CN106737698B - Intelligent control method of transfer robot - Google Patents
Intelligent control method of transfer robot Download PDFInfo
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- CN106737698B CN106737698B CN201710181558.8A CN201710181558A CN106737698B CN 106737698 B CN106737698 B CN 106737698B CN 201710181558 A CN201710181558 A CN 201710181558A CN 106737698 B CN106737698 B CN 106737698B
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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- 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
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- 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
- B25J13/088—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices with position, velocity or acceleration sensors
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Abstract
The invention relates to an intelligent control method of a transfer robot, which overcomes the defect that no dual-control chip cooperative control method exists in the prior art. The invention comprises the following steps: the method comprises the following steps of preprocessing a system, starting a power supply of the transfer robot, enabling the transfer robot to be in a power-on state, and initializing each module and corresponding parameters; the control of the transfer robot is started, and the mobile phone APP is connected with the transfer robot through the Bluetooth module and starts the transfer robot; movement of the transfer robot; the carrying robot carries out grabbing operation; a return movement of the transfer robot; the transfer robot performs the placing operation. The invention carries out cooperative control aiming at the two control chips, separates the moving and grabbing control methods of the transfer robot, and is matched with a corresponding PWM wave motor control method and steering engine pulse width adjustment, thereby realizing the automatic operation of the transfer robot along a preset route, clamping and transferring specified articles.
Description
Technical field
The present invention relates to intelligent robot control technology field, a kind of specifically intelligent control side of transfer robot
Method.
Background technique
With the fast development of modern logistics industry, many logistics companies require a large amount of manpower and complete heavy cargo
Carrying task.It brings Intelligent transfer robot into logistic industry, improves its degree of automation exhaling as vast logistics practitioner
Sound.Traditional mobile cargo mode such as conveyer belt etc., occupied space is big, can only pinpoint transmission, and working environment is changed
When be inconvenient to change, cost it is very high.And existing is single-chip control robot system, integrates robot movement, machine
Two functions of device people snatch, include that robot is mobile, control method of two functions of robot snatch, though saved chip at
This, but due to being related to the control of two mechanical parts, lead to its control method excessively complexity, poor reliability, and individually outside chip
If interface is few, unfavorable extension, poor compatibility are unable to satisfy the mechanical function addition and modification in later period.
Therefore, a kind of transfer robot control method for being directed to two control chips and carrying out collaboration processing how is developed
Have become technical problem urgently to be solved.
Summary of the invention
The purpose of the present invention is to solve the defects that there is no dual-control chip cooperative control method in the prior art, provide
A kind of intelligent control method of transfer robot solves the above problems.
To achieve the goals above, technical scheme is as follows:
A kind of intelligent control method of transfer robot, transfer robot include traveling main control module and mechanical arm master control mould
Block, traveling main control module are connected with mechanical arm main control module by serial ports, the first control signal output end of traveling main control module
It is connected with the control signal input of left motor drive module, the second control signal output end and right motor of traveling main control module
The control signal input of drive module is connected, the control signal output of mechanical arm main control module and the control of steering engine control panel
Signal input part is connected, and the bottom of transfer robot is equipped with left sensor and right sensor, the signal output end of left sensor
It is connected with the signal input part of mechanical arm main control module with the signal output end of right sensor, the communication of traveling main control module is defeated
Enter to be terminated with bluetooth module,
Intelligent control method the following steps are included:
System pretreatment, opens transfer robot power supply, and transfer robot is in power-up state, initializes each module and phase
Answer parameter；
The control of transfer robot starts, and cell phone application connects transfer robot by bluetooth module and starts conveying robot
People；
The movement of transfer robot, left sensor and right sensor detect black preset path, and will test result feedback
To mechanical arm main control module, mechanical arm main control module judges the moving line of robot according to testing result and leads to above- mentioned information
It crosses serial ports and is sent to traveling main control module, traveling main control module motor drive module or right motor drive module to the left accordingly
The motion state of direction of motion instruction control transfer robot is sent, transfer robot is walked along route；
Transfer robot carries out crawl operation, and after transfer robot stops, mechanical arm main control module controls steering engine control panel
Carry out snatch operation；
The return of transfer robot is mobile, and after snatch operation, mechanical arm main control module passes through serial ports to traveling master control
Module sending action completes instruction, and traveling main control module control transfer robot progress left-hand rotates up to left sensor and detects
Black preset path stops, and carries out the moving step of transfer robot；
Transfer robot carries out placement operation, after left sensor and right sensor detect start line, traveling master control mould
The instruction control robot that block receives mechanical arm main control module stops, and sends to place to mechanical arm main control module by serial ports and make
Industry order, mechanical arm main control module control mechanical arm decline, and the clamper of flared distal end is completed to place operation.
