CN107564261A - A kind of control system of robot - Google Patents
A kind of control system of robot Download PDFInfo
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- CN107564261A CN107564261A CN201710891561.9A CN201710891561A CN107564261A CN 107564261 A CN107564261 A CN 107564261A CN 201710891561 A CN201710891561 A CN 201710891561A CN 107564261 A CN107564261 A CN 107564261A
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Abstract
The invention provides a kind of control system of robot, using control device, base station and at least one robot；Control device includes wireless communication module, and control device is connected by wireless communication module with base station communication, and robot is connected with base station communication；Control device, for according to the control operation to robot, generating the control signal to robot, and send control signals to base station；Base station, for receiving control signal, and send control signals to robot；Robot, for receiving control signal, responsive control signal.It minimizes control device, and user can hold the control device and robot is controlled at an arbitrary position, user is manipulated position to robot more flexible, it is user-friendly, Consumer's Experience is improved, and mode of operation is simple, convenient, while configuration and upgrading mode are simple to operation.
Description
Technical field
The present invention relates to wireless control technology field, in particular to a kind of control system of robot.
Background technology
Robot is also referred to as unmanned remotely controlled submersible vehicle, is a kind of to work in underwater limit operation robot.Underwater environment is disliked
Bad danger, the diving depth of people is limited, so robot has turned into the important tool of exploitation ocean.
The control device of robot is large-scale manipulation console at present, and the manipulation console is located at fixed position, and
And the control module and control function of robot are integrated with the manipulation console, user wants to be controlled robot,
It must be manipulated in the fixed position where manipulating console to manipulating console, limit position during user's manipulation, no
It is user-friendly.
The content of the invention
In view of this, the purpose of the embodiment of the present invention is to provide a kind of control system of robot, makes user to machine
People's manipulation position is more flexible, is user-friendly.
In a first aspect, the embodiments of the invention provide a kind of control system of robot, including：Control device, base station and
At least one robot；
The control device includes wireless communication module, and the control device passes through the wireless communication module and the base
Stand communication connection, the robot is connected with the base station communication；
The control device, for according to the control operation to the robot, generating the control letter to the robot
Number, and the control signal is sent to the base station；
The base station, sent for receiving the control signal, and by the control signal to the robot；
The robot, for receiving the control signal, respond the control signal.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Stating control device includes：Control module and processor；The control module electrically connects with the processor；
The control module, for after receiving to the control operation of the robot, being given birth to according to the control operation
Sent into control data signal, and by the control data signal to the processor；
The processor, for receiving the control data signal, according to the control data signal generation control signal,
And the control signal is sent to the wireless communication module；
The wireless communication module, sent for receiving the control signal, and by the control signal to the base station,
So that the control signal is sent to the robot by the base station.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide second of first aspect
Possible embodiment, wherein, the control module includes：Thumb wheel and rocking bar；The control operation includes：The thumb wheel and/
Or for the control operation of control machine human action corresponding to the rocking bar and/or for the lamplight brightness in control machine people
Control operation.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the third of first aspect
Possible embodiment, wherein, the control device includes：Touch-switch module and/or multistage mode switch module and/or band
Lamp key-press module；
The touch-switch module, for receiving the trigger action of user, by the triggered time of the trigger action with setting
Determine threshold value to be compared, according to obtained comparative result first setting the table of comparisons in search the comparative result corresponding to machine
People, generate the robot control data signal；The robot control data signal carries the identification information of the robot；
And/or the multistage mode switch module, for receive user be directed to different stalls trigger action, according to
The gear of family triggering, in the second setting table of comparisons search the gear corresponding to robot, generate robot control data letter
Number；The robot control data signal carries the identification information of the robot；
And/or the band lamp key-press module, for receiving the trigger action of user, according to the triggering of the trigger action
Number change light color, according to the color of the light after change the 3rd setting the table of comparisons in search the color corresponding to machine
Device people, generate the robot control data signal；The robot control data signal carries the mark letter of the robot
Breath；Wherein, trigger action correspondingly controls light color change once each time；
The processor is additionally operable to receive the robot control data signal, according to the robot control data signal
The identification information of the robot of middle carrying, current operation mode is switched to the robot for controlling the identification information match
Mode of operation.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the 4th of first aspect kind
Possible embodiment, wherein, the control system of described robot, the control device also includes configuration interface module；
The configuration interface module electrically connects with the processor, for receiving the described for configuring of external equipment transmission
The signal configuration-direct of wireless communication module, the signal configuration-direct is sent to the processor；
The processor is additionally operable to, and receives the signal configuration-direct, is completed according to the signal configuration-direct to described
The configuration of wireless communication module.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the 5th of first aspect kind
Possible embodiment, wherein, the control system of described robot, the control device also includes coffret module；
The coffret module electrically connects with the processor, for obtaining configuration file from external equipment, by institute
Configuration file is stated to send to the processor；
The processor is additionally operable to receive the configuration file, and itself function is configured according to the configuration file.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the 6th of first aspect kind
Possible embodiment, wherein, the control system of described robot, the control device also includes rechargeable battery and voltage stabilizing
Circuit；
The rechargeable battery is electrically connected by the mu balanced circuit with the processor, for being supplied for the processor
Electricity；It is the processor required voltage that the mu balanced circuit, which is used for the voltage conversion of the rechargeable battery,.
