CN110303502A - A kind of robot instruction's method of controlling operation and its system - Google Patents
A kind of robot instruction's method of controlling operation and its system Download PDFInfo
- Publication number
- CN110303502A CN110303502A CN201910685596.6A CN201910685596A CN110303502A CN 110303502 A CN110303502 A CN 110303502A CN 201910685596 A CN201910685596 A CN 201910685596A CN 110303502 A CN110303502 A CN 110303502A
- Authority
- CN
- China
- Prior art keywords
- resistance
- module
- connect
- robot
- transport
- 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
Links
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
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1664—Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning
- B25J9/1666—Avoiding collision or forbidden zones
-
- 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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1689—Teleoperation
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to robotic technology fields, more particularly to a kind of robot instruction's motion control system, including hardware module and software module, the hardware module includes vehicle body hanger, vehicle body, arm, universal wheel, left rear wheel and off hind wheel, the top of the vehicle body hanger is fixed with the vehicle body, the two sides of the vehicle body are symmetrically fixed with the arm, one middle side part of bottom end of the vehicle body hanger is fixed with the universal wheel, the bottom end of the vehicle body hanger is symmetrically fixed with the left rear wheel and off hind wheel far from a side of the universal wheel, the left rear wheel is connect with left rear wheel driving circuit, the off hind wheel is connect with off hind wheel driving circuit, the software module includes motion planning and robot control module, motor drive module, motor rotary module and operation program module, the motion planning and robot control module includes arm control module , walking module, detecting module and execution module.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of robot instruction's method of controlling operation and its systems.
Background technique
In recent years, the Artificial Intelligence Development impetus was swift and violent, had come into a variety of different fields.With mentioning for industry 4.0
Out, the intelligence manufacture based on robot have swepts the globe.In robot control field, how to allow motor it is anticipated that
The steady safety in track operation be determine the critical issue of robot performance, while present robot realize user with
The interaction aspect of robot, robot instruction's action control mode is single, and entertainment is poor.
Summary of the invention
The present invention is directed to above-mentioned problem, provides a kind of robot instruction's method of controlling operation and its system.
According to an aspect of the invention, there is provided a kind of robot instruction's motion control system.
Including hardware module and software module, the hardware module includes vehicle body hanger, vehicle body, arm, universal wheel, left back
Wheel and off hind wheel, the top of the vehicle body hanger are fixed with the vehicle body, and the two sides of the vehicle body are symmetrically fixed with the hand
Arm, one middle side part of bottom end of the vehicle body hanger are fixed with the universal wheel, and the bottom end of the vehicle body hanger is far from described universal
A side of wheel is symmetrically fixed with the left rear wheel and off hind wheel, and the left rear wheel is connect with left rear wheel driving circuit, the right side
Rear-wheel is connect with off hind wheel driving circuit, and the software module includes motion planning and robot control module, motor drive module, motor
Rotary module and operation program module, the motion planning and robot control module include arm control module, walking module, detection mould
Block and execution module.
Preferably, the detecting module includes vision module, obstacle avoidance module and echo module.
Preferably, the vision module is made of optical sensor, infrared sensor detection.
Preferably, the obstacle avoidance module is by infrared sensor and laser radar range module composition, the infrared sensing
Device is for the detection to path.
