very little between them, thus reach not interfereing with each other between each user, constitute CDMA system
System；
(3) the system adopts the modulation system of qpsk, and single channel carries out phase-modulation, and data rate processing requirement is not very
Height, and ensure certain error-resilient performance.
The operation principle of the present invention: the wireless communication system of this multi-function robot, it is provided with main control unit, fully grasp
All information of environmental informations and each controlled machine people, with planning algorithm and optimized algorithm, main control unit is carried out to task point
Solution and distribution, issue order to each controlled machine people, and organize multiple controlled machine people jointly to complete task, machine per capita can
Communication for information is carried out by the means such as communication and other robot, independently carries out decision-making, this mode has motility and fits
The advantage of Ying Xingqiang, simultaneously multiple robots mutual association can be realized to a certain extent based on the sensor information of itself
Adjust and cooperate, because each robot is scattered in environment, by communication and mutually coordinated work, whole system has higher
Obtain the ability of external information, in the complex work that some need multi-Robot Cooperative to carry out, each robot only processes itself
Sensor obtain information also far from enough in addition it is also necessary to the heat transfer agent of other robot is merged with self-sensor information
To obtain correct to external environment condition and more comprehensive understanding, therefore, robot not only can utilize the heat transfer agent of itself, also
Decision-making can be carried out using the information that the other robot that its own sensor cannot obtain is perceived.
The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all essences in the present invention
Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.
Claims (8)
1. a kind of wireless communication system of multi-function robot, including receiving unit (1) data treating stations (2), described reception
Be connected with wireless energy control units (3) between the communication link of unit (1) data treating stations (2) it is characterised in that: described reception
Unit (1) includes infrared remote receiver (4), and the input of described infrared remote receiver (4) is connected with remote control detector unit (5), infrared
The outfan of receptor (4) is connected with rotation control unit (6)；Described data processing station (2) includes central server (7), in
Central server (7) is built-in with spi EBI (24), and the input of described central server (7) is connected with reception antenna (8),
Central server (7) is also associated with human-computer interaction device (9)；Described wireless energy control units (3) include rf processor (10), institute
State and telemetry receiving frequency-variable module (11) and remote control transmission frequency-variable module (12) are provided with rf processor (10), described remote measurement connects
Receive frequency-variable module (11) and carry out data exchange with receiving unit (1), remote control is sent frequency-variable module (12) and entered with data processing station (2)
Row data exchange.
2. a kind of multi-function robot according to claim 1 wireless communication system it is characterised in that: described infrared connect
Receive device (4) and include data transmitter (13), the data terminal of described data transmitter (13) be connected with pseudo-code manipulator (14) and
Qpsk manipulator (41), the outfan of described data transmitter (13) is connected with data storage (15).
3. a kind of multi-function robot according to claim 1 wireless communication system it is characterised in that: described remote control inspection
Survey unit (5) and include infrared sensor (16), the outfan of described infrared sensor (16) is connected with signal synchronization module (18),
The outfan of described signal synchronization module (18) is connected with low pass filter (19), and the outfan of described low pass filter (19) is even
It is connected to the input/output terminal of frequency mixer (17).
4. a kind of multi-function robot according to claim 1 wireless communication system it is characterised in that: described rotate control
Unit (6) processed includes power governor (21) and steering controller (22), described power governor (21) and steering controller
(22) outfan is connected with the data terminal of data collecting card (20), and the input of data collecting card (20) is also associated with counting
According to compression module (23).
5. a kind of multi-function robot according to claim 1 wireless communication system it is characterised in that: described reception sky
The outfan of line (8) is connected with deserializer (28), and shown deserializer (28) includes code generator (25) and frequency multiplier
(26), the outfan of described frequency multiplier (26) is connected with Clock dividers (27), the data terminal of described Clock dividers (27) with
Spi EBI (24) is connected.
6. a kind of multi-function robot according to claim 1 wireless communication system it is characterised in that: described man-machine friendship
Mutually equipment (9) includes liquid crystal touch screen (29) and control keyboard (31), described liquid crystal touch screen (29) and control keyboard (31) it
Between be also associated with clock synchronization module (30), described clock synchronization module (30) pass through asynchronous detection module (32) and carrier modulation
Module (33) is connected.
7. a kind of multi-function robot according to claim 1 wireless communication system it is characterised in that: described remote measurement connects
Receive frequency-variable module (11) and include upconverter (34), the outfan of described upconverter (34) is connected with demodulator of PM signal PM (35)；
Described remote control sends frequency-variable module (12) and includes low-converter (36), and the outfan of described low-converter (36) is connected with signal and adjusts
Device (37) processed.
8. a kind of multi-function robot according to claim 1 wireless communication system it is characterised in that: described data is sent out
Device (13) is sent to be also associated with information detecting module (38) and gps localizer (39), the outfan of described information detection module (38)
It is connected with signal exchange arm control platform (40), described gps localizer (39) adopts gs-96h2hx8222 family chip, and
The outfan of gps localizer (39) is connected with the data terminal of signal exchange arm control platform (40).
Priority Applications (1)
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| CN201610822256.XA CN106371361A (en) | 2016-09-14 | 2016-09-14 | Wireless communication system of multifunctional robot |
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| CN201610822256.XA CN106371361A (en) | 2016-09-14 | 2016-09-14 | Wireless communication system of multifunctional robot |
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| US20100010669A1 (en) * | 2008-07-14 | 2010-01-14 | Samsung Electronics Co. Ltd. | Event execution method and system for robot synchronized with mobile terminal |
| CN101927492A (en) * | 2010-06-23 | 2010-12-29 | 焦利民 | Household intelligent robot system |
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