With reference to the 6th kind of possible embodiment of first aspect, the embodiments of the invention provide the 7th of first aspect kind
Possible embodiment, wherein, the control system of described robot, the control device also includes：Charging inlet and charging
Circuit；
The charging inlet is used to be connected with external power supply；The charging circuit respectively with the charging inlet and chargeable
Battery electrically connects, for being charged by the external power supply for the rechargeable battery.
With reference to the 7th kind of possible embodiment of first aspect, the embodiments of the invention provide the 8th of first aspect kind
Possible embodiment, wherein, the control system of described robot, the control device also includes indicating module；
The processor is additionally operable to according to generating the first indicator to the state of a control of the robot, and by described the
One indicator is sent to the indicating module；
The indicating module electrically connects with the processor, for receiving first indicator, according to described first
Indicator indicates the working condition of the robot.
With reference to the 8th kind of possible embodiment of first aspect, the embodiments of the invention provide the 9th of first aspect kind
Possible embodiment, wherein, the control system of described robot, the control device also includes electric power detection module；
The electric power detection module electrically connects with the rechargeable battery and the processor respectively, for detect it is described can
The dump energy of rechargeable battery, the dump energy is sent to the processor；
The processor is additionally operable to receive the dump energy, and the second indicator is generated according to the dump energy, and
Second indicator is sent to the indicating module；
The indicating module is additionally operable to receive second indicator, can according to second indicator instruction
The information about power of rechargeable battery.
The control system of a kind of robot provided in an embodiment of the present invention, using control device, base station and at least one machine
Device people；Control device includes wireless communication module, and control device is connected by wireless communication module with base station communication, robot with
Base station communication connects；Control device, the control operation for basis to robot, the control signal to robot is generated, and will
Control signal is sent to base station；Base station, for receiving control signal, and send control signals to robot；Robot, it is used for
Control signal is received, responsive control signal, robot is controlled by manipulating console with user of the prior art
Mode, limit position during user's manipulation, it has not been convenient to which user's use is compared, and it minimizes control device, and user can be with hand
Hold the control device to be at an arbitrary position controlled robot, make user more flexible to robot manipulation position, facilitate user
Use, improve Consumer's Experience.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
In order to illustrate the technical solution of the embodiments of the present invention more clearly, below by embodiment it is required use it is attached
Figure is briefly described, it will be appreciated that the following drawings illustrate only certain embodiments of the present invention, therefore be not construed as pair
The restriction of scope, for those of ordinary skill in the art, on the premise of not paying creative work, can also be according to this
A little accompanying drawings obtain other related accompanying drawings.
Fig. 1 shows a kind of structural representation of the control system for robot that the embodiment of the present invention is provided.
Fig. 2 shows the structural representation of control device in the control system of robot that the embodiment of the present invention is provided a kind of
Figure.
Fig. 3 shows the concrete structure of control device in the control system of robot that the embodiment of the present invention is provided a kind of
Schematic diagram.