The control of the transfer robot start the following steps are included:
Cell phone application sends paired data frame to traveling main control module by bluetooth module；
Traveling main control module starting interrupt mode makes bluetooth module receive the data frame and completes to match, traveling main control module
Active flag position 1；
Cell phone application converts corresponding OutStream for control command data frame and flows to bluetooth module transmission；
Bluetooth module receives data using InputStream stream, and transmits data to traveling main control module and acted
Control.
The movement of the transfer robot the following steps are included:
Left sensor and right sensor carry out the detection of black preset path；
If left sensor and right sensor are detected simultaneously by black start line, sent respectively to mechanical arm main control module low
Level signal, traveling main control module 1 control left motor drive module 3 and right motor drive module 4 by PWM wave motor control method
Make straight movement control；
If black start line, mechanical arm master control mould is not detected in left sensor and right sensor in threshold time T
Block controls left motor by PWM wave motor control method to traveling main control module distribution of machine people straight trip information, traveling main control module
Drive module and right motor drive module make straight movement control；
If left sensor detects that black preset path, mechanical arm master control is not detected in black preset path, right sensor
Module sends route information to the left to traveling main control module, and traveling main control module controls left motor by PWM wave motor control method
Drive module and right motor drive module make left-hand rotation control；
If black preset path is not detected in left sensor, right sensor detects black preset path, mechanical arm master control
Module sends route information to the right to traveling main control module, and traveling main control module controls left motor by PWM wave motor control method
Drive module and right motor drive module make right-hand rotation control；
If left sensor and right sensor detect that black stop line, mechanical arm main control module are sent out to traveling main control module
Stop motion information is sent, traveling main control module controls left motor drive module and right motor driven by PWM wave motor control method
Module stops movement.
The transfer robot carry out crawl operation the following steps are included:
Mechanical arm main control module sends decline instruction to steering engine control panel, and steering engine control panel issues decline pulsewidth, declines arteries and veins
Width is 1930~1945, control mechanical arm decline；
Delay function is set, and mechanical arm main control module sends clamper to steering engine control panel and opens instruction, steering engine control panel
It issues clamper and opens pulsewidth, it is 1946~1954 that clamper, which opens pulsewidth, and clamper opens；
Delay function is set, and mechanical arm main control module sends clamper close command, steering engine control panel to steering engine control panel
It issues clamper and is closed pulsewidth, it is 650~750 that clamper, which is closed pulsewidth, clamper closure；
Delay function is set, and mechanical arm main control module lifts instruction to the transmission of steering engine control panel, and steering engine control panel issues lift
Pulsewidth is played, lifting pulsewidth is 1500~1650, and control mechanical arm lifts；
Mechanical arm main control module is completed to instruct to traveling main control module sending action.
The PWM wave motor control method the following steps are included:
The pre- frequency dividing of the general purpose timer one of traveling main control module is set, and works in it and compares output mode, is forbidden
Its preload register；
After entering the interrupt, the general purpose timer two for traveling main control module being arranged works in PWM mode, provides counting heavy duty
Value, opens the reloading function in each channel, and each channel fiducial value, control two-way PWM wave output is arranged；
After the timer starting of traveling main control module, setting general-purpose timer two works in PWM mode 1；If current count
Value is still less than certain channel fiducial value, then the output pin of corresponding channel keeps high level；And if the big Mr. Yu channel of current count value
Fiducial value, then the output pin of corresponding channel keeps low level；When count value continues to increase to the level of reloading, pin it is multiple and
High level is kept, count value is reloaded and counted again, repeats above procedure with this, is arranged according to channel fiducial value rule different
Channel fiducial value change PWM wave period and duty ratio；
Channel fiducial value rule is as follows:
When transfer robot advances, the PWM wave on every road keeps 100% duty ratio；
When transfer robot stops, the PWM wave on every road is 0% duty ratio；
When transfer robot turns left, the PWM wave of left is 0% duty ratio, and right wing PWM wave is 100% duty ratio；
When transfer robot is turned right, the PWM wave of right wing is 0% duty ratio, and the PWM wave of left is 100% duty ratio.
