CN109623809A - A kind of intelligent robot control system - Google Patents
A kind of intelligent robot control system Download PDFInfo
- Publication number
- CN109623809A CN109623809A CN201710928428.6A CN201710928428A CN109623809A CN 109623809 A CN109623809 A CN 109623809A CN 201710928428 A CN201710928428 A CN 201710928428A CN 109623809 A CN109623809 A CN 109623809A
- Authority
- CN
- China
- Prior art keywords
- module
- submodule
- control system
- intelligent robot
- robot control
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
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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
- B25J13/003—Controls for manipulators by means of an audio-responsive input
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/24—Floor-sweeping machines, motor-driven
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4011—Regulation of the cleaning machine by electric means; Control systems and remote control systems therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
- B25J13/006—Controls for manipulators by means of a wireless system for controlling one or several manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/021—Optical sensing devices
- B25J19/023—Optical sensing devices including video camera means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
Abstract
The invention discloses a kind of intelligent robot control systems, including USB jack, power supply module, central processing unit and PLC controller, the power supply module is bi-directionally connected with USB jack, and another five output ends of power supply module respectively with obstacle detection module, clean module, mop floor module, water squeezing module is connected with the input terminal of shock-absorbing anticollision module, and obstacle detection module includes ultrasonic distance measuring module, inclination angle measurement module, laser ranging module and infrared obstacle avoidance module, the obstacle detection module, clean module, mop floor module, the output end of water squeezing module and shock-absorbing anticollision module is connected by the input terminal of analog-digital converter and central processing unit.PLC controller is passed sequentially through 4G communication module and 4G gateway to the present invention and remote mobile terminal realizes two-way communication, people only need to use the mobile phone of access 4G network with regard to remote controlled robot, the diversification of control mode is improved, is brought great convenience for the use of people.
Description
Technical field
The present invention relates to robotic technology field, specially a kind of intelligent robot control system.
Background technique
With development in science and technology and progress, the function that robot can be realized is more and more abundant, has also obtained more and more extensive
Application, such as can according to it is predetermined programming execute operation industrial multi-joint manipulator or multi-freedom robot, can
The domestic robot of the work such as being entertained, cooked, guarded, the construction robot etc. that brick can be removed, build a wall, transport etc.,
Some aspects, robot can replace the mankind to work in some severe, dangerous environment, and can hold instead of the mankind
The some uninteresting dull repeatability of row are worked, and in people's daily life, when cleaning room sanitation, need to waste great body
Power is unfavorable for people's lives, then occurs sweeping robot in the market, but existing sweeping robot is all manual or remote control
Device control, is unable to satisfy the demand that people remotely control, for this purpose, it is proposed that a kind of intelligent robot control system.
Summary of the invention
It is mentioned above in the background art to solve the purpose of the present invention is to provide a kind of intelligent robot control system
Problem.
To achieve the above object, the invention provides the following technical scheme: a kind of intelligent robot control system, including USB
Socket, power supply module, central processing unit and PLC controller, the power supply module is bi-directionally connected with USB jack, and power supply module
Another five output ends respectively with obstacle detection module, clean the defeated of module, the module that mops floor, water squeezing module and shock-absorbing anticollision module
Enter end connection, and obstacle detection module includes ultrasonic distance measuring module, inclination angle measurement module, laser ranging module and infrared obstacle avoidance
Module, the obstacle detection module, the output end for cleaning module, the module that mops floor, water squeezing module and shock-absorbing anticollision module pass through mould
The connection of the input terminal of number converter and central processing unit, and the input terminal of central processing unit also passes through speech recognition module and image
Identification module is connect with the output end of speech reception module and image pickup module respectively, the output end of the central processing unit with
The input terminal of PLC controller connects, and the output end of another input terminal of PLC controller and remote controler connects, PLC controller
Output end pass through the input terminal of drive module and steering module and walking module respectively and connect, the PLC controller is successively led to
It crosses 4G communication module and 4G gateway and remote mobile terminal realizes two-way communication.
