CN106903693A - A kind of medical service robot control system - Google Patents
A kind of medical service robot control system Download PDFInfo
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- CN106903693A CN106903693A CN201710262607.0A CN201710262607A CN106903693A CN 106903693 A CN106903693 A CN 106903693A CN 201710262607 A CN201710262607 A CN 201710262607A CN 106903693 A CN106903693 A CN 106903693A
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- 230000005693 optoelectronics Effects 0.000 claims abstract description 30
- 230000005540 biological transmission Effects 0.000 claims description 7
- 239000003814 drug Substances 0.000 description 15
- 230000009471 action Effects 0.000 description 14
- 230000033001 locomotion Effects 0.000 description 11
- 230000000875 corresponding effect Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 9
- 238000012377 drug delivery Methods 0.000 description 9
- 238000000034 method Methods 0.000 description 9
- 238000001514 detection method Methods 0.000 description 5
- 230000008878 coupling Effects 0.000 description 4
- 238000010168 coupling process Methods 0.000 description 4
- 238000005859 coupling reaction Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 239000002390 adhesive tape Substances 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000007493 shaping process Methods 0.000 description 2
- 230000008901 benefit Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 229940079593 drug Drugs 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000035764 nutrition Effects 0.000 description 1
- 235000016709 nutrition Nutrition 0.000 description 1
- 230000032258 transport Effects 0.000 description 1
Classifications
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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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- 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
- B25J11/009—Nursing, e.g. carrying sick persons, pushing wheelchairs, distributing drugs
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Nursing (AREA)
- Health & Medical Sciences (AREA)
- Artificial Intelligence (AREA)
- General Health & Medical Sciences (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of medical service robot control system, it is characterised in that it includes main control module, motor drive I, motor to drive II, preceding tracking module, rear tracking module, left tracking module, right tracking module, optoelectronic switch I, optoelectronic switch II, steering engine controller, player and loudspeaker；The motor drives I, motor to drive II, preceding tracking module, rear tracking module, left tracking module, right tracking module, optoelectronic switch I, optoelectronic switch II, steering engine controller, player I/O port connection corresponding with the main control module respectively；The motor drive I and the motor drive II respectively with corresponding robot ambulation turbin generator connection；The steering engine controller distinguishes connection with each steering wheel of robot arm, and the player and lines of loudspeakers are connected.It is easy to carry present invention is especially suited for teaching application, student can quick left-hand seat, drive medical service robot completion setting task.
Description
Technical field
The invention belongs to robot used for teaching technical field, and in particular to a kind of medical service robot control system.
Background technology
The event of medical service robot compulsory exercise, is the sub-project of Chinese robot contest, competition area
Ground is green carpet, 6000mm long, 4000mm wide.The guide line of robot ambulation, is that width 24mm is put into white matt paper
Bar（Double faced adhesive tape）, part way do not have guide line.Sick bed 2000mm long in match, 1000mm wide, bed surface 500mm from the ground.
Bedside cupboard 500mm long, 500mm wide, 400mm high.
In match, robot needs completion to make the rounds of the wards task and drug delivery task.According to laws of the game, during the games, machine
Device people needs that starting line, stop line, and racing track guide wire can be recognized, in the part way without guide wire, can independently complete to appoint
Business.Robot completes robot and makes the rounds of the wards and robot drug delivery task in order, by medicine bottle from nurse's platform, is first sent to bedside cupboard A
Still bedside cupboard B is first sent to, is drawn lots and is determined.The initial placement of medicine bottle is highly nurse's platform of 300mm, to be transferred to be to height
On the bedside cupboard of 400mm, the positional precision that medicine bottle is finally placed is different, and score is different.
According to laws of the game, want to complete match task, in addition to mechanical mechanism is designed, also to be set according to match task
Control system is counted, otherwise, robot can not independently complete task.
