CN111070213B - Robot control system - Google Patents
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- CN111070213B CN111070213B CN202010018240.XA CN202010018240A CN111070213B CN 111070213 B CN111070213 B CN 111070213B CN 202010018240 A CN202010018240 A CN 202010018240A CN 111070213 B CN111070213 B CN 111070213B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The application provides a robot control system, the system include the telecontrol equipment, keep away the barrier device and respectively with the telecontrol equipment with keep away the first communication bus that the barrier device is connected, wherein, keep away the barrier device including keep away barrier detection module, dropproof module, safe edge module and first communication transceiver module, first communication transceiver module respectively with keep away barrier detection module the dropproof module with safe edge module connects, the telecontrol equipment include steering wheel module and with the second communication transceiver module that steering wheel module connects. According to the robot system, the robot system is divided into a plurality of modules according to functions, the modules are communicated through the first communication bus, when a certain function requirement of the robot is changed, the corresponding modules can be directly added or replaced, and the coupling among the modules is reduced.
Description
Technical Field
The application relates to the technical field of robots, in particular to a robot control system.
Background
With the development of science and technology, the applicable range of the robot is more and more extensive, and the function of the robot is more and more diversified. The inside of the robot is not divided according to the module functions, so that if a certain function needs to be upgraded, a plurality of circuits need to be changed, the difficulty of upgrading the functions of the robot is increased, and the upgrading efficiency is reduced.
Disclosure of Invention
An object of the embodiment of the application is to provide a robot control system to solve the problem that the function of a robot is difficult to upgrade. The specific technical scheme is as follows:
in a first aspect, a robot control system is provided, the system includes a motion device, an obstacle avoidance device, and a first communication bus connected to the motion device and the obstacle avoidance device, wherein the obstacle avoidance device includes an obstacle avoidance detection module, a drop prevention module, a safety touch edge module, and a first communication transceiver module, the first communication transceiver module is connected to the obstacle avoidance detection module, the drop prevention module, and the safety touch edge module, respectively, and the motion device includes a steering engine module and a second communication transceiver module connected to the steering engine module;
the obstacle avoidance detection module is used for sending detected obstacle detection signals to the first communication transceiver module;
the anti-falling module is used for sending the measured height signal of the robot from the ground to the first communication transceiving module;
the safe edge touching module is used for sending the measured collision signal of the robot to the first communication transceiving module;
and the steering engine module is used for receiving the motion control instruction obtained from the second communication transceiving module, moving according to the motion control instruction and feeding back the motion condition to the second communication transceiving module.
Optionally, the obstacle avoidance device further includes: the obstacle avoidance detection module is connected with the second communication bus, the second communication bus is connected with the first single chip microcomputer through the first interface conversion module, and the first single chip microcomputer is connected with the first communication transceiving module.
Optionally, the obstacle avoidance device further includes an amplifier, an analog-to-digital conversion module, and a first single chip microcomputer, the anti-falling module is connected to the first single chip microcomputer through the amplifier and the analog-to-digital conversion module, and the first single chip microcomputer is connected to the first communication transceiver module;
the anti-falling module sends the height signal to the first single chip microcomputer after the height signal is amplified by the amplifier and converted by the analog-to-digital conversion module in sequence, and the first single chip microcomputer sends the amplified height signal and the converted height signal to the first communication transceiver module.
Optionally, the obstacle avoidance device further includes a comparator and a first single chip microcomputer, the safety edge touching module is connected to the first single chip microcomputer through the comparator, and the first single chip microcomputer is connected to the first communication transceiver module;
the safety edge touching module sends the collision signal to the comparator, and the comparator sends the collision signal higher than a preset threshold value to the first communication transceiving module after comparison.
Optionally, the exercise device further includes a third communication bus, a second interface conversion module and a second single chip microcomputer, the steering engine module is connected to the second single chip microcomputer through the third communication bus and the second interface conversion module, and the second single chip microcomputer is connected to the second communication transceiver module;
the second single chip microcomputer receives a control instruction through the second communication transceiving module and transmits the control instruction to the third communication bus through the second interface conversion module, the steering engine module is connected with the third communication bus, and the steering engine module obtains the control instruction through the third communication bus and moves according to the control instruction.
Optionally, the system further includes a light source control device, the light source control device is connected to the first communication bus, the light source control device includes an LED driving unit, a third single chip microcomputer and a third communication transceiver module, and the LED driving unit is connected to the third communication transceiver module through the third single chip microcomputer;
and the third communication transceiving module sends a light control signal to the third single chip microcomputer, and the third single chip microcomputer drives the LED driving unit to work.
Optionally, the system further includes a sound collection device, the sound collection device is connected to the first communication bus, and the sound collection device includes a sound collection module, a voice processing module, a power amplification module, a speaker, and a fourth communication transceiver module;
the voice acquisition module, the power amplifier module and the fourth communication transceiving module are respectively connected with the voice processing module, and the loudspeaker is connected with the power amplifier module.
Optionally, the system further includes: the environment acquisition device is connected with the first communication bus;
the environment acquisition device comprises a temperature acquisition module, a humidity acquisition module, a noise acquisition module, a wind speed acquisition module, an air cleanliness acquisition module, a fourth single chip microcomputer and a fifth communication transceiving module;
the temperature acquisition module, the humidity acquisition module, the noise acquisition module, the wind speed acquisition module, the air cleanliness acquisition module and the fifth communication transceiving module are respectively connected with the fourth single chip microcomputer.