Preferably, the circuit inside the obstacle avoidance module includes transport and placing device U1, transport and placing device U2, transport and placing device U3, transport and placing device
U4, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, two
Pole pipe D3, diode D4, light emitting diode D1, light emitting diode D2, crystal oscillator pipe Y, capacitor C1, capacitor C2, capacitor C3, potentiometer
R11, potentiometer R12 and processor U5, the pin A0 of the processor U5 respectively with the capacitor C3 and resistance R8 one
End connection, the pin A1 connect and ground of the other end of the capacitor C3 and the processor U5, the other end of the resistance R8
Respectively with the positive connect and ground of one end of the resistance R7, light emitting diode D2, the other end of the resistance R7 with it is described
The pin A2 connection of processor U5, the cathode of the light emitting diode D2 are connect with one end of the resistance R4, the resistance R4
The other end connect with the emitter of the triode Q2, the grounded collector of the triode Q2, the base of the triode Q2
Pole is connect with the side of the potentiometer R11, and one end of the potentiometer R11 is connect with one end of the resistance R1, the electricity
The other end of resistance R1 is connect with the resistance R2, the anode of light emitting diode D1 and power supply, the other end and electricity of the resistance R2
One end connection of position device R12, one end of the potentiometer R12 are connect with the base stage of the triode Q1, the triode Q1's
Emitter is connect with one end of the resistance R3, and the other end of the resistance R3 is connect with the cathode of the light emitting diode D1,
The other end of the grounded collector of the triode Q1, the potentiometer R12 is connect with one end of transport and placing device U4, the transport and placing device
The other end of U4 respectively with the resistance R5, diode D3 anode connect, the other end of the resistance R5 respectively with the institute
The cathode of one end, diode D4 for stating resistance R6 is connected with one end of transport and placing device U2, the other end of the resistance R6 respectively with institute
The anode for stating diode D4 is connected with one end of the transport and placing device U3, the other end of the transport and placing device U3 and the one of potentiometer R11
End connection, the other end of the transport and placing device U2 is connect with one end of the resistance R10, resistance R9 and transport and placing device U1 respectively, described
The other end of resistance R9 is connect with one end of one end of the capacitor C2 and crystal oscillator pipe Y respectively, the other end point of the capacitor C2
Not with one end connect and ground of the capacitor C1, the other end of the capacitor C1 respectively with the resistance R10, crystal oscillator pipe
Y is connected with one end of the transport and placing device U1.
Preferably, the resistance value of the resistance R1, resistance R2 are 1K Ω, the resistance value of described resistance R3, R4 are 100 Ω, institute
The resistance value for stating resistance R5, R6, R7 is 3K Ω, and the resistance value of the resistance R9 is 12K Ω, and the resistance value of the resistance R10 is 1M Ω.
Preferably, the value of the capacitor C1 is 22PF, the value of the capacitor C2 is 2200PF.
Preferably, the inside of the execution module includes main control computer, wireless communication module, single-chip microcontroller, driving electricity
Road, power module and sensor module, the output end of the main control computer respectively with the wireless communication module and the list
The connection of piece machine, the output end of the power module are connect with the input terminal of the main control computer, the output end of the single-chip microcontroller
It is connect with the input terminal of the driving circuit, the input terminal of the output end of the sensor module and the main control computer connects
It connects.
Preferably, the single-chip microcontroller is AT89S52 single-chip microcontroller.
According to another aspect of the present invention, a kind of robot instruction's method of controlling operation is provided, comprising the following steps:
S101；Wireless communication module is sent instructions to by main control computer, and controls robot system and is made according to instruction
Industry；
S103；Export action control data associated with the control instruction issued；
S105；The movement of robot is controlled according to the action control data of sending；
S107；Robot detects surrounding by optical sensor and infrared sensor；
S109；When an obstacle is detected, by information conveyance to single-chip microcontroller, single-chip microcontroller passes through information conveyance to driving motor
Driving motor controls the movement of wheel, executes the movements such as retrogressing, turning and breaks the barriers；
S111；The state that display current robot is carried out by echoing module, to realize that the human-computer interaction of robot is shown.
Compared with prior art, the advantages and positive effects of the present invention are,
1, overall structure of the present invention is simple, and the mode that user's instruction action controls robot is more comprehensively convenient, robot
Stability is stronger, can be convenient the control to robot, while robot can be convenient avoiding barrier, robot
It is also more preferable to entertain interactivity.
Detailed description of the invention
In order to illustrate the technical solution of the embodiments of the present invention more clearly, required use in being described below to embodiment
Attached drawing be briefly described, it should be apparent that, drawings in the following description are some embodiments of the invention, for ability
For the those of ordinary skill of domain, without any creative labor, it can also be obtained according to these attached drawings others
Attached drawing.
