CN106737694A - A kind of household robot control system - Google Patents
A kind of household robot control system Download PDFInfo
- Publication number
- CN106737694A CN106737694A CN201710125946.4A CN201710125946A CN106737694A CN 106737694 A CN106737694 A CN 106737694A CN 201710125946 A CN201710125946 A CN 201710125946A CN 106737694 A CN106737694 A CN 106737694A
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- CN
- China
- Prior art keywords
- sensor
- central controller
- monitoring unit
- input
- control system
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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
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
- B25J13/087—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices for sensing other physical parameters, e.g. electrical or chemical properties
-
- 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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Selective Calling Equipment (AREA)
Abstract
The invention discloses a kind of household robot control system, the system can be monitored to parameters such as humiture, ground cleanliness factor, smokescope and illuminance, by the various equipment of central controller controls, system has environmental monitoring, monitored by personnel, alarm, electrical monitoring and automatic regulating function, so as to improve household machine human efficiency, household electric appliance energy consumption is reduced, also with remote control function, system is reliable and stable, and maintenance management is convenient.
Description
Technical field
The present invention relates to a kind of control system, more particularly to a kind of household robot control system.
Background technology
Major part household robot does not possess environmental monitoring, monitored by personnel, alarm, electrical monitoring and automatic tune at present
Whole function, can not increasingly meet the demand of modernized society.Therefore a kind of reliable household robot control system is needed badly.
The content of the invention
It is an object of the invention to provide reasonable in design, intelligentized control method, controlled using a kind of household robot of safety
System.
To achieve these goals, the technical solution adopted by the present invention is：A kind of household robot control system of the invention
System, including data acquisition and monitoring unit, data pre-processing and memory, central controller, clearing apparatus, electrical apparatus-switching device,
Extinguishing device, Switch for door and window device, alarm, cloud server；Data acquisition and monitoring unit includes Temperature Humidity Sensor, ground
Cleanliness factor sensor, Smoke Sensor, light sensor, environmental monitor, infrared human body sensor, brain wave sensor, sound
Sound sensor, monitored by personnel's device, electric energy meter, high-definition camera, electrical monitoring device；Data acquisition and monitoring unit and data pre-processing
And memory connection, data pre-processing and memory be connected with central controller input, central controller output end respectively with
Clearing apparatus, electrical apparatus-switching device, extinguishing device, Switch for door and window device, alarm, cloud server are connected；Humiture is passed
Sensor, ground cleanliness factor sensor, Smoke Sensor, light sensor are connected with environmental monitor input；Infrared human body is passed
Sensor, brain wave sensor, sound transducer are connected with monitored by personnel's device input, electric energy meter, high-definition camera and electrical equipment prison
Device input is surveyed to be connected.
Preferably, the data pre-processing and memory and central controller all have 50 input ports, 50 defeated
Exit port, to realize centralized Control.
Compared with prior art, the advantage of the invention is that：The system can be dense to humiture, ground cleanliness factor, smog
The parameter such as degree and illuminance is monitored, and by the various equipment of central controller controls, system has environmental monitoring, Ren Yuanjian
Survey, alarm, electrical monitoring and automatic regulating function, so as to improve household machine human efficiency, reduce household electric appliance energy consumption, also have
There is remote control function, system is reliable and stable, maintenance management is convenient.
Brief description of the drawings
Fig. 1 is structured flowchart of the invention.
Specific embodiment
Below in conjunction with accompanying drawing, the invention will be further described.
Referring to Fig. 1, a kind of household robot control system of the invention, including locate before data acquisition and monitoring unit, data
Reason and memory, central controller, clearing apparatus, electrical apparatus-switching device, extinguishing device, Switch for door and window device, alarm, high in the clouds
Server；Data acquisition and monitoring unit includes Temperature Humidity Sensor, ground cleanliness factor sensor, Smoke Sensor, light sensor
Device, environmental monitor, infrared human body sensor, brain wave sensor, sound transducer, monitored by personnel's device, electric energy meter, high definition are taken the photograph
As head, electrical monitoring device；Data acquisition and monitoring unit is connected with data pre-processing and memory, data pre-processing and memory with
Central controller input connect, central controller output end respectively with clearing apparatus, electrical apparatus-switching device, extinguishing device, door
Window switching device, alarm, cloud server are connected；Temperature Humidity Sensor, ground cleanliness factor sensor, Smoke Sensor,
Light sensor is connected with environmental monitor input；Infrared human body sensor, brain wave sensor, sound transducer and personnel
Monitor input is connected, and electric energy meter, high-definition camera are connected with electrical monitoring device input.The data pre-processing and storage
Device and central controller all have 50 input ports, 50 output ports, to realize centralized Control.
