CN108196488A - The kinetic control system and method for a kind of robot - Google Patents
The kinetic control system and method for a kind of robot Download PDFInfo
- Publication number
- CN108196488A CN108196488A CN201810182110.2A CN201810182110A CN108196488A CN 108196488 A CN108196488 A CN 108196488A CN 201810182110 A CN201810182110 A CN 201810182110A CN 108196488 A CN108196488 A CN 108196488A
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- China
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- robot
- controller
- host computer
- control signal
- chassis
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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
- G05B19/0423—Input/output
-
- 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
- G05B2219/25—Pc structure of the system
- G05B2219/25257—Microcontroller
Abstract
The present invention provides the kinetic control system and method for a kind of robot, system includes：Including host computer, controller, robot chassis, pose collecting unit, encoder：Controller communicates to connect with host computer, receives and parses through the motion control signal that host computer issues, and obtains movement linear velocity, angular velocity of satellite motion；Controller is electrically connected with robot chassis, according to movement linear velocity and angular velocity of satellite motion control robot bobbin movement；Pose collecting unit is electrically connected with the controller, and acquires the first exercise data of robot；Encoder is electrically connected with the controller, and acquires the second exercise data of robot, and is passed through controller and sent the first exercise data, the second exercise data to host computer；The first exercise data and the second exercise data that host computer is forwarded according to controller carry out pose calibration, and update motion control signal to robot, updated motion control signal are issued to controller.Realize the accurate control to robot motion.
Description
Technical field
The present invention relates to robot field, the kinetic control system and method for espespecially a kind of robot.
Background technology
With the development of science and technology, very more intellectual products has been emerged, it is very more to our live and work band
Facility.For example the industrial robot in factory realizes production automation, the service humanoid robot in family improves people
Quality of the life, the also such as specialized robot of search and rescue robot, transportation robot etc..
For much servicing for humanoid robot, it is often necessary to be carried out according to the needs of user or according to task
The movement of position.Such as transportation robot, it needs cargo being transported to another place from a place, how to control robot
Walking, which becomes one, to be solved the problems, such as.
Walk problem of the present invention to solve robot as a result, provides kinetic control system and the side of a kind of robot
Method.
Invention content
The object of the present invention is to provide the kinetic control systems and method of a kind of robot, realize to robot motion's
Accurate control.
Technical solution provided by the invention is as follows：
The present invention provides a kind of kinetic control system of robot, including host computer, controller, robot chassis, position
Appearance collecting unit, encoder：The controller is electrically connected with the host computer and the robot chassis, receives and solve respectively
The motion control signal that the host computer issues is analysed, obtains movement velocity, and the robot is controlled according to the movement velocity
Bobbin movement；The pose collecting unit, is electrically connected with the controller, when robot is moved, acquires robot
First exercise data；And pass through the controller and send first exercise data to the host computer；The encoder, with institute
State controller electrical connection；When robot is moved, the second exercise data of robot is acquired；And pass through the controller to
The host computer sends second exercise data；The host computer is according to first exercise data and the second movement number
According to carrying out pose calibration to the robot, and update the motion control signal, updated motion control signal is issued
To the controller.
Preferably, multiple touching sensing units are further included：The multiple touching sensing unit is disposed around the machine respectively
Whether the outside on people chassis, detection robot during the motion, touch barrier in all directions；When detecting at certain
When touching barrier on one direction, touching signal is sent to the host computer by the controller；The host computer according to
The touching signal adjusts the motion control signal of the robot, and the motion control letter after adjustment is issued to the controller
Number.
Preferably, multiple ranging sensing units are further included：The multiple ranging sensing unit is disposed around the machine respectively
The outside on people chassis and the multiple ranging sensing unit are set towards ground；It acquires to the range data on the ground, and leads to
It crosses the controller and sends the range data to the host computer；The host computer analyzes the range data, if it is described away from
When exceeding pre-determined distance data area from data, the motion control signal of the robot is adjusted, and issue to the controller
Motion control signal after adjustment.
Preferably, system further includes chassis power control circuit：The controller passes through the chassis power control circuit
It is electrically connected with the robot chassis, the controller is also electrically connected with scram button；It is described when triggering the scram button
Controller sends emergency stop control signal to the chassis power control circuit；The chassis power control circuit receives the urgency
Stop after controlling signal, disconnect the chassis power control circuit, stop powering to the robot chassis.
Preferably, RS-232 telecommunication circuits and PWM telecommunication circuits are further included：The controller communicates electricity with the RS-232
Road is electrically connected, and the RS-232 telecommunication circuits are electrically connected with the robot chassis；The controller and the PWM telecommunication circuits
Electrical connection, the PWM telecommunication circuits are electrically connected with the robot chassis；The controller passes through the RS-232 telecommunication circuits
And/or the PWM telecommunication circuits issue the motion control signal to the robot chassis；Institute in the robot chassis
It states encoder and second exercise data is uploaded to the controller by the RS-232 telecommunication circuits.
Preferably, USB serial bus communications circuit and can bus communication circuitries are further included：The host computer respectively with institute
State USB serial bus communications circuit or can bus communication circuitries electrical connection, the USB serial bus communications circuit and can
Bus communication circuitry is electrically connected with the controller；The controller by the USB serial bus communications circuit with it is described on
Position machine communicates or is communicated by the can bus communication circuitries with the host computer.
Preferably, the robot chassis includes left motor driver, left driving wheel, right motor driver, right driving wheel；
The left motor driver is sequentially connected with the left driving wheel, and the right motor driver connects with right driving wheel transmission
It connects；The controller communicates to connect respectively with the left driver, the right driver；The controller parsing movement control
Signal processed obtains the velocity of rotation of left driving wheel and right driving wheel in robot chassis；The controller is by the left driving
The velocity of rotation of wheel is sent to the left driver, and the velocity of rotation of the right driving wheel is sent to the right driving
Device；The left driver controls the left driving wheel to be moved according to the velocity of rotation of left driving wheel, the right driver root
The right driving wheel is controlled to be moved according to the velocity of rotation of the right driving wheel.
The present invention also provides a kind of motion control method of robot, including：Controller receives and parses through described upper
The motion control signal that machine issues obtains movement linear velocity and movement velocity；And the machine is controlled according to the movement velocity
Device people moves；When robot is moved, pose collecting unit acquires the first exercise data of robot；And pass through the control
Device processed sends first exercise data to the host computer；Encoder acquires the second exercise data of robot；And pass through institute
It states controller and sends second exercise data to the host computer；The host computer is according to first exercise data and described
Second exercise data carries out pose calibration, and update the motion control signal to the robot, and updated movement is controlled
Signal processed is issued to the controller.
Preferably, whether multiple touching sensing units detect robot during the motion respectively, touch in all directions
Encounter barrier；When detect touch barrier in one direction when, sent by the controller to the host computer
Touch signal；The host computer adjusts the motion control signal of the robot according to the touching signal, and to the control
Device issues the motion control signal after adjustment.
