CN107231483A - A kind of smart mobile phone is used as control centre's anthropomorphic robot - Google Patents
A kind of smart mobile phone is used as control centre's anthropomorphic robot Download PDFInfo
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- CN107231483A CN107231483A CN201710486356.4A CN201710486356A CN107231483A CN 107231483 A CN107231483 A CN 107231483A CN 201710486356 A CN201710486356 A CN 201710486356A CN 107231483 A CN107231483 A CN 107231483A
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- steering wheel
- monobus
- mobile phone
- control
- bus
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- WHXSMMKQMYFTQS-UHFFFAOYSA-N Lithium Chemical compound [Li] WHXSMMKQMYFTQS-UHFFFAOYSA-N 0.000 claims description 4
- 229910052744 lithium Inorganic materials 0.000 claims description 4
- 230000005611 electricity Effects 0.000 claims description 2
- 230000033001 locomotion Effects 0.000 abstract description 6
- 230000006386 memory function Effects 0.000 abstract description 4
- 238000012800 visualization Methods 0.000 abstract description 3
- 238000013461 design Methods 0.000 description 7
- 230000009471 action Effects 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 238000004891 communication Methods 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 2
- 238000006243 chemical reaction Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 210000003414 extremity Anatomy 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 210000001364 upper extremity Anatomy 0.000 description 2
- 230000004913 activation Effects 0.000 description 1
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000004134 energy conservation Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 230000005021 gait Effects 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000003032 molecular docking Methods 0.000 description 1
- 230000007659 motor function Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
Classifications
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72406—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by software upgrading or downloading
-
- 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
- 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
-
- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04M—TELEPHONIC COMMUNICATION
- H04M1/00—Substation equipment, e.g. for use by subscribers
- H04M1/72—Mobile telephones; Cordless telephones, i.e. devices for establishing wireless links to base stations without route selection
- H04M1/724—User interfaces specially adapted for cordless or mobile telephones
- H04M1/72403—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality
- H04M1/72409—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories
- H04M1/72415—User interfaces specially adapted for cordless or mobile telephones with means for local support of applications that increase the functionality by interfacing with external accessories for remote control of appliances
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- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Robotics (AREA)
- Human Computer Interaction (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Signal Processing (AREA)
- Automation & Control Theory (AREA)
- Artificial Intelligence (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Evolutionary Computation (AREA)
- General Physics & Mathematics (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
Control centre's anthropomorphic robot is used as the invention discloses a kind of smart mobile phone, turn monobus control panel including serial ports, ESPWIFI modules, monobus steering wheel group, and the serial ports turns single wire control plate and powered by power module, the monobus steering wheel group includes the first bus steering wheel, second bus steering wheel, 3rd bus steering wheel, 4th bus steering wheel and other steering wheels, the monobus steering wheel group receives control steering wheel by internal MCU processors and rotated, the ESPWIFI modules pass through WIFI wireless connection mobile phone As PP, exploitation mobile phone A PP remotely connected by using WIFI serial ports turn monobus control panel can realize to monobus steering wheel back read data remote control etc. operate, mobile phone A PP supports visualization to robot motion group editor and memory function simultaneously.
Description
Technical field
Technical field is given birth to the present invention relates to controlled in wireless, specially a kind of smart mobile phone is used as the humanoid machine of control centre
People.
Background technology
Two sufficient anthropomorphic robots be with the appearance essential characteristic and extremity motor function similar to the mankind, also with regarding,
Five senses such as listen, touch, in certain environment can autokinetic movement, upper limbs can flexibly complete some actions, and lower limb can be as people
The robot of the same walking of both legs freely, it should possess following characteristics：There is multivariant upper and lower extremities structure design, can be with complete
Into flexible limb action, and there is larger scope of activities；There are high performance gait planning and attitude control system, it is ensured that
Stability in robot motion, it is ensured that the safety of user；There is the human-computer interaction interface of close friend, user can be by extremely
Easy operation, to realize the flexible control to robot；There is the control system of environmental change fast reaction to external world, can be with pin
Property is adjusted to robot automatically, to realize robot to the adaptive of varying environment condition；There is less energy consumption, with
Long-time use requirement etc. is met, anthropomorphic robot control at this stage mostly uses digital rudder controller, each steering wheel needs a list
Piece machine I/O port output signal is controlled, and takes limited I/O resource, while connection line is complicated, is easily broken down, in steering wheel control
Digital rudder controller mode is controlled using wired connection in system, it is impossible to multiple control systems are controlled, simultaneously because using connection side
Formula, it is impossible to avoid line loss from influenceing signal transmission.
