CN110394803A - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
- Publication number
- CN110394803A CN110394803A CN201910748507.8A CN201910748507A CN110394803A CN 110394803 A CN110394803 A CN 110394803A CN 201910748507 A CN201910748507 A CN 201910748507A CN 110394803 A CN110394803 A CN 110394803A
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- China
- Prior art keywords
- robot
- communication module
- computer
- module
- virtual
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Classifications
-
- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot control systems.The system includes computer, generates attitude data for generating and presenting the interface of virtual robot, and according to the posture of virtual robot；Controlling terminal, for being instructed to computer input control；Robot, including second communication module, main control unit and executing agency, second communication module is for receiving attitude data, and main control unit is used to control executing agency's movement according to the attitude data, so that robot is synchronous with the posture of virtual robot.The present invention generates by computer and presents virtual robot, carries out control virtual robot by controlling terminal, using the attitude data of virtual robot as the control instruction of robot, so that the posture of robot and virtual robot is consistent；And lead to and acquired robot environment's image data, virtual robot is presented in the environment of robot, and then convenient for operation and control, it is extremely easy to use.
Description
Technical field
The present invention relates to robot control system fields, and in particular to a kind of robot control system.
Background technique
Existing robot is generally completed some tasks, some fixed movements by computer program or artificial remotely controlling
Task, completion can be controlled by computer program, tasks of some uncertain movements need artificial remotely controlling to complete.It is existing
There is long-range control method that there is certain defect, operator can not observe the environment of robot site and the appearance of robot simultaneously
State, in this way some postures can not just determine whether that enough spaces can complete, if can go out with the article in ambient enviroment
Existing grazing；Also, it can not see the current posture of robot, be not easy to stability contorting.
Summary of the invention
The purpose of the present invention is in view of the deficienciess of the prior art, providing a kind of robot control system.
To achieve the above object, the present invention provides a kind of robot control systems, including
Computer generates posture for generating and presenting the interface of virtual robot, and according to the posture of virtual robot
Data；
Controlling terminal is connect with computer, for instructing to computer input control, to change the appearance of virtual robot
State；
First communication module is connect with computer, for the attitude data of virtual robot to be sent out；
Robot, including second communication module, main control unit and executing agency, the second communication module is for receiving the
The attitude data that one communication module issues, the main control unit are used to control executing agency's movement according to the attitude data, so that
Robot is synchronous with the posture of virtual robot.
Further, the robot further includes several cameras, described to acquire robot ambient enviroment image data
Robot image data is sent out by main control unit control second communication module；The first communication module is by machine
Image data around device people receives and is transmitted to computer, and virtual robot is generated and is presented on robot by the computer
In ambient enviroment.
Further, the robot further includes the first microphone and the first loudspeaker connected to the main control unit, described
Computer is connected with the second loudspeaker and second microphone, realizes institute, robot based on first communication module and second communication module
Personnel and computer operator talk at the scene.
Further, the robot further includes locating module connected to the main control unit, the locating module acquisition
Position data is sent to computer through second communication module and first communication module, and presents on computers.
Further, the first communication module and second communication module include wire communication module and/or channel radio
Believe module.
Further, the wire communication module includes ethernet communication module, and the wireless communication module includes LORA
Module, 3G module, 4G module and 5G module.
Further, the controlling terminal includes mouse, keyboard and control handle.
The utility model has the advantages that the present invention generates by computer software and present virtual robot, controlled by controlling terminal
Virtual robot processed, using the attitude data of virtual robot as the control instruction of robot, so that robot and virtual machine
The posture of people is consistent；And lead to and acquired robot environment's image data, virtual robot is presented on to the environment of robot
In, and then convenient for operation and control, it is extremely easy to use.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the robot control system of the embodiment of the present invention.
Specific embodiment
In the following with reference to the drawings and specific embodiments, the present invention is furture elucidated, and the present embodiment is with technical solution of the present invention
Premised under implemented, it should be understood that these examples are only for illustrating the present invention and are not intended to limit the scope of the present invention.
As shown in Figure 1, the embodiment of the invention provides a kind of robot control system, including computer 1, controlling terminal 2,
First communication module 3 and robot 4.Wherein, computer 1 generates by related software and presents the interface of virtual robot, and
Attitude data is generated according to the posture of virtual robot, is contained between all parts of virtual robot inside attitude data
Angle etc. between relative position and each movement mechanism.Controlling terminal 2 can be using mouse, keyboard and control handle.Control
Terminal 2 is connect with computer 1, for instructing to 1 input control of computer, to change the posture of virtual robot.First communication
Module 3 is connect with computer 1, for the attitude data of virtual robot to be sent out.Battery power supply can be used in robot 4,
Robot 4 includes second communication module 41, main control unit 42 and executing agency 43, wherein second communication module 41 is for receiving
The attitude data that first communication module 3 issues, main control unit 42 control executing agency's movement according to the attitude data in turn, so that
Robot 4 is synchronous with the posture of virtual robot.
The case where for the ease of understanding robot site, realization is precisely controlled, and robot 4 further includes several cameras 46,
To acquire 4 ambient enviroment image data of robot, main control unit 42 controls second communication module 41 for 4 environmental view of robot
As data are sent out.Image data around robot 4 is received and is transmitted to computer 1, computer by first communication module 3
Virtual robot is generated and is presented in 4 ambient enviroment of robot by 1, is more favorable for control robot 4 and is executed relevant action.