Current experimental facilities, the experimental facilities of special higher education, the experimental facilities for the exploitation of contest link compares
It is few, just start the student for enteing the lists, the mechanical system of robot according to match request, can be built, but for control system,
Proximate nutrition is obscured, so the related medical service robot control system of necessary exploitation, guides to student's competition.
The content of the invention
In order to solve the structure problem of the above-mentioned medical service robot control system based on contest, the present invention is devised
A kind of medical service robot control system, it is possible to achieve the basic exercise of robot, follows line motion, in detection certain distance
Barrier, drives mechanical arm, paw crawl, places object, plays voice signal.
In order to solve above-mentioned technical problem, present invention employs following scheme：
A kind of medical service robot control system, it is characterised in that including main control module, motor drive I, motor drive II,
Preceding tracking module, rear tracking module, left tracking module, right tracking module, optoelectronic switch I, optoelectronic switch II, steering engine controller,
Player and loudspeaker；The motor drives I, motor to drive II, preceding tracking module, rear tracking module, left tracking module, the right side to follow
Mark module, optoelectronic switch I, optoelectronic switch II, steering engine controller, player I O port line corresponding with the main control module respectively
Road connects；The motor drive I and the motor drive II respectively with corresponding robot ambulation turbin generator connection；Institute
Each steering wheel difference connection of steering engine controller and robot arm is stated, the player and lines of loudspeakers are connected.
Further, the robot arm has three steering wheels, is respectively steering wheel I, steering wheel II and steering wheel III, the steering wheel
Controller respectively with the steering wheel I, steering wheel II and the connection of steering wheel III.
Further, the robot ambulation turbin generator includes motor I, motor II, motor III, motor IV, the He of the motor I
Motor II drives I connection with the motor respectively；The motor III and motor IV drive II circuit with the motor respectively
Connection.
Further, the motor I, motor II, motor III and motor IV are direct current generator, and each motor is by three controls
Signal IN1, IN2 and EN1 are controlled；To enable signal, two electrodes IN1, IN2 of motor are direction of motor rotation control letters to EN1
Number, when respectively 1,0, motor is rotated forward, conversely, motor reversal；Pwm signal is input into EN1, is adjusted by the dutycycle for adjusting PWM
Whole motor speed.
Further, the preceding tracking module includes seven sets tracking sensors and transmits the cable of control signal, it is described after follow
Mark module includes the cable of five sets of tracking sensors and transmission control signal, the left tracking module and the right tracking module point
Bao Kuo not a set of tracking sensor and the cable for transmitting control signal.
Further, the tracking sensor uses gray-scale sensor.
Further, the player is MP3 player.
Further, the main control module is with single-chip microcomputer as control core.
During work, main control module sends motor control signal and drives I, motor to drive II to motor, drives each motor to rotate forward
Or reversion, the advance of medical service robot, retrogressings are realized, turned left to advance, turned right and advance, turn left to retreat, turning right and retrogressing and stop
Only wait basic exercise action；Main control module judges medical service robot according to the different detection signals of each tracking module
Walking orientation, constantly correction enables the flow of robot follow procedure design, follows walking guide wire walking；Main control module foundation
The obstacle signal that optoelectronic switch I, optoelectronic switch II are detected, follow procedure performs next step action；Main control module can drive
Steering engine controller calls the action array that steering engine controller stores, and realizes a series of predetermined dynamic of robot arm and paw
Make function；Main control module drives MP3 player and loudspeaker according to scene demand, plays corresponding voice messaging.
The medical service robot control system has the advantages that：
（1）The present invention can be in the match scene of setting, and according to laws of the game, automatic identification starting line, stop line, and racing track are led
Lead, in the part way without guide wire, independently completes task, completes make the rounds of the wards task and drug delivery task.
（2）Easy to carry present invention is especially suited for teaching application, student can quick left-hand seat, driving medical services machine
People completes setting task.