Preferably, the ultrasonic distance measuring module includes square-wave transmission submodule, transmitting amplification submodule, ultrasonic wave transmitting
Submodule, ultrasonic wave receiving submodule, reception amplification submodule, detection submodule, ultrasonic inspection receiving submodule, inspection connect
The big submodule of folding and unfolding and inspection detection submodule, in which: square-wave transmission submodule is connected with transmitting amplification submodule and the side of transmission
Wave signal, transmitting amplification submodule are connected with ultrasonic wave transmitting submodule and transmit enlarged square-wave signal, and ultrasonic wave receives
Submodule is connected with reception amplification submodule and transmits the ultrasonic signal received, receives amplification submodule and detection submodule
It is connected and transmits the ultrasonic signal of amplification, ultrasonic inspection receiving submodule is connected and transmits with inspection reception amplification submodule
The ultrasonic signal received is examined and receives the ultrasonic wave letter that amplification submodule is connected with inspection detection submodule and transmits amplification
Number.
Preferably, the laser ranging module includes Laser emission component, echo reception and pre-processing assembly, local reception
And pre-processing assembly and FPGA processor.
Preferably, the infrared obstacle avoidance module includes infrared light emission module, infrared light emission lens group, infrared light-receiving
Lens group and optical signal processing unit.
Preferably, the infrared light emission module is infrared LED or laser, launches the luminous peak position of infrared ray nine
Between hundred to one thousand six hundred nanometer.
Preferably, the cleaning module includes cleaning motor and brush sweeper, and the quantity of brush sweeper is at least three,
It is sequentially connected by belt between every two brush sweeper.
Preferably, the shock-absorbing anticollision module includes spring, support plate and buffer layer, and support plate is set to by spring
The outside of robot bottom, buffer layer are set to the outside of support plate, and buffer layer is foam sponge layer, buffer layer with a thickness of
One to two centimetres.
Preferably, the remote mobile terminal is the mobile phone for accessing 4G network.
Compared with prior art, beneficial effects of the present invention are as follows:
The present invention by the input terminal of central processing unit by speech recognition module and picture recognition module respectively with phonetic incepting mould
Block is connected with the output end of image pickup module, people can voice control robot, not only increase sweeping efficiency, while
Improve the intelligence degree of robot, and image pickup module can be scanned the face of user, when with system
When with being consistent, just can control robot, conversely, then cannot, the anti-theft capability of robot is effectively increased, by PLC controller
It passes sequentially through 4G communication module and 4G gateway and remote mobile terminal realizes two-way communication, people need to only use access 4G network
Mobile phone with regard to remote controlled robot, improve the diversification of control mode, bring great convenience for the use of people.
Detailed description of the invention
Fig. 1 is present system schematic illustration.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Referring to Fig. 1, a kind of intelligent robot control system, including USB jack, power supply module, central processing unit and PLC
Controller, the power supply module are bi-directionally connected with USB jack, and another five output ends of power supply module respectively with obstacle detection mould
Block cleans module, the module that mops floor, water squeezing module and connects with the input terminal of shock-absorbing anticollision module, and cleaning module includes cleaning motor
And brush sweeper, and the quantity of brush sweeper is at least three, is sequentially connected, is kept away by belt between every two brush sweeper
Shaking anticollision module includes spring, support plate and buffer layer, and support plate is set to the outside of robot bottom by spring, buffering
Layer is set to the outside of support plate, and buffer layer is foam sponge layer, buffer layer with a thickness of one to two centimetres, and obstacle detection
Module includes ultrasonic distance measuring module, inclination angle measurement module, laser ranging module and infrared obstacle avoidance module, ultrasonic distance measuring module
Including square-wave transmission submodule, transmitting amplification submodule, ultrasonic wave transmitting submodule, ultrasonic wave receiving submodule, receive amplification
Submodule, ultrasonic inspection receiving submodule, is examined to receive and amplifies submodule and inspection detection submodule detection submodule,
In: square-wave transmission submodule is connected with transmitting amplification submodule and transmits square-wave signal, and transmitting amplification submodule and ultrasonic wave are sent out
It penetrates submodule to be connected and transmit enlarged square-wave signal, ultrasonic wave receiving submodule is connected and transmits with reception amplification submodule
