CN107717989A - One kind uses intelligent distribution robot control system - Google Patents
One kind uses intelligent distribution robot control system Download PDFInfo
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- CN107717989A CN107717989A CN201710943808.7A CN201710943808A CN107717989A CN 107717989 A CN107717989 A CN 107717989A CN 201710943808 A CN201710943808 A CN 201710943808A CN 107717989 A CN107717989 A CN 107717989A
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- personal computers
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- 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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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of Control system architecture using intelligent distribution robot, the structure includes Jetson TX2 tablet personal computers subsystem, protocol conversion subsystem, motor control subsystem, sensor data acquisition subsystem, battery power management subsystem, above-mentioned subsystem is connected as a dcs by usb bus and CAN, and master control system is used as using Jetson TX2 tablet personal computers, by the way of laser radar, RGBD, IMU and odometer are combined, so as to realize the high accuracy positioning in robot running.Independent motor closed-loop control system is used simultaneously, and when other systems occur abnormal, this system also can guarantee that normal operation, which greatly enhances the precision of motor control and stationarity, and improve the security of robot overall operation.
Description
Technical field
The invention belongs to technical field of robot control, and in particular to one kind uses intelligent distribution robot control system knot
Structure.
Background technology
With development in science and technology, modernization is accelerated, people for break away from it is simple, repeat, the need of low technical content work
Ask and increase, robot is gradually entered among people's life to help through corresponding work.Present dispatching industry is typical
Labour intensive profession, work is heavy, and intensity is big, and repeatability is high, and efficiency is low.In order to solve the above problems, many dispatching enterprises
Industry selection is with intelligent robot come instead of artificial.Dispensing machine people can expedite the emergence of distribution enterprise new model, and distribution enterprise is using first
Enter technology to improve efficiency of service, increase the interest of dining in restaurant, comparatively speaking one kind compares people using intelligent distribution robot
Work is more economically efficient.
Control system is one of most important part of dispensing machine people, realization and clothes to dispensing machine people's function
The guarantee of business quality plays vital, the directly overall customer experience of decision dispensing machine people.Find by inquiry, mesh
The dispensing machine people detection of obstacles of preceding in the market, motion control are not steady enough, and upper and lower computer communication is not sufficiently stable, and robot is fixed
Position precision, poor to environmental change adaptability, it is impossible to realize that multirobot cooperates with, robot overall utility and intelligent journey
Spend relatively low, Consumer's Experience is not good enough.
The content of the invention
The purpose of the present invention is that as a kind of control system for the intelligent distribution robot provided that solves the above problems
Structure.
The present invention uses following technical scheme to achieve the above object：
（1）A kind of Intelligent meal delivery robot Control system architecture, the structure use distributed bus Control system architecture, its feature
It is：Including Jetson TX2 tablet personal computers subsystem, protocol conversion subsystem, brushless electric machine control subsystem, sensor number
According to acquisition subsystem, battery power management subsystem, above-mentioned subsystem is connected as one point by usb bus and CAN
Cloth control system, and master control system is used as using Jetson TX2 tablet personal computers.
（2）The Jetson TX2 tablet personal computers subsystem is using 256 NVIDIA CUDA and 64 bit CPUs as core
The heart, and have WIFI, bluetooth, touch display screen, microphone, loudspeaker, touch key-press, switching on and shutting down button, USB, by external USB-
HUB is connected with sensor and control system, including RGBD cameras, laser radar, camera, protocol conversion subsystem etc., is passed through
Usb bus and other subsystems carry out data exchange.
（3）The sensor data acquisition subsystem connects multiple sensors by usb bus, including laser radar,
RGBD cameras and shooting are first-class.By the data fusion of multisensor, figure location algorithm is built with the use of SLAM etc., accurate sense
Know ambient condition information, accurate location information is provided for the indoor navigation of robot.
(4) the protocol conversion subsystem is received Jetson TX2 tablet personal computers and issued using STM32 single-chip microcomputers as core
Speed, position, electric current, the control instruction such as direction, and the response message that obtains each brshless DC motor motor will be resolved and turned
CAN protocol data distributing is changed into brushless electric machine control subsystem, battery power management subsystem, while receives brushless electric machine control
Motor speed, current feedback, the motor position of subsystem upload, receive the battery management letter of battery power management subsystem
Breath, including the information such as battery information, each system power supply electric current and power consumption, charged state, are converted into usb protocol data and are uploaded to
Jetson TX2 tablet personal computers.
(5) the brushless electric machine control subsystem receives protocol conversion subsystem using multi-disc STM32 single-chip microcomputers as core
The control instructions such as the CAN protocol speed that issues, position, electric current, using FOC algorithms, accurately control each brushless electric machine control
The parameters such as the speed of system unit, position, electric current, ensure the accuracy of the overall speed of robot and direction controlling and steady
Property.The information such as the speed of each brushless electric machine, position, electric current are uploaded in real time to protocol conversion subsystem simultaneously.