Icon：10th, control device；20th, base station；30th, robot；(in Fig. 1 with robot 30 (a), robot 30 (b) and
Illustrated exemplified by robot 30 (c))；101st, wireless communication module；102nd, processor；103rd, control module；104th, touch out
Close module；105th, multistage mode switch module；106th, band lamp key-press module；107th, indicating module；108th, interface module is configured；
109th, coffret module；110th, charging inlet；111st, charging circuit；112nd, rechargeable battery；113rd, mu balanced circuit；114th, it is electric
Measure detection module.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
Middle accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is only
It is part of the embodiment of the present invention, rather than whole embodiments.The present invention being generally described and illustrated herein in the accompanying drawings is real
Applying the component of example can be configured to arrange and design with a variety of.Therefore, it is of the invention to what is provided in the accompanying drawings below
The detailed description of embodiment is not intended to limit the scope of claimed invention, but is merely representative of the selected reality of the present invention
Apply example.Based on embodiments of the invention, institute that those skilled in the art are obtained on the premise of creative work is not made
There is other embodiment, belong to the scope of protection of the invention.
Want to be controlled robot in view of user, it is necessary to control to manipulating the fixed position where console is manipulated
Platform processed is manipulated, and limits position during user's manipulation, it has not been convenient to which user uses.Based on this, the embodiments of the invention provide
A kind of control system of robot, is described below by embodiment.
The embodiments of the invention provide a kind of control system of robot, with reference to figure 1, Fig. 2 and Fig. 3, including：Control device
10th, base station 20 and at least one robot 30；
Control device 10 includes wireless communication module 101, and control device 10 is logical by wireless communication module 101 and base station 20
Letter connection, robot 30 communicate to connect with base station 20；
Control device 10, the control operation for basis to robot 30, the control signal to robot 30 is generated, and will
Control signal is sent to base station 20；
Base station 20, for receiving control signal, and send control signals to robot 30；
Robot 30, for receiving control signal, responsive control signal.
Wherein, above-mentioned control device 10 is Digiplex, and the wireless communication module 101 that the remote control includes can be
WIFI (WIreless-Fidelity, Wireless Fidelity) module, above-mentioned Digiplex pass through remote control WIFI modules and base station 20
WIFI matched, and the WIFI of base station 20 is connected to, after being connected in base station 20 with robot 30, you can realization passes through the nothing
Wireless manipulation of the line remote control to robot 30.Wherein, wireless communication module 101 is especially by universal asynchronous receiving-transmitting transmitter
(Universal Asynchronous Receiver/Transmitter, UART) electrically connects with processor 102.
Here, Digiplex can use processor 102 plus integrating WIFI module, realize control and radio function.This
When, the remote control is realized by WIFI and base station 20WIFI and matched, so as to realize control of the remote control to underwater robot.
In addition, above-mentioned control device 10 can also use the controllable machine designed based on the MCU for being integrated with WIFI function
The Digiplex of people 30.Here, remote control control system and wireless communication system are intended to realize by a wireless chip.It is logical
Cross one and incorporate embeded processor 102 and wireless single SoC in one chip, while complete control and radio communication,
Simplify circuit while circuit board size can be reduced, layout is more random, and design is more convenient.Meanwhile this method need not be purchased
WIFI module, reduce cost.Using this method, system controls and wireless portion is single-chip wifi SoC；
Here, a control device 10 can be to control one or more robot 30, (with robot 30 in Fig. 1
(a), illustrated exemplified by robot 30 (b) and robot 30 (c)).Here robot 30 can be the underwater machine such as unmanned boat
The air-robot such as device people or unmanned plane or the robot positioned at land.
Wherein, the link transmission mode of control device 10, base station 20 and robot 30 is as follows：
Exemplified by air-robot 30 corresponding to unmanned plane：The wireless connection base station 20 of air-robot 30, base station 20 wirelessly connects
It is connected to remote control；The underwater robots such as unmanned boat：Underwater robot wired connection base station 20, base station 20 is wirelessly connected to remote control
Device.
Further, with reference to figure 1, Fig. 2 and Fig. 3, in the control system of robot provided in an embodiment of the present invention, control is set
Standby 10 include：Control module 103 and processor 102；Control module 103 electrically connects with processor 102；
Control module 103, for after receiving to the control operation of robot 30, being asked according to control operation generation control
Signal is sought, and control data signal is sent to processor 102；
Processor 102, for receiving control data signal, according to control data signal generation control signal, and will control
Signal is sent to wireless communication module 101；
Wireless communication module 101, for receiving control signal, and base station 20 is sent control signals to, so as to base station 20
Send control signals to robot 30.
