CN106737695A - A kind of anticollision robot control system - Google Patents
A kind of anticollision robot control system Download PDFInfo
- Publication number
- CN106737695A CN106737695A CN201710131559.1A CN201710131559A CN106737695A CN 106737695 A CN106737695 A CN 106737695A CN 201710131559 A CN201710131559 A CN 201710131559A CN 106737695 A CN106737695 A CN 106737695A
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- CN
- China
- Prior art keywords
- sensor
- central controller
- input
- monitored
- processing
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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
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/027—Electromagnetic sensing devices
-
- 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
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of anticollision robot control system, the system can be monitored to parameters such as humiture, magnetic field intensity, wind speed and illuminance, by the various equipment of central controller controls, system has environmental monitoring, monitored by personnel, alarm, collision monitoring and automatic regulating function, so as to improve the security of anticollision robot, also there is remote control function, system is reliable and stable, maintenance management is convenient.
Description
Technical field
The present invention relates to a kind of control system, more particularly to a kind of anticollision robot control system.
Background technology
The robot of major part anticollision at present does not possess environmental monitoring, monitored by personnel, alarm, collision monitoring and adjusts automatically
Whole function, can not increasingly meet the demand of modernized society.Therefore a kind of reliable anticollision 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 anticollision robot of safety
System.
To achieve these goals, the technical solution adopted by the present invention is：A kind of anticollision robot control system of the invention
System, including data acquisition and monitoring unit, data pre-processing and memory, central controller, mobile device, supporting and regulating device,
Joint adjusting means, lubricating maintenance device, alarm, cloud server；Data acquisition and monitoring unit include Temperature Humidity Sensor,
Electromagnetic sensor, air velocity transducer, light sensor, environmental monitor, infrared human body sensor, three-axis gyroscope, sound
Sensor, monitored by personnel's device, stress strain gauge, high-definition camera, collision detector；Data acquisition and monitoring unit and data
Pre-treatment and memory are connected, and data pre-processing and memory are connected with central controller input, central controller output end
It is connected with mobile device, supporting and regulating device, joint adjusting means, lubricating maintenance device, alarm, cloud server respectively
Connect；Temperature Humidity Sensor, electromagnetic sensor, air velocity transducer, light sensor are connected with environmental monitor input；It is infrared
Human body sensor, three-axis gyroscope, sound transducer are connected with monitored by personnel's device input, and stress strain gauge, high definition are taken the photograph
As head is connected with collision detector input.
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 to humiture, magnetic field intensity, wind speed and light
The parameters such as illumination are monitored, and by the various equipment of central controller controls, system has environmental monitoring, monitored by personnel, alarm
Prompting, collision monitoring and automatic regulating function, so as to improve the security of anticollision robot, also with remote control function, be
System is reliable and stable, and 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 anticollision robot control system of the invention, including locate before data acquisition and monitoring unit, data
Reason and memory, central controller, mobile device, supporting and regulating device, joint adjusting means, lubricating maintenance device, alarm,
Cloud server；Data acquisition and monitoring unit includes Temperature Humidity Sensor, electromagnetic sensor, air velocity transducer, light sensor
Device, environmental monitor, infrared human body sensor, three-axis gyroscope, sound transducer, monitored by personnel's device, stress strain gauge,
High-definition camera, collision detector；Data acquisition and monitoring unit is connected with data pre-processing and memory, data pre-processing and deposits
Reservoir is connected with central controller input, and central controller output end is adjusted with mobile device, supporting and regulating device, joint respectively
Regulating device, lubricating maintenance device, alarm, cloud server are connected；Temperature Humidity Sensor, electromagnetic sensor, wind speed are passed
Sensor, light sensor are connected with environmental monitor input；Infrared human body sensor, three-axis gyroscope, sound transducer with
Monitored by personnel's device input is connected, and stress strain gauge, high-definition camera are connected with collision detector input.The data
Pre-treatment and memory 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 mobile device, branch
The equipment such as support adjusting means, joint adjusting means, lubricating maintenance device, alarm, cloud server.