Preferably, the multiple ranging sensing unit is acquired respectively to the range data on the ground, and passes through the control
Device processed sends the range data to the host computer；The host computer analyzes the range data, if the range data surpasses
When going out pre-determined distance data area, the motion control signal of the robot is adjusted, and after the controller issues adjustment
Motion control signal.
Preferably, when triggering the scram button, the controller sends emergency stop to the chassis power control circuit
Control signal；After the chassis power control circuit receives the emergency stop control signal, the chassis power supply control electricity is disconnected
Road stops powering to the robot chassis.
Preferably, the controller is communicated by RS-232 and/or PWM communicates and issues the fortune to the robot chassis
Dynamic control signal；The encoder in the robot chassis is communicated by the RS-232 to described in controller upload
Second exercise data.
Preferably, the controller parses the motion control signal, obtains the rotation speed of left driving wheel in running gear
The velocity of rotation of degree and right driving wheel；The velocity of rotation of the left driving wheel is sent to the left driving by the controller
The velocity of rotation of the right driving wheel is sent to the right driver by device；The left driver is according to left driving wheel
Velocity of rotation the left driving wheel is controlled to be moved, the right driver is controlled according to the velocity of rotation of the right driving wheel
The right driving wheel is moved.
Preferably, the controller carries out USB serial bus communications with the host computer or is carried out with the host computer
Can bus communications communicate.
By the kinetic control system and method for a kind of robot provided by the invention, following at least one can be brought to have
Beneficial effect：
1st, the exercise data of robot that host computer can be fed back according to controller, knows the pose of robot, adjusts again
The motion scheme of whole robot issues new motion control signal, allows the robot to persistently be operated.
2nd, previous, host computer only solely obtains the exercise data of encoder acquisition to understand the pose feelings of robot
Condition, but the data that encoder acquires each time can all have certain error, over time after, it is most likely that lead to pose feelings
Condition is inaccurate.Present invention employs nine axle sensors, acquire the exercise data of robot simultaneously with encoder, and are aggregated into upper
Machine carries out pose calibration to the robot, the posture information that host computer is got can be made more accurate.
If the 3, previous robot collides barrier, will continue to that former motion scheme is kept to continue to move, however be exactly to
Barrier to walk on, otherwise since barrier is larger, before robot is caused to be stuck in barrier, it is impossible to walk.In the present invention,
The periphery on robot chassis is equipped with multiple touching devices, and when robot collides barrier, host computer can adjust the machine
The motion scheme of device people, make robot collide after barrier can avoiding obstacles continue to move.
4th, when robot is moved, road surface is probably irregular, for example, some places will appear it is many big
Big slight hole.If robot cannot discover, it is most likely that fall into during exercise in hole or tire is stuck in hole, lead to machine
Device people cannot move.In the present invention, multiple fall-proofing devices in robot are installed, the road on robot periphery can be detected
Condition, convenient for the motion scheme of host computer adjustment robot.For example, when cheating, fall-proofing device acquisition between ground away from
It can become larger from data, if more than a certain range, then show that this hole is deep, host computer can judge that robot is entered into hole and have
Danger adjusts the motion scheme of robot, robot is avoided to fall into hole.
5th, be not in inevitably the uncontrolled feelings of robot since the kinetic control system in robot is more complicated
Condition.Therefore emergency stop device is also mounted in the case where robot is uncontrolled in the present invention in robot, it is only necessary to press urgency
Stop device, it is possible to cut off the power source of robot, make robot stop motion.
6th, the present invention provides two kinds of controllers and the communication mode of the host computer, are that universal serial bus carries out respectively
Communication is communicated by can buses, can also be logical by second of communication in the case where a kind of communication port fails
Road communicates.Since CAN has many advantages, such as that wiring simple transmission is reliable, the equipment for supporting CAN bus is more and more, in order to suitable
With different demand and occasion, a kind of mode therein can flexibly be selected to be controlled as needed.
Description of the drawings
Below by a manner of clearly understandable, preferred embodiment is described with reference to the drawings, the movement control to a kind of robot
Above-mentioned characteristic, technical characteristic, advantage and its realization method of system and method processed are further described.
Fig. 1 is a kind of structure diagram of one embodiment of the kinetic control system of robot of the present invention；
Fig. 2 is the circuit diagram of controller in the present invention；
Fig. 3 is pose Acquisition Circuit figure in the present invention；
Fig. 4 is a part of circuit diagram of pose processing circuit in the present invention；
Fig. 5 is another part circuit diagram of pose processing circuit in the present invention；
Fig. 6 is a kind of structure diagram of another embodiment of the kinetic control system of robot of the present invention；
Fig. 7 is a part of circuit diagram that sensing unit is touched in the present invention；
Fig. 8 is another part circuit diagram that sensing unit is touched in the present invention；
Fig. 9 is another partial circuit diagram that sensing unit is touched in the present invention；
Figure 10 is the another partial circuit diagram that sensing unit is touched in the present invention；
Figure 11 is the circuit diagram of ranging sensing unit in the present invention；
Figure 12 is power control circuit figure in chassis in the present invention；
Figure 13 is a kind of structure diagram of another embodiment of the kinetic control system of robot of the present invention；
Figure 14 is a part of circuit diagram of USB serial bus communications circuit in the present invention；
Figure 15 is another part circuit diagram of USB serial bus communications circuit in the present invention；
Figure 16 is can bus communication circuitries figure in the present invention；
Figure 17 is a part of circuit diagram of RS-232 telecommunication circuits in the present invention；
Figure 18 is another part circuit diagram of RS-232 telecommunication circuits in the present invention；
Figure 19 is a part of circuit diagram of PWM telecommunication circuits figure in the present invention；
Figure 20 is another part circuit diagram of PWM telecommunication circuits figure in the present invention；
Figure 21 is a kind of one embodiment flow chart of the motion control method of robot of the present invention.
Drawing reference numeral explanation：
1- controllers, 2- host computers, 3- robots chassis, 31- encoders, 32- left driving motors, 33- right driving motors,
34- left driving wheels, 35- right driving wheels, 4- poses collecting unit, 5- touchings sensing unit, 6- rangings sensing unit, 7- chassis electricity
Source control circuit, 8-can bus communication circuitries, 9-USB serial bus communications circuit, 10-RS-232 telecommunication circuits, 11-PWM lead to
Believe circuit.
Specific embodiment
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, control is illustrated below
The specific embodiment of the present invention.It should be evident that the accompanying drawings in the following description is only some embodiments of the present invention, for
For those of ordinary skill in the art, without creative efforts, other are can also be obtained according to these attached drawings
Attached drawing, and obtain other embodiments.
To make simplified form, part related to the present invention is only schematically shown in each figure, they are not represented
Its practical structures as product.In addition, so that simplified form is easy to understand, there is identical structure or function in some figures
Component only symbolically depicts one of those or has only marked one of those.Herein, "one" is not only represented
" only this " can also represent the situation of " more than one ".