The content of the invention
In view of the above-mentioned problems, designing and producing scheme there is provided herein a kind of new anthropomorphic robot, made using smart mobile phone
For anthropomorphic robot robot control process center, string is remotely connected by using WIFI using autonomous Design exploitation mobile phone A PP
Mouth, which turns monobus control panel, can realize to the operation such as monobus steering wheel back read data remote control, while mobile phone A PP supports can
Depending on changing to robot motion group editor and memory function, it can run upon connection and write execution group, carry out robot
Other actions such as dancing, support wireless WIFI connection communications mode, it is possible to achieve control slave part controls core without using MCU
Piece, can carry out remote control, so as to simplify circuit, border is reduced into by one of three kinds of control main frame part connection control mode
This, while radio connection is used in more scenes.
The technical solution adopted for the present invention to solve the technical problems is：A kind of smart mobile phone is used as control centre's humanoid
Device people, including serial ports turn monobus control panel, ESP8266WIFI modules, monobus steering wheel group, and the serial ports turns single wire control
Plate is powered by power module, and the monobus steering wheel group (3) includes the first bus steering wheel, the second bus steering wheel, the 3rd bus
Steering wheel, the 4th bus steering wheel and other steering wheels, the monobus steering wheel group receive control steering wheel by internal MCU processors and turned
Dynamic, the ESP8266WIFI modules pass through WIFI wireless connection mobile phone As PP.
As a kind of preferred technical scheme of the present invention, the power module uses 7.2V model plane lithium batteries.
As a kind of preferred technical scheme of the present invention, the monobus group of motors includes 17 close number bus rudders
Machine, constitutes the control module of robot.
As a kind of preferred technical scheme of the present invention, the serial ports, which turns monobus control panel, includes VS ends, 5V ends, GND
The TXD ends that end, TXD ends and RXD ends, and the serial ports turn monobus control panel are connected with the RXD ends of ESP8266WIFI modules,
The RXD ends that the mouth turns monobus control panel are connected with the TXD ends of ESP8266WIFI modules, and the mouth turns monobus control panel
5V ends connect the 5V ends of ESP8266WIFI modules, the GND ends connect negative electrode.
As a kind of preferred technical scheme of the present invention, each steering wheel of the monobus steering wheel group is provided with three kinds of angles
Mode of operation：180 degree, 270 degree and 360 degree.
As a kind of preferred technical scheme of the present invention, the monobus steering wheel group need not write PWM drivers.
Compared with prior art, the beneficial effects of the invention are as follows：There is provided herein a kind of new anthropomorphic robot design system
Make scheme, using smart mobile phone as anthropomorphic robot robot control process center, develop mobile phone A PP using autonomous Design and lead to
Cross remotely connected using WIFI serial ports turn monobus control panel can realize to monobus steering wheel back read data remote control etc. grasp
Make, while mobile phone A PP supports visualization to robot motion group editor and memory function, can run and write upon connection
Into action group, robot is carried out dancing etc., other are acted, and support wireless WIFI connection communications mode, it is possible to achieve control slave
Part can carry out remote control without using MCU control chips by one of three kinds of control main frame part connection control mode, from
And simplifying circuit, border reduces cost, while radio connection is used in more scenes.
Brief description of the drawings
Fig. 1 is control system architecture schematic diagram of the present invention；
In figure：1- serial ports turns monobus control panel；2-ESP8266WIFI modules；3- monobus steering wheel groups；4- power supply moulds
Block；5-MCU processors；6- mobile phone As PP；31- the first bus steering wheels；32- the second bus steering wheels；The bus steering wheels of 33- the 3rd；34-
4th bus steering wheel.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
Embodiment：
As shown in figure 1, the present invention provides a kind of technical solution, this patent target design is a to be supported using intelligent hand
It is single by using bluetooth remote connection serial ports turn that machine develops mobile phone A PP6 as robot control process center, using autonomous Design
Bus marco plate 1 can realize the humanoid robot system to operations such as the back read data remote controls of monobus steering wheel group 3.This is
System includes, and an ESP8266WIFI module 2 is used for realizing that long-range connection control and a serial ports turn monobus control panel 1 and be used for
Rs 232 serial interface signal matching is changed into monobus lin protocol, so as to control monobus steering wheel group 3.Above-mentioned three part is by 7.2V model plane lithium batteries
Power module 4 provide power supply.