Brief description of the drawings
Fig. 1：System architecture schematic diagram of the invention；
Fig. 2：Competition venue schematic layout pattern of the invention；
Fig. 3：Medical service robot mechanical structure schematic diagram of the invention；
Fig. 4：Medical service robot motion body schematic layout pattern of the invention；
Fig. 5：The program flow diagram of the road tracking of medical service robot front end of the invention 7；
Fig. 6：The program flow diagram of the road tracking of medical service robot rear portion of the invention 5；
Fig. 7：Mechanical arm reset state schematic diagram of the invention；
Fig. 8：The program flow diagram of manipulator medicament taking bottle of the invention；
Fig. 9：Manipulator of the invention puts the program flow diagram of medicine bottle；
Figure 10：The program flow diagram that medical service robot of the invention is made the rounds of the wards；
Figure 11：The program flow diagram of medical service robot drug delivery bottle of the invention.
Description of reference numerals：
1-main control module；21-motor drives I；22-motor drives II；31-motor I；32-motor II；33-motor III；
34-motor IV；41-preceding tracking module；42-rear tracking module；43-left tracking module；44-right tracking module；51-light
Electric switch I；52-optoelectronic switch II；6-steering engine controller；71-steering wheel I；72-steering wheel II；73-steering wheel III；8-MP3 broadcasts
Put device；9-loudspeaker；101-wheel；1011-the near front wheel；1012-off-front wheel；1013-left rear wheel；1014-off hind wheel；
102-car body；103-column；104-fixed support；105-connecting rod I；106-connecting rod II；107-connecting rod III；108-hand
Pawl.
Specific embodiment
Below in conjunction with the accompanying drawings, the present invention will be further described：
Fig. 1 to Figure 11 shows a kind of medical service robot, including four wheels 101, car body 102, control system and doctors
Treat the mechanical arm of service robot.
As shown in Figure 1 and Figure 4, medical service robot control system includes main control module 1, and motor drives I 21, motor to drive
Dynamic II 22, motor I 31, motor II 32, motor III 33, motor IV 34, preceding tracking module 41, rear tracking module 42, left tracking mould
Block 43, right tracking module 44, optoelectronic switch I 51, optoelectronic switch II 52, steering engine controller 6, steering wheel I 71, steering wheel II 72, steering wheel
III 73, MP3 player 8 and loudspeaker 9.Motor drive I 21, motor drive II 22, preceding tracking module 41, rear tracking module 42,
Left tracking module 43, right tracking module 44, optoelectronic switch I 51, optoelectronic switch II 52, steering engine controller 6, MP3 player 8 are distinguished
The I/O port connection corresponding with main control module 1；Motor I 31 and motor II 32 drive I 21 connections with motor respectively；Electricity
Machine III 33 and motor IV 34 drive II 22 connections with motor respectively；Steering wheel I 71, steering wheel II 72 and steering wheel III 73 respectively with rudder
The connection of machine controller 6, MP3 player 8 and the connection of loudspeaker 9.
As shown in figure 3, medical service robot, including four wheels 101, car body 102, and medical service robot
Mechanical arm.The mechanical arm of medical service robot includes column 103, fixed support 104, connecting rod I 105, steering wheel I 71, connecting rod II
106th, steering wheel II 72, connecting rod III 106, steering wheel III 73 and paw 108.Wherein, four wheels 101 pass through fixed support and car respectively
Body 102 is connected, and column 103 is fixed on car body 102, for supporting mechanical arm, there is provided the height of crawl medicine bottle；Connecting rod I 105 leads to
Cross fixed support 104 to be fixed on column 103, connecting rod I 105 and connecting rod II 106 are connected with steering wheel I 71 respectively, the He of connecting rod II 106
Connecting rod III 107 is connected with steering wheel II 72 respectively, and connecting rod III 107 and paw 108 are connected with steering wheel III 73 respectively；The He of connecting rod II 106
Connecting rod III 107 realizes rotary freedom by the rotation of steering wheel I 71 and steering wheel II 72 respectively；Steering wheel III 73 is driven by left rotation and right rotation
Start the pinion rotation of pawl 108, realize the folding of paw 108.