The PWM wave motor control method further includes transfer robot " fall back " mode", the left motor drive module
Model with right motor drive module is L298N,
Transfer robot " fall back " mode" is as follows:
Transfer robot retreat when, by the GPIO pin of traveling main control module make left motor drive module int1 pin,
The int1 pin of right motor drive module is in low level；Left motor drive module int2 pin, right motor drive module
Int2 pin is 1, realizes motor reversal.
Beneficial effect
A kind of intelligent control method of transfer robot of the invention, compared with prior art for two control chips into
Row Collaborative Control separates the movement of transfer robot, snatch control method, and is equipped with corresponding PWM wave motor control side
Method and steering engine pulse-width adjustment realize that transfer robot along projected route automatic running, clamps and carries specified article.Double control
The design of chip is convenient for Late reformation and upgrading processing so that being easier to expansion interface.
Detailed description of the invention
Fig. 1 is method precedence diagram of the invention；
Fig. 2 is that the control circuit of transfer robot in the prior art connects block diagram；
Fig. 3 is transfer robot motion track figure in the present invention；
Wherein, 1- traveling main control module, 2- mechanical arm main control module, the left motor drive module of 3-, the right motor driven mould of 4-
Block, 5- steering engine control panel, the left sensor of 6-, the right sensor of 7-, 8- bluetooth module.
Specific embodiment
The effect of to make to structure feature of the invention and being reached, has a better understanding and awareness, to preferable
Examples and drawings cooperation detailed description, is described as follows:
The control circuit connection block diagram of transfer robot is as shown in Fig. 2, transfer robot includes traveling main control module 1 and machine
Tool arm main control module 2, traveling main control module 1 is for controlling travel wheel, and mechanical arm main control module 2 is for controlling mechanical arm and machinery
The clamper of arm.Transfer robot, as power-supply battery, provides suitable work using transforming circuit using 12V rechargeable battery
Power supply.Traveling main control module 1 uses STM32F1 master control borad, and mechanical arm main control module 2 uses Arduino Uno development board, advances
Main control module 1 is connected with mechanical arm main control module 2 by serial ports.
The control signal input phase of the first control signal output end of traveling main control module 1 and left motor drive module 3
Even, the second control signal output end of traveling main control module 1 is connected with the control signal input of right motor drive module 4.It is left
The control signal output of motor drive module 3 walks turbin generator with left lateral and is connected, the control signal of right motor drive module 4
Output end walks turbin generator with right lateral and is connected, and left motor drive module 3 is for driving left motor, to realize that left lateral walks wheel rotation,
Right motor drive module 4 is for driving right motor, to realize that right lateral walks wheel rotation.Left motor drive module 3 and right motor drive
L298N chip can be used in dynamic model block 4.Here, left traveling wheel and right traveling wheel can respectively be 1, or it is multiple, if
It is multiple, it is to be driven in driving by multiple channels.
The control signal output of mechanical arm main control module 2 is connected with the control signal input of steering engine control panel 5, mechanical
The work of the control mechanical arm of arm main control module 2.The bottom of transfer robot is equipped with left sensor 6 and right sensor 7, left sensing
Device 6 and right sensor 7 can be infrared hunting sensor, for acquiring the distributed intelligence and the article set-point that are laid with route
Mark information, as shown in figure 3, according to laying route allocation, to mechanical arm main control module 2 transmit hunting feedback signal, it is ensured that remove
It transports Robot and is laid with route walking, arrive at corresponding landmark locations.The signal output end of left sensor 6 and the letter of right sensor 7
Number output end is connected with the input terminal of mechanical arm main control module 2.
The communication input of traveling main control module 1 is connected to bluetooth module 8,8 model HC-05 of bluetooth module, for receiving
The information of cell phone application, user cell phone application that can be used can control robot at any time and advance or stop, and clamping or placement object
Product.
As shown in Figure 1, a kind of intelligent control method of transfer robot, comprising the following steps:
The first step, system pretreatment.Transfer robot power supply is opened, transfer robot is in power-up state, and initialization is each
Module and relevant parameter.
Second step, the control starting of transfer robot.Cell phone application connects transfer robot by bluetooth module 8 and starts
Transfer robot.The specific steps of which are as follows:
(1) cell phone application sends paired data frame to traveling main control module 1 by bluetooth module 8.