Function is realized, ESP8266WIFI modules 2 are set into serial ports transparent transmission function, wireless using independent development mobile phone A PP6
ESP8266WIFI modules 2 are connected, control instruction is sent, being sent to serial ports through the reception of ESP8266WIFI modules 2 turns monobus control
Making sheet 1 carries out being converted to command analysis monobus lin protocol, then receives control steering wheel turn by MCU processors 5 inside bus steering wheel
It is dynamic.Realize servos control operation part to separate with main control part, so as to simplify circuit, realize that remote control steering wheel runs work(
Energy.So as to control machine people operation.
ESP8266：ESP8266EX aims at mobile device, wearable electronic product and Internet of Things application and designed, and and other
Several patented technologies make machine realize lowest energy consumption together.The construction of this energy-conservation is run with Three models：Activation pattern, sleep
Pattern and depth mould sleep type, ESP8266EX turn down the work(of nonessential function using high-end power management techniques and flogic system
Rate, the conversion between regulation and control sleep pattern and mode of operation, in a sleep mode, its electric current consumed are less than 12uA, in even
When connecing state, its power consumed is less than under 1.0mW (DTIM=3) or 0.5mW (DTIM=10), sleep pattern, is only calibrated
Real-time clock and watchdog it is in running order.By programming real-time clock can be made to be waken up within the specific time
ESP8266EX, by programming, ESP8266EX automatically wakes up when occurring detecting certain particular case.
ESP8266EX is automatically waken up within the shortest time, and this feature may apply on the SOC of mobile device, and such SOC is being opened
Low-power consumption standby state is in before Wi-Fi, to meet the power demand of mobile device and wearable property electronic product,
ESP8266EX can reduce PA power output to reduce overall power when closely by software programming, to adapt to difference
Application scheme.
Preferably, the power module (4) uses 7.2V model plane lithium batteries；The monobus group of motors (3) includes ten
Seven close number bus steering wheels, constitute the control module of robot；The serial ports turn monobus control panel (1) including VS ends,
5V ends, GND ends, TXD ends and RXD ends, and the serial ports turns the TXD ends of monobus control panel (1) and is connected with ESP8266WIFI moulds
The RXD ends of block (2), the RXD ends that the mouth turns monobus control panel (1) are connected with the TXD ends of ESP8266WIFI modules (2), institute
The 5V ends that mouth turns the 5V ends connection ESP8266WIFI modules (2) of monobus control panel (1) are stated, the GND ends connect negative electrode；Institute
The each steering wheel for stating monobus steering wheel group (3) is provided with three kinds of angle mode of operations：180 degree, 270 degree and 360 degree.
Serial ports turns monobus control panel, and the monobus steering wheel group (3) need not write PWM drivers, and user only needs to
Correspondence agreement is sent by serial ports according to bus protocol, the serial port command parsing that the docking of monobus control panel is returned sword is converted to
Monobus lin protocol, then rotated by MCU processors control steering wheel inside bus steering wheel.
The main characteristic of the invention lies in that, scheme is designed and produced there is provided herein a kind of new anthropomorphic robot, intelligence is used
It is remote by using WIFI that energy mobile phone develops mobile phone A PP as anthropomorphic robot robot control process center, using autonomous Design
Journey connection serial ports, which turns monobus control panel, can realize to the operation such as monobus steering wheel back read data remote control, while mobile phone
APP supports visualization to robot motion group editor and memory function, can run upon connection and write execution group, make
Robot carries out dancing etc., and other are acted, and support wireless WIFI connection communications mode, it is possible to achieve control slave part need not make
MCU control chips are used, remote control can be carried out by one of three kinds of control main frame part connection control mode, so as to simplify electricity
Road, border reduces cost, while radio connection is used in more scenes.
It is obvious to a person skilled in the art that the invention is not restricted to the details of above-mentioned one exemplary embodiment, Er Qie
In the case of without departing substantially from spirit or essential attributes of the invention, the present invention can be realized in other specific forms.Therefore, no matter
From the point of view of which point, embodiment all should be regarded as exemplary, and be nonrestrictive, the scope of the present invention is by appended power
Profit is required rather than described above is limited, it is intended that all in the implication and scope of the equivalency of claim by falling
Change is included in the present invention.Any reference in claim should not be considered as to the claim involved by limitation.