Data acquisition and monitoring unit includes environmental monitor, monitored by personnel's device and collision detector, 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 DQ of the sensors such as Temperature Humidity Sensor, electromagnetic sensor, air velocity transducer, light sensor, electricity
Source VCC, earth terminal GND, DQ pin is 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 passes through Temperature Humidity Sensor, electromagnetic sensor, air velocity transducer, photosensitive biography
Sensor automatic data collection humiture, magnetic field intensity, wind speed and illuminance parameter, when Parameters variation exceeds setting range, center control
Device processed can drive alarm equipment alarm to point out relevant information, when magnetic field intensity or wind speed parameter exceed setting value, central controller
Supporting and regulating device or joint adjusting means regulation support force and torsion can be driven；Monitored by personnel's device is sensed by infrared human body
Device, three-axis gyroscope, the position of sound transducer automatic data collection personnel, acceleration, angular speed and audio parameter, work as Parameters variation
During beyond setting range, central controller can drive alarm equipment alarm to point out relevant information, when position, acceleration, angular speed ginseng
When number exceedes setting value, central controller can drive mobile device to adjust personnel positions and attitude.Collision detector passes through stress
Strain transducer, high-definition camera automatic data collection ess-strain and image parameter, when Parameters variation exceeds setting range, center
Controller can drive alarm equipment alarm to point out relevant information, and when ess-strain parameter exceedes setting value, central controller can drive
Dynamic supporting and regulating device or joint adjusting means regulation support force and torsion are latent when recognizing to reduce injury of the collision to human body
Collision object when, central controller can drive mobile device adjust personnel positions to hide collision, central controller can drive
It is dynamic regularly to drive lubricating maintenance device to be lubricated maintenance.System manager can also be by the long-range of cloud server
Control model adjusting parameter is set, optimization system control, safer convenience.
Claims (2)
1. a kind of anticollision robot control system, it is characterised in that：Including data acquisition and monitoring unit, data pre-processing and storage
Device, central controller, mobile device, supporting and regulating device, joint adjusting means, lubricating maintenance device, alarm, cloud service
Device；Data acquisition and monitoring unit includes Temperature Humidity Sensor, electromagnetic sensor, air velocity transducer, light sensor, environment prison
Survey device, infrared human body sensor, three-axis gyroscope, sound transducer, monitored by personnel's device, stress strain gauge, high-definition camera
Head, collision detector；Data acquisition and monitoring unit is connected with data pre-processing and memory, and data pre-processing and memory are with
Centre controller input connection, central controller output end respectively with mobile device, supporting and regulating device, joint adjusting means,
Lubricating maintenance device, alarm, cloud server are connected；Temperature Humidity Sensor, electromagnetic sensor, air velocity transducer, light
Dependent sensor is connected with environmental monitor input；Infrared human body sensor, three-axis gyroscope, sound transducer and monitored by personnel
Device input is connected, and stress strain gauge, high-definition camera are connected with collision detector input.
2. a kind of anticollision 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 |
|---|---|---|---|
| CN201710131559.1A CN106737695A (en) | 2017-03-07 | 2017-03-07 | A kind of anticollision robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710131559.1A CN106737695A (en) | 2017-03-07 | 2017-03-07 | A kind of anticollision robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106737695A true CN106737695A (en) | 2017-05-31 |
Family
ID=58961823
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710131559.1A Withdrawn CN106737695A (en) | 2017-03-07 | 2017-03-07 | A kind of anticollision robot control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106737695A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838933A (en) * | 2017-11-30 | 2018-03-27 | 杭州宏成节能科技有限公司 | A kind of anticollision robot control system |
| CN108942947A (en) * | 2018-08-29 | 2018-12-07 | 上海常仁信息科技有限公司 | It is capable of the robot of anticollision |
| CN110919642A (en) * | 2018-09-19 | 2020-03-27 | 中国科学院深圳先进技术研究院 | Ultrasonic obstacle avoidance device, robot system and method for controlling robot to avoid obstacle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN205158587U (en) * | 2015-11-03 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Smoking room 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 |
| CN205158178U (en) * | 2015-11-10 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Electric welding control system |
| CN205148330U (en) * | 2015-11-18 | 2016-04-13 | 杭州冷倍冠科技有限公司 | Manipulator control system |
-
2017
- 2017-03-07 CN CN201710131559.1A patent/CN106737695A/en not_active Withdrawn
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107838933A (en) * | 2017-11-30 | 2018-03-27 | 杭州宏成节能科技有限公司 | A kind of anticollision robot control system |
| CN108942947A (en) * | 2018-08-29 | 2018-12-07 | 上海常仁信息科技有限公司 | It is capable of the robot of anticollision |
| CN110919642A (en) * | 2018-09-19 | 2020-03-27 | 中国科学院深圳先进技术研究院 | Ultrasonic obstacle avoidance device, robot system and method for controlling robot to avoid obstacle |
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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 |
Application publication date: 20170531 |
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| WW01 | Invention patent application withdrawn after publication |