CN107765613A - A kind of dcs of intelligent robot - Google Patents
A kind of dcs of intelligent robot Download PDFInfo
- Publication number
- CN107765613A CN107765613A CN201711282310.7A CN201711282310A CN107765613A CN 107765613 A CN107765613 A CN 107765613A CN 201711282310 A CN201711282310 A CN 201711282310A CN 107765613 A CN107765613 A CN 107765613A
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- China
- Prior art keywords
- chip microcomputer
- dcs
- controller
- intelligent robot
- computer
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
-
- 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)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention discloses a kind of dcs of intelligent robot,Including host computer and slave computer,The host computer includes main control computer,Voice recognition unit,Graphics processing unit and phonetic synthesis unit,The slave computer is mainly by shift servo controller,Ranging controller,Trace follow control device,Light-metering controller,Power supervisor,System monitor forms,Each module is all connected with power bus in the main control computer and slave computer,The voice recognition unit connects phonetic synthesis unit with graphics processing unit by main control computer,The present invention is reasonable in design,Using dcs,Centralized Monitoring and management,Make management more synthesization and systematization,Realize that decentralised control can make the design of each functional module,Assembling,Debugging is separate,It does not interfere with each other,The reliability of system improves,Cost reduces,With good systemic openness and autgmentability.
Description
Technical field
The present invention relates to artificial intelligence field, is a kind of dcs of intelligent robot specifically.
Background technology
Intelligent robot is include the multidisciplinary synthesis such as computer, automation, electromechanical integration, communication, material one
Platform, in modern intelligent society, artificial intelligence is just progressively being moved towards in the life of people, the performance of automation also more and more higher,
So that people start understanding and receive intelligent robot, at present, existing intelligent robot generally comprises head, trunk and walking
Portion, traditional control machine people is controlled by button, inconvenient, and function is relatively simple, but works as intelligence machine
People in the visual range of people, does not make the movement of the uncontrollable robot of user.
The content of the invention
It is reasonable in design it is an object of the invention to provide a kind of dcs of intelligent robot, propose distribution
The design of formula control, Centralized Monitoring and management, make management more synthesization and systematization, realize that decentralised control can make each function mould
Design, assembling, the debugging of block are separate, do not interfere with each other, and the reliability of system improves, and cost reduces, and has good system
Open and autgmentability.
The present invention is achieved through the following technical solutions：A kind of dcs of intelligent robot, it is characterised in that：
Including host computer and slave computer, the host computer includes main control computer, voice recognition unit, graphics processing unit and voice and closed
Into unit, the slave computer is mainly by shift servo controller, ranging controller, trace follow control device, light-metering controller, power supply pipe
Device, system monitor composition are managed, each module is all connected with power bus, the speech recognition in the main control computer and slave computer
Unit connects phonetic synthesis unit with graphics processing unit by main control computer.
Further, the main control computer is by picture recognition module, sound identification module, voice conversion circuit, system
Management module and power supply adaptor composition, the power supply adaptor are connected with power bus；Described image processing unit include according to
CCD, the image pick-up card of secondary connection, described image capture card connection picture recognition module, the voice recognition unit include adjusting
Frequency receiver, the fremodyne connect sound identification module, and the phonetic synthesis unit includes the audio work(being sequentially connected
Put and loudspeaker, the voice conversion circuit connect audio frequency power amplifier.
Further, single-chip microcomputer 1, PWM amplifier, motor and code are provided with the mobile platform servo controller
Disk, the connection of single-chip microcomputer 1 PWM amplifier, the PWM amplifier connection motor M, the motor M connections code-disc,
The code-disc is connected with single-chip microcomputer 1；Single-chip microcomputer 2, amplifier, ultrasonic transducer, single-chip microcomputer 2 are provided with the ranging controller
It is connected with each other with amplifier, amplifier is connected with each other with ultrasonic transducer；Single-chip microcomputer 3 and red is provided with the trace follow control device
Outer sensor, single-chip microcomputer 3 are connected with infrared sensor, and single-chip microcomputer 4, A/D converter and photosensitive are provided with the light-metering controller
Sensor, single-chip microcomputer 4 are connected by A/D converter with light sensor；Single-chip microcomputer 5 and battery are provided with the power supervisor
Group, single-chip microcomputer 5 are connected with battery pack；Single-chip microcomputer 6 is provided with the system monitor.
