CN106584467A - Intelligent robot system - Google Patents
Intelligent robot system Download PDFInfo
- Publication number
- CN106584467A CN106584467A CN201710111420.0A CN201710111420A CN106584467A CN 106584467 A CN106584467 A CN 106584467A CN 201710111420 A CN201710111420 A CN 201710111420A CN 106584467 A CN106584467 A CN 106584467A
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- China
- Prior art keywords
- micro
- control
- steering wheel
- control module
- control steering
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
Abstract
The invention discloses an intelligent robot system. The intelligent robot system comprises a main control module for sending a control instruction, a backup control module for sending the control instruction when the main control module abnormally works, and a micro control steering engine for receiving the control instruction and performing the operation of the control instruction; the main control module and the backup control module are connected through a USB protocol; the main control module and the micro control steering engine are connected through the USB protocol; and the backup control module and the micro control steering engine are connected through a serial port protocol/. In the intelligent robot system, the main control module sends the control instruction for controlling the micro control steering engine to correspondingly operate into the micro control steering engine arranged in each part of a robot; and when the main control module is abnormal without working, the backup control module continuously sends the control instruction to the micro control steering engine based on the presently sent control instruction of the main control module to enable the robot to continuously work, so that the reliability of the system is enhanced.
Description
Technical field
The present invention relates to field in intelligent robotics, in particular to intelligent robot system.
Background technology
As the development of science and technology, the application of robot are more and more extensive, the applied environment of robot is also more and more
Unitization, to the reliability of the execute instruction of robot higher requirement is it is also proposed.Robot of the prior art, its hardware frame
Structure mainly adopts single hardware structure system, without backup hardware, so when the module for sending control instruction occurs abnormal, entirely
Robot also cannot work, therefore reliability is not high enough.
The content of the invention
In view of this, intelligent robot system of the invention, it is therefore intended that improve reliability and the continuity of robot work
Property.
Intelligent robot system, it is included for sending the main control module of control instruction, when the main control module works different
For sending the backup control module of the control instruction, for receiving the control instruction and performing the control instruction when often
Operation micro-control steering wheel, the main control module is connected with backup control module by usb protocol, the main control module with it is described
Micro-control steering wheel is connected by usb protocol, and the backup control module is connected with the micro-control steering wheel by serial port protocol.
Further, in the present invention, the micro-control steering wheel is included located at robot left hand and for controlling left hand motion
The first micro-control steering wheel, the second micro-control steering wheel, the 3rd micro-control steering wheel, the 4th micro-control steering wheel.
Further, in the present invention, the micro-control steering wheel is included located at the robot right hand and for controlling right hand motion
The 5th micro-control steering wheel, the 6th micro-control steering wheel, the 7th micro-control steering wheel, the 8th micro-control steering wheel.
Further, in the present invention, the micro-control steering wheel is included located at robot left foot and for controlling left foot motion
The 9th micro-control steering wheel, the tenth micro-control steering wheel, the 11st micro-control steering wheel, the 12nd micro-control steering wheel.
Further, in the present invention, the micro-control steering wheel is included located at robot right crus of diaphragm and for controlling left foot motion
The 13rd micro-control steering wheel, the 14th micro-control steering wheel, the 15th micro-control steering wheel, the 16th micro-control steering wheel.
Further, in the present invention, the backup control module is multiple.
Further, in the present invention, the transmitting procedure of the control instruction includes multistage node, receives per first nodes
The control instruction of even higher level of node simultaneously transmits the control instruction to next stage node, main control module or backup control module general
Control instruction is sent to first nodes, and first nodes receive the control instruction of main control module or backup control module and by the control
Instruction processed is transmitted to next stage node.
Further, in the present invention, a node is at least included with first nodes.
Further, in the present invention, connected by parallel agreement between the multistage node.
Further, in the present invention, cascade between the brother of node.
