CN107748512A - A kind of antidisturbance control system of biped robot - Google Patents
A kind of antidisturbance control system of biped robot Download PDFInfo
- Publication number
- CN107748512A CN107748512A CN201710900066.XA CN201710900066A CN107748512A CN 107748512 A CN107748512 A CN 107748512A CN 201710900066 A CN201710900066 A CN 201710900066A CN 107748512 A CN107748512 A CN 107748512A
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- China
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- signal
- control system
- main control
- biped robot
- singlechip
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses the antidisturbance control system of biped robot a kind of,Control system including biped robot,Set-up of control system is inside executing agency,Control system includes main control singlechip,One end of main control singlechip is provided with signal filter,The other end of main control singlechip is provided with signal and concentrates transceiver,Signal filter is connected with detector,Signal concentrates transceiver to be connected with efficiency detection unit,The inside of main control singlechip is respectively arranged with signal store-memory unit,Noise signal eliminates unit,Intelligent anti-interference process device,Intelligent anti-interference process device includes signal amplification module,Can the transmission sequence that comes between Regulate signal of excessively programmable digital information processor,So as to greatly reduce the situation that robot operation is gone on business,Equipment is set to obtain the signal of real low distortion,Substantially increase the stability of biped robot's operation,It is a kind of good innovation scheme.
Description
Technical field
The present invention relates to Study of Intelligent Robot Control field, more particularly to the antidisturbance control system of biped robot a kind of
System.
Background technology
Robot (Robot) is the automatic installations for performing work.It can both receive mankind commander, can run again
The program of advance layout, can also be according to the principle guiding principle action formulated with artificial intelligence technology.Its task is to assist or take
For the work of human work, such as production industry, construction industry, or dangerous work.Robot arms typically use space open chain
Linkage, kinematic pair (revolute pair or prismatic pair) therein are frequently referred to joint, and joint number is generally the freedom of robot
The number of degrees.According to joint configuration and the difference of coordinates of motion form, robot actuating mechanism can be divided into Cartesian coordinate type, cylinder
The types such as co-ordinate-type, polar coordinates type and joint coordinates formula.For the consideration to personalize, often by the relevant position of robot body point
It is also known as pedestal, waist, arm, wrist, hand (clamper or end effector) and running part (for mobile robot) etc..
Drive device is to drive the mechanism of executing agency's motion, the command signal sent according to control system, by means of dynamic
Power element is acted robot.What it was inputted is electric signal, and output is line, angular displacement, but in drive device work
Before work, signal is often interfered by outside, causes drive device operation deviation to be present, causes robot normally to enter
Row work, it is wide to influence comparison, and practicality shortcoming, there is deficiency, it is impossible to meets the needs of development.
The content of the invention
For existing existing deficiency, actual use is influenceed, the present invention proposes that a kind of biped robot's is anti-interference
Control system, it is novel in design, make individually to carry out processing computing, the operation essence of hoisting machine people between each signal of biped robot
Degree, practical performance are excellent.
To achieve these goals, technical scheme is as follows：
The antidisturbance control system of biped robot a kind of, include the control system of biped robot, set-up of control system
Inside executing agency, control system includes main control singlechip, and one end of main control singlechip is provided with signal filter, master control
The other end of single-chip microcomputer is provided with signal and concentrates transceiver, and signal filter is connected with detector, and signal concentrates transceiver connection
There is efficiency detection unit, the inside of main control singlechip is respectively arranged with signal store-memory unit, noise signal elimination unit, intelligence
Be resistant to interference processor, intelligent anti-interference process device includes signal amplification module, signal amplification module respectively with main control singlechip
Module connects with two-way selector module, for being exported after the audio signal pre-amplification after denoising Processing, and according to master
The power-saving control instruction that control one-chip computer module is sent enters battery saving mode.
Further, described main control singlechip module is used to magnitude of voltage being converted into data signal, and judges that audio is set
Standby is common mode output or differential mode output, and two-way selector module is opened according to judged result, and defeated to two-way selector module
Go out corresponding control command.