Central controller uses arm processor, data acquisition and monitoring unit to use ZigBee module, with control core ARM
Processor adds peripheral circuit development board to build embedded platform, completes the scheduling and control of whole system；Serially led to by RS232
Letter interface is connected with GPRS module and ZigBee module, carries out data processing and transmission；GPRS module can be realized by SMS protocol
Receiving short message, realizes the remote wireless monitoring of whole system；ZigBee module builds internal Small Area Wireless Communication Networks, main
Node ZigBee module is connected with ARM controller, is connected with terminal device from node ZigBee node, realizes each device end
Wireless data transceiving and condition monitoring；The ON-OFF control circuit of output, the I/O connection pins of ZigBee node are set to
P1.1-P1.10.Control mode is connected using the switch contact of relay with electrical equipment or socket, can be used to control clearing apparatus, electricity
The equipment such as device switching device, extinguishing device, Switch for door and window device, alarm, cloud server.
Data acquisition and monitoring unit includes environmental monitor, monitored by personnel's device and electrical monitoring device, using ZigBee moulds
Block CC2430 control chips be internally integrated an enhanced 8051MCU kernel, one meet IEEE802.15.4 specifications
2.4GHz wireless transceivers and serial communication interface and I/O interfaces.The serial communication interface 1 of the module and arm processor
UART0 serial ports is connected and realizes data communication, completes customization function command, and possess 1-4 IMAQ passage, 64GB shieldings
Formula heap rdma read Mask ROM and 2MB SRAM, can rapidly carry out vision computing and treatment, pattern detection and identification.Respectively
Individual Zigbee node devices constitute Zigbee wireless subnetworks, then by the sub-network access to LAN, in Zigbee node devices
Portion stores gateway information, only has access and belongs to the wireless subnetworks that a gateway is set up with them.
Data pre-processing and memory use BIS0001 chip Design enlargement circuits, and chip internal is with 2 grades of operation amplifiers
Device and 1 voltage comparator, and it is tactile to set detection blocking time, delay time and repetition by pin connectors part
Hair pattern.
The data terminal of the sensors such as Temperature Humidity Sensor, ground cleanliness factor sensor, Smoke Sensor, light sensor
DQ, power end VCC, earth terminal GND, DQ pin are connected with ZigBee node I/O mouthfuls.
System uses loop control theory, and the response signal of each monitor, one are monitored using central controller I/O ports
Denier response signal is when low level is changed into high level（During beyond setting range）, automatic input signal of the sampling from monitor,
According to signal value, the switching of logic judgment control relay opens, stops control signal.Meanwhile, central controller start recording,
When response signal is changed into low level from high level, stop recording reads time and numerical value of the response signal for high level.
In the present embodiment, environmental monitor is by Temperature Humidity Sensor, ground cleanliness factor sensor, Smoke Sensor, light
Dependent sensor automatic data collection humiture, ground cleanliness factor, smokescope and illuminance parameter, when Parameters variation exceeds setting range
When, central controller can drive alarm equipment alarm to point out relevant information, when humiture, illuminance parameter exceed setting value, in
Centre controller can drive electrical apparatus-switching device to open air-conditioning, lighting apparatus regulation indoor environment, and when ground, cleanliness factor parameter exceedes
During setting value, central controller can drive clearing apparatus to clean ground, when Smoke Sensor parameter exceedes setting value, center control
Device processed can drive extinguishing device to put out a fire；Monitored by personnel's device passes through infrared human body sensor, brain wave sensor, sound transducer certainly
Position, brain wave and the audio parameter of collector are moved, when Parameters variation exceeds setting range, central controller can drive report
Alert device alarm relevant information, when location parameter exceedes setting value, central controller can drive door and window switching device to close
Door and window, when brain wave parameter exceedes setting value, central controller can drive electrical apparatus-switching device to be turned on and off electrical equipment.Electrical equipment
Monitor passes through electric energy meter, high-definition camera automatic data collection electrical equipment energy consumption and image parameter, when Parameters variation exceeds setting range
When, central controller can drive alarm equipment alarm to point out relevant information, when the invalid unlatching of household electrical appliances is recognized（Such as point electricity on daytime
Lamp, television set opens but unmanned viewing for a long time）, central controller can drive electrical apparatus-switching device close electrical equipment to save energy
Source.System manager can also be set by the distance control mode adjusting parameter of cloud server, optimization system control, more
Safe ready.