The intelligent robot system of the present invention, it is included for sending the main control module of control instruction, when the master control mould
During block operation irregularity for sending the backup control module of the control instruction, for receiving the control instruction and performing described
The micro-control steering wheel of the operation of control instruction, the main control module is connected with backup control module by usb protocol, the master control mould
Block is connected with the micro-control steering wheel by usb protocol, and the backup control module is connected with the micro-control steering wheel by serial port protocol
Connect.In the present invention, main control module sends the control instruction that corresponding operating is carried out for controlling micro-control steering wheel to located at machine
In micro-control steering wheel in each part of people, and when the main control module exception occurs and can not work, backup control module is based on should
The currently transmitted control instruction of main control module continues to send control instruction to micro-control steering wheel, to make robot work on.In order to
The reliability of the system is further enhanced, the present invention adopts two kinds of connected modes, and main control module is by usb protocol and Standby control
Module connects, and main control module is connected by usb protocol with micro-control steering wheel, and backup control module is by serial port protocol and micro-control
Steering wheel connects.
Description of the drawings
In order to be illustrated more clearly that the technical scheme of the embodiment of the present invention, below will be attached to what is used needed for embodiment
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, thus be not construed as it is right
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can be with according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 is the connection diagram of the intelligent robot system that a preferred embodiment of the present invention is provided；
Fig. 2 is the connection diagram of the intelligent robot system that a preferred embodiment of the present invention is provided
Fig. 3 is company of the control instruction of the intelligent robot system that a preferred embodiment of the present invention is provided in transmitting procedure
Connect schematic diagram.
Main components explanation：
Main control module -10；Backup control module -20；Micro-control steering wheel -30.
Specific embodiment
Hereinafter, the various embodiments of the disclosure will be described more fully.The disclosure can have various embodiments, and
Can wherein adjust and change.It should be understood, however, that：Do not exist and the various embodiments of the disclosure are limited to into spy disclosed herein
Determine the intention of embodiment, but in the spirit and scope that should be interpreted as covering the various embodiments for falling into the disclosure by the disclosure
All adjustment, equivalent and/or alternative.
Hereinafter, can indicate in the term " including " used in the various embodiments of the disclosure or " may include " disclosed
Function, operation or the presence of element, and do not limit the increase of one or more functions, operation or element.Additionally, such as existing
Used in the various embodiments of the disclosure, term " including ", " having " and its cognate are meant only to represent special characteristic, number
The combination of word, step, operation, element, component or aforementioned item, and be understood not to exclude first it is one or more other
The presence of the combination of feature, numeral, step, operation, element, component or aforementioned item or increase one or more features, numeral,
The probability of the combination of step, operation, element, component or aforementioned item.
In the various embodiments of the disclosure, stating "or" or " at least one of A or/and B " includes what is listed file names with
Any combinations of word or all combinations.For example, stating " A or B " or " at least one of A or/and B " may include A, may include
B may include A and B both.
Statement (" first ", " second " etc.) used in the various embodiments of the disclosure can be modified in various enforcements
Various element in example, but corresponding element can not be limited.For example, it is presented above to be not intended to limit the suitable of the element
Sequence and/or importance.The purpose for being only used for differentiating an element and other elements presented above.For example, first user dress
Put and indicate different user device with second user device, although the two is all user's set.For example, without departing from each of the disclosure
In the case of planting the scope of embodiment, the first element is referred to alternatively as the second element, and similarly, the second element is also referred to as first
Element.
It should be noted that：If an element ' attach ' to another element by description, can be by the first composition unit
Part is directly connected to the second element, and " connection " the 3rd can constitute between the first element and the second element
Element.On the contrary, when an element " being directly connected to " is arrived into another element, it will be appreciated that be in the first element
And second do not have the 3rd element between element.
Term " user " used in the various embodiments of the disclosure may indicate that using the people of electronic installation or using electricity
The device (for example, artificial intelligence's electronic installation) of sub-device.