(6) the battery management subsystem is using STM8 as core, and STM8 is waken up from low-power consumption mode by switch,
And opened by metal-oxide-semiconductor or close complete machine power supply, so as to have the function that energy-conservation.Battery information is detected simultaneously, monitors power supply
The output voltage and bearing power of each path, and it is uploaded to Jetson TX2 flat boards electricity via protocol conversion subsystem in real time
Brain.When battery electric quantity is too low, robot is allowed to return to base station automatic charging, and detect whether robot connects with the mains so as to control
Robot starts to charge up.
The beneficial effects of the present invention are：
The present invention is a kind of highly stable, fabulous industry of real-time using CAN distribution control system, CAN is based on
Bus, compared to the serial communication mode that most of meal delivery robots use at present, CAN substantially increases robot polyphyly
The stability to be communicated between system.
The present invention uses independent motor closed-loop control system, and when other systems occur abnormal, this system also can guarantee that just
Often operation, which greatly enhances the precision of motor control and stationarity, and improves the security of robot overall operation.
The present invention is by the way of multisensor is combined, so as to realize the high accuracy positioning in robot running.
Brief description of the drawings
Fig. 1 Intelligent meal delivery robot control system architecture figures.
Embodiment.
The invention will be further described below in conjunction with the accompanying drawings：
（1）A kind of Intelligent meal delivery robot Control system architecture, the structure use distributed bus Control system architecture, its feature
It is：Including Jetson TX2 tablet personal computers subsystem, protocol conversion subsystem, brushless electric machine control subsystem, sensor number
According to acquisition subsystem, battery power management subsystem, above-mentioned subsystem is connected as one point by usb bus and CAN
Cloth control system, and master control system is used as using Jetson TX2 tablet personal computers.
（2）The Jetson TX2 tablet personal computers subsystem is using 256 NVIDIA CUDA and 64 bit CPUs as core
The heart, and have WIFI, bluetooth, touch display screen, microphone, loudspeaker, touch key-press, switching on and shutting down button, USB, by external USB-
HUB is connected with sensor and control system, including RGBD cameras, laser radar, camera, protocol conversion subsystem etc., is passed through
Usb bus and other subsystems carry out data exchange.
（3）The sensor data acquisition subsystem connects multiple sensors by usb bus, including laser radar,
RGBD cameras and shooting are first-class.By the data fusion of multisensor, figure location algorithm is built with the use of SLAM etc., accurate sense
Know ambient condition information, accurate location information is provided for the indoor navigation of robot.
(4) the protocol conversion subsystem is received Jetson TX2 tablet personal computers and issued using STM32 single-chip microcomputers as core
Speed, position, electric current, the control instruction such as direction, and the response message that obtains each brshless DC motor motor will be resolved and turned
CAN protocol data distributing is changed into brushless electric machine control subsystem, battery power management subsystem, while receives brushless electric machine control
Motor speed, current feedback, the motor position of subsystem upload, receive the battery management letter of battery power management subsystem
Breath, including the information such as battery information, each system power supply electric current and power consumption, charged state, are converted into usb protocol data and are uploaded to
Jetson TX2 tablet personal computers.
(5) the brushless electric machine control subsystem receives protocol conversion subsystem using multi-disc STM32 single-chip microcomputers as core
The control instructions such as the CAN protocol speed that issues, position, electric current, using FOC algorithms, accurately control each brushless electric machine control
The parameters such as the speed of system unit, position, electric current, ensure the accuracy of the overall speed of robot and direction controlling and steady
Property.The information such as the speed of each brushless electric machine, position, electric current are uploaded in real time to protocol conversion subsystem simultaneously.
(6) the battery management subsystem is using STM8 as core, and STM8 is waken up from low-power consumption mode by switch,
And opened by metal-oxide-semiconductor or close complete machine power supply, so as to have the function that energy-conservation.Battery information is detected simultaneously, monitors power supply
The output voltage and bearing power of each path, and it is uploaded to Jetson TX2 flat boards electricity via protocol conversion subsystem in real time
Brain.When battery electric quantity is too low, robot is allowed to return to base station automatic charging, and detect whether robot connects with the mains so as to control
Robot starts to charge up.
Claims (6)
1. a kind of Intelligent meal delivery robot Control system architecture, the structure uses distributed bus Control system architecture, its feature
It is：Including Jetson TX2 tablet personal computers subsystem, protocol conversion subsystem, brushless electric machine control subsystem, sensor number
According to acquisition subsystem, battery power management subsystem, above-mentioned subsystem is connected as one point by usb bus and CAN
Cloth control system, and master control system is used as using Jetson TX2 tablet personal computers.
2. a kind of intelligent distribution robot control system architecture as claimed in claim 1, further characterized in that：Institute
Jetson TX2 tablet personal computers subsystems are stated with 256 NVIDIAIt is core with 64 bit CPUs, and has WIFI, bluetooth, touches
Display screen, microphone, loudspeaker, touch key-press, switching on and shutting down button, USB are touched, is by external USB-HUB and sensor and control
System connection, including RGBD cameras, laser radar, camera, protocol conversion subsystem etc., pass through usb bus and other subsystems
Carry out data exchange.