Wherein, the particular type of above-mentioned control module 103 is different, and the control operation of its user received is also different, generation
Control data signal it is also different.Specifically, control module 103 includes：Thumb wheel and rocking bar；Control operation includes：Thumb wheel and/or
The control operation taken action corresponding to rocking bar for control machine people 30 and the control for the lamplight brightness in control machine people 30
Operation.Wherein, rocking bar and impeller can pass through GPIO (General Purpose Input Output, general I/O port)
Electrically connected with processor 102.
Purpose above by rocking bar and impeller is to realize the control to robot 30.For example, thumb wheel is receiving
After the control operation for being used for control machine people 30 and taking action of user's triggering, action request signal is generated according to the control operation, and
Processor 102 is sent to, processor 102 generates activity control signal according to this action request signal and passes through wireless communication module
101 are sent to base station 20, are sent to by base station 20 by the robot 30 of controller, so that the robot 30 is controlled according to according to action
The instruction action of signal processed.Similarly, the control operation for the lamplight brightness being used in control machine people 30 that thumb wheel receives, Yi Jiyao
What bar received is used for the control operation of the action of control machine people 30 and is grasped for the control of the lamplight brightness in control machine people 30
Make similar with said process.
Further, with reference to figure 1, Fig. 2 and Fig. 3, in the control system of robot provided in an embodiment of the present invention, control is set
Standby 10 include：Touch-switch module 104 and/or multistage mode switch module 105 and/or with lamp key-press module 106；
Touch-switch module 104, for receiving the trigger action of user, by the triggered time of trigger action and given threshold
Be compared, the comparative result in the first setting table of comparisons is searched according to obtained comparative result corresponding to robot 30, it is raw
Into the control data signal of robot 30；The control data signal of robot 30 carries the identification information of robot 30；Wherein,
Comparison list includes the corresponding relation of the robot 30 of each threshold range section and different identification.So, touch-switch module 104
By the triggered time of trigger action compared with given threshold, the triggered time is obtained in which threshold range section, at first pair
According to robot 30 corresponding to the threshold range section found in table where the triggered time, and obtain the mark letter of the robot 30
Breath, ultimately generates the control data signal for the robot 30 for carrying the identification information and is sent to processor 102.
And/or multistage mode switch module, the trigger action of different stalls is directed to for receiving user, is touched according to user
The gear of hair, robot 30 corresponding to the gear is searched in the second setting table of comparisons, generate the control data letter of robot 30
Number；The control data signal of robot 30 carries the identification information of robot 30；
Specifically, multistage mode switch module has different control gears, user can be directed to different gears and carry out
Operation, second table of comparisons include the corresponding relation of the robot 30 of each gear and different identification.So, in second table of comparisons
Robot 30 corresponding to gear corresponding to user's trigger action is found, and obtains the identification information of the robot 30, most throughout one's life
Into the robot 30 for carrying the identification information control data signal and be sent to processor 102.
And/or band lamp key-press module 106, for receiving the trigger action of user, become according to the triggering times of trigger action
Change light color, according to the color of the light after change the 3rd setting the table of comparisons in search the color corresponding to robot
30, generate the control data signal of robot 30；The control data signal of robot 30 carries the identification information of robot 30；Its
In, trigger action correspondingly controls light color change once each time；
Similarly, the 3rd table of comparisons includes the corresponding relation of the robot 30 of each color and different identification.So, the 3rd
Robot 30 corresponding to the color after change is found in the table of comparisons, and obtains the identification information of the robot 30, ultimately generates and takes
The control data signal of robot 30 with the identification information is simultaneously sent to processor 102.
Processor 102 is additionally operable to receive the control data signal of robot 30, is taken according in the control data signal of robot 30
The identification information of the robot 30 of band, current operation mode is switched to the Working mould of the robot 30 of control identification information match
Formula.
In addition, user can be by the function of the robot 30 of the switching control of touch-switch module 104, such as touch-switch mould
Block 104 compared with given threshold, compares the triggered time of trigger action according to obtained comparative result in the 4th setting
Perform function corresponding to the comparative result is searched in table, generates perform function switching control request signal；Such as control machine people 30
Switched between taking pictures, recording a video etc..
In addition, user can such as configure mould by the pattern of the control device 10 of multistage mode switch module switching control
Formula, operator scheme, upgrade mode；Multistage mode switch module switchs for three stage modes, wherein, the corresponding control switching of a gear
Configuration mode, another gear correspondingly control switching operation modes, the corresponding control switching upgrade mode of the 3rd gear.By can
The gear and different key combination of three stage modes switch, realize different operation modes, such as configuration mode, operator scheme, liter
Level pattern.
