CN106671082A - Wireless control system of intelligent mobile robot - Google Patents

Wireless control system of intelligent mobile robot Download PDF

Info

Publication number
CN106671082A
CN106671082A CN201611096098.0A CN201611096098A CN106671082A CN 106671082 A CN106671082 A CN 106671082A CN 201611096098 A CN201611096098 A CN 201611096098A CN 106671082 A CN106671082 A CN 106671082A
Authority
CN
China
Prior art keywords
module
control
input
sensor
mobile robot
Prior art date
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.)
Pending
Application number
CN201611096098.0A
Other languages
Chinese (zh)
Inventor
万博文
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
ANHUI BOWEI ELECTRONICS TECHNOLOGY Co Ltd
Original Assignee
ANHUI BOWEI ELECTRONICS TECHNOLOGY Co Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by ANHUI BOWEI ELECTRONICS TECHNOLOGY Co Ltd filed Critical ANHUI BOWEI ELECTRONICS TECHNOLOGY Co Ltd
Priority to CN201611096098.0A priority Critical patent/CN106671082A/en
Publication of CN106671082A publication Critical patent/CN106671082A/en
Pending legal-status Critical Current

Links

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • B25J9/161Hardware, e.g. neural networks, fuzzy logic, interfaces, processor

Abstract

The invention discloses a wireless control system of an intelligent mobile robot. The wireless control system comprises an intelligent control unit and a signal processing module. The output end of the intelligent control unit is connected with a power driver through a circular distributor. The input end of the power driver is connected with a stepping motor. The output end of the circular distributor is further connected with an element detection module. The input end of the intelligent control unit is further connected with the signal processing module. The input end of the signal processing module is further connected with a limiting position sensor. A sensor set is arranged at the input end of the limiting position sensor. A PC control unit is further connected to the output end of the sensor set. The output end of the PC control unit is connected with a man-machine interaction module. Wireless communication between a computer and a single chip microcomputer is achieved, so that the mobile robot is controlled wirelessly through interfaces between the single chip microcomputer and the robot; and the whole system is stable in operation and high in practicability.