The I/O port connection corresponding with main control module 1 of steering engine controller 6, steering wheel I 71, steering wheel II 72 and steering wheel III 73
Respectively with the connection of steering engine controller 6.Steering engine controller 6 can drive steering wheel I 71, steering wheel II 72 and steering wheel III 73 to press respectively
Certain angle is rotated, and the mechanical arm of medical service robot and paw is performed certain action；Steering engine controller 6 can also be stored up
Steering wheel I 71, steering wheel II 72 and the rotational angle of steering wheel III 73 are deposited, when the mechanical arm and paw of medical service robot are, it is necessary to repeat
When performing adapted good action, steering engine controller 6 can directly invoke storage action, or under main control module 1
Perform the action to steering engine controller 6 up to order, steering engine controller 6 calls the storage to act, realizes the pre- of mechanical arm and paw
Determine holding function；Steering engine controller 6 can also be stored as multiple rotational actions acting array, when the machine of medical service robot
When tool arm and paw, it is necessary to be sequentially repeated performs a series of adapted good actions, steering engine controller 6 can be directly invoked
The storage acts array, or main control module 1 to be issued an order and perform the action array to steering engine controller 6, and steering engine controller 6 is adjusted
Array is acted with the storage, a series of predetermined action functions of mechanical arm and paw are realized.
Motor I 31, motor II 32, motor III 33 and motor IV 34, are direct current generator, and each motor needs 3 control letters
Number IN1, IN2 and EN1, EN1 is to enable signal.Two electrodes IN1, IN2 of motor, are direction of motor rotation control signals, point
Not Wei 1,0 when, motor rotate forward, conversely, motor reversal.Pwm signal is input into EN1, the dutycycle of PWM is adjusted, electricity can be adjusted
Machine rotating speed.Therefore, motor driving I 21 can be adjusted with controlled motor I 31, the rotating forward of motor II 32, reversion and speed, and motor drives
II 22 can be with controlled motor III 33, rotating forward, reversion and the speed regulation of motor IV 34.Wheel 1011 is by shaft coupling and motor I
31 connections, wheel 1012 is connected by shaft coupling with motor II 32, and wheel 1013 is connected by shaft coupling with motor III 33, wheel
1014 are connected by shaft coupling with motor IV 34.
Main control module 1 sends motor control signal and drives I 21 and motor driving II 22 to motor, and motor drives I 21 to drive
Motor I 31 and motor II 32, forward and reverse or speed governing, and motor drives II 22 motors III 33 and motor IV 34, carries out
Rotating forward, reversion or speed governing, realize advance, retrogressing, left-hand rotation advance, advance of turning right, retrogressing of turning left, the right-hand rotation of medical service robot
The basic exercise actions such as retrogressing, speed regulation and stopping.
Preceding tracking module 41 includes the cable of seven sets of tracking sensors and transmission control signal, and rear tracking module 42 includes five
The cable of set tracking sensor and transmission control signal, left tracking module 43 includes a set of tracking sensor and transmission control signal
Cable, right tracking module 44 include a set of tracking sensor and transmission control signal cable.Preceding tracking module 41, rear tracking
Module 42, left tracking module 43 and right tracking module 44, can detect the walking guide wire of medical service robot, master control mould
Block 1 is sentenced according to the different detection signals of preceding tracking module 41, rear tracking module 42, left tracking module 43 and right tracking module 44
The walking orientation of disconnected medical service robot, constantly correction enables the flow of robot follow procedure design, follows walking guide wire
Walking.