Wherein, touch-switch module 104, multistage mode switch module 105, band lamp key-press module 106 pass through GPIO
(General Purpose Input Output, general I/O port) electrically connects with processor 102；
Further, with reference to figure 1, Fig. 2 and Fig. 3, in the control system of robot provided in an embodiment of the present invention, control is set
Standby 10 also include configuration interface module 108；
Configuration interface module 108 electrically connects with processor 102, for receive external equipment transmission for configuring channel radio
Believe the signal configuration-direct of module 101, signal configuration-direct is sent to processor 102；
Processor 102 is additionally operable to, reception signal configuration-direct, is completed according to signal configuration-direct to wireless communication module
101 configuration.
Specifically, the configuration interface module 108 is earphone hole module, pass through universal asynchronous receiving-transmitting transmitter (Universal
Asynchronous Receiver/Transmitter, UART) communication of earphone hole and processor 102 is realized, it can complete pair
The information configuration (including changing the information of WIFI module) of WIFI module, and the connection of other electronic products, as base station 20 is matched somebody with somebody
To (even if in WIFI of the WIFI access base stations 20 of control device 10)；At the same time it can also insert earphone for user, to pass through
Earphone receives the voice signal that the robot 30 that base station 20 forwards is sent.
Further, with reference to figure 1, Fig. 2 and Fig. 3, in the control system of robot provided in an embodiment of the present invention, control is set
Standby 10 also include coffret module 109；
Coffret module 109 electrically connects with processor 102, for obtaining configuration file from external equipment, will configure
File is sent to processor 102；
Processor 102 is additionally operable to receive configuration file, and itself function is configured according to configuration file.
As a kind of specific embodiment, the coffret module 109 is universal serial bus debugging interface SWD, Yong Huke
To download the configuration file in external equipment by the coffret module 109, and processor 102 is sent to, so as to processor
102 pairs of itself functions configure.
Further, in the control system of robot provided in an embodiment of the present invention, control device 10 also includes chargeable
Battery 112 and mu balanced circuit 113；
Rechargeable battery 112 is electrically connected by mu balanced circuit 113 with processor 102, for being powered for processor 102；Surely
It is the required voltage of processor 102 that volt circuit 113, which is used for the voltage conversion of rechargeable battery 112,.
As an alternative embodiment, rechargeable battery 112 is 3.7V lithium batteries.Mu balanced circuit 113 is LDO voltage stabilizings
Circuit 113.
Further, with reference to figure 1, Fig. 2 and Fig. 3, in the control system of robot provided in an embodiment of the present invention, control is set
Standby 10 also include：Charging inlet 110 and charging circuit 111；
Charging inlet 110 is used to be connected with external power supply；Charging circuit 111 respectively with charging inlet 110 and chargeable electricity
Pond 112 electrically connects, for being that rechargeable battery 112 charges by external power supply.
As an alternative embodiment, charging inlet 110 is USB (Universal Serial Bus, general serial
Bus) interface, the USB interface can be charged to rechargeable battery 112 and the program of processor 102 is upgraded.
Further, in the control system of robot provided in an embodiment of the present invention, control device 10 also includes air pressure transmission
Sensor；
The baroceptor is electrically connected by IC bus I2C buses with the processor 102, is surveyed for gathering
The absolute pressure intensity values of gas are measured, the pressure values are sent to the processor 102；
Height is measured by baroceptor, communicated with main control chip by I2C.
In addition, control device 10 also includes crystal oscillator, the crystal oscillator is the important component of clock circuit, and it can produce processor
Clock frequency necessary to 102, reference frequency is provided for whole control device 10.
Further, with reference to figure 1, Fig. 2 and Fig. 3, in the control system of robot provided in an embodiment of the present invention, control is set
Standby 10 also include indicating module 107；
Processor 102 is additionally operable to generate the first indicator according to the state of a control to robot 30, and first is indicated
Instruction is sent to indicating module；
Indicating module is electrically connected with processor 102, and for receiving the first indicator, machine is indicated according to the first indicator
The working condition of device people 30.
