CN108161955A - Robot controller - Google Patents
Robot controller Download PDFInfo
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- CN108161955A CN108161955A CN201810228302.2A CN201810228302A CN108161955A CN 108161955 A CN108161955 A CN 108161955A CN 201810228302 A CN201810228302 A CN 201810228302A CN 108161955 A CN108161955 A CN 108161955A
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- 230000006698 induction Effects 0.000 claims abstract description 15
- 238000004891 communication Methods 0.000 claims description 14
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 8
- 238000012545 processing Methods 0.000 description 7
- 238000013461 design Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008901 benefit Effects 0.000 description 4
- 230000005540 biological transmission Effects 0.000 description 3
- 230000001133 acceleration Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 238000011161 development Methods 0.000 description 2
- 238000005265 energy consumption Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 239000000047 product Substances 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 230000003044 adaptive effect Effects 0.000 description 1
- 238000003556 assay Methods 0.000 description 1
- 230000000712 assembly Effects 0.000 description 1
- 238000000429 assembly Methods 0.000 description 1
- 239000007795 chemical reaction product Substances 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000004927 fusion Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000010365 information processing Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
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- Engineering & Computer Science (AREA)
- Human Computer Interaction (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The embodiment of the present invention provides a kind of robot controller, belongs to field of intelligent control.The robot controller includes control module, interface module, sensor assembly, power module, posture induction module and motor drive module, the control module is connect respectively with the interface module, the power module, the posture induction module, the motor drive module, the interface module is connect with the sensor assembly, due to having expanded interface module on the robot controller, cause its interface opening, and it is connect with sensor assembly, expansion capability is strong, functions of modules is more, improves the applicability of the robot controller.
Description
Technical field
The present invention relates to field of intelligent control, in particular to a kind of robot controller.
Background technology
With the development of robot technology, the continuous expansion in robot application field proposes more the performance of robot
High requirement.In with non-structured complex environment, robot must have stronger adaptive capacity to environment.For this purpose, intelligence
Energy robot must use numerous sensor acquisition environmental parameters, and realize efficient information processing and feedback, this is just to machine
The function of device people's control system proposes higher requirement with processing capability in real time.However, existing educational robot is with lower end
Product based on, control system has that simple structure, to adapt to less function module, performance single and without open
Modular interface, have been unable to meet the demand to robot teaching.In the numerous research fields for being related to Robot Control Technology
In, balance control platform is to examine the best experiment porch of various control theory control performances.To meet increasingly increased machine
People's education on demand, based on balance controls, with reference to hardware design technique, sensor technology, robot control theory etc., design
A kind of modular robot teaching's apparatus control system will be of great significance.
The core of robot is control system, and a kind of exploitation of educational robot product must be designed closer to machine now
Device people technology and there is education, highly practical, cost-effective, good reliability control system.However intelligent education machine now
Device people's control system has the shortcomings that module is single, interface is not open, expansion capability is poor, has been unable to meet the need of robot teaching
It asks.
Invention content
The purpose of the present invention is to provide a kind of robot controllers, can improve the above problem.
What the embodiment of the present invention was realized in：
A kind of robot controller, the robot controller include control module, interface module, sensor die
Block, power module, posture induction module and motor drive module, the control module respectively with the interface module, described
Power module, the posture induction module, motor drive module connection, the interface module connect with the sensor assembly
It connects.
In preferred embodiments of the present invention, the robot controller further includes display module, the display module
It is connect with the control module.
In preferred embodiments of the present invention, the robot controller further includes communication module, the communication module
It is connect with the control module.
In preferred embodiments of the present invention, the communication module includes wireless module and usb interface module, described wireless
Module is connect with the usb interface module with the control module, and the wireless module is described for being connect with mobile terminal
Usb interface module is used to connect with host computer.
In preferred embodiments of the present invention, the wireless module is bluetooth module.