To better implement the present invention, the system monitor connects mobile platform servo controller, ranging control respectively
Device, trace follow control device, light-metering controller and power supervisor, the power supervisor connect mobile platform SERVO CONTROL respectively
Device, ranging controller, trace follow control device, light-metering controller and system detector, to provide power supply.
To better implement the present invention, the intelligent robot is made up of wheel moving platform and head, the distribution
Set-up of control system is on mobile platform.
To better implement the present invention, the ultrasonic sensor, infrared sensor, light sensor are arranged at intelligent machine
The head of device people.
The present invention compared with prior art, has advantages below and beneficial effect：
（1）The present invention is reasonable in design, controls intelligent robot, Centralized Monitoring and management using dcs, makes management
More synthesization and systematization, realize that decentralised control can make the design, assembling, debugging of each functional module separate, system
Reliability improves, and cost reduces, and has good systemic openness and autgmentability.
（2）The present invention includes graphics processing unit, Audio Processing Unit high-intelligentization technology, at more traditional phonetic image
Reason technical performance is more reliable and more stable, and faster, recognition accuracy is higher for recognition speed.
（3）The present invention has ultrasonic ranging and avoidance, track following and light-metering and light source tracking function, and these functions are all
The flexibility of intelligent robot can be preferably realized, embodies good reliability.
Brief description of the drawings
Fig. 1 is the structured flowchart of control system of the present invention.
Fig. 2 is the structured flowchart of main control computer of the present invention.
Embodiment
The present invention is described in further detail with reference to embodiment, but the implementation of the present invention is not limited to this.
It is worth noting that, in the practical application of the present invention, software program, but applicant are inevitably applied to
It is hereby stated that the software program that the technical scheme is applied in the specific implementation is all prior art, in this application, it is not related to
To the change and protection of software program, simply to realize the protection of hardware structure that goal of the invention designs.
Embodiment：
As shown in figure 1, a kind of photovoltaic energy conversion data collecting system, including host computer and slave computer, the host computer include
Main control computer, voice recognition unit, graphics processing unit and phonetic synthesis unit, it is mainly used in man machine language's interaction, system
The functions such as management, control decision, task scheduling, image identifying and processing；, the slave computer mainly by shift servo controller,
Ranging controller, trace follow control device, light-metering controller, power supervisor, system monitor composition, by control system in slave computer
Scattered, each module completes a specific function, and each module can realize concurrent working, greatly improve the processing speed of whole system
And ability；Each module is all connected with power bus in the main control computer and slave computer, at the voice recognition unit and image
Manage unit and phonetic synthesis unit is connected by main control computer.
As shown in Fig. 2 described image processing unit includes CCD, the image pick-up card being sequentially connected, image pick-up card connection
Picture recognition module, CCD are imaging sensor, and graphics processing unit can realize recognition of face, article identification and vision guided navigation；Institute
Stating voice recognition unit includes fremodyne, and fremodyne connection sound identification module, speech recognition is man-machine interaction
Key, the Pattek ASR/P2.0 SDK speech recognition systems based on PC platforms of Institute of Automation, CAS release are used herein as,
Discrimination is high, to the adaptable of environmental noise and accent, has signer-independent sign language recognition function, be adapted to different sexes with
The mandarin of accent, strong antijamming capability；The phonetic synthesis unit includes the audio frequency power amplifier and loudspeaker being sequentially connected, described
Voice conversion circuit connects audio frequency power amplifier, and the main control computer changes electricity by picture recognition module, sound identification module, voice
Road, system management module and power supply adaptor composition, the power supply adaptor are connected with power bus.