Specifically, indicating module 107 can be to include RGB tri coloured lanterns, vibrations motor and buzzer, RGB tri coloured lanterns to be used for
The electricity of rechargeable battery 112 and the working condition of control device 10 are indicated, realizes by buzzer, vibrations motor and reminds work(
Energy.Buzzer and vibrations motor are used for the working condition for prompting control device 10.
Further, with reference to figure 1, Fig. 2 and Fig. 3, in the control system of robot provided in an embodiment of the present invention, control is set
Standby 10 also include electric power detection module 114；
Electric power detection module 114 electrically connects with rechargeable battery 112 and processor 102 respectively, for detecting chargeable electricity
The dump energy in pond 112, dump energy is sent to processor 102；
Processor 102 is additionally operable to receive dump energy, generates the second indicator according to dump energy, and second is indicated
Instruction is sent to indicating module；
Indicating module is additionally operable to receive the second indicator, and the electricity of rechargeable battery 112 is indicated according to the second indicator
Measure information.
Specifically, electric power detection module 114, indicating module 107 pass through GPIO (General Purpose Input
Output, general I/O port) electrically connected with processor 102.
Wherein, it is laid out and suggests on wireless match circuit：Match circuit and processor 102 are close, reduce stray inductance；
With being approached between circuit devcie, cabling is shortened；Cabling or device is not put below match circuit, to be surrounded around circuit by GND
To reduce direct-to-ground capacitance；Via is not used；There is interference signal cabling vertical with radio frequency line holding；Antenna circuit surrounding clearance zone is use up
Amount increases；Nearby via is as far as possible more for antenna circuit.
The control system of robot provided by the invention, pass through (such as underwater of Digiplex Manipulation of the machine people 30
People) so that underwater product is manipulated, and improves Consumer's Experience, and mode of operation is simple, convenient, while is configured and upgraded
Mode is simple to operation.
In embodiment provided by the present invention, it should be understood that disclosed apparatus and method, can be by others side
Formula is realized.Device embodiment described above is only schematical, for example, the division of the unit, only one kind are patrolled
Function division is collected, there can be other dividing mode when actually realizing, in another example, multiple units or component can combine or can
To be integrated into another system, or some features can be ignored, or not perform.Another, shown or discussed is mutual
Coupling or direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some communication interfaces, device or unit
Connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in embodiment provided by the invention can be integrated in a processing unit, also may be used
To be that unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing, in addition, term " the
One ", " second ", " the 3rd " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention.The protection in the present invention should all be covered
Within the scope of.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
- A kind of 1. control system of robot, it is characterised in that including：Control device, base station and at least one robot；The control device includes wireless communication module, and the control device is led to by the wireless communication module and the base station Letter connection, the robot are connected with the base station communication；The control device, the control operation for basis to the robot, generates the control signal to the robot, and The control signal is sent to the base station；The base station, sent for receiving the control signal, and by the control signal to the robot；The robot, for receiving the control signal, respond the control signal.
- 2. the control system of robot according to claim 1, it is characterised in that the control device includes：Control mould Block and processor；The control module electrically connects with the processor；The control module, for after receiving to the control operation of the robot, being generated and being controlled according to the control operation Request signal processed, and the control data signal is sent to the processor；The processor, for receiving the control data signal, according to the control data signal generation control signal, and will The control signal is sent to the wireless communication module；The wireless communication module, sent for receiving the control signal, and by the control signal to the base station, so as to The control signal is sent to the robot by the base station.
- 3. the control system of robot according to claim 2, it is characterised in that the control module includes：Thumb wheel and Rocking bar；The control operation includes：It is used for the control operation of control machine human action corresponding to the thumb wheel and/or the rocking bar And/or the control operation for the lamplight brightness in control machine people.
- 4. the control system of robot according to claim 2, it is characterised in that the control device includes：Touch out Close module and/or multistage mode switch module and/or with lamp key-press module；The touch-switch module, for receiving the trigger action of user, by the triggered time of the trigger action and setting threshold Value is compared, the comparative result in the first setting table of comparisons is searched according to obtained comparative result corresponding to robot, it is raw Into the robot control data signal；The robot control data signal carries the identification information of the robot；And/or the multistage mode switch module, the trigger action of different stalls is directed to for receiving user, is touched according to user The gear of hair, second setting the table of comparisons in search the gear corresponding to robot, generate the robot control data signal；Institute State the identification information that robot control data signal carries the robot；And/or the band lamp key-press module, for receiving the trigger action of user, according to the triggering times of the trigger action Change light color, according to the color of the light after change the 3rd setting the table of comparisons in search the color corresponding to machine People, generate the robot control data signal；The robot control data signal carries the identification information of the robot； Wherein, trigger action correspondingly controls light color change once each time；The processor is additionally operable to receive the robot control data signal, is taken according in the robot control data signal The identification information of the robot of band, current operation mode is switched to the work for the robot for controlling the identification information match Operation mode.