In preferred embodiments of the present invention, the posture induction module includes gyroscope accelerometer and velocity measuring mould
Block, the gyroscope accelerometer and the velocity measuring module are connect with the control module.
In preferred embodiments of the present invention, the sensor assembly includes ultrasonic sensor, tracking sensor, vision
Sensor.
In preferred embodiments of the present invention, the sensor assembly further includes positioning navigation module.
In preferred embodiments of the present invention, the sensor assembly further includes wiping force snesor.
In preferred embodiments of the present invention, the sensor assembly further includes sound identification module.
The advantageous effect of the embodiment of the present invention is：
The embodiment of the present invention provides a kind of robot controller, which includes control module, interface
Module, sensor assembly, power module, posture induction module and motor drive module, the control module respectively with it is described
Interface module, the power module, the posture induction module, motor drive module connection, the interface module and institute
State sensor assembly connection, due to having expanded interface module on the robot controller so that its interface opening, and with biography
Sensor module connects, and expansion capability is strong, and functions of modules is more, improves the applicability of the robot controller.
Description of the drawings
It in order to illustrate the technical solution of the embodiments of the present invention more clearly, below will be to needed in the embodiment attached
Figure is briefly described, it should be understood that the following drawings illustrates only certain embodiments of the present invention, therefore is not construed as pair
The restriction of range, for those of ordinary skill in the art, without creative efforts, can also be according to this
A little attached drawings obtain other relevant attached drawings.
Fig. 1 is a kind of structure diagram of robot controller provided in an embodiment of the present invention；
Fig. 2 is a kind of use principle figure of velocity measuring module provided in an embodiment of the present invention；
Fig. 3 is a kind of circuit diagram of motor drive module provided in an embodiment of the present invention；
Fig. 4 is the structure diagram of another robot controller provided in an embodiment of the present invention；
Fig. 5 is a kind of structure diagram of sensor assembly provided in an embodiment of the present invention.
Icon：100- robot controllers；110- control modules；120- interface modules；130- sensor assemblies；140-
Power module；150- posture induction modules；160- motor drive modules；170- display modules；180- communication modules.
Specific embodiment
Purpose, technical scheme and advantage to make the embodiment of the present invention are clearer, below in conjunction with the embodiment of the present invention
In attached drawing, the technical solution in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, instead of all the embodiments.The present invention being usually described and illustrated herein in the accompanying drawings is implemented
The component of example can be configured to arrange and design with a variety of different.
Therefore, below the detailed description of the embodiment of the present invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.Based on the embodiments of the present invention, this field is common
Technical staff's all other embodiments obtained without creative efforts belong to the model that the present invention protects
It encloses.
It should be noted that：Similar label and letter represents similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined in a attached drawing, does not then need to that it is further defined and explained in subsequent attached drawing.
In the description of the present invention, it should be noted that term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instructions such as " level ", " interior ", " outer " are based on orientation shown in the drawings or position relationship or are somebody's turn to do
Invention product using when the orientation usually put or position relationship, be for only for ease of the description present invention and simplify description, without
It is instruction or implies that signified device or element there must be specific orientation, with specific azimuth configuration and operation, therefore not
It is understood that as limitation of the present invention.In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, and cannot manage
It solves to indicate or implying relative importance.
In addition, the terms such as term " level ", " vertical ", " pendency " are not offered as requiring component abswolute level or pendency, and
It is that can be slightly tilted.It is not to represent the structure if " level " only refers to that its direction is more horizontal with respect to for " vertical "
It has to fully horizontally, but can be slightly tilted.
In the description of the present invention, it is also necessary to which explanation is unless specifically defined or limited otherwise, term " setting ",
" installation ", " connected ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected or one
Connect to body；Can be mechanical connection or electrical connection；It can be directly connected, it can also be indirect by intermediary
It is connected, can is the connection inside two elements.For the ordinary skill in the art, on being understood with concrete condition
State the concrete meaning of term in the present invention.
