CN110549337A - Distribution robot control system - Google Patents
Distribution robot control system Download PDFInfo
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- CN110549337A CN110549337A CN201910814005.0A CN201910814005A CN110549337A CN 110549337 A CN110549337 A CN 110549337A CN 201910814005 A CN201910814005 A CN 201910814005A CN 110549337 A CN110549337 A CN 110549337A
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- board
- embedded mainboard
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Classifications
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- 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
Abstract
the invention discloses a distribution robot control system, which comprises an embedded mainboard A, an embedded mainboard B, a singlechip transit board, a laser sensor, an IMU sensor, a power interface board, a main motor drive board, a box body board, an infrared sensor board and an ultrasonic sensor board, wherein the embedded mainboard A is connected with the singlechip transit board through the singlechip transit board; an eth0 is arranged on the embedded mainboard A, and an eth0 and an eth1 are arranged on the embedded mainboard B; UART interfaces are arranged on the embedded mainboard B and the singlechip transfer board; the laser sensor is connected with eth1 on the embedded mainboard B; the IMU sensor is connected with the transfer plate of the single chip microcomputer; the power interface board is electrically connected with the transfer board of the singlechip through a data bus; the main motor drive board, the box body board, the infrared sensor board and the ultrasonic sensor board are respectively connected with the single chip microcomputer transfer board through buses, the control logic level of the whole system is clear, each layer is in charge of working clearly, complexity can be reduced, and the requirements of stability, response speed, safety, reliability, modularization and transportability are met.
Description
Technical Field
the invention belongs to the technical field of robot control, and particularly relates to a distribution robot control system.
Background
With the development of intelligent manufacturing technology, industrial robots or service robots have come into operation. The distribution robot is important in the logistics industry and the catering service industry, and especially the logistics distribution robot under high-strength and high-load work or the catering robot in a dining peak period, the whole distribution amount is very huge.
at present, most logistics companies or catering industry adopt service personnel for distribution, and the labor intensity is high.
The delivery robot is also used for delivery, but at present, the delivery robot has complex control system, poor stability, slow system response, and in addition, the safety, the reliability, the cost, the modularization, the portability and the like have defects.
Disclosure of Invention
the invention provides a distribution robot control system, which is divided into an embedded mainboard A, an embedded mainboard B, a singlechip transit board and an execution unit part, has clear control logic level, ensures that each layer has clear responsibility for work, can reduce complexity, and meets the requirements of stability, response speed, safety, reliability, modularization and transportability.
In order to achieve the purpose, the invention adopts the technical scheme that: a distribution robot control system comprises an embedded mainboard A, an embedded mainboard B, a singlechip transit board, a laser sensor, an IMU sensor, a power interface board, a main motor drive board, a box body board, an infrared sensor board and an ultrasonic sensor board;
The embedded mainboard A is provided with eth0, the embedded mainboard B is provided with eth0 and eth1, and the embedded mainboard A and the embedded mainboard B are connected through a network cable; the embedded mainboard B and the singlechip transfer board are provided with UART interfaces and are connected through a serial data bus;
The laser sensor is connected with eth1 on the embedded mainboard B; the IMU sensor is connected with the single chip microcomputer transfer board; the power interface board is connected with the battery and is electrically connected with the transfer board of the singlechip through a data bus;
The main motor drive board, the box body board, the infrared sensor board and the ultrasonic sensor board are respectively connected with the single chip microcomputer transfer board through data buses.
Preferably, the embedded mainboard A adopts an rk3399 arm processor and integrates an eMMC memory and a DDR4 memory; and an rk3288arm processor is adopted on the embedded mainboard B, and an eMMC memory and a DDR4 memory are integrated.
Preferably, the embedded motherboard a is provided with a wifi module, a first 4G module, a second 4G module and a USB interface.
Preferably, the embedded mainboard A and the embedded mainboard B adopt STM32 single-chip microcomputer and are integrated with RS485 or CAN bus.
Preferably, the main motor drive plates include a left main motor drive plate and a right main motor drive plate; the box body plates comprise a left box body plate and a right box body plate; a plurality of infrared sensor plates are arranged; the ultrasonic sensor plate is provided in plurality.
The beneficial effect of adopting above technical scheme is: the distribution robot control system comprises an embedded mainboard A, an execution man-machine interaction GUI, a cloud server interaction and an elevator interaction, instructions are transmitted to an embedded mainboard B according to the interaction, the embedded mainboard B calculates and fuses sensor data, then control commands are generated and transmitted to a single-chip microcomputer transfer board, the single-chip microcomputer transfer board analyzes the commands, the commands are transmitted to a left main motor drive board, a right main motor drive board, a left box body board and a right box body board through a data bus, the whole system is divided into the embedded mainboard A, the embedded mainboard B, the single-chip microcomputer transfer board and an execution unit, control logic layers are clear, each layer is in charge of working clearly, complexity can be reduced, and the requirements of stability, response speed, safety, reliability, modularization and transportability are met.