(2) traveling main control module 1 starts interrupt mode and so that bluetooth module 8 is received the data frame and complete to match, and advance master
The active flag position 1 of module 1 is controlled, (control command data frame) reception is flowed with pending OutStream.
(3) cell phone application, which by control command data frame converts corresponding OutStream and flows to bluetooth module 8, sends.
(4) bluetooth module 8 receives data using InputStream stream, and transmits data to the progress of traveling main control module 1
Action control.
Third step, the movement of transfer robot.Left sensor 6 and right sensor 7 detect black preset path, and will test
As a result mechanical arm main control module 2 is fed back to, mechanical arm main control module 2 judges the moving line of robot according to testing result and will
Above- mentioned information are sent to traveling main control module 1 by serial ports, traveling main control module 1 motor drive module 3 or right electricity to the left accordingly
Machine motor drive module 4 sends the motion state of direction of motion instruction control transfer robot, and transfer robot is along route (as schemed
Shown in 3) it walks.The specific steps of which are as follows:
(1) left sensor 6 and right sensor 7 carry out the detection of black preset path.
(2) if left sensor 6 and right sensor 7 are detected simultaneously by black start line, show that transfer robot station exists at this time
In the start line of black, left sensor 6 and right sensor 7 and the start line of black are in square crossing state.Then respectively to machine
2 transmission level signal of tool arm main control module (specially low level or high level are set according to the model of sensor), is pressed
PWM wave motor control method controls left motor drive module 3 and right motor drive module 4 makes straight movement control.
And if transfer robot by walking in the state that black preset path is walked, due to left sensor 6
It is located at the both ends of black preset path with right sensor 7, can't detect black preset path.If certain side senses
Device detects black preset path, then illustrates that the walking of transfer robot produces offset, then needs to carry out direction adjustment.
(3) if black preset path, mechanical arm is not detected in left sensor 6 and right sensor 7 in threshold time T
Main control module 2 is to 1 distribution of machine people of traveling main control module straight trip information, and control traveling main control module 1 default forward find by walking
Black preset path.Traveling main control module 1 controls left motor drive module 3 and right motor driven by PWM wave motor control method
Module 4 makes straight movement control.
(4) if left sensor 6 detects that black preset path is not detected in black preset path, right sensor 7, explanation is worked as
Preceding transfer robot is to the left, and mechanical arm main control module 2 sends route information to the left to traveling main control module 1.Traveling main control module 1
Left motor drive module 3 is controlled by PWM wave motor control method and right motor drive module 4 makes left-hand rotation control.
(5) if black preset path is not detected in left sensor 6, right sensor 7 detects that black preset path, explanation are worked as
Preceding transfer robot is to the right, and mechanical arm main control module 2 sends route information to the right, traveling main control module 1 to traveling main control module 1
Left motor drive module 3 is controlled by PWM wave motor control method and right motor drive module 4 makes right-hand rotation control.
(6) if left sensor 6 and right sensor 7 detect black stop line, mechanical arm main control module 2 is to traveling master control
Module 1 sends stop motion information, and traveling main control module 1 controls left motor drive module 3 and the right side by PWM wave motor control method
Motor drive module 4 stops movement.
Here, snatch, the placement operation for transfer robot can carry out logical method design according to actual needs.Example
Such as, if the design artificial placement location of transfer robot is located at after start line, left sensor 6 can be designed to transfer robot
Black preset path (black stop line or black start line, if 6 He of left sensor are detected simultaneously by with 7 second of right sensor
Right sensor 7 is detected simultaneously by black preset path, then it is exactly black start line that it, which is not black stop line), then carry out snatch
Operation similarly when detecting black preset path the 4th time, illustrates to have arrived black starting line position, then carries out placement operation.
In this PWM wave motor control method, for traveling main control module 1, using timer interrupt mode generation two-way, (four tunnels can also
With, according to number of motors determine, 4 tetra- tunnels motor Ze Wei) PWM wave load in left motor drive module 3 and right motor driven mould
On block 4.Change each road PWM wave duty ratio to adjust traveling wheel rotating manner, thus it is possible to vary traveling wheel motor pattern and traveling side
To.The method in the period and duty ratio that change PWM wave is to 1 timer conter of traveling main control module, and setting counts heavy duty value, is made
Can reload, open the reloading function in each channel, finally provide each channel fiducial value again.It is counted when timer starts
Afterwards, if current count value is still less than certain channel fiducial value, the output pin of corresponding channel keeps high level；And if current count
It is worth big Mr. Yu channel fiducial value, then the output pin of corresponding channel keeps low level；Count value continues to increase to the water of reloading
Usually, pin keeps high level again, and count value is reloaded and counted again, repeats above procedure.