Other features and advantages of the present invention will illustrate, also, partly become from specification in subsequent specification
It is clear that understood by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by being write
Specifically noted structure is realized and is obtained in specification, claims and attached drawing.
Fig. 1 is please referred to, Fig. 1 is a kind of structure diagram of robot controller 100 provided in an embodiment of the present invention, described
Robot controller 100 includes control module 110, interface module 120, sensor assembly 130, power module 140, posture sense
Answer module 150 and motor drive module 160, the control module 110 respectively with the interface module 120, the power supply mould
Block 140, the posture induction module 150, the motor drive module 160 connect, the interface module 120 and the sensor
Module 130 connects.
Wherein, the control module 110 can be STM32 microcontrollers, be responsible for the processing of all data, control sensor letter
Number acquisition, control executing agency (motor, steering engine) running.Its resource possessed includes：64KB SRAM、512KB
FLASH, 2 basic timers, 4 general purpose timers, 2 advanced timers, 2 dma controllers (totally 12 channels), 3
SPI, 2 IIC, 5 serial ports, 1 USB, 1 CAN, 3 12 ADC, 1 12 DAC, 1 SDIO interface, 1 FSMC connect
Mouth and 112 universal I/O ports.
As a kind of embodiment, control module 110 can be a kind of IC chip, have the processing capacity of signal
Processor.Above-mentioned processor can be general processor, including central processing unit (Central Processing Unit,
Abbreviation CPU), network processing unit (Network Processor, abbreviation NP) etc.；Can also be digital signal processor (DSP),
Application-specific integrated circuit (ASIC), ready-made programmable gate array (FPGA) either other programmable logic device, discrete gate or crystalline substance
Body pipe logical device, discrete hardware components.Can realize or perform disclosed each method in the embodiment of the present invention, step and
Logic diagram.General processor can be microprocessor or the processor can also be any conventional processor etc..
Interface module 120 includes multiple interfaces, and each interface is used to connect the sensor in sensor assembly 130, due to
There are multiple interfaces, it is possible to expand more sensors, which can also extraneous more function devices so that its interface
It is various, it is feature-rich.
Power module 140 is used to be powered for the modules in robot controller 100, including power management mould
Block and battery, power management module provide required power supply for robot controller 100, and stability is entire hardware circuit
The basis of reliability service, in order to reduce interfering with each other between modules, power module 140 is by several mutually independent voltage stabilizings
Circuit module forms, and LM2596S and AMS1117 is selected in the present embodiment as voltage stabilizing chip.
The posture induction module 150 includes gyroscope accelerometer and velocity measuring module, the gyroscope acceleration
Meter and the velocity measuring module are connect with the control module 110.
The gyroscope accelerometer is used to detect inclination angle and the angular speed of robot.
The control object of this control system is the self-balance robot based on two-wheel, is the system stood by two wheels,
It is a unstable nonlinear system the difference lies in him with general education robot system.In motion process
In, the posture for constantly adjusting robot is needed to can be only achieved dynamic equilibrium.In order to control the stabilization of robot, need accurate
The size of trolley inclination angle theta and the size of angular speed θ ' are measured, and the acceleration of wheel is controlled with this, and then eliminates inclining for robot
Angle.Therefore, the angular velocity measurement at robot inclination angle and inclination angle, which becomes, controls its upright key.It is used in the embodiment of the present invention
The gyroscope accelerometer of 6 axis motion process component of conformability realizes the measurement at robot inclination angle and angular speed.
The velocity measuring module is used to detect the speed of the motor of robot, in order to realize robot equilibrium function motor
Steering and velocity measuring, velocity measuring module in the embodiment of the present invention using three Hall sensors embedded in stator come
It realizes.When rotor magnetic pole is by near Hall sensor, they, which change, sends out a high level or low level signal, represents
North magnetic pole or south magnetic pole pass by the sensor, according to the combination of these three Hall sensor signals, can be achieved with the essence of commutation
Really the detection of sequence and spinner velocity, schematic diagram are as shown in Figure 2.