In order to realize that the operator of computer 1 converses with the Field Force where robot 4, robot 4 is also wrapped
The first microphone 44 and the first loudspeaker 45 are included, the first microphone 44 and the first loudspeaker 45 are connect with main control unit 42.Meter
Calculation machine 1 is connected with the second loudspeaker 5 and second microphone 6, realizes machine based on first communication module 3 and second communication module 41
4 place Field Force of people and the operator of computer 1 talk with.Specifically, the first microphone 44 is for acquiring around robot 4
Ambient sound data, main control unit 42 control second communication module 41 and issue 4 ambient enviroment voice data of robot, and first is logical
Letter module 3 gives 4 ambient enviroment audio data transmitting of robot to computer 1, and computer controls 5 broadcasting machine people of the second loudspeaker
4 ambient enviroment sound.The voice data of 6 collecting computer of second microphone, 1 operator, the voice data of 1 operator of computer
It is issued by first communication module 3 and is received by second communication module 41, and the first loudspeaker 45 is controlled by main control unit 42 and is broadcast
Put the sound of 1 operator of computer.
For the ease of determining the position of robot 4, robot 4 further includes the locating module 46 connecting with main control unit 42,
The position data that locating module 46 acquires is sent to computer 1 through second communication module 41 and first communication module 3, and is calculating
It is presented on machine 1.First communication module 3 and second communication module 41 include wire communication module and wireless communication module.Wherein,
Wire communication module includes ethernet communication module, and the wireless communication module includes LORA module, 3G module, 4G module and 5G
Module.Optimal communication mode can be selected as needed, to be suitable for different occasions.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, other parts not specifically described belong to the prior art or common knowledge.In the premise for not departing from the principle of the invention
Under, several improvements and modifications can also be made, these modifications and embellishments should also be considered as the scope of protection of the present invention.
Claims (7)
1. a kind of robot control system, which is characterized in that including
Computer generates attitude data for generating and presenting the interface of virtual robot, and according to the posture of virtual robot；
Controlling terminal is connect with computer, for instructing to computer input control, to change the posture of virtual robot；
First communication module is connect with computer, for the attitude data of virtual robot to be sent out；
Robot, including second communication module, main control unit and executing agency, the second communication module are logical for receiving first
Believe the attitude data that module issues, the main control unit is used to control executing agency's movement according to the attitude data, so that machine
People is synchronous with the posture of virtual robot.
2. robot control system according to claim 1, which is characterized in that the robot further includes several camera shootings
Head, to acquire robot ambient enviroment image data, the main control unit controls second communication module for robot
Image data is sent out；Image data around robot is received and is transmitted to computer, institute by the first communication module
Computer is stated to generate virtual robot and be presented in robot.
3. robot control system according to claim 1, which is characterized in that the robot further includes and main control unit
The first microphone and the first loudspeaker of connection, the computer are connected with the second loudspeaker and second microphone, are based on first
Field Force and computer operator talk with where communication module and second communication module realize robot.
4. robot control system according to claim 1, which is characterized in that the robot further includes and main control unit
The position data of the locating module of connection, the locating module acquisition is sent to meter through second communication module and first communication module
Calculation machine, and present on computers.
5. robot control system according to claim 1, which is characterized in that the first communication module and the second communication
Module includes wire communication module and/or wireless communication module.
6. robot control system according to claim 5, which is characterized in that the wire communication module includes Ethernet
Communication module, the wireless communication module include LORA module, 3G module, 4G module and 5G module.
7. robot control system according to claim 1, which is characterized in that the controlling terminal includes mouse, keyboard
With control handle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748507.8A CN110394803A (en) | 2019-08-14 | 2019-08-14 | A kind of robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910748507.8A CN110394803A (en) | 2019-08-14 | 2019-08-14 | A kind of robot control system |
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| Publication Number | Publication Date |
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| CN110394803A true CN110394803A (en) | 2019-11-01 |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150190925A1 (en) * | 2014-01-07 | 2015-07-09 | Irobot Corporation | Remotely Operating a Mobile Robot |
| CN106313086A (en) * | 2016-08-21 | 2017-01-11 | 西安科技大学 | Remote control system and method for coal mine rescue robot |
| CN108058163A (en) * | 2018-02-12 | 2018-05-22 | 东北大学 | A kind of cloud robot system with knowledge sharing and autonomous learning |
| CN108161904A (en) * | 2018-01-09 | 2018-06-15 | 青岛理工大学 | Robot online teaching device, system, method and equipment based on augmented reality |
| CN109955254A (en) * | 2019-04-30 | 2019-07-02 | 齐鲁工业大学 | The remote operating control method of Mobile Robot Control System and robot end's pose |
| CN110039545A (en) * | 2019-04-30 | 2019-07-23 | 齐鲁工业大学 | A kind of robot remote control system and control method based on wearable device |
-
2019
- 2019-08-14 CN CN201910748507.8A patent/CN110394803A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20150190925A1 (en) * | 2014-01-07 | 2015-07-09 | Irobot Corporation | Remotely Operating a Mobile Robot |
| CN106313086A (en) * | 2016-08-21 | 2017-01-11 | 西安科技大学 | Remote control system and method for coal mine rescue robot |
| CN108161904A (en) * | 2018-01-09 | 2018-06-15 | 青岛理工大学 | Robot online teaching device, system, method and equipment based on augmented reality |
| CN108058163A (en) * | 2018-02-12 | 2018-05-22 | 东北大学 | A kind of cloud robot system with knowledge sharing and autonomous learning |
| CN109955254A (en) * | 2019-04-30 | 2019-07-02 | 齐鲁工业大学 | The remote operating control method of Mobile Robot Control System and robot end's pose |
| CN110039545A (en) * | 2019-04-30 | 2019-07-23 | 齐鲁工业大学 | A kind of robot remote control system and control method based on wearable device |
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Application publication date: 20191101 |