Term used in the various embodiments of the disclosure is only used for describing the purpose of specific embodiment and not anticipating
In the various embodiments for limiting the disclosure.As used herein, singulative is intended to also including plural form, unless context is clear
Chu ground is indicated otherwise.Unless otherwise defined, all terms (including the technical term and scientific terminology) tool being otherwise used herein
There is the implication identical implication being generally understood that with the various embodiment one skilled in the art of the disclosure.The term
(term limited such as in the dictionary for generally using) is to be interpreted as to be had and the situational meaning in correlative technology field
Identical implication and will be not construed as with Utopian implication or excessively formal implication, unless in the various of the disclosure
It is clearly defined in embodiment.
In one embodiment, refer to：Fig. 1, Fig. 2.
Intelligent robot system, it is included for sending the main control module 10 of control instruction, when the work of the main control module 10
For sending the backup control module 20 of the control instruction, for receiving the control instruction and performing the control when making abnormal
The micro-control steering wheel 30 of the operation of system instruction, the main control module 10 is connected with backup control module 20 by usb protocol, the master
Control module 10 is connected with the micro-control steering wheel 30 by usb protocol, and the backup control module 20 is logical with the micro-control steering wheel 30
Cross serial port protocol connection.
It is above-mentioned, refer to that main control module 10 can send control instruction to main control module 10, and work as the main control module 10 and occur
It is abnormal and when can not work, backup control module 20 continues to send control based on the currently transmitted control instruction of the main control module 10
Instruct to micro-control steering wheel 30, to make robot work on.
Specifically, backup control module 20 can be illustrated based on the currently transmitted control instruction of the main control module 10：Work as master
When control module 10 needs to send successively a string of control instructions D1, D2, D3, abnormal or event is run into after main control module 10 has sent D2
During barrier, backup control module 20 detects the exception of main control module 10 and is followed by sending control instruction D3 for main control module 10.Can manage
Solution, if main control module 10 is additionally operable to receive and processing data, backup control module 20 can equally take over main control module 10
Carry out the reception and process of data.
Main control module 10 is connected by usb protocol with backup control module 20, so as to backup control module 20 can be detected
Main control module 10 sends the state of control instruction or reception and processing data, and backs up the control instruction of main control module 10.
In order to further increase the reliability of the system of the present invention, the steering wheel in main control module 10 and each position of robot
Connected mode can be connected using usb protocol, and the connected mode of backup control module 20 and the steering wheel in each part of robot
Using the connected mode of serial port protocol.Such that it is able to increase the reliability of system with various connected modes.
In the present embodiment, the micro-control steering wheel 30 is included located at robot left hand and for controlling left chirokinesthetic first
Micro-control steering wheel, the second micro-control steering wheel, the 3rd micro-control steering wheel, the 4th micro-control steering wheel.
It is above-mentioned, refer to that robot left hand includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the first micro-control steering wheel, the second micro-control steering wheel, the 3rd micro-control steering wheel, the 4th micro-control steering wheel, specifically, the micro-control steering wheel 30 can
With using micro-control steering wheel 30 of the prior art.
In the present embodiment, the micro-control steering wheel 30 is included located at the robot right hand and for controlling the right chirokinesthetic 5th
Micro-control steering wheel, the 6th micro-control steering wheel, the 7th micro-control steering wheel, the 8th micro-control steering wheel.
It is above-mentioned, refer to that the robot right hand includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the 5th micro-control steering wheel, the 6th micro-control steering wheel, the 7th micro-control steering wheel, the 8th micro-control steering wheel, specifically, the micro-control steering wheel 30 can
With using micro-control steering wheel 30 of the prior art.
In the present embodiment, the micro-control steering wheel 30 is included located at robot left foot and for controlling the 9th of left foot motion
Micro-control steering wheel, the tenth micro-control steering wheel, the 11st micro-control steering wheel, the 12nd micro-control steering wheel.
It is above-mentioned, refer to that robot left foot includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the 9th micro-control steering wheel, the tenth micro-control steering wheel, the 11st micro-control steering wheel, the 12nd micro-control steering wheel, specifically, the micro-control steering wheel
30 can adopt micro-control steering wheel 30 of the prior art.