The motor drive module 160, for the motor of robot to be driven to rotate, in the embodiment of the present invention using direct current without
Telecontrol equipment of the brush motor as robot, the design of motor driver, as motor drive ic, are somebody's turn to do using IR2110S chips
Device has very high integrated level, while is capable of providing enough fan-out capabilities, also has in terms of runnability and energy consumption excellent
Gesture, in integrated, miniaturization electric machine control system, it can be used as ideal motor to drive core.IR2110S chips
Circuit diagram is as shown in Figure 3.
Fig. 4 is please referred to, the robot controller 100 further includes display module 170, the display module 170 and institute
Control module 110 is stated to connect.The robot controller 100 includes display interface, and control module 110 passes through display interface
Connect display module 170.Display module 170 can be used for the related status information of display robot, such as speed, motor status.
To realize instructional device and console and the real-time Data Transmission of cell phone application, the real-time control to robot is realized
And monitoring, the robot controller 100 further include communication module 180, the communication module 180 and the control module
110 connections.The communication module 180 carries out the communication with external equipment for robot controller 100.
The communication module 180 can include wireless module and usb interface module 120, the wireless module and the USB
Interface module 120 is connect with the control module 110, and the wireless module with mobile terminal for connecting, the USB interface
Module 120 is used to connect with host computer.
The wireless module can be bluetooth module or WiFi module etc., and mobile terminal can pass through wireless module and the machine
Device people control device 100 realize communication, so as to mobile terminal can to the robot controller 100 send instruction etc. operation with
Realize the control to the robot controller 100.
In the embodiment of the present invention, the communication with mobile terminal is realized using 4.0 bluetooth modules of DX-BT05.The module is special
It is made for intelligent radio data transmission, using CC2541 chips, configuration 256Kb spaces, it then follows V4.0BLE Bluetooth specifications.Branch
Hold AT instructions, can as needed changed serial port baud rate, device name, match the parameters such as password, using flexible.The module is supported
UART interface, and support SPP bluetooth serial ports agreements, have many advantages, such as that at low cost, small, low in energy consumption, transmitting-receiving sensitivity is high, only
Fraction of peripheral cell need to be equipped with and can be achieved with its power.
Sensor assembly 130 designs biosensor assay case by modularization and interface consistency designing technique, such as Fig. 5 institutes
Show, integrate numerous robot sensors and executing agency, such as：Bluetooth module, ultrasonic wave module, color sensor, positioning are led
Model plane block, infrared sensor, Temperature Humidity Sensor, photosensitive sensor, gyro module, sound identification module, visual sensor,
Force snesor, display module 170 and robot power, transmission module (motor, steering engine, retarder) etc., by with controller
Communication carry out control signal transmission or sensor signal input, realize the secondary development of robot, meet teaching demand.
So the sensor assembly 130 includes ultrasonic sensor, tracking sensor, visual sensor, location navigation
Module, wiping force snesor etc..
Sensor assembly 130 acquires environmental information, obtains ambient condition by fusion treatment and signal inputs, pass through teaching
Platform software into line program establishment and be downloaded into row data processing, and then realize control to executing agencies such as motor, steering engines.
In conclusion the embodiment of the present invention provides a kind of robot controller, which includes control
Module, interface module, sensor assembly, power module, posture induction module and motor drive module, the control module point
It is not connect with the interface module, the power module, the posture induction module, the motor drive module, the interface
Module is connect with the sensor assembly, due to having expanded interface module on the robot controller so that its interface opening,
And it is connect with sensor assembly, expansion capability is strong, and functions of modules is more, improves the applicability of the robot controller.