Description

A kind of wireless control system of intelligent mobile robot
Technical field
The present invention relates to wireless control system technical field, the controlled in wireless system of specially a kind of intelligent mobile robot System.
Background technology
Modern electronic technology, computer hardware technique, artificial intelligence technology and automatic control technology are developed rapidly, Promote progress of the mobile robot in key technology areas such as navigation, visual spatial attention and straighforward operations.Mobile robot remote control Technology has huge application prospect, in recent years, welding robot in fields such as industrial production, daily life and Aero-Space But is obtained a wide range of applications at aspects such as automobile making, space explorations in many application scenarios, the control of robot is logical Wire cable realization is crossed, it is all very inconvenient on using and operating, and also it is unstable that data are received in terms of wireless control system It is fixed, influence normal picture collection so that whole operation system is unstable, it is impossible to meet the requirement of whole device, existing market On wireless control system, not only operating system is complicated, and use it is also cumbersome, while be unfavorable for normal maintenance, The cost time is more, and costly.
The content of the invention
For problem above, the invention provides a kind of wireless control system of intelligent mobile robot, to move machine People realizes radio communication as control platform between computer and single-chip microcomputer, and then by between single-chip microcomputer and robot Interface, realizes that wireless mode controls mobile robot, also realizes the monitor in real time to tele-robotic, can effectively solve background Problem in technology.
To achieve the above object, the present invention provides following technical scheme:A kind of controlled in wireless system of intelligent mobile robot System, including intelligent control unit and signal processing module, the output end of the intelligent control unit pass through ring distributor and work( Rate driver is connected, and the input of the analog line driver is connected with stepper motor, the output end of the annular driver Element testing module is also associated with, the input of the intelligent control unit is also associated with signal processing module, at the signal The input for managing module is also associated with limit position sensor, and the input of the limit position sensor is provided with sensor Group, the inside of the sensor group is additionally provided with infrared sensor and velocity sensor, and the output end of the sensor group also connects PC control units are connected to, the output end of the PC control units is connected with human-computer interaction module, the human-computer interaction module Data terminal is also associated with data storage.
Used as a kind of preferred technical scheme of the present invention, the intelligent control unit includes host scm module, the master One-chip computer module using AT89C51 series process chip, the FPDP of the host scm module be provided with I/O interfaces and The output end of multi-channel serial port module, the I/O interfaces and multi-channel serial port module is connected by control line with radio receiving transmitting module Connect, the radio receiving transmitting module is using PTR2000 serial process chip.
Used as a kind of preferred technical scheme of the present invention, the input of the radio receiving transmitting module is connected with radio-frequency module Connect.
Used as a kind of preferred technical scheme of the present invention, the PC control units include data acquisition unit, the data Collecting unit is connected with ZigBee wireless communication modules, and the output end of the ZigBee wireless communication modules is also turned by power supply Change unit to be connected with PC, the power conversion unit is using MAX232 serial process chip.
Used as a kind of preferred technical scheme of the present invention, the input of the PC is also associated with KBC, described The power end of KBC is also associated with power module.
Used as a kind of preferred technical scheme of the present invention, it is right that the input of the limit position sensor is also associated with control As module.
Used as a kind of preferred technical scheme of the present invention, the input of the radio receiving transmitting module is also associated with IMAQ Module, the data terminal of described image acquisition module is also associated with receiver.
Compared with prior art, the beneficial effects of the invention are as follows:The wireless control system of the intelligent mobile robot, to move Mobile robot realizes radio communication as control platform between computer and single-chip microcomputer, and then by single-chip microcomputer and robot Between interface, realize wireless mode control mobile robot, also realize the monitor in real time to tele-robotic, i.e., locally giving Go out the control command of robot, distal end is sent to by wireless transport module, then controlled by the robot control system of distal end Robot performs corresponding action;The action of robot is carried out Real-time Collection by video camera simultaneously, then the image after compression Data are transferred to locally by wireless transport module, and being reduced into video image finally by decompression plays out, and the system will The major technique of solution includes:The real-time Transmission of control command, to the real-time control of robot, the Real-time Collection of video image, Compression and transmit, and robot motion's data message in good time feedback.
Brief description of the drawings
Fig. 1 is schematic structural view of the invention;
Fig. 2 is cross-sectional view of the present invention;
Fig. 3 is PC control modules structural representation of the present invention;
Fig. 4 is serial interface circuit diagram of the present invention.
In figure:1- intelligent control units;2- signal processing modules;3- ring distributors;4- analog line drivers;5- steppings electricity Machine;6- element testing modules;7- limit position sensors;8- sensor groups;9- infrared sensors;10- velocity sensors;11- PC control units;12- human-computer interaction modules;13- data storages;14- host scm modules;15-I/O interfaces;16- multichannel strings Mouth mold block;17- radio receiving transmitting modules;18- radio-frequency modules;19- data acquisition units;20-ZigBee wireless communication modules;21- Power conversion unit;22-PC machines;23- KBCs;24- power modules;25- control object modules;26- IMAQ moulds Block;27- receivers.
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 is described, it is clear that described embodiment is only a part of embodiment of the 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 creative work is not made Embodiment, belongs to the scope of protection of the invention.
Embodiment:
Fig. 1 to Fig. 4 is referred to, the present invention provides a kind of technical scheme:A kind of wireless control system of intelligent mobile robot, bag Intelligent control unit 1 and signal processing module 2 are included, the output end of the intelligent control unit 1 passes through ring distributor 3 and power Driver 4 is connected, and the input of the analog line driver 4 is connected with stepper motor 5, the output of the annular driver 3 End is also associated with element testing module 6, and the input of the intelligent control unit 1 is also associated with signal processing module 2, the letter The input of number processing module 2 is also associated with limit position sensor 7, and the input of the limit position sensor 7 is also connected with Have a control object module 25, the input of the limit position sensor 7 is provided with sensor group 8, the sensor group 8 it is interior Portion is additionally provided with infrared sensor 9 and velocity sensor 10, and the output end of the sensor group 8 is also associated with PC control units 11, the output end of the PC control units 11 is connected with human-computer interaction module 12, the data terminal of the human-computer interaction module 12 It is also associated with data storage 13.
The intelligent control unit 1 includes host scm module 14, and the host scm module 14 is using AT89C51 series Process chip, the FPDP of the host scm module 14 is provided with I/O interfaces 15 and multi-channel serial port module 16, the I/ The output end of O Interface 15 and multi-channel serial port module 16 is connected by control line with radio receiving transmitting module 17, the wireless receipts Hair module 17 is connected using PTR2000 serial process chip, the input of the radio receiving transmitting module 17 with radio-frequency module 18 Connect, the input of the radio receiving transmitting module 17 is also associated with image capture module 26, the data of described image acquisition module 26 End is also associated with receiver 27.
The PC control units 11 include data acquisition unit 19, the data acquisition unit 19 and ZigBee radio communications Module 20 is connected, and the output end of the ZigBee wireless communication modules 20 is also connected by power conversion unit 21 with PC 22 Connect, the power conversion unit 21 is also associated with keyboard using MAX232 serial process chip, the input of the PC 22 Controller 23, the power end of the KBC 23 is also associated with power module 24.
The ZigBee wireless communication modules 20:Realize the bidirectional data exchange of director and robot, wireless data Transceiver module is using the PTR2000 microminiatures based on RF401 radio communication single-chip microcomputers, low-power consumption, two-forty 19.2kb/s is wireless Transmitting-receiving number passes MODEM, the device using the stronger FSK modulation/demodulation mode of antijamming capability, its working frequency is reliable and stable, Peripheral cell is few, power consumption is extremely low and is easy to design.
The PC control units 11:Wireless telecommunications between PC control units and robot body unit.Two PTR2000 Module is used to carry out radio communication between serial ports of computers and single-chip microcomputer, and PC is passed through various control commands and data by serial ports PTR2000 is sent to host scm (AT89C51), controls the process of whole system;The kinematic parameter of robot is passed through simultaneously PTR2000 can feed back to PC again, so as to realize man-machine interaction.
Operation principle of the invention:The wireless control system of the intelligent mobile robot, using mobile robot as control Platform, realizes radio communication, and then by the interface between single-chip microcomputer and robot, realize nothing between computer and single-chip microcomputer Line mode controls mobile robot, also realizes the monitor in real time to tele-robotic, i.e., ordered in the control for locally providing robot Order, distal end is sent to by wireless transport module, is then performed by the robot control system control robot of distal end corresponding Action;The action of robot is carried out Real-time Collection by video camera simultaneously, then the view data after compression by being wirelessly transferred Module transfer is reduced into video image and plays out to local finally by decompression, the major technique bag that the system to be solved Include:The real-time Transmission of control command, to the real-time control of robot, the Real-time Collection of video image, compression and transmits, Yi Jiji The in good time feedback of device people's exercise data information.
Presently preferred embodiments of the present invention is the foregoing is only, is not intended to limit the invention, it is all in essence of the invention Any modification, equivalent and improvement made within god and principle etc., should be included within the scope of the present invention.