Programmable digital information processor is used in control system of the present invention, by repeatedly judging same label
Signal with the presence or absence of judging that the signal is interference information, or non-interference information.
Further, one end link information display screen of described control system, the other end link information transmitting-receiving of controller
Module.
In the signal amplifier that is internally provided with of main control singlechip of the present invention, signal amplifier is according to control command
Noise suicide circuit corresponding to startup is amplified processing to audio signal.
Further, described main control singlechip module judges whether to enter battery saving mode according to energy efficiency state, and according to sentencing
Disconnected result sends power-saving control instruction to signal amplification module.
The beneficial effects of the invention are as follows：It is simple in construction, can excessively programmable digital information processor come between Regulate signal
Transmission sequence, so as to greatly reduce the situation gone on business of robot operation, equipment is obtained the signal of real low distortion, greatly
It is big to improve the stability of biped robot's operation, and be advantageous to save energy consumption, it is novel in design, it is a kind of innovation side well
Case.
Brief description of the drawings
Describe the present invention in detail with reference to the accompanying drawings and detailed description：
Fig. 1 is the structural representation of the present invention；
Embodiment
In order that the technical means, the inventive features, the objects and the advantages of the present invention are easy to understand, tie below
Conjunction is specifically illustrating, and the present invention is expanded on further.
Referring to Fig. 1, the antidisturbance control system of biped robot a kind of, include the control system of biped robot, control
System is arranged inside executing agency 100, and control system includes main control singlechip 110, and one end of main control singlechip 110 is set
There is signal filter 120, the other end of main control singlechip 110 is provided with signal and concentrates transceiver 130, and signal filter 120 connects
Detector 140 is connected to, signal concentrates transceiver 130 to be connected with efficiency detection unit 150, the inside difference of main control singlechip 110
Signal store-memory unit 160, noise signal elimination unit 170, intelligent anti-interference process device 180 are provided with, intelligence is anti-interference
Processor 180 includes signal amplification module, and signal amplification module connects with main control singlechip module and two-way selector module respectively
Connect, for being exported after the audio signal pre-amplification after denoising Processing, and the power saving sent according to main control singlechip module
Control instruction enters battery saving mode.
Main control singlechip module is used to magnitude of voltage being converted into data signal, and judges that audio frequency apparatus is that common mode output is gone back
It is differential mode output, two-way selector module is opened according to judged result, and corresponding control life is exported to two-way selector module
Order.Control system uses programmable digital information processor, by repeatedly judging the signal of same label with the presence or absence of judgement
The signal is interference information, or non-interference information.One end link information display screen of control system, the other end of controller connect
Connect signal dispatcher module.Main control singlechip is internally provided with signal amplifier, and signal amplifier is according to control command startup pair
The noise suicide circuit answered is amplified processing to audio signal.Main control singlechip module judges whether to enter according to energy efficiency state
Battery saving mode, and power-saving control instruction is sent to signal amplification module according to judged result.
The beneficial effects of the invention are as follows：It is simple in construction, can excessively programmable digital information processor come between Regulate signal
Transmission sequence, so as to greatly reduce the situation gone on business of robot operation, equipment is obtained the signal of real low distortion, greatly
It is big to improve the stability of biped robot's operation, and be advantageous to save energy consumption, it is novel in design, it is a kind of innovation side well
Case.
It should be understood by those skilled in the art that the present invention is not limited to the above embodiments, above-described embodiment and explanation
Merely illustrating the principles of the invention described in book, it is of the invention without departing from the spirit and scope of the present invention also to have respectively
Kind changes and improvements, these changes and improvements all fall within the protetion scope of the claimed invention.The claimed scope of the invention by
Appended claims and its equivalent define.
Claims (6)
1. the antidisturbance control system of biped robot a kind of, include the control system of biped robot, it is characterised in that：Control
System is arranged inside executing agency, and control system includes main control singlechip, and one end of main control singlechip is provided with signal mistake
Filter, the other end of main control singlechip are provided with signal and concentrate transceiver, and signal filter is connected with detector, and signal, which is concentrated, to be received
Hair device is connected with efficiency detection unit, and the inside of main control singlechip is respectively arranged with signal store-memory unit, noise signal disappears
Except unit, intelligent anti-interference process device, intelligent anti-interference process device includes signal amplification module, signal amplification module respectively with master
Control one-chip computer module connects with two-way selector module, for being exported after the audio signal pre-amplification after denoising Processing,
And the power-saving control instruction sent according to main control singlechip module enters battery saving mode.