The specific steps of which are as follows:
A, the pre- frequency dividing of the general purpose timer one of traveling main control module 1 is set, and works in it and compares output mode, is prohibited
Only its preload register.
B, the general purpose timer two that traveling main control module 1 after entering the interrupt, is arranged works in PWM mode, provides counting weight
Load value opens the reloading function in each channel, each channel fiducial value is arranged, the output of control two-way PWM wave is (if four motors of cooperation
Control, the output of tetra- tunnel PWM wave of Ze Wei).
C, after the timer starting of traveling main control module 1, the counter of traveling main control module 1 will count automatically, and setting is logical
PWM mode 1 is worked in timer two；If current count value is still less than certain channel fiducial value, the output pin of corresponding channel
Keep high level；And if the big Mr. Yu channel fiducial value of current count value, the output pin of corresponding channel keep low level；It counts
When value continues to increase to the level of reloading, pin is multiple and keeps high level, and count value is reloaded and counted again, is repeated with this
Above procedure.
According to channel fiducial value rule, period and the duty ratio that different channel fiducial values changes PWM wave are set；
Channel fiducial value rule is as follows:
When transfer robot advances, the PWM wave on every road keeps 100% duty ratio, i.e., left traveling wheel, right traveling wheel are controlled
System rotation.
When transfer robot stops, the PWM wave on every road is 0% duty ratio, i.e., left traveling wheel, right traveling wheel control not
Rotation.
When transfer robot turns left, the PWM wave of left is 0% duty ratio, and right wing PWM wave is 100% duty ratio, i.e., left
Traveling wheel control does not rotate, the control of right traveling wheel rotates, and realizes.
When transfer robot is turned right, the PWM wave of right wing is 0% duty ratio, and the PWM wave of left is 100% duty ratio, i.e.,
Left traveling wheel control rotation, the control of right traveling wheel do not rotate, and realize and turn right.
Here, to realize the retrogressing of transfer robot, then the " fall back " mode" of transfer robot can be used.When left motor drives
The model of dynamic model block 3 and right motor drive module 4 is L298N, and transfer robot " fall back " mode" is provided that
When transfer robot retreats, when transfer robot retreats, left motor is made by the GPIO pin of traveling main control module 1
Drive module 3int1 pin, right motor drive module 4 int1 pin be in low level；Left motor drive module 3int2 pipe
Foot, right motor drive module 4 int2 pin be 1, realize motor reversal.Similarly, it when transfer robot retreats, is also suitable logical
Road fiducial value rule, to realize that the direction in transfer robot fallback procedures adjusts.
4th step, transfer robot carry out crawl operation.After transfer robot stops, 2 control flaps of mechanical arm main control module
Machine control panel 5 carries out snatch operation.Mechanical arm main control module 2 issues commands to steering engine control panel 5 and generates different pulsewidths, control
Steering engine rotational angle, completion is grabbed, is lifted, placement acts.The rotational angle of steering engine is by adjusting PWM (pulse width modulation) letter
Number duty ratio come what is realized, the period of standard PWM signal is fixed as 20ms (50Hz), pulsewidth between 500 μ s to 2500 μ s,
0 °~180 ° of corner of pulsewidth and steering engine are corresponding.(1500 or so is 90 ° corresponding, and 2500 be 180 °, and 500 be 0 °, and so on,
Occurrence slightly floats up and down, and pulsewidth unit is microsecond (μ s)).By setting delay time, it is ensured that the completion of mechanical arm movement.
After completion, mechanical arm main control module 2 is completed to instruct to 1 sending action of traveling main control module, and traveling main control module 1 receives information
Afterwards by the straight trip of order robot until side infrared sensor does not detect black route item (steering operation), then is found
Black preset path.The specific steps of which are as follows:
(1) mechanical arm main control module 2 sends decline instruction to steering engine control panel 5, and steering engine control panel 5 issues decline pulsewidth,
Since steering engine control panel 5 is connected with steering engine, the decline pulsewidth that steering engine control panel 5 is issued directly controls steering engine and is accordingly grasped
Make, decline pulsewidth is 1930~1945, control mechanical arm decline.