Optoelectronic switch I 51 and optoelectronic switch II 52, can detect preceding object thing, and detecting distance can be by optoelectronic switch I
51 and the regulation circuit configuration of optoelectronic switch II 52.In the tasks make progress that robot makes the rounds of the wards with drug delivery, such as Fig. 2 institutes
Show, through R, Q, then to during M, Q to M does not have guide line, and during robot is through Q, R, S to N, S to N does not draw for robot
Wire, it is necessary to judge whether to reach the predetermined area during the two, just by optoelectronic switch I 51 and optoelectronic switch II 52, be
It is no to detect barrier to differentiate.Main control module 1, preceding object thing is detected according to optoelectronic switch I 51 and optoelectronic switch II 52
Signal after, bedside cupboard A or B can be judged according to optoelectronic switch I 51 and the detecting distance set in advance of optoelectronic switch II 52
With a distance from robot, enable the flow of robot follow procedure design, stopped, exchanged with patient, medicament taking bottle, put medicine
Bottle.
MP3 player 8, with the voice messaging of storage in playout storage, and can play voice messaging by loudspeaker 9
Out；In the tasks make progress that medical service robot makes the rounds of the wards, after robot reaches the predetermined area, to be exchanged with patient,
Main control module 1 sends corresponding speech play order, and to MP3 player 8, MP3 player 8 sends corresponding voice messaging
To loudspeaker 9, speech play is carried out.
Mechanical arm reset position, referring to Fig. 7, in motion process, mechanical arm is in reset state to medical service robot,
Ensure the center of gravity of robot, positioned at the midpoint of car body.Otherwise, the robot in motion, can cause four due to crank
Wheel is uneven to the frictional force on ground, unpredictable deflection can occur in robot motion's body motion process, it is impossible to press
Preset program, steady running.Mechanical arm is in reset position, and connecting rod I 105 is 60 degree, connecting rod II with the angle of connecting rod II 106
106 is 120 degree with the angle of connecting rod III 107, and gripper opens.The paw steering wheel of gripper is rotated by 90 °, and is engaged by gear,
Paw 108 can be driven to close up.
The medical service robot participates in the sub-project of Chinese robot contest, the medical service robot compulsory exercise
Competition area, as shown in Fig. 2 ground is green carpet, 6000mm long, 4000mm wide.The guide line of robot ambulation, is width
24mm is put into white matt paper slip（Double faced adhesive tape）, dotted line guide line do not exist in play.A, B sick bed 2000mm long, it is wide
1000mm, bed surface 500mm from the ground.Bedside cupboard 500mm long, 500mm wide, 400mm high.White line at Q, R, S, 500mm long is wide
24mm, perpendicular to QRS, QR=RS=1250mm.Origin zone（That is terminal area）600mm wide, 800mm long.
In match, robot needs completion to make the rounds of the wards task and drug delivery task.According to laws of the game, during the games, machine
Device people needs that starting line, stop line, and racing track guide wire can be recognized, in the part way without guide wire, can independently complete to appoint
Business.Robot completes following action in order：
（1）Robot makes the rounds of the wards：Robot is forward from starting point, along white line, through R, Q, then to M（Q to M does not have guide line）,
Exchanged with A patient, afterwards, through Q, R, S to N（S to N does not have guide line）, exchanged with B patient.Again through S, R
Return to terminal area.
（2）Robot drug delivery：Robot, along white line through R, S, by medicine bottle from nurse's platform, is sent to the head of a bed from origin zone
Cabinet A, bedside cupboard B.First it is sent to bedside cupboard A and is still first sent to bedside cupboard B, draws lots and determine.
Medicine bottle is initially placed on nurse's platform that height is 300mm, final to be transferred to the bed that height is 400mm
On head cabinet；The positional precision that medicine bottle is finally placed is different, and score is different.