Fig. 1 is robot instruction's motion control system block diagram that embodiment 1 provides；
Fig. 2 is the structural schematic diagram for the hardware module that embodiment 1 provides；
Fig. 3 is the structural schematic diagram for the vehicle body hanger bottom end that embodiment 1 provides；
Fig. 4 is the connection block diagram inside the execution module that embodiment 1 provides；
Fig. 5 is the circuit diagram inside the obstacle avoidance module that embodiment 1 provides；
Fig. 6 is robot instruction's method of controlling operation flow chart that embodiment 1 provides；
In above each figure, 1, hardware module；2, software module；3, vehicle body hanger；4, vehicle body；5, arm；6, universal wheel；7, left back
Wheel；8, off hind wheel；9, left rear wheel driving circuit；10, off hind wheel driving circuit；11, motion planning and robot control module；12, motor
Drive module；13, motor rotary module；14, operation program module；15, arm control module；16, walking module；17, it detects
Module；18, execution module；19, vision module；20, obstacle avoidance module；21, module is echoed；22, main control computer；23, channel radio
Believe module；24, single-chip microcontroller；25, driving circuit；26, power module；27, sensor module.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawings and examples
The present invention will be further described.It should be noted that in the absence of conflict, in embodiments herein and embodiment
Feature can be combined with each other.
In the following description, numerous specific details are set forth in order to facilitate a full understanding of the present invention, still, the present invention may be used also
To be implemented using other modes described herein are different from, therefore, the present invention is not limited to the specific of specification is described below
The limitation of embodiment.
Embodiment 1, as shown in Figures 1 to 5, the present invention provides a kind of robot instruction's motion control system, including it is hard
Part module 1 and software module 2, the hardware module 1 include vehicle body hanger 3, vehicle body 4, arm 5, universal wheel 6, left rear wheel 7 and the right side
Rear-wheel 8, the top of the vehicle body hanger 3 are fixed with the vehicle body 4, and the two sides of the vehicle body 4 are symmetrically fixed with the arm
5, one middle side part of bottom end of the vehicle body hanger 3 is fixed with the universal wheel 6, and the bottom end of the vehicle body hanger 3 is far from described ten thousand
It is symmetrically fixed with the left rear wheel 7 and off hind wheel 8 to a side of wheel 6, by three wheel supportings of vehicle bottom, constitutes three
Angle plane, more stable, the left rear wheel 7 is connect with left rear wheel driving circuit 9, the off hind wheel 8 and off hind wheel driving circuit
10 connections, are furnished with independent circuit, and more convenient pair of left and right wheels drive, and the software module 2 is controlled including robot motion
Molding block 11, motor drive module 12, motor rotary module 13 and operation program module 14, the motion planning and robot control module
11 include arm control module 15, walking module 16, detecting module 17 and execution module 18.
Further, the detecting module 17 includes vision module 19, obstacle avoidance module 20 and echo module 21.
Further, the vision module 19 is made of optical sensor, infrared sensor detection；
Further, the obstacle avoidance module 20 is by infrared sensor and laser radar range module composition, the infrared sensor
For the detection to path.