The present invention provides a kind of one embodiment of the kinetic control system of robot, as shown in Figure 1, including：It is upper
Machine 2, controller 1, robot chassis 3, pose collecting unit 4, encoder 31：
The controller 1 is electrically connected with the host computer 2 and the robot chassis 3, receives and parses through on described respectively
The motion control signal that position machine 2 issues obtains movement velocity, and the robot chassis 3 is controlled to transport according to the movement velocity
It is dynamic；
The pose collecting unit 4 is electrically connected with the controller 1, when robot is moved, acquires robot
First exercise data；And pass through the controller 1 and send first exercise data to the host computer 2；
The encoder 31 at the motor driver on the robot chassis 3, is electrically connected with the controller 1
It connects；When robot is moved, the second exercise data of robot is acquired；And pass through the controller 1 to the host computer 2
Send second exercise data；
The host computer 2 is according to first exercise data and second exercise data, to the robot into line position
Appearance is calibrated, and updates the motion control signal, and updated motion control signal is issued to the controller 1.
Specifically, host computer 2 is integrated in robot and controls the controller 1 on robot chassis 3, robot chassis
3；Pose collecting unit 4 and encoder 31 are integrated on the robot chassis 3；The controller 1 includes MCU, this implementation
Using microcontroller in example, as shown in Fig. 2, its model STM32F103ZE.
It is described after the host computer 2 issues motion control signal by the controller 1 to the robot chassis 3
Controller 1 can parse the control signal and obtain movement linear velocity and angular velocity of satellite motion, and robot can be controlled to carry out arbitrary side
Upward movement.
During movement, host computer 2 needs to know which position robot is currently in real time, to give robot
Issue new motion control signal.Therefore it needs that the device for acquiring robot motion conditions is installed in robot.Previous, on
Position machine 2 only solely obtains the exercise data that encoder 31 acquires to understand the pose situation of robot, but encoder 31
The data acquired each time can all have certain error, over time after, it is most likely that cause pose situation inaccurate.This hair
It is bright to employ pose collecting unit 4, the exercise data of robot is acquired, and be aggregated into host computer 2 simultaneously with encoder 31, to institute
It states robot and carries out pose calibration, the posture information that host computer 2 is got can be made more accurate.
The pose collecting unit 4 includes pose Acquisition Circuit and the nine axis control chip that nine axis sensing chips are formed
The pose processing circuit of composition；
The pose Acquisition Circuit is as shown in figure 3, including nine axis sensing chip U900, model MPU9250, the sensing
Device not only has 3 axis accelerometers and 3 axis gyroscopes, and also 3 axis magnetometers are capable of the pose of precise acquisition robot.It is described
The first interface 1 of nine axis sensing chip U900 is connected to the first power supply 3.3V；The 7th interface 7 of the nine axis sensing chip U900
The first power supply 3.3V is also connected to by resistance R903；The 8th interface 8 of the nine axis sensing chip U900 is connected to the first electricity
Source 3.3V, the 8th interface 8 of the nine axis sensing chip U900 are also grounded by capacitance C903；The nine axis sensing chip U900
The 9th interface 9 be grounded, the tenth interface 10 of the nine axis sensing chip U900 is also grounded by capacitance C902, and nine axis passes
The 11st interface 11 of sense chip U900 is grounded；The 12nd interface 12 and pose processing circuit of the nine axis sensing chip U900
Electrical connection；The 13rd interface 13 of the nine axis sensing chip U900 is connected to the first power supply 3.3V, the nine axis sensing chip
The 13rd interface 13 of U900 is also grounded by capacitance C901；The 18th interface 18 of the nine axis sensing chip U900 is grounded.
The 20th interface 20 of the nine axis sensing chip U900 is grounded；The 21st of the nine axis sensing chip U900
Interface 21 is electrically connected with one end of resistance R901, and the other end of the resistance R901 is grounded by capacitance C900；The resistance
The other end of R901 is also connected to the first power supply 3.3V；The 22nd interface 22 of the nine axis sensing chip U900 and the first electricity
Source 3.3V is electrically connected；The 22nd interface 22 of the nine axis sensing chip U900 is also grounded by capacitance C900；Nine axis
The 23rd interface 23 of sensing chip U900 is electrically connected by resistance R900 with pose processing circuit；The nine axis sensing chip
The 24th interface 24 of U900 is electrically connected by resistance R902 with pose processing circuit.
Other interfaces of the nine axis sensing chip U900 are also connected with 3 axis acceleration sensors, 3 axis gyroscopes and 3 axis electronics
The other sensors such as compass for acquiring the pose data of robot, sense the exercise data of robot.Nine axle sensors acquire
To after the first exercise data of robot, need in advance to locate first exercise data., the present embodiment employs one
Nine axis control chip handles first exercise data accordingly, and then by treated, the first exercise data is sent to
The controller 1.
The pose processing circuit controls chip U800, patching for burned program as shown in Figure 4, Figure 5, including nine axis
Part P800.The first interface 1 of the nine axis control chip U800, second interface 2 are electrically connected respectively with crystal oscillator sub-circuit, and described nine
The 5th interface 5 of axis control chip U800 is electrically connected with the 12nd interface 12 of the nine axis sensing chip U900；Nine axis
The 9th interface of control chip U800 is electrically connected with the first power supply 3.3V, and the 9th interface of the nine axis control chip U800 is also logical
Cross capacitance C805 ground connection；The tenth interface 10 of the nine axis control chip U800 is grounded；The of nine axis control chip U800
12 interfaces 12 are electrically connected by resistance R109 with the 112nd interface 112 of the controller 1 (U100)；Nine axis
The 13rd interface 13 of chip U800 is controlled to pass through resistance R110 and the 111st interface of the controller 1 (U100)
111 electrical connections.
The 21st interface 21 of the nine axis control chip U800 is electrically connected with one end of the resistance R804, the electricity
The other end of resistance R804 is connected to the 24th interface 24 of the nine axis sensing chip U900, the resistance by resistance R902
The other end of R804 is also connected to the first power supply 3.3V；The 22nd interface 22 of the nine axis control chip U800 and institute
One end electrical connection of resistance R803 is stated, the other end of the resistance R803 is connected to the nine axis sensing chip by resistance R900
The 23rd interface 23 of U900, the other end of the resistance R803 are also connected to the first power supply 3.3V；
The 26th interface 26 of the nine axis control chip U800 is also grounded by capacitance C804, and nine axis controls core
The 26th interface 26 of piece U800 is also connected to the first power supply 3.3V by resistance R800, and nine axis controls chip
One hundred one ten interface 110 of the 26th interface 26 of U800 also with the controller 1 (U100) is electrically connected.