Referring to Fig. 1, Fig. 2, Fig. 5, Fig. 6, match uses bottle green carpet, white tape line is posted on carpet.Tracking module
Using gray-scale sensor, the transmitting tube of gray-scale sensor, transmitting light runs into white background and is reflected to road surface, gray-scale sensor
Reception pipe, receives reflected light, after Schmidt trigger shaping, exports low level；When light runs into bottle green carpet, then by
Absorb, reception pipe is not received by reflected light, after Schmidt trigger shaping, export high level.In the anterior setting seven of dolly
Road tracking sensor, arranged on left and right sides respectively sets tracking sensor all the way, and afterbody sets five road tracking sensors.Detection ground
White glue band, the corresponding I/O pin of the shape of main control module 1 produces associated voltage change, so as to learn trolley travelling direction with white track
The relation of line.
After medical service robot right avertence or the very big distance of left avertence guide wire, left tracking module 43 and right tracking module 44,
After detecting guide wire, correction medical service robot is turned left, is turned right, until preceding tracking module 41 or rear tracking module 42
Tracking sensor detect guide wire after, by preceding tracking module 41 or rear tracking module 42, continue to medical service robot
Carry out tracking guiding.
The label of the road tracking sensor of front seven, is respectively from left to right L1, L2, L3, M1, R3, R2, R1；The tunnel of rear five
The label of tracking sensor, is respectively from left to right L4, L5, M2, R5, R4.The control flow of tracking subprogram.The tunnel of front seven is followed
Mark flow, as shown in figure 5, the road tracking flow of rear five, as shown in Figure 6.
Referring to Fig. 1, Fig. 2, Figure 10, Figure 11, service robot completes to make the rounds of the wards with the task process of drug delivery bottle, works as tracking
After sensor detects white wire, low level signal can be returned to main control chip.In the road tracking of front seven, when L1, L2, L3 detection
To after white line, dolly can be made to left movement；After R1, R2, R3 detect white line, can move right dolly；When M1 is detected
After white line, dolly moves ahead, it is ensured that white line is located at dolly chassis axis line position.In the road tracking of rear five, L4, L5 detect white line
Afterwards, dolly is moved right；After R4, R5 detect white line, dolly is to left movement；After M2 detects white line, dolly is retreated, it is ensured that white
Line is located at dolly chassis axis line position.
Medical service robot transports the process of medicine bottle, referring to Fig. 1, Fig. 2, Fig. 3, Fig. 7, Fig. 8, Fig. 9, Figure 11.
Robot medicament taking bottle, the control flow for putting medicine bottle, referring to Fig. 8 and Fig. 9.
The program circuit of robot drug delivery, referring to Figure 11.Robot main control module 1 is sensed with steering engine controller 6, each tracking
Device, motor driver combine, control robot tracking, get it filled, put medicine, action of making the rounds of the wards.The mark of the road tracking sensor of front seven
Number, it is respectively from left to right L1, L2, L3, M1, R3, R2, R1；The label of the road tracking sensor of rear five, be respectively from left to right
L4、L5、M2、R5、R4.After gray-scale sensor detects white wire, low level signal can be returned to main control chip.The tunnel of front seven
In tracking, after L1, L2, L3 detect white line, dolly can be made to left movement；After R1, R2, R3 detect white line, can make small
Car is moved right；After M1 detects white line, dolly moves ahead, it is ensured that white line is located at dolly chassis axis line position.The tunnel of rear five
In tracking, after L4, L5 detect white line, dolly is moved right；After R4, R5 detect white line, dolly is to left movement；M2 is detected
After white line, dolly is retreated, it is ensured that white line is located at dolly chassis axis line position.Preceding object is detected using two optoelectronic switches
Thing, when there is barrier in front, optoelectronic switch returns to low level signal to single-chip microcomputer, after being judged as reaching bedside cupboard nurse's platform,
Master controller sends character string instruction, performs corresponding actions to servos control plate, control steering wheel motion, mechanical arm.
According to design provided by the present invention, the student for enteing the lists can carry medical service robot of the invention
Control system, medical service robot competition venue, by programming, can quick left-hand seat, drive medical service robot,
Complete setting task.