Further, the circuit inside the obstacle avoidance module 20 includes transport and placing device U1, transport and placing device U2, transport and placing device U3, amplifier
Device U4, resistance R1, resistance R2, resistance R3, resistance R4, resistance R5, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10,
Diode D3, diode D4, light emitting diode D1, light emitting diode D2, crystal oscillator pipe Y, capacitor C1, capacitor C2, capacitor C3, current potential
Device R11, potentiometer R12 and processor U5, the pin A0 of the processor U5 are respectively with the capacitor C3's and resistance R8
One end connection, the pin A1 connect and ground of the other end of the capacitor C3 and the processor U5, the resistance R8's is another
Hold the positive connect and ground with one end of the resistance R7, light emitting diode D2 respectively, the other end of the resistance R7 and institute
The pin A2 connection of processor U5 is stated, the cathode of the light emitting diode D2 is connect with one end of the resistance R4, the resistance
The other end of R4 is connect with the emitter of the triode Q2, the grounded collector of the triode Q2, the triode Q2's
Base stage is connect with the side of the potentiometer R11, and one end of the potentiometer R11 is connect with one end of the resistance R1, described
The other end of resistance R1 is connect with the resistance R2, the anode of light emitting diode D1 and power supply, the other end of the resistance R2 with
One end of potentiometer R12 connects, and one end of the potentiometer R12 is connect with the base stage of the triode Q1, the triode Q1
Emitter connect with one end of the resistance R3, the cathode of the other end of the resistance R3 and the light emitting diode D1 connect
It connects, the other end of the grounded collector of the triode Q1, the potentiometer R12 is connect with one end of transport and placing device U4, the fortune
The other end of device U4 is put to connect with the anode of the resistance R5, diode D3 respectively, the other end of the resistance R5 respectively with institute
The cathode of one end, diode D4 for stating the resistance R6 is connected with one end of transport and placing device U2, the other end difference of the resistance R6
It is connect with one end of the anode of the diode D4 and the transport and placing device U3, the other end and potentiometer R11 of the transport and placing device U3
One end connection, the other end of the transport and placing device U2 connect with one end of the resistance R10, resistance R9 and transport and placing device U1 respectively,
The other end of the resistance R9 is connect with one end of one end of the capacitor C2 and crystal oscillator pipe Y respectively, and the capacitor C2's is another
End one end connect and ground with the capacitor C1 respectively, the other end of the capacitor C1 respectively with the resistance R10, crystalline substance
Vibration tube Y is connected with one end of the transport and placing device U1.
Further, the resistance R1, resistance R2 resistance value be 1K Ω, the resistance value of described resistance R3, R4 is 100 Ω, institute
The resistance value for stating resistance R5, R6, R7 is 3K Ω, and the resistance value of the resistance R9 is 12K Ω, and the resistance value of the resistance R10 is 1M Ω.
Further, the value of the capacitor C1 is 22PF, and the value of the capacitor C2 is 2200PF.
Further, the inside of the execution module 18 includes main control computer 22, wireless communication module 23, single-chip microcontroller
24, driving circuit 25, power module 26 and sensor module 27, the output end of the main control computer 22 respectively with it is described wireless
Communication module 23 and the single-chip microcontroller 24 connect, the input terminal of the output end of the power module 26 and the main control computer 22
Connection, the output end of the single-chip microcontroller 24 are connect with the input terminal of the driving circuit 25, the output of the sensor module 27
End is connect with the input terminal of the main control computer 22.
Further, the single-chip microcontroller 24 is AT89S52 single-chip microcontroller 24.
As shown in fig. 6, according to an embodiment of the invention, additionally provide a kind of robot instruction's method of controlling operation, including
Following steps:
S101；Send instructions to wireless communication module 23 by main control computer 22, and control robot system according to instruct into
Row operation；
S103；Export action control data associated with the control instruction issued；
S105；The movement of robot is controlled according to the action control data of sending；
S107；Robot detects surrounding by optical sensor and infrared sensor；
S109；When an obstacle is detected, by information conveyance to single-chip microcontroller 24, single-chip microcontroller 24 by information conveyance to driving motor,
The movement that wheel is controlled by driving motor, executes the movements such as retrogressing, turning and breaks the barriers；
S111；The state that display current robot is carried out by echoing module 21, to realize that the human-computer interaction of robot is shown.
In order to facilitate above-mentioned technical proposal of the invention is understood, below just present invention working principle in the actual process or
Person's mode of operation is described in detail.
In practical application, passing through three wheel supportings of 3 bottom end of vehicle body hanger, planar delta is constituted, machine is more favorable for
The stabilization of device people, while by the cooperation between each module, so that more convenient pair of robot controls, robot has very
Good obstacle avoidance system, can nimbly elude barrier, increase the enjoyment of human-computer interaction.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
It imitates embodiment and is applied to other fields, but without departing from the technical solutions of the present invention, according to the technical essence of the invention
Any simple modification, equivalent variations and remodeling to the above embodiments, still fall within the protection scope of technical solution of the present invention.