A kind of 2. antidisturbance control system of biped robot according to claim 1, it is characterised in that：Main control singlechip mould
Block is used to magnitude of voltage being converted into data signal, and judges that audio frequency apparatus is common mode output or differential mode output, according to judgement
As a result two-way selector module is opened, and corresponding control command is exported to two-way selector module.
A kind of 3. antidisturbance control system of biped robot according to claim 1, it is characterised in that：Control system uses
Programmable digital information processor, the signal by repeatedly judging same label, which whether there is, judges that the signal is interference letter
Breath, or non-interference information.
A kind of 4. antidisturbance control system of biped robot according to claim 1, it is characterised in that：The one of control system
Hold link information display screen, the other end link information transceiver module of controller.
A kind of 5. antidisturbance control system of biped robot according to claim 1, it is characterised in that：Main control singlechip
Signal amplifier is internally provided with, signal amplifier noise suicide circuit according to corresponding to starting control command enters to audio signal
Row enhanced processing.
A kind of 6. antidisturbance control system of biped robot according to claim 1, it is characterised in that：Main control singlechip mould
Root tuber judges whether to enter battery saving mode according to energy efficiency state, and sends power-saving control to signal amplification module according to judged result and refer to
Order.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710900066.XA CN107748512A (en) | 2017-09-28 | 2017-09-28 | A kind of antidisturbance control system of biped robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710900066.XA CN107748512A (en) | 2017-09-28 | 2017-09-28 | A kind of antidisturbance control system of biped robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107748512A true CN107748512A (en) | 2018-03-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710900066.XA Pending CN107748512A (en) | 2017-09-28 | 2017-09-28 | A kind of antidisturbance control system of biped robot |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2662537Y (en) * | 2003-10-30 | 2004-12-08 | 中国科学院沈阳自动化研究所 | Video signal multiplexing adapter |
| CN101334472A (en) * | 2008-05-12 | 2008-12-31 | 北京理工大学 | Ultrasonic ranging system suitable for special type robot |
| CN103362902A (en) * | 2013-06-27 | 2013-10-23 | 山东大学 | Single-leg hydraulic servo controller for legged robot |
| CN204046616U (en) * | 2014-06-20 | 2014-12-24 | 深圳市三诺数字科技有限公司 | A kind of intelligent jamproof system |
| CN105207722A (en) * | 2014-06-20 | 2015-12-30 | 深圳市三诺数码影音有限公司 | Intelligent anti-interference system and anti-interference method thereof |
| CN206230526U (en) * | 2016-10-11 | 2017-06-09 | 上海新时达电气股份有限公司 | Robot, robot body and robot control system |
-
2017
- 2017-09-28 CN CN201710900066.XA patent/CN107748512A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2662537Y (en) * | 2003-10-30 | 2004-12-08 | 中国科学院沈阳自动化研究所 | Video signal multiplexing adapter |
| CN101334472A (en) * | 2008-05-12 | 2008-12-31 | 北京理工大学 | Ultrasonic ranging system suitable for special type robot |
| CN103362902A (en) * | 2013-06-27 | 2013-10-23 | 山东大学 | Single-leg hydraulic servo controller for legged robot |
| CN204046616U (en) * | 2014-06-20 | 2014-12-24 | 深圳市三诺数字科技有限公司 | A kind of intelligent jamproof system |
| CN105207722A (en) * | 2014-06-20 | 2015-12-30 | 深圳市三诺数码影音有限公司 | Intelligent anti-interference system and anti-interference method thereof |
| CN206230526U (en) * | 2016-10-11 | 2017-06-09 | 上海新时达电气股份有限公司 | Robot, robot body and robot control system |
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Application publication date: 20180302 |
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