The 28th interface 28 of the nine axis control chip U800 is grounded, and the 20th of the nine axis control chip U800 the
Nine interfaces 29 are also grounded by capacitance C803；The 30th interface 30 and the first power supply 3.3V electricity of the nine axis control chip U800
Connection, the 30th interface 30 of the nine axis control chip U800 are also grounded by capacitance C801；Nine axis controls chip
The 31st interface 31 of U800 is electrically connected with the 4th interface 4 of the connector P800；The nine axis control chip U800's
32nd interface 32 is electrically connected with the second interface 2 of the connector P800；The 30th of the nine axis control chip U800
Three interfaces 33 are grounded.
The present invention also provides a kind of another embodiment of the kinetic control system of robot, as shown in fig. 6, including：
Host computer 2, controller 1, robot chassis 3, pose collecting unit 4, encoder 31：
The controller 1 is communicated to connect with the host computer 2, receives the motion control signal that the host computer 2 issues,
And the motion control signal is parsed, obtain movement linear velocity and angular velocity of satellite motion；
The controller 1 is electrically connected with the robot chassis 3, according to the movement linear velocity and the movement angle
Robot chassis 3 moves described in speed control；
The pose collecting unit 4 is electrically connected with the controller 1, when robot is moved, acquires robot
First exercise data；And pass through the controller 1 and send first exercise data to the host computer 2；
The encoder 31 at the motor driver on the robot chassis 3, is electrically connected with the controller 1
It connects；When robot is moved, the second exercise data of robot is acquired；And pass through the controller 1 to the host computer 2
Send second exercise data；
First exercise data and second exercise data that the host computer 2 is forwarded according to the controller 1, it is right
The robot carries out pose calibration, and updates motion control signal, and updated motion control signal is issued to the control
Device 1 processed.
Preferably, system further includes multiple touching sensing units 5：The multiple touching sensing unit 5 is disposed around institute respectively
The outside on robot chassis 3 is stated, whether detection robot during the motion, touches barrier in all directions；Work as inspection
It measures when touching barrier in one direction, touching signal is sent to the host computer 2 by the controller 1；It is described
Host computer 2 adjusts the motion control signal of the robot according to the touching signal, and after the controller 1 issues adjustment
Motion control signal.
Preferably, system further includes multiple ranging sensing units 6：The multiple ranging sensing unit 6 is disposed around institute respectively
It states the outside on robot chassis 3 and the multiple ranging sensing unit 6 is set towards ground；It acquires to the distance on the ground
Data, and the range data is sent to the host computer 2 by the controller 1；The host computer 2 is analyzed described apart from number
According to if the range data exceeds pre-determined distance data area, adjusting the motion control signal of the robot, and to described
Controller 1 issues the motion control signal after adjustment.
Preferably, system further includes chassis power control circuit 7：The controller 1 controls electricity by the chassis power supply
Road 7 is electrically connected with the robot chassis 3, and the controller 1 is also electrically connected with scram button；When the triggering scram button
When, the controller 1 sends emergency stop control signal to the chassis power control circuit 7；The chassis power control circuit 7 connects
After receiving the emergency stop control signal, the chassis power control circuit 7 is disconnected, stops powering to the robot chassis 3.
Specifically, in the present embodiment, multiple touching sensing units 5 are respectively equipped on robot chassis 3, such as Fig. 7, Fig. 8, figure
9th, shown in Figure 10, the touching sensing unit 5 includes touch sensor, and the touch sensor is connected to the one of connector P703
End, the first interfaces 1 of the connector P703 other ends, third interface 3, the 5th interface 5 respectively with controller 1 (U100) the
73 interfaces 73, the 74th interface 74,75 interfaces 75 are electrically connected；The first interface 1 of the touching device P703, the
Three interfaces 3, the 5th interface 5 are also respectively by protecting device D702, D705, D708 to be grounded；The first of the touching device P703
Interface 1, third interface 3, the 5th interface 5 are also connected to the first power supply 3.3V by resistance R703, R707, R712 respectively；It is described
The second interface 2 of touching device P703, the 4th interface 4, the 6th interface 6 are grounded.Remaining touching device connection method with it is above-mentioned
Unanimously, details are not described herein again.
During robot ambulation, many barriers are can be potentially encountered, if previous robot collides barrier, meeting
Continue that former motion scheme is kept to continue to move, otherwise be exactly to walk on against barrier, otherwise since barrier is larger, cause
Before robot is stuck in barrier, it is impossible to walk.Since the outside on robot chassis 3 is mounted with multiple touch sensors, in machine
When touch sensor on people touches barrier, touching signal can be sent to the controller 1, the controller 1 is to described
2 adornment of host computer sends out touching signal described, and after the host computer 2 receives the touching signal, it is which touching passes that can parse
The signal that sensor uploads, it is thus understood that robot encounters barrier on which direction.Host computer 2 can adjust the fortune of robot
Dynamic scheme, adjusts motion control signal, and robot is allowed to get around barrier and continues to move.
Multiple ranging sensing units 6 are further respectively had on robot chassis 3, are connected by ranging sensing circuit and controller 1
It connects, as shown in figure 11, the ranging sensing unit 6 is connected to one end of connector P700, the other end of the connector P700
Respectively there are four interface, the first interface 1 of the connector P700 is connected to second source 5V, and the first of the connector P700
Interface 1 is also grounded by capacitance C700；The third interface 3 of the connector P700 and the 110th of controller 1 (U100) the
Seven interfaces 117 are electrically connected, and the third interface 3 of the connector P700 is also connected to the connector P700's by resistance R702
First interface 1, the third interface of the connector P700 are also grounded by resistance R704；The 4th interface of the connector P700
4 ground connection.The connection method of remaining touching device is consistent with the above, and details are not described herein again.
Since robot is during walking, road surface is probably irregular, for example, some places will appear it is many big
Big slight hole.If robot cannot discover, it is most likely that fall into during exercise in hole or tire is stuck in hole, lead to machine
Device people cannot move.In the present invention, multiple ranging sensing units 6 in robot are installed, robot periphery can be detected
Road conditions adjust the motion scheme of robot convenient for host computer 2.For example, when cheating, between fall-proofing device acquisition and ground
Range data can become larger, if more than a certain range, then show that this hole is deep, host computer 2 can judge that robot is entered into hole
Can be dangerous, the motion scheme of robot is adjusted, robot is avoided to fall into hole.
Since robot has certain inertia in the process of walking, it is therefore desirable to the ground on sniffing robot periphery in advance
Situation.Preferably, the multiple ranging sensing unit 6 can have certain gradient, detectable robot surrounding certain distance
In the range of the ranging sensing unit 6 arrive the ground range data.The ground on ground will be reached by sensing robot in advance with this
Face situation.
Be not in inevitably the uncontrolled situation of robot since the kinetic control system in robot is more complicated.
Therefore scram button is also mounted in the case where robot is uncontrolled in the present invention in robot, it is only necessary to press emergency stop
Button, it is possible to cut off the power source of robot, make robot stop motion.Its chassis power control circuit 7 is as shown in figure 12.