Claims (10)
1. a kind of robot instruction's motion control system, which is characterized in that described including hardware module (1) and software module (2)
Hardware module (1) includes vehicle body hanger (3), vehicle body (4), arm (5), universal wheel (6), left rear wheel (7) and off hind wheel (8), institute
The top for stating vehicle body hanger (3) is fixed with the vehicle body (4), and the two sides of the vehicle body (4) are symmetrically fixed with the arm
(5), one middle side part of bottom end of the vehicle body hanger (3) is fixed with the universal wheel (6), and the bottom end of the vehicle body hanger (3) is remote
A side from the universal wheel (6) is symmetrically fixed with the left rear wheel (7) and off hind wheel (8), the left rear wheel (7) with it is left back
Wheel drive circuit (9) connection, the off hind wheel (8) connect with off hind wheel driving circuit (10), and the software module (2) includes machine
Device people motion-control module (11), motor drive module (12), motor rotary module (13) and operation program module (14), it is described
Motion planning and robot control module (11) includes arm control module (15), walking module (16), detecting module (17) and executes mould
Block (18).
2. a kind of robot instruction's motion control system according to claim 1, which is characterized in that the detecting module
It (17) include vision module (19), obstacle avoidance module (20) and echo module (21).
3. a kind of robot instruction's motion control system according to claim 2, which is characterized in that the vision module
(19) it is made of optical sensor, infrared sensor detection.
4. a kind of robot instruction's motion control system according to claim 2, which is characterized in that the obstacle avoidance module
(20) by infrared sensor and laser radar range module composition, the infrared sensor is for the detection to path.
5. a kind of robot instruction's motion control system according to claim 4, which is characterized in that the obstacle avoidance module
(20) internal circuit includes transport and placing device U1, transport and placing device U2, transport and placing device U3, transport and placing device U4, resistance R1, resistance R2, resistance R3, electricity
Hinder R4, resistance R5, resistance R6, resistance R7, resistance R8, resistance R9, resistance R10, diode D3, diode D4, light emitting diode
D1, light emitting diode D2, crystal oscillator pipe Y, capacitor C1, capacitor C2, capacitor C3, potentiometer R11, potentiometer R12 and processor U5, institute
The pin A0 for stating processor U5 is connect with one end of the capacitor C3 and the resistance R8 respectively, the other end of the capacitor C3 with
The pin A1 connect and ground of the processor U5, the other end of the resistance R8 respectively with one end of the resistance R7, shine
The positive connect and ground of diode D2, the other end of the resistance R7 are connect with the pin A2 of the processor U5, the hair
The cathode of optical diode D2 is connect with one end of the resistance R4, the transmitting of the other end of the resistance R4 and the triode Q2
Pole connection, the grounded collector of the triode Q2, the base stage of the triode Q2 are connect with the side of the potentiometer R11,
One end of the potentiometer R11 is connect with one end of the resistance R1, the other end of the resistance R1 and the resistance R2, is shone
The anode of diode D1 is connected with power supply, and the other end of the resistance R2 is connect with one end of potentiometer R12, the potentiometer
One end of R12 is connect with the base stage of the triode Q1, and the emitter of the triode Q1 is connect with one end of the resistance R3,
The other end of the resistance R3 is connect with the cathode of the light emitting diode D1, the grounded collector of the triode Q1, described
The other end of potentiometer R12 is connect with one end of transport and placing device U4, the other end of the transport and placing device U4 respectively with the resistance R5, two
The anode connection of pole pipe D3, the other end of the resistance R5 cathode with one end of the resistance R6, diode D4 respectively
Connected with one end of transport and placing device U2, the other end of the resistance R6 respectively with the anode of the diode D4 and the transport and placing device U3
One end connection, the other end of the transport and placing device U3 connect with one end of potentiometer R11, and the other end of the transport and placing device U2 is distinguished
It is connect with one end of the resistance R10, resistance R9 and transport and placing device U1, the other end of the resistance R9 is respectively with the capacitor C2's
One end is connected with one end of crystal oscillator pipe Y, the other end of capacitor C2 one end connect and ground with the capacitor C1 respectively, institute
The other end for stating capacitor C1 is connect with one end of the resistance R10, crystal oscillator pipe Y and the transport and placing device U1 respectively.