The intelligent robot is made up of wheel moving platform and head, and the dcs is arranged at mobile flat
On platform, in slave computer, each functional module elements circuit is logically separate, and each module is a place with oneself
The fully functional subsystem that device is core is managed, and completes a specific function, is provided with mobile platform servo controller
Single-chip microcomputer 1, PWM amplifier, M（Motor）And code-disc, the single-chip microcomputer 1 connect PWM amplifier, the PWM amplifier connects
Motor M, the motor M connections code-disc are met, the code-disc is connected with single-chip microcomputer 1；It is provided with the ranging controller
Single-chip microcomputer 2, amplifier, ultrasonic transducer, single-chip microcomputer 2 are connected with each other with amplifier, and amplifier is mutual with ultrasonic transducer
Connection, the ultrasonic sensor is arranged at intelligence machine head part, for detecting the obstacle information of different directions, to realize
Ranging and barrier avoiding function, single-chip microcomputer 3 and infrared sensor are provided with the trace follow control device, and single-chip microcomputer 3 connects with infrared sensor
Connect, infrared ray sensor is arranged at immediately ahead of robot, is directed downward, for detecting ground route track；The light-metering control
Single-chip microcomputer 4, A/D converter and light sensor are provided with device, single-chip microcomputer 4 is connected by A/D converter with light sensor, light
Dependent sensor is installed on intelligence machine head part, for detecting and following the trail of light source, adds between light-metering controller and light sensor
Enter A/D converter connection, accurately detect the luminous intensity of different azimuth, single-chip microcomputer 5 and battery pack are provided with the power supervisor,
Single-chip microcomputer 5 is connected with battery pack, and single-chip microcomputer 6 is provided with the system monitor；When a certain circuit or functional module break down
When, from the module to main control computer and other module alerts, and the card reset that will rename, as failure disappears after reset
Lose, then all clear, otherwise closes the module, and notifies other circuits to stop the communication with the module；Real-time monitoring system work
Make state, when some functional circuits wouldn't work, close its power supply to save electric energy.
The system monitor connects mobile platform servo controller, ranging controller, trace follow control device, light-metering control respectively
Device and power supervisor processed, the power supervisor connect mobile platform servo controller, ranging controller, trace follow control respectively
Device, light-metering controller and system detector.
The present invention is simple in construction, reasonable in design, using dcs, Centralized Monitoring and management, makes management more
Synthesization and systematization, realize that decentralised control can make the design, assembling, debugging of each functional module separate, do not interfere with each other, be
The reliability of system improves, and cost reduces, and has good systemic openness and autgmentability.
It is described above, be only presently preferred embodiments of the present invention, any formal limitation not done to the present invention, it is every according to
Any simply modification, the equivalent variations made according to the technical spirit of the present invention to above example, each fall within the protection of the present invention
Within the scope of.
Claims (7)
- A kind of 1. dcs of intelligent robot, it is characterised in that：Including host computer and slave computer, the host computer Including main control computer, voice recognition unit, graphics processing unit and phonetic synthesis unit, the slave computer is mainly watched by movement Take controller, ranging controller, trace follow control device, light-metering controller, power supervisor, system monitor composition, the master control Each module is all connected with power bus in computer and slave computer, and the voice recognition unit and graphics processing unit pass through master control Computer connects phonetic synthesis unit.
- A kind of 2. dcs of intelligent robot according to claim 1, it is characterised in that：The master control meter Calculation machine is made up of picture recognition module, sound identification module, voice conversion circuit, system management module and power supply adaptor, institute Power supply adaptor is stated to be connected with power bus；Described image processing unit includes CCD, the image pick-up card being sequentially connected, described Image pick-up card connects picture recognition module, and the voice recognition unit includes fremodyne, the fremodyne connection Sound identification module, the phonetic synthesis unit include the audio frequency power amplifier and loudspeaker being sequentially connected, the voice conversion circuit Connect audio frequency power amplifier.