3. a kind of intelligent distribution robot control system architecture as claimed in claim 1, further characterized in that：Institute
State sensor data acquisition subsystem and multiple sensors, including laser radar, RGBD cameras and shooting are connected by usb bus
It is first-class.By the data fusion of multisensor, figure location algorithm is built with the use of SLAM etc., accurately perceives ambient condition information,
Accurate location information is provided for the indoor navigation of robot.
4. a kind of Intelligent meal delivery robot Control system architecture as claimed in claim 1, further characterized in that：Institute
Protocol conversion subsystem is stated using STM32 single-chip microcomputers as core, receive Jetson TX2 tablet personal computers issue speed, position,
The control instructions such as electric current, direction, and will resolve and obtain the response message of each brshless DC motor motor and be converted into CAN protocol number
According to being handed down to brushless electric machine control subsystem, battery power management subsystem, while receive the upload of brushless electric machine control subsystem
Motor speed, current feedback, motor position, receive battery power management subsystem battery management information, including battery letter
The information such as breath, each system power supply electric current and power consumption, charged state, is converted into usb protocol data and is uploaded to Jetson TX2 flat boards
Computer.
5. a kind of Intelligent meal delivery robot Control system architecture as claimed in claim 1, further characterized in that：Institute
Brushless electric machine control subsystem is stated using multi-disc STM32 single-chip microcomputers as core, receives the CAN protocol that protocol conversion subsystem issues
The control instructions such as speed, position, electric current, using FOC algorithms, accurately control the speed of each brushless electric machine control subsystem unit
The parameters such as degree, position, electric current, ensure the overall speed of robot and the accuracy and stationarity of direction controlling.Simultaneously to association
View conversion subsystem uploads the information such as the speed of each brushless electric machine, position, electric current in real time.
6. a kind of Intelligent meal delivery robot Control system architecture as claimed in claim 1, further characterized in that：Institute
Battery management subsystem is stated using STM8 as core, and STM8 is waken up from low-power consumption mode by switch, and is beaten by metal-oxide-semiconductor
On or off closes complete machine power supply, so as to have the function that energy-conservation.Battery information is detected simultaneously, monitors the output electricity of each path of power supply
Pressure and bearing power, and it is uploaded to Jetson TX2 tablet personal computers via protocol conversion subsystem in real time.When battery electric quantity mistake
When low, allow robot to return to base station automatic charging, and detect whether robot connects with the mains so as to which control machine people starts to charge up.
Priority Applications (1)
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|---|---|---|---|
| CN201710943808.7A CN107717989A (en) | 2017-10-11 | 2017-10-11 | One kind uses intelligent distribution robot control system |
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| CN201710943808.7A CN107717989A (en) | 2017-10-11 | 2017-10-11 | One kind uses intelligent distribution robot control system |
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| CN107717989A true CN107717989A (en) | 2018-02-23 |
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| CN201710943808.7A Pending CN107717989A (en) | 2017-10-11 | 2017-10-11 | One kind uses intelligent distribution robot control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108764203A (en) * | 2018-06-06 | 2018-11-06 | 四川大学 | A kind of pedestrian's quantitative analysis and display systems towards urban planning |
| CN108776474A (en) * | 2018-05-24 | 2018-11-09 | 中山赛伯坦智能科技有限公司 | Robot embedded computing terminal integrating high-precision navigation positioning and deep learning |
| CN108890611A (en) * | 2018-07-12 | 2018-11-27 | 东莞理工学院 | A kind of binocular vision avoidance wheeled robot based on SLAM |
| CN112060050A (en) * | 2020-07-30 | 2020-12-11 | 广东三向智能科技股份有限公司 | Intelligent mobile robot based on teaching and training and control method thereof |
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| US6181103B1 (en) * | 1997-05-27 | 2001-01-30 | Shu-Chin Chen | Advanced intelligent computer power management system |
| CN105391364A (en) * | 2015-11-24 | 2016-03-09 | 哈尔滨理工大学 | Position-sensor-free control system and control method for brushless direct current motor |
| CN206096840U (en) * | 2016-09-28 | 2017-04-12 | 深圳市普渡科技有限公司 | Intelligence food delivery robot control system structure |
| CN206282107U (en) * | 2016-12-16 | 2017-06-27 | 苏州一米机器人有限公司 | A kind of meal delivery robot circuit system based on CAN |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108776474A (en) * | 2018-05-24 | 2018-11-09 | 中山赛伯坦智能科技有限公司 | Robot embedded computing terminal integrating high-precision navigation positioning and deep learning |
| CN108776474B (en) * | 2018-05-24 | 2022-03-15 | 中山赛伯坦智能科技有限公司 | Robot embedded computing terminal integrating high-precision navigation positioning and deep learning |
| CN108764203A (en) * | 2018-06-06 | 2018-11-06 | 四川大学 | A kind of pedestrian's quantitative analysis and display systems towards urban planning |
| CN108890611A (en) * | 2018-07-12 | 2018-11-27 | 东莞理工学院 | A kind of binocular vision avoidance wheeled robot based on SLAM |
| CN112060050A (en) * | 2020-07-30 | 2020-12-11 | 广东三向智能科技股份有限公司 | Intelligent mobile robot based on teaching and training and control method thereof |
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Application publication date: 20180223 |