Exemplary description is carried out to the present invention above in conjunction with accompanying drawing, it is clear that aforesaid way is not received in realization of the invention
Limitation, it is or not improved by the present invention as long as employing method of the present invention design and the various improvement that carry out of technical scheme
Design and technical scheme directly apply to other occasions, within the scope of the present invention.
Claims (9)
1. a kind of medical service robot control system, it is characterised in that drive I, motor to drive including main control module, motor
IIth, preceding tracking module, rear tracking module, left tracking module, right tracking module, optoelectronic switch I, optoelectronic switch II, servos control
Device, player and loudspeaker；The motor drive I, motor drive II, preceding tracking module, rear tracking module, left tracking module,
Right tracking module, optoelectronic switch I, optoelectronic switch II, steering engine controller, player IO corresponding with the main control module respectively
Mouth connection；The motor driving I and the motor drive II to connect with corresponding robot ambulation turbin generator circuit respectively
Connect；The steering engine controller distinguishes connection with each steering wheel of robot arm, and the player and lines of loudspeakers connect
Connect.
2. medical service robot control system according to claim 1, it is characterised in that the robot arm has
Three steering wheels, are respectively steering wheel I, steering wheel II and steering wheel III, the steering engine controller respectively with the steering wheel I, steering wheel II and rudder
The connection of machine III.
3. medical service robot control system according to claim 1 and 2, it is characterised in that the robot ambulation
Turbin generator includes motor I, motor II, motor III, motor IV, and the motor I and motor II drive I circuit with the motor respectively
Connection；The motor III and motor IV drive II connection with the motor respectively.
4. medical service robot control system according to claim 3, it is characterised in that the motor I, motor II,
Motor III and motor IV are direct current generator, and each motor is controlled by three control signals IN1, IN2 and EN1；EN1 is enable
Signal, two electrodes IN1, IN2 of motor are direction of motor rotation control signals, and when respectively 1,0, motor is rotated forward, conversely, electric
Machine is inverted；Pwm signal is input into EN1, motor speed is adjusted by the dutycycle for adjusting PWM.
5. the medical service robot control system according to claim 1,2 or 4, it is characterised in that the preceding tracking mould
Block includes the cable of seven sets of tracking sensors and transmission control signal, and the rear tracking module includes five sets of tracking sensors and biography
The cable of control signal is passed, the left tracking module and the right tracking module include that a set of tracking sensor and transmission are controlled respectively
The cable of signal processed.
6. medical service robot control system according to claim 5, it is characterised in that the tracking sensor is used
Gray-scale sensor.
7. the medical service robot control system according to claim 1,2,4 or 6, it is characterised in that the player
It is MP3 player.
8. the medical service robot control system according to claim 1,2,4 or 6, it is characterised in that the master control mould
Block is with single-chip microcomputer as control core.
9. medical service robot control system according to claim 7, it is characterised in that the main control module is with monolithic
Machine is control core.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710262607.0A CN106903693A (en) | 2017-04-20 | 2017-04-20 | A kind of medical service robot control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710262607.0A CN106903693A (en) | 2017-04-20 | 2017-04-20 | A kind of medical service robot control system |
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| CN106903693A true CN106903693A (en) | 2017-06-30 |
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| CN201710262607.0A Pending CN106903693A (en) | 2017-04-20 | 2017-04-20 | A kind of medical service robot control system |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108073177A (en) * | 2018-02-27 | 2018-05-25 | 西北农林科技大学 | A kind of control system imparted knowledge to students with contest with spray robot |
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| CN109484421A (en) * | 2017-09-10 | 2019-03-19 | 杭州宏成节能科技有限公司 | A kind of removable storing trolley and its track |
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| CN117115631A (en) * | 2023-10-25 | 2023-11-24 | 广州中鸣数码科技有限公司 | Color acquisition method and device for camera |
| CN117115631B (en) * | 2023-10-25 | 2024-02-02 | 广州中鸣数码科技有限公司 | Color acquisition method and device for camera |
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Application publication date: 20170630 |