Including emergency stop switch sub-circuit and emergency stop optocoupler sub-circuit.
The first interface 1 that the emergency stop optocoupler sub-circuit includes photoelectrical coupler U601, the photoelectrical coupler U601 is logical
Cross the 26th interface 26 that resistance R606 is connected to controller 1 (U100)；The second interface 2 of the photoelectrical coupler U601 is logical
Cross the 26th interface 26 that resistance R609 is connected to controller 1 (U100)；The second interface 2 of the photoelectrical coupler U601 connects
Ground；The third interface 3 of the photoelectrical coupler U601 is grounded；The 4th interface 4 and emergency stop switch of the photoelectrical coupler U601
Sub-circuit is electrically connected.
The emergency stop switch sub-circuit includes the drain D of mos pipes Q600, the mos pipes Q600 and the robot chassis 3
Electrical connection.The grid G of the mos pipes Q600 is electrically connected with one end of resistance R601, the other end and resistance of the resistance R601
One end electrical connection of R604, the other end of the resistance R604 is by described in resistance R607 and the emergency stop optocoupler sub-circuit
The 4th interface 4 of photoelectrical coupler U601 is electrically connected；The other end of the resistance R604 also passes sequentially through resistance R608, capacitance
C606 is electrically connected with the drain D of the mos pipes.
The source S of the mos pipes is electrically connected with the cathode of diode D602, and the anode of the diode D602 is connected to electricity
The other end of R601 is hindered, the anode of the diode D602 is also connected to one end of resistance R603, and the resistance R603's is another
End is connected to the 4th interface 4 of photoelectrical coupler U601.The source S of the mos pipes is also connected to resistance by filtering sub-circuit
One end of R603, the filtering sub-circuit include capacitance C605 in parallel and resistance R600.The source S of the mos pipes also with electricity
Pond connects.
When pressing scram button, controller 1 can send emergent stop signal, the bottom to the chassis power control circuit 7
After emergency stop optocoupler sub-circuit in disk power control circuit 7 receives the emergent stop signal, emergency stop optocoupler sub-circuit will disconnect,
The mos pipes stopped into the emergency stop switch sub-circuit provide conducting voltage, disconnect the emergency stop switch sub-circuit, the bottom
Disk power control circuit 7 stops powering to robot chassis 3.
As shown in figure 13, the present invention also provides a kind of another embodiment of the kinetic control system of robot, including：
Host computer 2, controller 1, robot chassis 3, pose collecting unit 4, encoder 31：
The controller 1 is communicated to connect with the host computer 2, receives the motion control signal that the host computer 2 issues,
And the motion control signal is parsed, obtain movement linear velocity and angular velocity of satellite motion；
The controller 1 is electrically connected with the robot chassis 3, according to the movement linear velocity and the movement angle
Robot chassis 3 moves described in speed control；
The pose collecting unit 4 is electrically connected with the controller 1, when robot is moved, acquires robot
First exercise data；And pass through the controller 1 and send first exercise data to the host computer 2；
The encoder 31 at the motor driver on the robot chassis 3, is electrically connected with the controller 1
It connects；When robot is moved, the second exercise data of robot is acquired；And pass through the controller 1 to the host computer 2
Send second exercise data；
First exercise data and second exercise data that the host computer 2 is forwarded according to the controller 1, it is right
The robot carries out pose calibration, and updates motion control signal, and updated motion control signal is issued to the control
Device 1 processed.
Preferably, system further includes multiple touching sensing units 5：The multiple touching sensing unit 5 is disposed around institute respectively
The outside on robot chassis 3 is stated, whether detection robot during the motion, touches barrier in all directions；Work as inspection
It measures when touching barrier in one direction, touching signal is sent to the host computer 2 by the controller 1；It is described
Host computer 2 adjusts the motion control signal of the robot according to the touching signal, and after the controller 1 issues adjustment
Motion control signal.
Preferably, system further includes multiple ranging sensing units 6：The multiple ranging sensing unit 6 is disposed around institute respectively
It states the outside on robot chassis 3 and the multiple ranging sensing unit 6 is set towards ground；It acquires to the distance on the ground
Data, and the range data is sent to the host computer 2 by the controller 1；The host computer 2 is analyzed described apart from number
According to if the range data exceeds pre-determined distance data area, adjusting the motion control signal of the robot, and to described
Controller 1 issues the motion control signal after adjustment.
Preferably, system further includes chassis power control circuit 7：The chassis power control circuit 7, respectively with the control
Device 1 processed, the robot chassis 3 are electrically connected, and the controller 1 is also electrically connected with scram button；When the triggering scram button
When, the controller 1 sends emergency stop control signal to the chassis power control circuit 7；The chassis power control circuit 7 connects
After receiving the emergency stop control signal, the chassis power control circuit 7 is disconnected, stops powering to the robot chassis 3.
Preferably, the controller 1 is communicated or is led to the host computer 2 by USB serial bus communications circuit 9
Can bus communication circuitries 8 are crossed to communicate with the host computer 2.
Preferably, the controller 1 by the RS-232 telecommunication circuits 10 and/or the PWM telecommunication circuits 11 to institute
It states robot chassis 3 and issues the motion control signal；The encoder 31 in the robot chassis 3 passes through the RS-
232 telecommunication circuits 10 upload second exercise data to the controller 1.
Preferably, left driving motor 32, right driving motor 33, left driving wheel 34, the right side are further included in the robot chassis 3
Driving wheel 35, the left motor driver are sequentially connected with the left driving wheel 34, the right motor driver and the right drive
Driving wheel 35 is sequentially connected；The controller 1 communicates to connect respectively with the left driver, the right driver；The controller 1
Parse the motion control signal, obtain left driving wheel 34 in robot chassis 3 movement linear velocity and angular velocity of satellite motion and
The movement linear velocity and angular velocity of satellite motion of right driving wheel 35；The controller 1 by the movement linear velocity of the left driving wheel 34 and
Angular velocity of satellite motion is sent to the left driver, and the movement linear velocity of the right driving wheel 35 and angular velocity of satellite motion are sent to
It is sent to the right driver；The left driver controls the left side according to the movement linear velocity and angular velocity of satellite motion of left driving wheel 34
Driving wheel 34 is moved, and the right driver is according to the movement linear velocity and angular velocity of satellite motion of the right driving wheel 35, control
The right driving wheel 35 is moved.
The controller 1 passes through USB serial bus communications circuit 9 or can bus communication circuitries 8 and 2 electricity of host computer
Connection；
The controller 1 is also single with the pose collecting unit 4, the encoder 31, the multiple touching sensing respectively
Member 5, the multiple ranging sensing unit 6, the robot chassis 3 are electrically connected；
The controller 1 is also electrically connected by the chassis power control circuit 7 with the robot chassis 3.