The embedded mainboard A adopts a rk3399 arm processor and integrates an eMMC memory and a DDR4 memory; the embedded mainboard B adopts a rk3288arm processor, integrates an eMMC memory and a DDR4 memory, and can reduce cost and system power consumption compared with the traditional X86 industrial control computer.
The singlechip transfer board is used as a co-processing unit of the robot, has good stability and high real-time performance, analyzes various commands, distributes the commands to various execution parts through a bus, and simultaneously reads various sensor data through a data bus and feeds the data back to the B, thereby playing the role of a bridge.
The main motor drive plate comprises a left main motor drive plate and a right main motor drive plate; the box body plates comprise a left box body plate and a right box body plate; a plurality of infrared sensor plates are arranged; the ultrasonic sensor plates are arranged in a plurality of numbers, and control execution units are divided into enough fine parts, so that execution commands are accurate and reliable, and the safety performance is good.
drawings
Fig. 1 is a diagram of a hardware layout of the distribution robot control system;
Detailed Description
The following detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings for a purpose of helping those skilled in the art to more fully, accurately and deeply understand the concept and technical solution of the present invention and to facilitate its implementation.
as shown in fig. 1, the invention is a distribution robot control system, the whole system is divided into an embedded mainboard a, an embedded mainboard B, a single-chip microcomputer transfer board and an execution unit part, the control logic level is clear, the responsibility of each layer is clear, the complexity can be reduced, and the requirements of stability, response speed, safety, reliability, modularization and portability can be met.
Specifically, as shown in fig. 1, the infrared sensor module comprises an embedded motherboard a, an embedded motherboard B, a single-chip microcomputer transfer board, a laser sensor, an IMU sensor, a power interface board, a main motor drive board, a box board, an infrared sensor board and an ultrasonic sensor board;
The embedded mainboard A is provided with eth0, the embedded mainboard B is provided with eth0 and eth1, and the embedded mainboard A and the embedded mainboard B are connected through a network cable; the embedded mainboard B and the singlechip transfer board are provided with UART interfaces and are connected through a serial data bus;
the laser sensor is connected with eth1 on the embedded mainboard B; the IMU sensor is connected with the single chip microcomputer transfer board; the power interface board is connected with the battery and is electrically connected with the transfer board of the singlechip through a data bus;
The main motor drive board, the box body board, the infrared sensor board and the ultrasonic sensor board are respectively connected with the single chip microcomputer transfer board through data buses.
The embedded mainboard A adopts a rk3399 arm processor and integrates an eMMC memory and a DDR4 memory; and an rk3288arm processor is adopted on the embedded mainboard B, and an eMMC memory and a DDR4 memory are integrated.
as shown in fig. 1, the embedded motherboard a is provided with a wifi module, a first 4G module, a second 4G module and a USB interface.
The embedded mainboard A and the embedded mainboard B adopt STM32 single-chip microcomputer and are integrated with RS485 or CAN bus.
as shown in fig. 1, the main motor drive plates include a left main motor drive plate and a right main motor drive plate; the box body plates comprise a left box body plate and a right box body plate; a plurality of infrared sensor plates are arranged; the ultrasonic sensor plate is provided in plurality.
the following specific working modes are illustrated by specific examples:
Example 1:
The distribution robot control system comprises an embedded mainboard A, an execution man-machine interaction GUI, a cloud server interaction and an elevator interaction, instructions are transmitted to an embedded mainboard B according to the interaction, the embedded mainboard B calculates and fuses sensor data, then control commands are generated and transmitted to a single-chip microcomputer transfer board, the single-chip microcomputer transfer board analyzes the commands, the commands are transmitted to a left main motor drive board, a right main motor drive board, a left box body board and a right box body board through a data bus, the whole system is divided into the embedded mainboard A, the embedded mainboard B, the single-chip microcomputer transfer board and an execution unit, control logic layers are clear, each layer is in charge of working clearly, complexity can be reduced, and the requirements of stability, response speed, safety, reliability, modularization and transportability are met.
the embedded mainboard A adopts a rk3399 arm processor and integrates an eMMC memory and a DDR4 memory; the embedded mainboard B adopts a rk3288arm processor, integrates an eMMC memory and a DDR4 memory, and can reduce cost and system power consumption compared with the traditional X86 industrial control computer.
The singlechip transfer board is used as a co-processing unit of the robot, has good stability and high real-time performance, analyzes various commands, distributes the commands to various execution parts through a bus, and simultaneously reads various sensor data through a data bus and feeds the data back to the B, thereby playing the role of a bridge.
Example 2:
On the basis of embodiment 1, the main motor drive board includes a left main motor drive board and a right main motor drive board; the box body plates comprise a left box body plate and a right box body plate; a plurality of infrared sensor plates are arranged; the ultrasonic sensor plates are arranged in a plurality of numbers, and control execution units are divided into enough fine parts, so that execution commands are accurate and reliable, and the safety performance is good.