(2) the purpose of setting delay function, the setting of delay function is to guarantee that mechanical arm decline process all terminates.Mechanical arm
Main control module 2 sends clamper to steering engine control panel 5 and opens instruction, and steering engine control panel 5 issues clamper and opens pulsewidth, folder
It is 1946~1954 that holder, which opens pulsewidth, and clamper opens.
(3) delay function is set, and mechanical arm main control module 2 sends clamper close command, steering engine control to steering engine control panel 5
Making sheet 5 issues clamper and is closed pulsewidth, and it is 650~750 that clamper, which is closed pulsewidth, clamper closure.
(4) delay function is set, and mechanical arm main control module 2 sends to steering engine control panel 5 and lifts instruction, steering engine control
Pulsewidth is lifted in the sending of plate 5, and lifting pulsewidth is 1500~1650, and control mechanical arm lifts.
(5) mechanical arm main control module 2 is completed to instruct to 1 sending action of traveling main control module.
In practical applications, the practical steering engine of mechanical arm can be 2, i.e. two-freedom.The rising of one control mechanical arm
And decline, a control clamper closure and opening.If the steering engine for controlling the raising and lowering of mechanical arm is steering engine 1, control folder
Holder closure and the steering engine opened are steering engine 2.It keeps the state of steering engine 2 constant when rise and fall, keeps steering engine 1 when pressing from both sides thing
State is constant.
The return of 5th step, transfer robot is mobile.After snatch operation, mechanical arm main control module 2 by serial ports to
1 sending action of traveling main control module completes instruction, and traveling main control module 1 controls transfer robot and carries out left-hand rotation (right face
It is dynamic can also be with) until left sensor 6 (right sensor 7) detects that black preset path stops.At this point, transfer robot has clamped
Article, and turn to success, return to start line by former black preset path, carry out the same transfer robot of third step
Moving step.
6th step, transfer robot carries out placement operation, after left sensor 6 and right sensor 7 detect start line, row
The instruction control robot for receiving mechanical arm main control module 2 into main control module 1 stops, and shows to arrived start line, and pass through string
Mouth sends to mechanical arm main control module 2 and places job command.Mechanical arm main control module 2 sends a signal to steering engine control panel 5, mechanical
Arm main control module 2 controls mechanical arm decline, and the clamper of flared distal end is completed to place operation.
The basic principles, main features and advantages of the present invention have been shown and described above.The technology of the industry
Personnel are it should be appreciated that the present invention is not limited to the above embodiments, and what is described in the above embodiment and the description is only the present invention
Principle, various changes and improvements may be made to the invention without departing from the spirit and scope of the present invention, these variation and
Improvement is both fallen in the range of claimed invention.The present invention claims protection scope by appended claims and its
Equivalent defines.
Claims (4)
1. a kind of intelligent control method of transfer robot, transfer robot includes traveling main control module (1) and mechanical arm master control
Module (2), traveling main control module (1) are connected with mechanical arm main control module (2) by serial ports, and the first of traveling main control module (1)
Control signal output is connected with the control signal input of left motor drive module (3), the second control of traveling main control module (1)
Signal output end processed is connected with the control signal input of right motor drive module (4), the control letter of mechanical arm main control module (2)
Number output end is connected with the control signal input of steering engine control panel (5), and the bottom of transfer robot is equipped with left sensor (6)
With right sensor (7), the signal output end of the signal output end of left sensor (6) and right sensor (7) with mechanical arm master control
The signal input part of module (2) is connected, and the communication input of traveling main control module (1) is connected to bluetooth module (8),
It is characterized in that, intelligent control method the following steps are included:
11) system pre-processes, and opens transfer robot power supply, and transfer robot is in power-up state, initializes each module and phase
Answer parameter；
12) the control starting of transfer robot, cell phone application connect transfer robot by bluetooth module (8) and start carrying implement
Device people；
13) movement of transfer robot, left sensor (6) and right sensor (7) detect black preset path, and will test result
It feeds back to mechanical arm main control module (2), mechanical arm main control module (2) judges the moving line of robot according to testing result and will
Above- mentioned information are sent to traveling main control module (1) by serial ports, traveling main control module (1) motor drive module (3) to the left accordingly
Or right motor drive module (4) sends the motion state of direction of motion instruction control transfer robot, transfer robot edge
Route is walked；
The movement of the transfer robot the following steps are included:
131) left sensor (6) and right sensor (7) carry out the detection of black preset path；
132) if left sensor (6) and right sensor (7) are detected simultaneously by black start line, respectively to mechanical arm main control module
(2) transmission level signal, traveling main control module (1) control left motor drive module (3) He You electricity by PWM wave motor control method
Machine drive module (4) makes straight movement control；
133) if black start line, mechanical arm is not detected in left sensor (6) and right sensor (7) in threshold time T
Main control module (2) Xiang Hangjin main control module (1) distribution of machine people straight trip information, traveling main control module (1) press PWM wave motor control
Method controls left motor drive module (3) and right motor drive module (4) makes straight movement control；
It is mechanical if 134) left sensor (6) detects that black preset path is not detected in black preset path, right sensor (7)
Arm main control module (2) Xiang Hangjin main control module (1) sends route information to the left, and traveling main control module (1) presses PWM wave motor control
Method controls left motor drive module (3) and right motor drive module (4) makes left-hand rotation control；
It is mechanical if 135) black preset path is not detected in left sensor (6), right sensor (7) detects black preset path
Arm main control module (2) Xiang Hangjin main control module (1) sends route information to the right, and traveling main control module (1) presses PWM wave motor control
Method controls left motor drive module (3) and right motor drive module (4) makes right-hand rotation control；
136) if left sensor (6) and right sensor (7) detect black stop line, mechanical arm main control module (2) Xiang Hangjin
Main control module (1) sends stop motion information, and traveling main control module (1) controls left motor driven by PWM wave motor control method
Module (3) and right motor drive module (4) stop movement；
The PWM wave motor control method the following steps are included:
The pre- frequency dividing of the general purpose timer one of traveling main control module (1) is set, and works in it and compares output mode, forbids it
Preload register；
After entering the interrupt, the general purpose timer two for traveling main control module (1) being arranged works in PWM mode, provides the heavily loaded value of counting,
Each channel fiducial value, control two-way PWM wave output is arranged in the reloading function of opening each channel；
After the general purpose timer one of traveling main control module (1) starts, setting general-purpose timer two works in PWM mode 1；If current
Count value is still less than certain channel fiducial value, then the output pin of corresponding channel keeps high level；And if the big Mr. Yu of current count value
Channel fiducial value, then the output pin of corresponding channel keeps low level；When count value continues to increase to the level of reloading, pin
High level is kept again, count value is reloaded and counted again, repeats above procedure with this, is arranged according to channel fiducial value rule
Different channel fiducial values changes period and the duty ratio of PWM wave；
Channel fiducial value rule is as follows:
When transfer robot advances, the PWM wave on every road keeps 100% duty ratio；
When transfer robot stops, the PWM wave on every road is 0% duty ratio；
When transfer robot turns left, the PWM wave of left is 0% duty ratio, and right wing PWM wave is 100% duty ratio；
When transfer robot is turned right, the PWM wave of right wing is 0% duty ratio, and the PWM wave of left is 100% duty ratio；
14) transfer robot carries out crawl operation, and after transfer robot stops, mechanical arm main control module (2) controls steering engine control
Plate (5) carries out snatch operation；
15) return of transfer robot is mobile, and after snatch operation, mechanical arm main control module (2) is led by serial ports to advancing
It controls module (1) sending action and completes instruction, traveling main control module (1) control transfer robot carries out left-hand and rotates up to left sensing
Device (6) detects that black preset path stops, and carries out the moving step of transfer robot；
16) transfer robot carries out placement operation, and after left sensor (6) and right sensor (7) detect start line, advance master
It controls module (1) and receives the instruction control robot stopping of mechanical arm main control module (2), and pass through serial ports to mechanical arm main control module
(2) it sends and places job command, mechanical arm main control module (2) controls mechanical arm decline, and the clamper of flared distal end is completed to place
Operation.
2. a kind of intelligent control method of transfer robot according to claim 1, which is characterized in that the carrying implement
The control of device people start the following steps are included:
21) cell phone application sends paired data frame by bluetooth module (8) Xiang Hangjin main control module (1)；
22) traveling main control module (1) starting interrupt mode makes bluetooth module (8) receive the data frame and completes to match, and advance master
Control the active flag position 1 of module (1)；
23) cell phone application converts corresponding OutStream for control command data frame and flows to bluetooth module (8) transmission；
24) bluetooth module (8) receives data using InputStream stream, and transmits data to traveling main control module (1) progress
Action control.