The controller 1 also passes through the PWM telecommunication circuits 11 and the RS-232 telecommunication circuits 10 and the robot
Chassis 3 is electrically connected.
It is string respectively specifically, present embodiments providing the communication mode of two kinds of controllers 1 and the host computer 2
Row bus communicates or is communicated by can buses, can also be by the in the case where a kind of communication port fails
Two kinds of communication ports communicate.
USB serial bus communications circuit 9 is as shown in Figure 14, Figure 15, including USB switching chip U1000 (models
CH340G).First interface 1 (GND, the ground terminal) ground connection of the USB switching chips U1000.The USB switching chips U1000
Second interface 2 (TXD ends, for serial data export) controller 1 (U100) is connected to by resistance R1002, resistance R112
The 37th interface 37.The third interface 3 (RXD ends, for serial date transfer) of the USB switching chips U1000 passes through
Resistance R1004, resistance R111 are connected to the 36th interface 36 of controller 1 (U100).The USB switching chips U1000's
(V3 ends connect VCC ends in 3.3V supply voltages to 4th interface 4, input external power supply；The external capacity in 5V supply voltages
For 0.01uF decoupling capacitances) it is grounded by capacitance C1001, the 4th interface 4 of the USB switching chips U1000 also passes through resistance
R1000 is connected to the 16th interface 16 (VCC power ends) of the USB switching chips U1000.
The 16th interface 16 of the USB switching chips U1000 is also connected to the first power supply 3.3V, institute by resistance 1003
It states the 16th interface 16 of USB switchings chip U1000 and is also connected to the of the USB conversion ports P1000 by resistance R1001
One interface 1；The 5th interface 5 of the USB switching chips U1000 is connected to the third interface 3 of the USB conversion ports P1000；
The 6th interface 6 of the USB switching chips U1000 is connected to the second interface 2 of the USB conversion ports P1000；The USB
The 7th interface 7 of switching chip U1000 is grounded by capacitance C1001, and the 7th interface 7 of the USB switching chips U1000 also connects
It is connected to the first interface of crystal oscillator Y1000；The 8th interface 8 of the USB switching chips U1000 is connected to the third of crystal oscillator Y1000
Interface；The 8th interface 8 of the USB switching chips U1000 is also grounded by capacitance C1002；The second of the crystal oscillator Y100 connects
2 and the 4th interface 4 of mouth is grounded respectively.The USB conversion ports P1000 is connected to host computer 2, realizes USB serial communications.
Can bus communication circuitries 8 are as shown in figure 16, including can transceivers (model TJA1040T) U400, the can
One hundred zero four interface of the first interface 1 (TXD ends input for transmission data) of transceiver U400 with controller 1 (U100)
104 electrical connections.Second interface 2 (GND ground terminals) ground connection of the can transceivers.The third interface 3 of the can transceivers
(VCC power ends) is connected to second source 5V by resistance R400, and the third interface 3 of the can transceivers also passes through capacitance
C400 is connected to the second interface 2 of can transceivers.The can transceivers the 4th interface 4 (RXD ends, it is defeated for receiving data
Go out, data read from bus) it is electrically connected with the 103rd interface 103 of controller 1 (U100).The of the can transceivers
Eight interfaces 8 (standby mode control signal STB) are grounded.
6th interface 6 (low level end CANL) of the can transceivers and Can bus common mode inductance L400 (its model
744235510) second interface 2 is electrically connected, the 7th interface 7 (high level end CANH) and inductance coil of the can transceivers
The first interface 1 of L400 is electrically connected.The third interface 3 of the inductance coil L400 is connected to the inductor wire by resistance R401
The 4th interface 4 of L400 is enclosed, the third interface 3 of the inductance coil L400 is also with protecting device D400 (models
PESD5V0U1BL it) is grounded, the third interface 3 of the inductance coil L400 is connected to the first interface 1 of connector P401.It is described
The 4th interface 4 of inductance coil L400 is also grounded with protection device D401 (model PESD5V0U1BL), the inductance coil
The 4th interface 4 of L400 is connected to the second interface 2 of connector P401.
Controller 1 controls the robot to walk, and the motion control signal specifically is issued to the machine
Left motor driver and right motor driver in people chassis 3, the left motor driver control the left driving wheel 34 into
Row movement, the right motor driver control the right driving wheel 35 to be moved.Wherein controller 1 can pass through the PWM
Telecommunication circuit 11, and/or the RS-232 telecommunication circuits 10, under the left motor driver and the right motor driver
Send out motion control signal.The encoder 31 to the controller 1 upload second exercise data when, now described second is transported
Dynamic data are sent to the left motor driver and right motor driver, the left motor driver and right motor driver
By the RS-232 telecommunication circuits 10, second exercise data is uploaded into the controller 1.In addition to this, PWM communicates
Circuit 11, and/or the RS-232 telecommunication circuits 10 can be also used for the transmission of other data, be not limited to only transmit described second
Exercise data and motion control signal.
The RS-232 telecommunication circuits 10 are as shown in Figure 17, Figure 18, including RS-232 signal conversion chip U301 (models
) and two serial ports P300, the serial ports P302 being connect respectively with robot chassis 3 SP3232EEN-L/TR.
The first interface 1 of serial ports P300 (model 68800311622) is with the RS-232 signals conversion chip U301's
7th interface 7 is electrically connected, and the first interface 1 of the serial ports P300 is also by protecting device D302 (model PESD5V0U1BL)
Ground connection；The second interface 2 of the serial ports P300 is electrically connected with the 8th interface 8 of the RS-232 signals conversion chip U301, institute
The second interface 2 of serial ports P300 is stated also by the way that device D303 (model PESD5V0U1BL) is protected to be grounded；The serial ports P300's
Third interface 3 is grounded.
The first interface 1 of serial ports P302 (model 68800311622) is with the RS-232 signals conversion chip U301's
14th interface 14 is electrically connected, and the first interface 1 of the serial ports P302 is also by protecting device D304 (models
PESD5V0U1BL it) is grounded；The second interface 2 of the serial ports P302, the with the RS-232 signals conversion chip U301 the 13rd
Interface 13 is electrically connected, and the second interface 2 of the serial ports P302 is also by protecting device D305 (model PESD5V0U1BL) to connect
Ground；The third interface 3 of the serial ports P302 is grounded.
The first interface 1 of the RS-232 signals conversion chip U301 is converted by capacitance C308 and the RS-232 signals
The third interface 3 of chip U301 is electrically connected；The 4th interface 4 of the RS-232 signals conversion chip U301 by capacitance C309 with
The 5th interface 5 of the RS-232 signals conversion chip U301 is electrically connected；The second of the RS-232 signals conversion chip U301
Interface 2 is grounded by capacitance C300；The 6th interface 6 of the RS-232 signals conversion chip U301 is grounded by capacitance C301；
The 16th interface of the RS-232 signals conversion chip U301 is grounded by capacitance C302, the RS-232 signals conversion chip
The 16th interface of U301 is also connected to the first power supply 3.3V；The 15th interface 15 of the RS-232 signals conversion chip U301
Ground connection.