- 5. the control system of robot according to claim 2, it is characterised in that the control device also connects including configuration Mouth mold block；The configuration interface module electrically connects with the processor, for receiving the described wireless for configuring of external equipment transmission The signal configuration-direct of communication module, the signal configuration-direct is sent to the processor；The processor is additionally operable to, and receives the signal configuration-direct, is completed according to the signal configuration-direct to described wireless The configuration of communication module.
- 6. the control system of robot according to claim 2, it is characterised in that the control device also connects including transmission Mouth mold block；The coffret module electrically connects with the processor, for obtaining configuration file from external equipment, matches somebody with somebody by described in File is put to send to the processor；The processor is additionally operable to receive the configuration file, and itself function is configured according to the configuration file.
- 7. the control system of robot according to claim 2, it is characterised in that the control device also includes chargeable Battery and mu balanced circuit；The rechargeable battery is electrically connected by the mu balanced circuit with the processor, for being powered for the processor；Institute State mu balanced circuit and be used to the voltage conversion of the rechargeable battery be the processor required voltage.
- 8. the control system of robot according to claim 7, it is characterised in that the control device also includes：Charging Interface and charging circuit；The charging inlet is used to be connected with external power supply；The charging circuit respectively with the charging inlet and rechargeable battery Electrical connection, for being charged by the external power supply for the rechargeable battery.
- 9. the control system of robot according to claim 8, it is characterised in that the control device also includes instruction mould Block；The processor is additionally operable to generate the first indicator according to the state of a control to the robot, and described first is referred to Show that instruction is sent to the indicating module；The indicating module electrically connects with the processor, for receiving first indicator, according to the described first instruction Instruction indicates the working condition of the robot.
- 10. the control system of robot according to claim 9, it is characterised in that the control device also includes electricity Detection module；The electric power detection module electrically connects with the rechargeable battery and the processor respectively, described chargeable for detecting The dump energy of battery, the dump energy is sent to the processor；The processor is additionally operable to receive the dump energy, and the second indicator is generated according to the dump energy, and by institute The second indicator is stated to send to the indicating module；The indicating module is additionally operable to receive second indicator, is indicated according to second indicator described chargeable The information about power of battery.
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| CN201710891561.9A CN107564261A (en) | 2017-09-27 | 2017-09-27 | A kind of control system of robot |
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| CN201710891561.9A CN107564261A (en) | 2017-09-27 | 2017-09-27 | A kind of control system of robot |
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| CN108924900A (en) * | 2018-09-29 | 2018-11-30 | 泉州市杰特化工科技有限公司 | The control method and system of Internet of Things intelligent robot with transfer framework |
| CN110936376A (en) * | 2019-12-04 | 2020-03-31 | 路邦科技授权有限公司 | Asynchronous multi-connection switching system of bionic robot and switching method thereof |
| WO2022110046A1 (en) * | 2020-11-27 | 2022-06-02 | Abb Schweiz Ag | Human machine interface, controller, robot and corresponding system and method |
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| CN207264578U (en) * | 2017-09-27 | 2018-04-20 | 北京臻迪科技股份有限公司 | A kind of control system of robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108924900A (en) * | 2018-09-29 | 2018-11-30 | 泉州市杰特化工科技有限公司 | The control method and system of Internet of Things intelligent robot with transfer framework |
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| CN110936376A (en) * | 2019-12-04 | 2020-03-31 | 路邦科技授权有限公司 | Asynchronous multi-connection switching system of bionic robot and switching method thereof |
| WO2022110046A1 (en) * | 2020-11-27 | 2022-06-02 | Abb Schweiz Ag | Human machine interface, controller, robot and corresponding system and method |
| CN116508080A (en) * | 2020-11-27 | 2023-07-28 | Abb瑞士股份有限公司 | Human-machine interface, controller, robot and corresponding systems and methods |
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Application publication date: 20180109 |