3. a kind of intelligent control method of transfer robot according to claim 1, which is characterized in that the carrying implement
Device people carry out crawl operation the following steps are included:
31) mechanical arm main control module (2) sends decline instruction to steering engine control panel (5), and steering engine control panel (5) issues decline arteries and veins
Width, decline pulsewidth are 1930~1945, control mechanical arm decline；
32) delay function is set, and mechanical arm main control module (2) sends clamper to steering engine control panel (5) and opens instruction, steering engine control
Making sheet (5) issues clamper and opens pulsewidth, and it is 1946~1954 that clamper, which opens pulsewidth, and clamper opens；
33) delay function is set, and mechanical arm main control module (2) sends clamper close command, steering engine control to steering engine control panel (5)
Making sheet (5) issues clamper and is closed pulsewidth, and it is 650~750 that clamper, which is closed pulsewidth, clamper closure；
34) delay function is set, and mechanical arm main control module (2) sends to steering engine control panel (5) and lifts instruction, steering engine control panel
(5) it issues and lifts pulsewidth, lifting pulsewidth is 1500~1650, and control mechanical arm lifts；
35) mechanical arm main control module (2) Xiang Hangjin main control module (1) sending action completes instruction.
4. a kind of intelligent control method of transfer robot according to claim 1, it is characterised in that: the PWM wave
Motor control method further includes transfer robot " fall back " mode", the left motor drive module (3) and right motor drive module
(4) model is L298N,
Transfer robot " fall back " mode" is as follows:
When transfer robot retreats, manage left motor drive module (3) int1 by the GPIO pin of traveling main control module (1)
Foot, right motor drive module (4) int1 pin be in low level；Left motor drive module (3) int2 pin, right motor drive
The int2 pin of dynamic model block (4) is 1, realizes motor reversal.
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| CN107139197B (en) * | 2017-07-13 | 2023-05-05 | 辽宁科技大学 | Robot vibration reduction clamping device and intelligent box body carrying method based on same |
| CN108712946B (en) * | 2017-08-23 | 2021-11-09 | 深圳蓝胖子机器智能有限公司 | Goods placement method, device and system, electronic equipment and readable storage medium |
| CN107336243B (en) * | 2017-08-24 | 2019-12-31 | 安徽工大信息技术有限公司 | Robot control system and control method based on intelligent mobile terminal |
| CN111315544B (en) * | 2017-11-08 | 2023-04-25 | 本田技研工业株式会社 | Walking movement assisting device |
| CN108568819A (en) * | 2018-04-20 | 2018-09-25 | 郑州科技学院 | A kind of intelligent robot autonomous control method based on artificial intelligence |
| CN108549263A (en) * | 2018-05-04 | 2018-09-18 | 安徽三弟电子科技有限责任公司 | A kind of patient transfer robot regulator control system based on power self-regulation |
| CN109947111B (en) * | 2019-04-04 | 2022-09-23 | 肖卫国 | Automatic carrying trolley movement control method and device and automatic carrying trolley |
| CN110689303A (en) * | 2019-09-27 | 2020-01-14 | 海南经贸职业技术学院 | Logistics management system for intelligent commodity classification |
| CN110955247A (en) * | 2019-12-16 | 2020-04-03 | 华南理工大学广州学院 | Control system and control method of intelligent carrying trolley |
| CN111113421A (en) * | 2019-12-30 | 2020-05-08 | 上海燊星机器人科技有限公司 | Robot intelligence snatchs sequencing system |
| CN115657463B (en) * | 2022-05-27 | 2023-10-13 | 安徽大学 | Multi-robot distributed optimal cooperative control algorithm based on energy difference |
| CN115635272B (en) * | 2022-10-24 | 2023-09-08 | 上海微云实业集团有限公司 | Method for mounting dental model and base |
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| CN105479433B (en) * | 2016-01-04 | 2017-06-23 | 江苏科技大学 | A kind of Mecanum wheel Omni-mobile transfer robot |
| CN105798910A (en) * | 2016-05-09 | 2016-07-27 | 沙洲职业工学院 | Carrying and sorting robot control device |
| CN205679998U (en) * | 2016-06-22 | 2016-11-09 | 浙江机电职业技术学院 | A kind of tracking cart |
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