The 11st interface 11 of the RS-232 signals conversion chip U301 passes through resistance R113 and controller 1 (U100)
101st interface 101 is electrically connected；The 12nd interface 12 of the RS-232 signals conversion chip U301 passes through resistance R114
It is electrically connected with the 102nd interface 102 of controller 1 (U100)；The tenth interface of the RS-232 signals conversion chip U301
10 are electrically connected by resistance R116 with the 69th interface 69 of controller 1 (U100)；The RS-232 signals conversion chip
The 9th interface 9 of U301 is electrically connected by resistance R117 with the 70th interface 70 of controller 1 (U100).
The PWM telecommunication circuits 11 are as shown in Figure 19, Figure 20, including connector P500, connector P501.The connector
One end of P501 is connected to left motor driver, and there are four interface, the first interfaces 1 and third of the connector P501 for the other end
Interface 3 is connected to second source 5V；The second interface 2 of the connector P501 is connected to triode Q503's by resistance R505
Collector C；The emitter E ground connection of the triode Q503；The base stage of the triode Q503 passes through resistance R507 and controller 1
(U100) the 91st interface 91 is electrically connected；The 4th interface 4 of the connector P501 is connected to three poles by resistance R501
The emitter ground connection of the collector C, the triode Q501 of pipe Q501, the base stage of the triode Q501 by resistance R503 with
35th interface 35 of the controller 1 (U100) is electrically connected.
One end of the connector P500 is connected to right motor driver, and there are four interface, the connectors for the other end
The first interface 1 and third interface 3 of P500 is connected to second source 5V；The second interface 2 of the connector P500 passes through resistance
R504 is connected to the collector C of triode Q502；The emitter E ground connection of the triode Q502；The base of the triode Q502
Pole is electrically connected by resistance R506 with the 47th interface 47 of controller 1 (U100)；The 4th interface 4 of the connector P500
The emitter ground connection of the collector C, the triode Q501 of triode Q500, the triode are connected to by resistance R500
The base stage of Q501 is electrically connected by resistance R502 with the 46th interface 46 of the controller 1 (U100).
As shown in figure 21, the present invention provides a kind of one embodiment of the motion control method of robot, including：
Controller receives and parses through the motion control signal that the host computer issues, and obtains movement velocity；
The robot bobbin movement is controlled according to the movement velocity；
When robot is moved, pose collecting unit acquires the first exercise data of robot；And pass through the control
Device processed sends first exercise data to the host computer；Encoder acquires the second exercise data of robot；And pass through institute
It states controller and sends second exercise data to the host computer；
The host computer carries out pose according to first exercise data and second exercise data to the robot
Calibration, and the motion control signal is updated, updated motion control signal is issued to the controller.
Specifically, after the host computer issues motion control signal by the controller to the robot chassis,
The controller can parse the control signal and obtain movement linear velocity and angular velocity of satellite motion, robot can be controlled to carry out arbitrary
Movement on direction.
In robot kinematics, host computer needs know which position robot is currently in real time, to give machine
Device people issues new motion control signal.Therefore it needs that the device for acquiring robot motion conditions is installed in robot.With
Past, host computer only solely obtains the exercise data of encoder acquisition to understand the pose situation of robot, but encoder
The data acquired each time can all have certain error, over time after, it is most likely that cause pose situation inaccurate.This hair
It is bright to employ pose collecting unit, the exercise data of robot is acquired simultaneously with encoder, and be aggregated into host computer, to the machine
Device people carries out pose calibration, the posture information that host computer is got can be made more accurate, the motion control issued to robot
Instruction can more precisely control robot and be moved.
The present invention provides a kind of one embodiment of the motion control method of robot, including：
Controller receives and parses through the motion control signal that the host computer issues, and obtains movement velocity；
The robot bobbin movement is controlled according to the movement velocity；
When robot is moved, pose collecting unit acquires the first exercise data of robot；And pass through the control
Device processed sends first exercise data to the host computer；Encoder acquires the second exercise data of robot；And pass through institute
It states controller and sends second exercise data to the host computer；
The host computer carries out pose according to first exercise data and second exercise data to the robot
Calibration, and the motion control signal is updated, updated motion control signal is issued to the controller.
Preferably, whether multiple touching sensing units detect robot during the motion respectively, touch in all directions
Encounter barrier；When detect touch barrier in one direction when, sent by the controller to the host computer
Touch signal；The host computer adjusts the motion control signal of the robot according to the touching signal, and to the control
Device issues the motion control signal after adjustment.
Preferably, the multiple ranging sensing unit is acquired respectively to the range data on the ground, and passes through the control
Device processed sends the range data to the host computer；The host computer analyzes the range data, if the range data surpasses
When going out pre-determined distance data area, the motion control signal of the robot is adjusted, and after the controller issues adjustment
Motion control signal.
Preferably, when triggering the scram button, the controller sends emergency stop to the chassis power control circuit
Control signal；After the chassis power control circuit receives the emergency stop control signal, the chassis power supply control electricity is disconnected
Road stops powering to the robot chassis.
Preferably, the controller is communicated by RS-232 and/or PWM communicates and issues the fortune to the robot chassis
Dynamic control signal；The encoder in the robot chassis is communicated by the RS-232 to described in controller upload
Second exercise data.
Preferably, the controller parses the motion control signal, obtains the line of motion of left driving wheel in running gear
The movement linear velocity and angular velocity of satellite motion of speed and angular velocity of satellite motion and right driving wheel；The controller is by the left driving
The movement linear velocity and angular velocity of satellite motion of wheel are sent to the left driver, by the movement linear velocity of the right driving wheel and movement
Angular speed is sent to the right driver；The left driver is according to the movement linear velocity of left driving wheel and movement angle speed
Degree controls the left driving wheel to be moved, and the right driver is according to the movement linear velocity of the right driving wheel and movement angle speed
Degree, controls the right driving wheel to be moved.
Preferably, the controller carries out USB serial bus communications with the host computer or is carried out with the host computer
Can bus communications communicate.
Specifically, multiple touching sensing units can be equipped on robot chassis, respectively around robot chassis.
The touching sensing unit includes touch sensor, during robot ambulation, can be potentially encountered many barriers, previous machine
It if device people collides barrier, will continue to that former motion scheme is kept to continue to move, otherwise be exactly to walk on against barrier,
Otherwise since barrier is larger, before robot is caused to be stuck in barrier, it is impossible to walk.Due to being mounted on the outside of robot chassis
Multiple touch sensors when the touch sensor in robot touches barrier, can send touching letter to the controller
Number, the controller sends out touching signal described to the host computer adornment, after the host computer receives the touching signal, meeting
Parsing is the signal which touch sensor uploads, it is thus understood that robot encounters barrier on which direction.Host computer
The motion scheme of robot can be adjusted, adjusts motion control signal, robot is allowed to get around barrier and continues to move.