Claims (3)
1. a kind of household robot control system, it is characterised in that：Including data acquisition and monitoring unit, data pre-processing and storage
Device, central controller, clearing apparatus, electrical apparatus-switching device, extinguishing device, Switch for door and window device, alarm, cloud server；
Data acquisition and monitoring unit includes Temperature Humidity Sensor, ground cleanliness factor sensor, Smoke Sensor, light sensor, environment
Monitor, infrared human body sensor, brain wave sensor, sound transducer, monitored by personnel's device, electric energy meter, high-definition camera, electricity
Device monitor；Data acquisition and monitoring unit is connected with data pre-processing and memory, and data pre-processing and memory are controlled with center
Device input processed connection, central controller output end respectively with clearing apparatus, electrical apparatus-switching device, extinguishing device, Switch for door and window
Device, alarm, cloud server are connected；Temperature Humidity Sensor, ground cleanliness factor sensor, Smoke Sensor, photosensitive biography
Sensor is connected with environmental monitor input；Infrared human body sensor, brain wave sensor, sound transducer and monitored by personnel's device
Input is connected, and electric energy meter, high-definition camera are connected with electrical monitoring device input.
2. a kind of household robot control system according to claim 1, it is characterised in that：The central controller is used
Arm processor, data acquisition and monitoring unit uses ZigBee module, and peripheral circuit development board is added with control core arm processor
Embedded platform is built, the scheduling and control of whole system is completed；By RS232 serial communication interfaces and GPRS module and
ZigBee module is connected；ZigBee module builds internal Small Area Wireless Communication Networks, and host node ZigBee module is controlled with ARM
Device is connected, and is connected with terminal device from node ZigBee node, realizes wireless data transceiving and the state prison of each device end
Control；The ON-OFF control circuit of output, the I/O connection pins of ZigBee node are set to P1.1-P1.10.
3. a kind of household robot control system according to claim 1, it is characterised in that：The data pre-processing and deposit
Reservoir and central controller all have 50 input ports, 50 output ports, to realize centralized Control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125946.4A CN106737694A (en) | 2017-03-05 | 2017-03-05 | A kind of household robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710125946.4A CN106737694A (en) | 2017-03-05 | 2017-03-05 | A kind of household robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737694A true CN106737694A (en) | 2017-05-31 |
Family
ID=58961407
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710125946.4A Withdrawn CN106737694A (en) | 2017-03-05 | 2017-03-05 | A kind of household robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737694A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598943A (en) * | 2017-10-30 | 2018-01-19 | 文杨 | A kind of robot for accompanying old man |
| CN107813311A (en) * | 2017-11-30 | 2018-03-20 | 杭州宏成节能科技有限公司 | A kind of household robot control system |
| CN107838928A (en) * | 2017-10-30 | 2018-03-27 | 李景龙 | A kind of service robot for accompanying Empty nest elderly |
| CN110448841A (en) * | 2019-08-27 | 2019-11-15 | 南京涵曦月自动化科技有限公司 | A kind of intelligent fire fighting control system of Intelligent fire-fighting robot |
| CN110613404A (en) * | 2019-10-22 | 2019-12-27 | 江苏世丰知识产权管理咨询有限公司 | Unmanned cleaning system for office area |
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| CN205158638U (en) * | 2015-11-12 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Traffic light control system |
| CN205148330U (en) * | 2015-11-18 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Manipulator control system |
| CN205158178U (en) * | 2015-11-10 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Electric welding control system |
| CN205158587U (en) * | 2015-11-03 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Smoking room control system |
| CN205158188U (en) * | 2015-11-24 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Pickle control system |
| CN205485415U (en) * | 2016-03-31 | 2016-08-17 | 深圳光启合众科技有限公司 | Intelligent robot's control system |
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN205158587U (en) * | 2015-11-03 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Smoking room control system |
| CN205158178U (en) * | 2015-11-10 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Electric welding control system |
| CN205158638U (en) * | 2015-11-12 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Traffic light control system |
| CN205148330U (en) * | 2015-11-18 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Manipulator control system |
| CN205158188U (en) * | 2015-11-24 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Pickle control system |
| CN205485415U (en) * | 2016-03-31 | 2016-08-17 | 深圳光启合众科技有限公司 | Intelligent robot's control system |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107598943A (en) * | 2017-10-30 | 2018-01-19 | 文杨 | A kind of robot for accompanying old man |
| CN107838928A (en) * | 2017-10-30 | 2018-03-27 | 李景龙 | A kind of service robot for accompanying Empty nest elderly |
| CN107813311A (en) * | 2017-11-30 | 2018-03-20 | 杭州宏成节能科技有限公司 | A kind of household robot control system |
| CN110448841A (en) * | 2019-08-27 | 2019-11-15 | 南京涵曦月自动化科技有限公司 | A kind of intelligent fire fighting control system of Intelligent fire-fighting robot |
| CN110613404A (en) * | 2019-10-22 | 2019-12-27 | 江苏世丰知识产权管理咨询有限公司 | Unmanned cleaning system for office area |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20170531 |