The foregoing is only a preferred embodiment of the present invention, is not intended to restrict the invention, for the skill of this field
For art personnel, the invention may be variously modified and varied.All within the spirits and principles of the present invention, that is made any repaiies
Change, equivalent replacement, improvement etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of robot controller, which is characterized in that the robot controller include control module, interface module,
Sensor assembly, power module, posture induction module and motor drive module, the control module respectively with the interface mould
Block, the power module, the posture induction module, motor drive module connection, the interface module and the sensing
Device module connects.
2. robot controller according to claim 1, which is characterized in that the robot controller further includes aobvious
Show module, the display module is connect with the control module.
3. robot controller according to claim 1, which is characterized in that the robot controller further includes logical
Believe module, the communication module is connect with the control module.
4. robot controller according to claim 3, which is characterized in that the communication module include wireless module and
Usb interface module, the wireless module are connect with the usb interface module with the control module, and the wireless module is used
It is connect in mobile terminal, the usb interface module is used to connect with host computer.
5. robot controller according to claim 4, which is characterized in that the wireless module is bluetooth module.
6. robot controller according to claim 1, which is characterized in that the posture induction module includes gyroscope
Accelerometer and velocity measuring module, the gyroscope accelerometer and the velocity measuring module connect with the control module
It connects.
7. robot controller according to claim 1, which is characterized in that the sensor assembly is passed including ultrasonic wave
Sensor, tracking sensor, visual sensor.
8. robot controller according to claim 7, which is characterized in that the sensor assembly further includes positioning and leads
Model plane block.
9. robot controller according to claim 8, which is characterized in that the sensor assembly further includes wiping power
Sensor.
10. robot controller according to claim 9, which is characterized in that the sensor assembly further includes voice
Identification module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228302.2A CN108161955A (en) | 2018-03-19 | 2018-03-19 | Robot controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810228302.2A CN108161955A (en) | 2018-03-19 | 2018-03-19 | Robot controller |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108161955A true CN108161955A (en) | 2018-06-15 |
Family
ID=62512057
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810228302.2A Pending CN108161955A (en) | 2018-03-19 | 2018-03-19 | Robot controller |
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| Country | Link |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722565A (en) * | 2019-10-31 | 2020-01-24 | 北京鲲鹏神通科技有限公司 | Humanoid robot |
| CN112025704A (en) * | 2020-08-25 | 2020-12-04 | 杭州湖西云百生科技有限公司 | Real-time distributed robot control method and system based on memory type database |
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| CN103119644A (en) * | 2010-07-23 | 2013-05-22 | 奥尔德巴伦机器人公司 | Humanoid robot equipped with a natural dialogue interface, method for controlling the robot and corresponding program |
| CN205787669U (en) * | 2016-05-23 | 2016-12-07 | 深圳市中阳通讯有限公司 | A kind of Smart Home robot |
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| CN206664902U (en) * | 2017-03-24 | 2017-11-24 | 赛维航电科技有限公司 | Underwater detection robot |
| WO2018010091A1 (en) * | 2016-07-12 | 2018-01-18 | 太仓光电技术研究所 | Aged-care service robot |
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2018
- 2018-03-19 CN CN201810228302.2A patent/CN108161955A/en active Pending
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|---|---|---|---|---|
| CN201194139Y (en) * | 2007-08-20 | 2009-02-11 | 上海慧烁信息科技发展有限公司 | Intellectualized robot platform with teaching and intelligent function |
| US20110010013A1 (en) * | 2009-07-08 | 2011-01-13 | Beijing University Of Technology | Single wheel robot system and its control method |
| CN103119644A (en) * | 2010-07-23 | 2013-05-22 | 奥尔德巴伦机器人公司 | Humanoid robot equipped with a natural dialogue interface, method for controlling the robot and corresponding program |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110722565A (en) * | 2019-10-31 | 2020-01-24 | 北京鲲鹏神通科技有限公司 | Humanoid robot |
| CN112025704A (en) * | 2020-08-25 | 2020-12-04 | 杭州湖西云百生科技有限公司 | Real-time distributed robot control method and system based on memory type database |
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Application publication date: 20180615 |
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