Claims (6)
1. a kind of smart mobile phone is used as control centre's anthropomorphic robot, it is characterised in that：Turn monobus control panel including serial ports
(1), ESP8266WIFI modules (2), monobus steering wheel group (3), and the serial ports turns single wire control plate (1) by power module
(4) power, the monobus steering wheel group (3) includes the first bus steering wheel (31), the second bus steering wheel (32), the 3rd bus steering wheel
(33), the 4th bus steering wheel (34) and other steering wheels (35), the monobus steering wheel group (3) pass through internal MCU processors (5)
Receive control steering wheel to rotate, the ESP8266WIFI modules (2) pass through WIFI wireless connection mobile phone A PP (6).
2. a kind of smart mobile phone according to claim 1 is used as control centre's anthropomorphic robot, it is characterised in that：The electricity
Source module (4) uses 7.2V model plane lithium batteries.
3. a kind of smart mobile phone according to claim 1 is used as control centre's anthropomorphic robot, it is characterised in that：The list
Bus group of motors (3) includes 17 close number bus steering wheels, constitutes the control module of robot.
4. a kind of smart mobile phone according to claim 1 is used as control centre's anthropomorphic robot, it is characterised in that：The string
Mouth, which turns monobus control panel (1), includes VS ends, 5V ends, GND ends, TXD ends and RXD ends, and the serial ports turns monobus control panel
(1) TXD ends are connected with the RXD ends of ESP8266WIFI modules (2), and the mouth turns the RXD ends connection of monobus control panel (1)
There are the TXD ends of ESP8266WIFI modules (2), the mouth turns the 5V ends connection ESP8266WIFI modules of monobus control panel (1)
(2) 5V ends, the GND ends connect negative electrode.
5. a kind of smart mobile phone according to claim 1 is used as control centre's anthropomorphic robot, it is characterised in that：The list
Each steering wheel of bus steering wheel group (3) is provided with three kinds of angle mode of operations：180 degree, 270 degree and 360 degree.
6. a kind of smart mobile phone according to claim 1 is used as control centre's anthropomorphic robot, it is characterised in that：The list
Bus steering wheel group (3) need not write PWM drivers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710486356.4A CN107231483A (en) | 2017-06-23 | 2017-06-23 | A kind of smart mobile phone is used as control centre's anthropomorphic robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710486356.4A CN107231483A (en) | 2017-06-23 | 2017-06-23 | A kind of smart mobile phone is used as control centre's anthropomorphic robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107231483A true CN107231483A (en) | 2017-10-03 |
Family
ID=59935466
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710486356.4A Pending CN107231483A (en) | 2017-06-23 | 2017-06-23 | A kind of smart mobile phone is used as control centre's anthropomorphic robot |
Country Status (1)
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| CN (1) | CN107231483A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| CN204557160U (en) * | 2015-05-15 | 2015-08-12 | 张传洋 | The wireless debug controller of a kind of biped robot |
| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN205880569U (en) * | 2016-06-22 | 2017-01-11 | 江阴市雷奥机器人技术有限公司 | Intelligent robot of multiterminal adaptive communications |
| CN206105868U (en) * | 2016-10-14 | 2017-04-19 | 华南理工大学 | Biped robot controlling means based on RS485 bus steering wheel |
| CN106625670A (en) * | 2016-12-26 | 2017-05-10 | 迈赫机器人自动化股份有限公司 | Control system and method of multifunctional man-machine interaction humanoid teaching robot |
| CN206850866U (en) * | 2017-06-23 | 2018-01-05 | 安徽师范大学 | A kind of smart mobile phone is as control centre's anthropomorphic robot |
-
2017
- 2017-06-23 CN CN201710486356.4A patent/CN107231483A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103631174A (en) * | 2012-08-29 | 2014-03-12 | 中国科学院沈阳自动化研究所 | Miniature underwater robot propulsion control system and rudder control method thereof |
| CN204557160U (en) * | 2015-05-15 | 2015-08-12 | 张传洋 | The wireless debug controller of a kind of biped robot |
| CN205880569U (en) * | 2016-06-22 | 2017-01-11 | 江阴市雷奥机器人技术有限公司 | Intelligent robot of multiterminal adaptive communications |
| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN206105868U (en) * | 2016-10-14 | 2017-04-19 | 华南理工大学 | Biped robot controlling means based on RS485 bus steering wheel |
| CN106625670A (en) * | 2016-12-26 | 2017-05-10 | 迈赫机器人自动化股份有限公司 | Control system and method of multifunctional man-machine interaction humanoid teaching robot |
| CN206850866U (en) * | 2017-06-23 | 2018-01-05 | 安徽师范大学 | A kind of smart mobile phone is as control centre's anthropomorphic robot |
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Application publication date: 20171003 |