In the present embodiment, the micro-control steering wheel 30 is included located at robot right crus of diaphragm and for controlling the tenth of left foot motion
Three micro-control steering wheels, the 14th micro-control steering wheel, the 15th micro-control steering wheel, the 16th micro-control steering wheel.
It is above-mentioned, refer to that robot right crus of diaphragm includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the 13rd micro-control steering wheel, the 14th micro-control steering wheel, the 15th micro-control steering wheel, the 16th micro-control steering wheel, specifically, the micro-control
Steering wheel 30 can adopt micro-control steering wheel 30 of the prior art.
In the present embodiment, the backup control module 20 is multiple.
Above-mentioned, in order to further increase the reliability of the intelligent robot system of the present invention, backup control module 20 can be with
For multiple.
In another embodiment, refer to：Fig. 1, Fig. 2, Fig. 3.
Intelligent robot system, it is included for sending the main control module 10 of control instruction, when the work of the main control module 10
For sending the backup control module 20 of the control instruction, for receiving the control instruction and performing the control when making abnormal
The micro-control steering wheel 30 of the operation of system instruction, the main control module 10 is connected with backup control module 20 by usb protocol, the master
Control module 10 is connected with the micro-control steering wheel 30 by usb protocol, and the backup control module 20 is logical with the micro-control steering wheel 30
Cross serial port protocol connection.
It is above-mentioned, refer to that main control module 10 can send control instruction to main control module 10, and work as the main control module 10 and occur
It is abnormal and when can not work, backup control module 20 continues to send control based on the currently transmitted control instruction of the main control module 10
Instruct to micro-control steering wheel 30, to make robot work on.
Specifically, backup control module 20 can be illustrated based on the currently transmitted control instruction of the main control module 10：Work as master
When control module 10 needs to send successively a string of control instructions D1, D2, D3, abnormal or event is run into after main control module 10 has sent D2
During barrier, backup control module 20 detects the exception of main control module 10 and is followed by sending control instruction D3 for main control module 10.Can manage
Solution, if main control module 10 is additionally operable to receive and processing data, backup control module 20 can equally take over main control module 10
Carry out the reception and process of data.
Main control module 10 is connected by usb protocol with backup control module 20, so as to backup control module 20 can be detected
Main control module 10 sends the state of control instruction or reception and processing data, and backs up the control instruction of main control module 10.
In order to further increase the reliability of the system of the present invention, the steering wheel in main control module 10 and each position of robot
Connected mode can be connected using usb protocol, and the connected mode of backup control module 20 and the steering wheel in each part of robot
Using the connected mode of serial port protocol.Such that it is able to increase the reliability of system with various connected modes.
In the present embodiment, the micro-control steering wheel 30 is included located at robot left hand and for controlling left chirokinesthetic first
Micro-control steering wheel 30, the second micro-control steering wheel 30, the 3rd micro-control steering wheel 30, the 4th micro-control steering wheel 30.
It is above-mentioned, refer to that robot left hand includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the first micro-control steering wheel 30, the second micro-control steering wheel 30, the 3rd micro-control steering wheel 30, the 4th micro-control steering wheel 30, specifically, the micro-control
Steering wheel 30 can adopt micro-control steering wheel 30 of the prior art.
In the present embodiment, the micro-control steering wheel 30 is included located at the robot right hand and for controlling the right chirokinesthetic 5th
Micro-control steering wheel 30, the 6th micro-control steering wheel 30, the 7th micro-control steering wheel 30, the 8th micro-control steering wheel 30.
It is above-mentioned, refer to that the robot right hand includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the first micro-control steering wheel 30, the second micro-control steering wheel 30, the 3rd micro-control steering wheel 30, the 4th micro-control steering wheel 30, specifically, the micro-control
Steering wheel 30 can adopt micro-control steering wheel 30 of the prior art.