6. a kind of robot instruction's motion control system according to claim 5, which is characterized in that the resistance R1, electricity
The resistance value for hindering R2 is 1K Ω, and the resistance value of described resistance R3, R4 are 100 Ω, and the resistance value of described resistance R5, R6, R7 are 3K Ω, described
The resistance value of resistance R9 is 12K Ω, and the resistance value of the resistance R10 is 1M Ω.
7. a kind of robot instruction's motion control system according to claim 5, which is characterized in that the value of the capacitor C1
For 22PF, the value of the capacitor C2 is 2200PF.
8. a kind of robot instruction's motion control system according to claim 1, which is characterized in that the execution module
(18) inside includes main control computer (22), wireless communication module (23), single-chip microcontroller (24), driving circuit (25), power supply mould
Block (26) and sensor module (27), the output end of the main control computer (22) respectively with the wireless communication module (23) and
Single-chip microcontroller (24) connection, the output end of the power module (26) are connect with the input terminal of the main control computer (22),
The output end of the single-chip microcontroller (24) is connect with the input terminal of the driving circuit (25), the output of the sensor module (27)
End is connect with the input terminal of the main control computer (22).
9. a kind of robot instruction's motion control system according to claim 8, which is characterized in that the single-chip microcontroller is
AT89S52 single-chip microcontroller.
10. a kind of robot instruction's method of controlling operation, which is characterized in that dynamic for robot instruction described in claim 1
The control of action control system, comprising the following steps:
S101；Wireless communication module is sent instructions to by main control computer, and controls robot system and is made according to instruction
Industry；
S103；Export action control data associated with the control instruction issued；
S105；The movement of robot is controlled according to the action control data of sending；
S107；Robot detects surrounding by optical sensor and infrared sensor；
S109；When an obstacle is detected, by information conveyance to single-chip microcontroller, single-chip microcontroller passes through information conveyance to driving motor
Driving motor controls the movement of wheel, executes the movements such as retrogressing, turning and breaks the barriers；
S111；The state that display current robot is carried out by echoing module, to realize that the human-computer interaction of robot is shown.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685596.6A CN110303502A (en) | 2019-07-27 | 2019-07-27 | A kind of robot instruction's method of controlling operation and its system |
| PCT/CN2019/103495 WO2021017081A1 (en) | 2019-07-27 | 2019-08-30 | Robot command action control method and system thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910685596.6A CN110303502A (en) | 2019-07-27 | 2019-07-27 | A kind of robot instruction's method of controlling operation and its system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110303502A true CN110303502A (en) | 2019-10-08 |
Family
ID=68081868
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910685596.6A Pending CN110303502A (en) | 2019-07-27 | 2019-07-27 | A kind of robot instruction's method of controlling operation and its system |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110303502A (en) |
| WO (1) | WO2021017081A1 (en) |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973034A (en) * | 2010-11-06 | 2011-02-16 | 江苏申锡建筑机械有限公司 | Robot controlled circuit |
| CN204471361U (en) * | 2015-03-04 | 2015-07-15 | 江苏华明科教设备有限公司 | A kind of guest-meeting robot |
| CN107115106A (en) * | 2017-06-05 | 2017-09-01 | 广西壳夹物联网科技有限公司 | A kind of tele-medicine auxiliary robot |
| US20190087772A1 (en) * | 2014-10-24 | 2019-03-21 | Fellow, Inc. | Intelligent inventory management and related systems and methods |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100799743B1 (en) * | 2006-09-19 | 2008-02-01 | 화천기공 주식회사 | Household affairs robot |