The ultrasonic signal received receives amplification submodule and is connected with detection submodule and transmits the ultrasonic signal of amplification, ultrasound
Wave examines receiving submodule to be connected with inspection reception amplification submodule and transmits the ultrasonic signal received, examines to receive and amplify
Submodule is connected with inspection detection submodule and transmits the ultrasonic signal of amplification, and laser ranging module includes Laser emission group
Part, echo reception and pre-processing assembly, local reception and pre-processing assembly and FPGA processor, infrared obstacle avoidance module include infrared
Optical transmitter module, infrared light emission lens group, infrared optical receiver lens group and optical signal processing unit, infrared light emission module are
Infrared LED or laser launch the luminous peak position of infrared ray between 9 hundred to one thousand six hundred nanometers, the obstacle detection mould
Block, the output end for cleaning module, the module that mops floor, water squeezing module and shock-absorbing anticollision module pass through analog-digital converter and central processing unit
Input terminal connection, and the input terminal of central processing unit also passes through speech recognition module and picture recognition module connects with voice respectively
Receive module connected with the output end of image pickup module, people can voice control robot, not only increase sweeping efficiency, together
When also improve the intelligence degree of robot, and image pickup module can be scanned the face of user, when be
System matching just can control robot when being consistent, conversely, then cannot, effectively increase the anti-theft capability of robot, the center
The output end of processor and the input terminal of PLC controller connect, and another input terminal of PLC controller and the output of remote controler
End connection, the output end of PLC controller passes through drive module and steering module respectively and the input terminal of walking module connects, described
PLC controller passes sequentially through 4G communication module and 4G gateway and remote mobile terminal realizes two-way communication, remote mobile terminal
For the mobile phone for accessing 4G network, people only need to use the mobile phone of access 4G network with regard to remote controlled robot, improve control
The diversification of mode processed brings great convenience for the use of people.
In use, the input terminal of central processing unit is connect with voice respectively by speech recognition module and picture recognition module
Receive module connected with the output end of image pickup module, people can voice control robot, not only increase sweeping efficiency, together
When also improve the intelligence degree of robot, and image pickup module can be scanned the face of user, when be
System matching just can control robot when being consistent, conversely, then cannot, effectively increase the anti-theft capability of robot, PLC controlled
Device processed passes sequentially through 4G communication module and 4G gateway and remote mobile terminal realizes two-way communication, and people need to only use access 4G
The mobile phone of network improves the diversification of control mode with regard to remote controlled robot, brings greatly for the use of people
It is convenient.
It although an embodiment of the present invention has been shown and described, for the ordinary skill in the art, can be with
A variety of variations, modification, replacement can be carried out to these embodiments without departing from the principles and spirit of the present invention by understanding
And modification, the scope of the present invention is defined by the appended.
Claims (8)
1. a kind of intelligent robot control system, including USB jack, power supply module, central processing unit and PLC controller, special
Sign is: the power supply module is bi-directionally connected with USB jack, and another five output ends of power supply module respectively with obstacle detection mould
Block cleans module, the module that mops floor, water squeezing module and connects with the input terminal of shock-absorbing anticollision module, and obstacle detection module includes super
Sound ranging module, inclination angle measurement module, laser ranging module and infrared obstacle avoidance module, the obstacle detection module clean mould
Block, the module that mops floor, water squeezing module and shock-absorbing anticollision module output end pass through the input terminal of analog-digital converter and central processing unit
Connection, and the input terminal of central processing unit also pass through speech recognition module and picture recognition module respectively with speech reception module and
The output end of image pickup module connects, and the output end of the central processing unit and the input terminal of PLC controller connect, and PLC
The output end of another input terminal of controller and remote controler connects, the output end of PLC controller pass through respectively drive module and
Steering module and the input terminal of walking module connect, and the PLC controller passes sequentially through 4G communication module and 4G gateway and remote
Journey mobile terminal realizes two-way communication.