Multiple ranging sensing units are also equipped on the chassis of robot.Since robot is in the process of walking
In, road surface is probably irregular, for example some places will appear many big and small holes.If robot cannot discover, pole
It is possible that falling into during exercise in hole or tire is stuck in hole, cause robot that cannot move.In the present invention, in robot
On multiple ranging sensing units are installed, the road conditions on robot periphery can be detected, convenient for host computer adjustment robot movement
Scheme.For example, when cheating, the range data between fall-proofing device acquisition and ground can become larger, if more than a certain range,
Then show that this hole is deep, host computer can judge robot enter into hole in can it is dangerous, adjust the motion scheme of robot, avoid
Robot is fallen into hole.
Since robot has certain inertia in the process of walking, it is therefore desirable to the ground on sniffing robot periphery in advance
Situation.Preferably, the multiple ranging sensing unit can have certain gradient, detectable robot surrounding certain distance model
The interior ranging sensing unit is enclosed to the range data on the ground.The ground feelings on ground will be reached by sensing robot in advance with this
Condition.
Be not in inevitably the uncontrolled situation of robot since the kinetic control system in robot is more complicated.
Therefore scram button is also mounted in the case where robot is uncontrolled in the present invention in robot, it is only necessary to press emergency stop
Button, it is possible to cut off the power source of robot, make robot stop motion.
It should be noted that above-described embodiment can be freely combined as needed.The above is only the preferred of the present invention
Embodiment, it is noted that for those skilled in the art, in the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of kinetic control system of robot, which is characterized in that adopted including host computer, controller, robot chassis, pose
Collect unit, encoder：
The controller is electrically connected with the host computer and the robot chassis, receives and parses through under the host computer respectively
The motion control signal of hair obtains movement velocity, and controls the robot bobbin movement according to the movement velocity；
The pose collecting unit, is electrically connected with the controller, when robot is moved, acquires the first fortune of robot
Dynamic data；And pass through the controller and send first exercise data to the host computer；
The encoder is electrically connected with the controller；When robot is moved, the second movement number of robot is acquired
According to；And pass through the controller and send second exercise data to the host computer；
The host computer carries out pose school according to first exercise data and second exercise data to the robot
Standard, and the motion control signal is updated, updated motion control signal is issued to the controller.
2. the kinetic control system of a kind of robot according to claim 1, which is characterized in that further include multiple touchings and pass
Feel unit：
The multiple touching sensing unit is disposed around the outside on the robot chassis respectively, and detection robot is in motion process
In, whether touch barrier in all directions；
When detect touch barrier in one direction when, by the controller to the host computer send touching letter
Number；
The host computer adjusts the motion control signal of the robot, and issue to the controller according to the touching signal
Motion control signal after adjustment.
3. the kinetic control system of a kind of robot according to claim 1, which is characterized in that further include multiple rangings and pass
Feel unit：
The multiple ranging sensing unit is disposed around the outside on the robot chassis and the multiple ranging sensing unit respectively
It is set towards ground；Acquire to the range data on the ground, and pass through the controller to the host computer send it is described away from
From data；
The host computer analyzes the range data, if the range data exceeds pre-determined distance data area, described in adjustment
The motion control signal of robot, and issue the motion control signal after adjustment to the controller.
4. the kinetic control system of a kind of robot according to claim 1, which is characterized in that further include chassis power supply control
Circuit processed：
The controller is electrically connected by the chassis power control circuit with the robot chassis, the controller also with urgency
Stop button electrical connection；
When triggering the scram button, the controller sends emergency stop control signal to the chassis power control circuit；
After the chassis power control circuit receives the emergency stop control signal, the chassis power control circuit is disconnected, is stopped
Only power to the robot chassis.
5. the kinetic control system of a kind of robot according to any one of claims 1 to 4, which is characterized in that also wrap
Include RS-232 telecommunication circuits and PWM telecommunication circuits：
The controller is electrically connected with the RS-232 telecommunication circuits, the RS-232 telecommunication circuits and robot chassis electricity
Connection；The controller is electrically connected with the PWM telecommunication circuits, and the PWM telecommunication circuits are electrically connected with the robot chassis；
The controller is issued by the RS-232 telecommunication circuits and/or the PWM telecommunication circuits to the robot chassis
The motion control signal；
The encoder in the robot chassis uploads described the by the RS-232 telecommunication circuits to the controller
Two exercise datas.
6. a kind of motion control method of robot, which is characterized in that including：
Controller receives and parses through the motion control signal that the host computer issues, and obtains movement velocity, and according to described
Movement velocity controls the robot bobbin movement；
When robot is moved, pose collecting unit acquires the first exercise data of robot；And pass through the controller
First exercise data is sent to the host computer；Encoder acquires the second exercise data of robot；And pass through the control
Device processed sends second exercise data to the host computer；
The host computer carries out pose school according to first exercise data and second exercise data to the robot
Standard, and the motion control signal is updated, updated motion control signal is issued to the controller.
7. a kind of motion control method of robot according to claim 6, it is characterised in that：
Multiple touching sensing units detect robot during the motion respectively, whether touch barrier in all directions；
When detect touch barrier in one direction when, by the controller to the host computer send touching letter
Number；
The host computer adjusts the motion control signal of the robot, and issue to the controller according to the touching signal
Motion control signal after adjustment.
8. a kind of motion control method of robot according to claim 6, it is characterised in that：
The multiple ranging sensing unit is acquired respectively to the range data on the ground, and passes through the controller on described
Position machine sends the range data；
The host computer analyzes the range data, if the range data exceeds pre-determined distance data area, described in adjustment
The motion control signal of robot, and issue the motion control signal after adjustment to the controller.
9. a kind of motion control method of robot according to claim 6, it is characterised in that：
When triggering the scram button, the controller sends emergency stop control signal to the chassis power control circuit；
After the chassis power control circuit receives the emergency stop control signal, the chassis power control circuit is disconnected, is stopped
Only power to the robot chassis.
10. a kind of motion control method of robot according to any one of claim 6~9, it is characterised in that：
The controller is communicated by RS-232 and/or PWM communicates and issues the motion control signal to the robot chassis；
The encoder in the robot chassis is communicated by the RS-232 uploads second fortune to the controller
Dynamic data.
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Cited By (1)
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| WO2021121079A1 (en) * | 2019-12-18 | 2021-06-24 | 京东数科海益信息科技有限公司 | Control device of lifting platform for detection device and detection device |
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| WO2021121079A1 (en) * | 2019-12-18 | 2021-06-24 | 京东数科海益信息科技有限公司 | Control device of lifting platform for detection device and detection device |
| US11933452B2 (en) | 2019-12-18 | 2024-03-19 | Jingdong Technology Information Technology Co., Ltd. | Control device of lifting platform for detection device and detection device |
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