Claims (7)

1. a kind of wireless control system of intelligent mobile robot, including intelligent control unit(1)And signal processing module(2), It is characterized in that:The intelligent control unit(1)Output end pass through ring distributor(3)With analog line driver(4)It is connected, The analog line driver(4)Input and stepper motor(5)It is connected, the annular driver(3)Output end be also connected with There is element testing module(6), the intelligent control unit(1)Input be also associated with signal processing module(2), the signal Processing module(2)Input be also associated with limit position sensor(7), the limit position sensor(7)Input set It is equipped with sensor group(8), the sensor group(8)Inside be additionally provided with infrared sensor(9)And velocity sensor(10), institute State sensor group(8)Output end be also associated with PC control units(11), the PC control units(11)Output end with it is man-machine Interactive module(12)It is connected, the human-computer interaction module(12)Data terminal be also associated with data storage(13).
2. the wireless control system of a kind of intelligent mobile robot according to claim 1, it is characterised in that:The intelligence Control unit(1)Including host scm module(14), the host scm module(14)Using the treatment core of AT89C51 series Piece, the host scm module(14)FPDP be provided with I/O interfaces(15)With multi-channel serial port module(16), the I/O Interface(15)With multi-channel serial port module(16)Output end pass through control line and radio receiving transmitting module(17)It is connected, the nothing Line transceiver module(17)Using the process chip of PTR2000 series.
3. the wireless control system of a kind of intelligent mobile robot according to claim 2, it is characterised in that:It is described wireless Transceiver module(17)Input and radio-frequency module(18)It is connected.
4. the wireless control system of a kind of intelligent mobile robot according to claim 1, it is characterised in that:The PC controls Unit processed(11)Including data acquisition unit(19), the data acquisition unit(19)With ZigBee wireless communication modules(20)Phase Connection, the ZigBee wireless communication modules(20)Output end also pass through power conversion unit(21)With PC(22)It is connected Connect, the power conversion unit(21)Using the process chip of MAX232 series.
5. the wireless control system of a kind of intelligent mobile robot according to claim 4, it is characterised in that:The PC (22)Input be also associated with KBC(23), the KBC(23)Power end be also associated with power module (24).
6. the wireless control system of a kind of intelligent mobile robot according to claim 1, it is characterised in that:The limit Position sensor(7)Input be also associated with control object module(25).
7. the wireless control system of a kind of intelligent mobile robot according to claim 2, it is characterised in that:It is described wireless Transceiver module(17)Input be also associated with image capture module(26), described image acquisition module(26)Data terminal also connect It is connected to receiver(27).
CN201611096098.0A 2016-12-02 2016-12-02 Wireless control system of intelligent mobile robot Pending CN106671082A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201611096098.0A CN106671082A (en) 2016-12-02 2016-12-02 Wireless control system of intelligent mobile robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201611096098.0A CN106671082A (en) 2016-12-02 2016-12-02 Wireless control system of intelligent mobile robot