In the present embodiment, the micro-control steering wheel 30 is included located at robot left foot and for controlling the 9th of left foot motion
Micro-control steering wheel 30, the tenth micro-control steering wheel 30, the 11st micro-control steering wheel 30, the 12nd micro-control steering wheel 30.
It is above-mentioned, refer to that robot left foot includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the first micro-control steering wheel 30, the second micro-control steering wheel 30, the 3rd micro-control steering wheel 30, the 4th micro-control steering wheel 30, specifically, the micro-control
Steering wheel 30 can adopt micro-control steering wheel 30 of the prior art.
In the present embodiment, the micro-control steering wheel 30 is included located at robot right crus of diaphragm and for controlling the tenth of left foot motion
Three micro-control steering wheels 30, the 14th micro-control steering wheel 30, the 15th micro-control steering wheel 30, the 16th micro-control steering wheel 30.
It is above-mentioned, refer to that robot right crus of diaphragm includes four micro-control steering wheels 30 to control its motion, 30 points of the micro-control steering wheel
Not Wei the first micro-control steering wheel 30, the second micro-control steering wheel 30, the 3rd micro-control steering wheel 30, the 4th micro-control steering wheel 30, specifically, the micro-control
Steering wheel 30 can adopt micro-control steering wheel 30 of the prior art.
In the present embodiment, the backup control module 20 is multiple.
Above-mentioned, in order to further increase the reliability of the intelligent robot system of the present invention, backup control module 20 can be with
For multiple.Competition mechanism and algorithm are also equipped between main control module 10 and backup control module 20.
In the present embodiment, the transmitting procedure of the control instruction includes multistage node, and upper level is received per first nodes
The control instruction of node simultaneously transmits the control instruction to next stage node, and main control module or backup control module refer to control
Order is sent to first nodes, and first nodes receive the control instruction of main control module 10 or backup control module 20 and by the control
Instruction is transmitted to next stage node.
It is above-mentioned, Fig. 3 is referred to, the transmitting procedure of control instruction includes multistage node, refers to from main control module 10 or backup
The control instruction that control module 20 sends out is transmitted to execution micro-control steering wheel 30 after multistage node.Two grades or more than two grades
Node be expansible general line controlling system, nodes at different levels be also equipped with numbering and hub equipment Management Functions, for bottom-ranked unit
Add and delete, abnormal monitoring；And the startup of agreement is closed, and abnormal switching.
In the present embodiment, a node is at least included with first nodes.
It is above-mentioned, at least include a node with first nodes, can be as an example：Two-level node can include two-level node A
And two-level node B, two-level node C.Parallel duplication can be carried out between the brother of node.
In the present embodiment, connected by parallel agreement between the multistage node.
In the present embodiment, cascade between the brother of node.
The intelligent robot system of the present invention, it is included for sending the main control module 10 of control instruction, when the master control
During 10 operation irregularity of module for sending the backup control module 20 of the control instruction, for receiving the control instruction and holding
The micro-control steering wheel 30 of the operation of the row control instruction, the main control module 10 is connected with backup control module 20 by usb protocol
Connect, the main control module 10 is connected with the micro-control steering wheel 30 by usb protocol, the backup control module 20 and the micro-control
Steering wheel 30 is connected by serial port protocol.In the present invention, main control module 10 will be used to controlling micro-control steering wheel 30 carrying out corresponding operating
Control instruction send into the micro-control steering wheel 30 in each part of robot, and work as the main control module 10 occur it is abnormal and not
When can work, backup control module 20 continues to send control instruction to micro- based on the currently transmitted control instruction of the main control module 10
Control steering wheel 30, to make robot work on.In order to further enhance the reliability of the system, the present invention adopts two kinds of connection sides
Formula, main control module 10 is connected by usb protocol with backup control module 20, and main control module 10 is by usb protocol and micro-control
Steering wheel 30 connects, and backup control module 20 is connected by serial port protocol with micro-control steering wheel 30.
