CN106696764A

CN106696764A - Control system of wheel type robot

Info

Publication number: CN106696764A
Application number: CN201510784762.XA
Authority: CN
Inventors: 朴松昊
Original assignee: TIANCAI INTELLIGENT SCIENCE & TECHNOLOGY Co Ltd HARBIN INSTITUTE OF TECHNOLOGY
Current assignee: TIANCAI INTELLIGENT SCIENCE & TECHNOLOGY Co Ltd HARBIN INSTITUTE OF TECHNOLOGY
Priority date: 2015-11-16
Filing date: 2015-11-16
Publication date: 2017-05-24

Abstract

The invention discloses a control system of a wheel type robot. The control system comprises a central processing unit module, a personal computer, a wireless remote controller, a first terminal actuator module, a second terminal actuator module, a third terminal actuator module and a fourth terminal actuator module. The personal computer is connected with the central processing unit module through a serial port, the wireless remote controller is in communication with the central processing unit module through a wireless network, and the first terminal actuator module, the second terminal actuator module, the third terminal actuator module and the fourth terminal actuator module have the same model and are connected with the central processing unit module through a bus. The first terminal actuator module is in electric connection with a steering motor through a first motor driver and an angle sensor. The first terminal actuator module is in electric connection with a travelling motor through a second motor driver, and the corresponding travelling motor and the corresponding steering motor are connected through a rotating shaft and then are connected with a wheel. According to the control system of the wheel type robot, fault-tolerance performance of the system is improved, development and maintenance cost is reduced, the extendable application property of the system is reinforced, and limitation of robot self-functions over work environments and work task is reduced, so that good adaptability, flexibility and stability of the robot are shown in the work process of the robot.

Description

A kind of wheeled robot control system

Technical field

The present invention relates to a kind of robot, and in particular to a kind of wheeled robot control system, belong to smart electronicses product technical field.

Background technology

Due to the progressively shortage of agricultural production labour, Chinese farm machine man-based development is very rapid, wherein wheeled mobile robot is more typical and the big and wide one kind of amount, at present, farm wheeled type robot be mainly used in picking fruit, bagging, plant protection and agricultural machinery and implement the side such as carry and, provide effective solution to reduce labour, improving agricultural production efficiency；Therefore, how the application level of Agricultural Robot is further improved, so as to adapt to the job requirements under complicated farm environment, it has also become the research emphasis of domestic and foreign scholars；It is domestic at present and also primarily focus on the control methods such as two-wheel drive control and differential steering to the research of Agricultural Robot move mode, Agricultural Robot itself is set to receive a definite limitation for the adaptability of operating mode from the angle of travelling performance, in addition, part four motorized wheels Agricultural Robot research is then primarily based upon the aspects such as microminiature or indoor application, the real load demand of Agricultural Robot farm work can not be met and lack rational Manufacturing Models, cause the application difficulty of Agricultural Robot larger.

The content of the invention

（One）The technical problem to be solved

To solve the above problems, the present invention proposes a kind of wheeled robot control system, improve System Fault Tolerance performance, reduce exploitation and maintenance cost, the energy expansible application power of strengthening system, robot itself function is reduced for the limitation of its working environment and task, robot is represented good adaptability, flexibility and stability in its residing course of work.

（Two）Technical scheme

Wheeled robot control system of the invention, including CPU module, and the PC being connected by serial ports with CPU module, and the Digiplex communicated by wireless network with CPU module, and the same model being connected by bus with CPU module first to fourth end effector module；The first terminal executor module is electrically connected by the first motor driver and angular transducer with steering motor；The first terminal executor module is electrically connected by the second motor driver with movable motor；The movable motor and steering motor are connected after rotating shaft is connected with wheel.

Further, first motor driver and the second motor driver are same model brushless direct current motor driver.

Further, the first terminal executor module includes kernel control module and expansion connection module.

（Three）Beneficial effect

Compared with prior art, wheeled robot control system of the invention, improve System Fault Tolerance performance, reduce exploitation and maintenance cost, the energy expansible application power of strengthening system, robot itself function is reduced for the limitation of its working environment and task, robot is represented good adaptability, flexibility and stability in its residing course of work.

Brief description of the drawings

Fig. 1 is overall structure schematic block diagram of the invention.

Specific embodiment

A kind of wheeled robot control system as shown in Figure 1, including CPU module 1, and the PC 3 being connected by serial ports 2 with CPU module 1, and the Digiplex 4 communicated by wireless network with CPU module 1, and the first to fourth end effector module 6 ~ 9 for passing through the same model that bus 5 is connected with CPU module 1；The first terminal executor module 6 passes through the first motor driver 10 and angular transducer（It is not shown）Electrically connected with steering motor 12；The first terminal executor module 6 is electrically connected by the second motor driver 13 with movable motor 14；The movable motor 14 and steering motor 12 are connected after rotating shaft 15 is connected with wheel 11.

Wherein, the motor driver 13 of first motor driver 10 and second is same model brushless direct current motor driver.

The first terminal executor module 6 includes kernel control module and expansion connection module.

Embodiment described above is only that the preferred embodiment of the present invention is described, and not the spirit and scope of the present invention are defined.On the premise of design concept of the present invention is not departed from; the all variations and modifications that this area ordinary person makes to technical scheme; protection scope of the present invention all should be dropped into, claimed technology contents of the invention have all been recorded in detail in the claims.

Claims

1. a kind of wheeled robot control system, it is characterised in that：Including CPU module, and the PC being connected by serial ports with CPU module, and the Digiplex communicated by wireless network with CPU module, and the same model being connected by bus with CPU module first to fourth end effector module；The first terminal executor module is electrically connected by the first motor driver and angular transducer with steering motor；The first terminal executor module is electrically connected by the second motor driver with movable motor；The movable motor and steering motor are connected after rotating shaft is connected with wheel.

2. wheeled robot control system according to claim 1, it is characterised in that：First motor driver and the second motor driver are same model brushless direct current motor driver.

3. wheeled robot control system according to claim 1, it is characterised in that：The first terminal executor module includes kernel control module and expansion connection module.