Publications (1)

Publication Number Publication Date
CN106671082A true CN106671082A (en) 2017-05-17

Family

ID=58867243

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201611096098.0A Pending CN106671082A (en) 2016-12-02 2016-12-02 Wireless control system of intelligent mobile robot

Country Status (1)

Country Link
CN (1) CN106671082A (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107214450A (en) * 2017-06-12 2017-09-29 上海电力学院 The mobile welding robot wireless control system of fuel cell hybrid driving
CN109531603A (en) * 2017-09-22 2019-03-29 江苏智谋科技有限公司 Robot operating control system based on artificial intelligence
CN109648599A (en) * 2018-12-25 2019-04-19 它酷科技(大连)有限公司 A kind of exercising elbow joint control method of emulated robot

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2764574Y (en) * 2004-12-31 2006-03-15 广东工业大学 Integrated vision apparatus for football robot
WO2006091111A1 (en) * 2005-02-25 2006-08-31 Stephen John Regelous A method of generating behaviour for a graphics character and robotic devices
CN101947788A (en) * 2010-06-23 2011-01-19 焦利民 Intelligent robot
CN203038075U (en) * 2012-12-19 2013-07-03 西安理工大学 Android phone and computer based remote voice intelligent control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN2764574Y (en) * 2004-12-31 2006-03-15 广东工业大学 Integrated vision apparatus for football robot
WO2006091111A1 (en) * 2005-02-25 2006-08-31 Stephen John Regelous A method of generating behaviour for a graphics character and robotic devices
CN101947788A (en) * 2010-06-23 2011-01-19 焦利民 Intelligent robot
CN203038075U (en) * 2012-12-19 2013-07-03 西安理工大学 Android phone and computer based remote voice intelligent control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107214450A (en) * 2017-06-12 2017-09-29 上海电力学院 The mobile welding robot wireless control system of fuel cell hybrid driving
CN109531603A (en) * 2017-09-22 2019-03-29 江苏智谋科技有限公司 Robot operating control system based on artificial intelligence
CN109648599A (en) * 2018-12-25 2019-04-19 它酷科技(大连)有限公司 A kind of exercising elbow joint control method of emulated robot

Similar Documents

Publication Publication Date Title
CN106671082A (en) Wireless control system of intelligent mobile robot
CN203909619U (en) Control system of intelligent dolly
CN102880176A (en) Smart trolley and visual smart home control method based on smart trolley
CN204945794U (en) Based on the wireless remote control dolly of gesture identification
CN203235258U (en) Remote control model wireless control system based on gesture recognition
CN102323856A (en) Data glove based on acceleration sensors and ZigBee
CN105785917A (en) Numerical control machine tool electronic equipment monitoring and operating system
CN203973545U (en) A kind of puma manipulator wireless control system based on PC
CN201698199U (en) Remote wireless real-time monitoring management device
CN106681163A (en) Robot system for controlling household appliances and control method
CN202728142U (en) Car-mounted terminal based on combined positioning technology
CN203414788U (en) Novel off-site integrated wireless monitoring device
CN207908886U (en) Intelligent domestic control device
CN207265739U (en) A kind of intelligent electric meter local telegram in reply system based on Internet of Things
CN106384850A (en) Wireless battery management system
CN202872774U (en) Interactive terminal with power line carrier communication access function
CN206671808U (en) A kind of wireless remote switch executing agency
CN202309744U (en) Internet based remote data acquisition system
CN102223274B (en) Chemical safety monitoring system based on mixed field bus technology
CN205721370U (en) A kind of WIFI wireless monitor intelligent carriage
CN205068048U (en) Based on wireless remote control system of panel computer windows system
CN204595605U (en) A kind of rescue robot intelligence seeks footpath platform
CN201035730Y (en) Explosion-proof wireless rope hoist signal pickup assembly
CN204103996U (en) The mobile terminal device of a kind of security protection based on Bluetooth technology
CN203396491U (en) TFT interface temperature data-displaying wireless data transmission system based on one-chip microcomputer

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
WD01 Invention patent application deemed withdrawn after publication

Application publication date: 20170517

WD01 Invention patent application deemed withdrawn after publication