- A kind of 3. dcs of intelligent robot according to claim 1, it is characterised in that：The movement is put down Single-chip microcomputer 1, PWM amplifier, motor and code-disc are provided with platform servo controller, the single-chip microcomputer 1 connects PWM amplifications Device, the PWM amplifier connect motor M, the motor M connections code-disc, and the code-disc is connected with single-chip microcomputer 1.
- A kind of 4. dcs of intelligent robot according to claim 3, it is characterised in that：The ranging control Single-chip microcomputer 2, amplifier, ultrasonic transducer are provided with device processed, single-chip microcomputer 2 is connected with each other with amplifier, amplifier and ultrasonic wave Transducer is connected with each other；Single-chip microcomputer 3 and infrared sensor are provided with the trace follow control device, single-chip microcomputer 3 connects with infrared sensor Connect, single-chip microcomputer 4, A/D converter and light sensor are provided with the light-metering controller, single-chip microcomputer 4 passes through A/D converter and light Dependent sensor connects, and is provided with single-chip microcomputer 5 and battery pack in the power supervisor, single-chip microcomputer 5 is connected with battery pack, the system Single-chip microcomputer 6 is provided with monitor.
- A kind of 5. dcs of intelligent robot according to claim 4, it is characterised in that：The system System monitor connects mobile platform servo controller, ranging controller, trace follow control device, light-metering controller and power management respectively Device, the power supervisor connect mobile platform servo controller, ranging controller, trace follow control device, light-metering controller respectively And system detector.
- A kind of 6. dcs of intelligent robot according to claim 5, it is characterised in that：The intelligent machine Device people is made up of wheel moving platform and head, and the dcs is arranged on mobile platform.
- A kind of 7. dcs of intelligent robot according to claim 6, it is characterised in that：The ultrasonic wave Sensor, infrared sensor, light sensor are arranged at the head of intelligent robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282310.7A CN107765613A (en) | 2017-12-07 | 2017-12-07 | A kind of dcs of intelligent robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711282310.7A CN107765613A (en) | 2017-12-07 | 2017-12-07 | A kind of dcs of intelligent robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107765613A true CN107765613A (en) | 2018-03-06 |
Family
ID=61277721
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711282310.7A Withdrawn CN107765613A (en) | 2017-12-07 | 2017-12-07 | A kind of dcs of intelligent robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN107765613A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614460A (en) * | 2018-06-20 | 2018-10-02 | 东莞市李群自动化技术有限公司 | Distributed multi-node control system and method |
| CN111070213A (en) * | 2020-01-08 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot control system |
| CN111496818A (en) * | 2019-12-31 | 2020-08-07 | 重庆昱普生科技发展有限公司 | Onboard service robot with stabilizing system |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991560A (en) * | 2015-07-12 | 2015-10-21 | 仲恺农业工程学院 | Autonomous mobile intelligent robot |
| CN205212972U (en) * | 2015-12-16 | 2016-05-04 | 青岛普拉戈工程系统有限公司 | Intelligent robot remote monitering system |
-
2017
- 2017-12-07 CN CN201711282310.7A patent/CN107765613A/en not_active Withdrawn
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104991560A (en) * | 2015-07-12 | 2015-10-21 | 仲恺农业工程学院 | Autonomous mobile intelligent robot |
| CN205212972U (en) * | 2015-12-16 | 2016-05-04 | 青岛普拉戈工程系统有限公司 | Intelligent robot remote monitering system |
Non-Patent Citations (1)
| Title |
|---|
| 邱寄帆 等: "基于分布式控制系统的轮式智能机器人研究", 《机器人技术》 * |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108614460A (en) * | 2018-06-20 | 2018-10-02 | 东莞市李群自动化技术有限公司 | Distributed multi-node control system and method |
| CN111496818A (en) * | 2019-12-31 | 2020-08-07 | 重庆昱普生科技发展有限公司 | Onboard service robot with stabilizing system |
| CN111070213A (en) * | 2020-01-08 | 2020-04-28 | 北京海益同展信息科技有限公司 | Robot control system |
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| PB01 | Publication | ||
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Application publication date: 20180306 |