| CN205058045U (en) * | 2015-10-26 | 2016-03-02 | 众德迪克科技（北京）有限公司 | Robot with vision servo |
| CN206140516U (en) * | 2016-10-20 | 2017-05-03 | 庄泳 | Amphibious relief of disaster robot |
| CN107932528B (en) * | 2017-11-10 | 2019-12-10 | 徐州工程学院 | control method for intelligent storage loading and unloading equipment |
| CN108818493A (en) * | 2018-07-16 | 2018-11-16 | 汕头大学 | A kind of compound mobile robot and compound Mobile Robot Control System |
| CN208788608U (en) * | 2018-08-20 | 2019-04-26 | 广西科技大学鹿山学院 | A kind of mobile office assistant robot |
| CN109822582B (en) * | 2019-01-03 | 2021-04-02 | 广州大学 | ROS-based family service robot |
-
2019
- 2019-07-27 CN CN201910685596.6A patent/CN110303502A/en active Pending
- 2019-08-30 WO PCT/CN2019/103495 patent/WO2021017081A1/en active Application Filing
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101973034A (en) * | 2010-11-06 | 2011-02-16 | 江苏申锡建筑机械有限公司 | Robot controlled circuit |
| US20190087772A1 (en) * | 2014-10-24 | 2019-03-21 | Fellow, Inc. | Intelligent inventory management and related systems and methods |
| CN204471361U (en) * | 2015-03-04 | 2015-07-15 | 江苏华明科教设备有限公司 | A kind of guest-meeting robot |
| CN107115106A (en) * | 2017-06-05 | 2017-09-01 | 广西壳夹物联网科技有限公司 | A kind of tele-medicine auxiliary robot |
Also Published As
| Publication number | Publication date |
|---|---|
| WO2021017081A1 (en) | 2021-02-04 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US11275380B2 (en) | Virtual wall system for mobile devices and implementation method thereof | |
| CN109946715B (en) | Detection method, detection device, mobile robot and storage medium | |
| CN101976075A (en) | Intelligent self-tracking trolley control system based on voice control | |
| WO2022121459A1 (en) | Method and device for calculating installation position deviation of laser scanner of agv forklift | |
| CN103472830A (en) | Ultra-fast exploring controller of two-wheel micro-mouse based on dual processors | |
| CN105116918A (en) | Double-core two-wheel middling speed fire extinguishing robot servo controller | |
| CN203338137U (en) | Tracing obstacle avoidance wheeled robot | |
| CN105116897A (en) | Double-core high-speed four-wheeled picomouse full digital navigation servo controller | |
| CN103472835A (en) | Fast sprint controller of four-wheel micro-mouse based on dual processors | |
| Meng et al. | Research on SLAM navigation of wheeled mobile robot based on ROS | |
| CN110303502A (en) | A kind of robot instruction's method of controlling operation and its system | |
| CN103529846B (en) | Based on double-core four-wheel high speed micro computer mouse continuous rotation sprint servo-drive system | |
| CN108646759B (en) | Intelligent detachable mobile robot system based on stereoscopic vision and control method | |
| CN105005308A (en) | Six-wheel fire-fighting robot servo controller based on STM32F407 | |
| CN107065862B (en) | Warehouse logistics robot group control system based on visual guidance and RFID navigation | |
| CN109489666B (en) | Method for synchronous positioning and map construction of greenhouse pesticide spraying robot | |
| CN105116891A (en) | Double-core middle-speed two-wheeled picomouse sprint controller and control method thereof | |
| CN203643838U (en) | Dual-core four-wheeled micro-computer mouse and fast sprinting controller thereof | |
| WO2023103515A1 (en) | Control method for self-walking device, self-walking device, and storage medium | |
| CN104731091A (en) | Intelligent obstacle avoidance automatic-navigation trolley | |
| CN105138017A (en) | Double-core servo control system based on two wheel intermediate speed automatic fire extinguishing robot | |
| CN105068558A (en) | Single-wheeled dual-core high speed fire-fighting robot servo control system | |
| CN105137978A (en) | Double-core high-speed four-wheel mini mouse controller | |
| CN205055285U (en) | Double -core servo control system based on high -speed automatic fire extinguishing robot entirely of two -wheeled | |
| CN205055284U (en) | Double -core servo control system based on full automatic fire extinguishing robot of two -wheeled intermediate speed |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20191008 |
|
| RJ01 | Rejection of invention patent application after publication |