It will be appreciated by those skilled in the art that accompanying drawing is a schematic diagram for being preferable to carry out scene, module in accompanying drawing or
Flow process is not necessarily implemented necessary to the present invention.
It will be appreciated by those skilled in the art that the module in the device in implement scene can according to implement scene describe into
Row is distributed in the device of implement scene, it is also possible to carry out one or more dresses that respective change is disposed other than this implement scene
In putting.The module of above-mentioned implement scene can merge into a module, it is also possible to be further split into multiple submodule.
The invention described above sequence number is for illustration only, does not represent the quality of implement scene.
Disclosed above is only that the several of the present invention are embodied as scene, but, the present invention is not limited to this, Ren Heben
What the technical staff in field can think change should all fall into protection scope of the present invention.
Claims (10)
1. intelligent robot system, it is characterised in that include for sending the main control module of control instruction, when the main control module
During operation irregularity for sending the backup control module of the control instruction, for receiving the control instruction and performing the control
The micro-control steering wheel of the operation of system instruction, the main control module is connected with backup control module by usb protocol, the main control module
It is connected by usb protocol with the micro-control steering wheel, the backup control module is connected with the micro-control steering wheel by serial port protocol.
2. intelligent robot system according to claim 1, it is characterised in that the micro-control steering wheel is included located at robot
Left hand simultaneously is used to control left chirokinesthetic first micro-control steering wheel, the second micro-control steering wheel, the 3rd micro-control steering wheel, the 4th micro-control steering wheel.
3. intelligent robot system according to claim 1, it is characterised in that the micro-control steering wheel is included located at robot
The right hand simultaneously is used to control right chirokinesthetic 5th micro-control steering wheel, the 6th micro-control steering wheel, the 7th micro-control steering wheel, the 8th micro-control steering wheel.
4. intelligent robot system according to claim 1, it is characterised in that the micro-control steering wheel is included located at robot
Left foot and the 9th micro-control steering wheel, the tenth micro-control steering wheel, the 11st micro-control steering wheel, the 12nd micro-control rudder for controlling left foot motion
Machine.
5. intelligent robot system according to claim 1, it is characterised in that the micro-control steering wheel is included located at robot
Right crus of diaphragm and for controlling the 13rd micro-control steering wheel of left foot motion, the 14th micro-control steering wheel, the 15th micro-control steering wheel, the 16th micro-
Control steering wheel.
6. intelligent robot system according to claim 1, it is characterised in that the backup control module is multiple.
7. intelligent robot system according to claim 1, it is characterised in that the transmitting procedure of the control instruction includes
Multistage node, the control instruction of even higher level of node is received per first nodes and the control instruction is transmitted to next stage node,
Main control module or backup control module send control instruction to first nodes, and first nodes receive main control module or Standby control
The control instruction of module simultaneously transmits the control instruction to next stage node.
8. intelligent robot system according to claim 7, it is characterised in that with first nodes at least including a section
Point.
9. intelligent robot system according to claim 8, it is characterised in that by parallel agreement between the multistage node
Connection.
10. intelligent robot system according to claim 8, it is characterised in that cascade between the brother of node.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111420.0A CN106584467A (en) | 2017-02-28 | 2017-02-28 | Intelligent robot system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710111420.0A CN106584467A (en) | 2017-02-28 | 2017-02-28 | Intelligent robot system |
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| CN106584467A true CN106584467A (en) | 2017-04-26 |
Family
ID=58588052
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| CN201710111420.0A Pending CN106584467A (en) | 2017-02-28 | 2017-02-28 | Intelligent robot system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN110083084A (en) * | 2019-03-13 | 2019-08-02 | 佛山市云米电器科技有限公司 | A kind of intelligent remote controller system based on household electrical appliances in intermediate equipment control room |
| WO2023133738A1 (en) * | 2022-01-12 | 2023-07-20 | 烟台杰瑞石油服务集团股份有限公司 | Vehicle control method and control apparatus, and processor and vehicle system |
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