The present invention has been described in connection with the accompanying drawings, and it is to be understood that the invention is not limited to the specific embodiments described above, but is intended to cover various insubstantial modifications of the invention based on the principles and technical solutions of the invention; the present invention is not limited to the above embodiments, and can be modified in various ways.
Claims (5)
1. A dispensing robot control system characterized in that: the system comprises an embedded mainboard A, an embedded mainboard B, a singlechip transit board, a laser sensor, an IMU sensor, a power interface board, a main motor driving board, a box body board, an infrared sensor board and an ultrasonic sensor board;
The embedded mainboard A is provided with eth0, the embedded mainboard B is provided with eth0 and eth1, and the embedded mainboard A and the embedded mainboard B are connected through a network cable; the embedded mainboard B and the singlechip transfer board are provided with UART interfaces and are connected through a serial data bus;
The laser sensor is connected with eth1 on the embedded mainboard B; the IMU sensor is connected with the single chip microcomputer transfer board; the power interface board is connected with the battery and is electrically connected with the transfer board of the singlechip through a data bus;
The main motor drive board, the box body board, the infrared sensor board and the ultrasonic sensor board are respectively connected with the single chip microcomputer transfer board through buses.
2. The dispensing robot control system of claim 1, wherein: the embedded mainboard A adopts a rk3399 arm processor and integrates an eMMC memory and a DDR4 memory; and an rk3288arm processor is adopted on the embedded mainboard B, and an eMMC memory and a DDR4 memory are integrated.
3. The dispensing robot control system according to claim 1, characterized in that: the embedded mainboard A is provided with a wifi module, a first 4G module, a second 4G module and a USB interface.
4. The dispensing robot control system of claim 1, wherein: the embedded mainboard A and the embedded mainboard B adopt STM32 single-chip microcomputer and are integrated with RS485 or CAN bus.
5. The dispensing robot control system of claim 1, wherein: the main motor drive plate comprises a left main motor drive plate and a right main motor drive plate; the box body plates comprise a left box body plate and a right box body plate; a plurality of infrared sensor plates are arranged; the ultrasonic sensor plate is provided in plurality.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814005.0A CN110549337A (en) | 2019-08-30 | 2019-08-30 | Distribution robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910814005.0A CN110549337A (en) | 2019-08-30 | 2019-08-30 | Distribution robot control system |
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| CN110549337A true CN110549337A (en) | 2019-12-10 |
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| CN201910814005.0A Pending CN110549337A (en) | 2019-08-30 | 2019-08-30 | Distribution robot control system |
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| EP2692488A2 (en) * | 2012-07-31 | 2014-02-05 | Seiko Epson Corporation | Control device and control method for robot and the robot |
| CN104400785A (en) * | 2014-12-02 | 2015-03-11 | 湖南城市学院 | Interactive intelligent home service robot |
| CN108098796A (en) * | 2018-02-11 | 2018-06-01 | 国网福建省电力有限公司宁德供电公司 | Electricity business hall intellect service robot device and control method |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
| CN108748220A (en) * | 2018-05-28 | 2018-11-06 | 武汉理工大学 | A kind of foot based on Inertial Measurement Unit-machine follow-up control method and control system |
| CN208323396U (en) * | 2018-03-20 | 2019-01-04 | 什伯（上海）智能技术有限公司 | A kind of hardware platform of intelligent robot |
| CN109531603A (en) * | 2017-09-22 | 2019-03-29 | 江苏智谋科技有限公司 | Robot operating control system based on artificial intelligence |
| CN109968365A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | The control method and robot of a kind of robot control system, control system |
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2019
- 2019-08-30 CN CN201910814005.0A patent/CN110549337A/en active Pending
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|---|---|---|---|---|
| DD239155A1 (en) * | 1985-07-12 | 1986-09-17 | Numerik Karl Marx Veb | CIRCUIT ARRANGEMENT FOR CONTROLLING AN INDUSTRIAL ROBOT |
| EP2692488A2 (en) * | 2012-07-31 | 2014-02-05 | Seiko Epson Corporation | Control device and control method for robot and the robot |
| CN104400785A (en) * | 2014-12-02 | 2015-03-11 | 湖南城市学院 | Interactive intelligent home service robot |
| CN109531603A (en) * | 2017-09-22 | 2019-03-29 | 江苏智谋科技有限公司 | Robot operating control system based on artificial intelligence |
| CN109968365A (en) * | 2017-12-28 | 2019-07-05 | 沈阳新松机器人自动化股份有限公司 | The control method and robot of a kind of robot control system, control system |
| CN108098796A (en) * | 2018-02-11 | 2018-06-01 | 国网福建省电力有限公司宁德供电公司 | Electricity business hall intellect service robot device and control method |
| CN208323396U (en) * | 2018-03-20 | 2019-01-04 | 什伯（上海）智能技术有限公司 | A kind of hardware platform of intelligent robot |
| CN108608399A (en) * | 2018-04-24 | 2018-10-02 | 南京理工大学 | A kind of crusing robot of Master-Slave Distributive Control |
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Application publication date: 20191210 |