2. a kind of intelligent robot control system according to claim 1, it is characterised in that: the ultrasonic distance measuring module
Including square-wave transmission submodule, transmitting amplification submodule, ultrasonic wave transmitting submodule, ultrasonic wave receiving submodule, receive amplification
Submodule, ultrasonic inspection receiving submodule, is examined to receive and amplifies submodule and inspection detection submodule detection submodule,
In: square-wave transmission submodule is connected with transmitting amplification submodule and transmits square-wave signal, and transmitting amplification submodule and ultrasonic wave are sent out
It penetrates submodule to be connected and transmit enlarged square-wave signal, ultrasonic wave receiving submodule is connected and transmits with reception amplification submodule
The ultrasonic signal received receives amplification submodule and is connected with detection submodule and transmits the ultrasonic signal of amplification, ultrasound
Wave examines receiving submodule to be connected with inspection reception amplification submodule and transmits the ultrasonic signal received, examines to receive and amplify
Submodule is connected with inspection detection submodule and transmits the ultrasonic signal of amplification.
3. a kind of intelligent robot control system according to claim 1, it is characterised in that: the laser ranging module packet
Include Laser emission component, echo reception and pre-processing assembly, local reception and pre-processing assembly and FPGA processor.
4. a kind of intelligent robot control system according to claim 1, it is characterised in that: the infrared obstacle avoidance module packet
Include infrared light emission module, infrared light emission lens group, infrared optical receiver lens group and optical signal processing unit.
5. a kind of intelligent robot control system according to claim 4, it is characterised in that: the infrared light emission module
For infrared LED or laser, launch the luminous peak position of infrared ray between 9 hundred to one thousand six hundred nanometers.
6. a kind of intelligent robot control system according to claim 1, it is characterised in that: the cleaning module includes clear
Motor and brush sweeper are swept, and the quantity of brush sweeper is at least three, is driven by belt between every two brush sweeper
Connection.
7. a kind of intelligent robot control system according to claim 1, it is characterised in that: the shock-absorbing anticollision module packet
Spring, support plate and buffer layer are included, and support plate is set to the outside of robot bottom by spring, buffer layer is set to support
The outside of plate, and buffer layer be foam sponge layer, buffer layer with a thickness of one to two centimetres.
8. a kind of intelligent robot control system according to claim 1, it is characterised in that: the remote mobile terminal is
Access the mobile phone of 4G network.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710928428.6A CN109623809A (en) | 2017-10-09 | 2017-10-09 | A kind of intelligent robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710928428.6A CN109623809A (en) | 2017-10-09 | 2017-10-09 | A kind of intelligent robot control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109623809A true CN109623809A (en) | 2019-04-16 |
Family
ID=66050886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710928428.6A Pending CN109623809A (en) | 2017-10-09 | 2017-10-09 | A kind of intelligent robot control system |
Country Status (1)
| Country | Link |
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| CN (1) | CN109623809A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110192810A (en) * | 2018-02-26 | 2019-09-03 | 广东理标信息科技有限公司 | A kind of intelligent robot control system |
| CN110604520A (en) * | 2018-06-14 | 2019-12-24 | 东芝生活电器株式会社 | Autonomous walking type sweeping machine and sweeping system |
| CN112690712A (en) * | 2021-02-01 | 2021-04-23 | 韩浩 | Automatic obstacle avoidance and sweeping robot based on infrared sensing |
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| CN110192810A (en) * | 2018-02-26 | 2019-09-03 | 广东理标信息科技有限公司 | A kind of intelligent robot control system |
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| CN112690712A (en) * | 2021-02-01 | 2021-04-23 | 韩浩 | Automatic obstacle avoidance and sweeping robot based on infrared sensing |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20190416 |
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| RJ01 | Rejection of invention patent application after publication |