Optionally, the system further includes: a power control device connected to the first communication bus;
the power supply control device comprises a power supply, a voltage stabilizing module, a voltage conversion module, a fifth single chip microcomputer and a sixth communication transceiving module;
the power supply is connected with the power device through the voltage stabilizing module and the first switch, the power supply is connected with the obstacle avoiding device through the voltage conversion module and the second switch, the power supply is connected with the moving device through the voltage conversion module and the third switch, the first switch, the second switch and the third switch are respectively connected with the fifth single chip microcomputer, and the fifth single chip microcomputer is connected with the sixth communication transceiving module.
In a second aspect, there is provided a robot comprising any of the above control systems.
The embodiment of the application has the following beneficial effects:
the embodiment of the application provides a robot control system, wherein a robot system is divided into a plurality of modules according to functions, the modules communicate with each other through a first communication bus, and when a certain function requirement of the robot is changed, the corresponding modules can be directly added or replaced, so that the coupling among the modules is reduced.
Of course, not all advantages described above need to be achieved at the same time in the practice of any one product or method of the present application.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly described below, and it is obvious for those skilled in the art to obtain other drawings without inventive exercise.
Fig. 1 is a schematic diagram of a robot control system according to an embodiment of the present disclosure;
fig. 2 is a schematic view of an obstacle avoidance apparatus according to an embodiment of the present disclosure;
FIG. 3 is a schematic view of an exercise apparatus according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a light source control device according to an embodiment of the present disclosure;
fig. 5 is a schematic view of a sound collection device according to an embodiment of the present application;
FIG. 6 is a schematic view of an environment collection apparatus according to an embodiment of the present disclosure;
fig. 7 is a schematic diagram of a power control apparatus according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The embodiment of the application provides a robot control system, which can be applied to a server, wherein the server is used for controlling a robot.
A robot control system provided in an embodiment of the present application will be described in detail below with reference to specific embodiments. Fig. 1 is a schematic diagram of a robot control system according to an embodiment of the present disclosure.
The robot control system includes a first CAN (Controller Area Network) bus and a plurality of function modules, wherein the function modules include: light source control device, telecontrol equipment, power control device, controlling means, sound collection system, environment collection system, keep away barrier device, above-mentioned each device is through a CAN bus connection.
Each functional module may be only used to implement a single function, or each functional module may include a plurality of sub-functional modules, and the plurality of sub-functional modules in the same functional module are connected to the first CAN bus through the same communication transceiver module.
The robot control system adopts the modular design, the robot is divided into the functional modules according to functions, the functional modules are connected through the first CAN bus, the functional modules of the robot control system process internal information independently, and the processed information is sent to the control device through the first CAN bus. If a certain function of the robot needs to be changed or upgraded or a functional module needs to be added to the robot, only the functional module needing to be changed is changed, other functional modules are not affected, and the coupling between the functional modules is reduced.
The robot control system may include a moving device, an obstacle avoidance device, and a first communication bus connected to the moving device and the obstacle avoidance device, respectively. The obstacle avoidance device comprises an obstacle avoidance detection module, a falling prevention module, a safe touch edge module and a first communication receiving and sending module, the first communication receiving and sending module is respectively connected with the obstacle avoidance detection module, the falling prevention module and the safe touch edge module, and the movement device comprises a steering engine module and a second communication receiving and sending module connected with the steering engine module.
In an implementation manner, the first communication bus may be a CAN bus, a 485 bus, or an ethernet bus, in this embodiment, the first communication bus is a CAN bus, and the corresponding first communication transceiver module is a first CAN transceiver.
The obstacle avoidance device comprises an obstacle avoidance detection module, a first communication transceiving module and a second communication transceiving module, wherein the obstacle avoidance detection module in the obstacle avoidance device is used for sending detected obstacle detection signals to the first communication transceiving module; the anti-falling module is used for receiving and sending the measured height signal of the robot from the ground to the first communication transceiving module; the safety edge touching module is used for sending the measured collision signal of the robot to the first communication transceiving module;
and the steering engine module in the movement device is used for receiving the control instruction obtained from the second communication transceiver module, moving according to the control instruction and feeding back the movement condition to the second communication transceiver module.
Optionally, referring to fig. 2, fig. 2 is a schematic view of an obstacle avoidance device provided in an embodiment of the present application. The obstacle avoidance device may further include: the second communication bus, the first interface conversion module and the first singlechip. The obstacle avoidance detection module is connected with a second communication bus, the second communication bus is connected with a first single chip microcomputer through a first interface conversion module, and the first single chip microcomputer is connected with a first communication transceiving module.
In this embodiment of the application, since the obstacle avoidance detection module is a 485 interface, the second communication bus is a 485 bus, and the first interface conversion module connected to the 485 bus is a 485-to-UART (Universal Asynchronous Receiver Transmitter) module.
In the embodiment of the application, the system comprises a plurality of ultrasonic obstacle avoidance sensors, such as obstacle avoidance detection modules 1 to 6 in fig. 2, the control module sends obstacle avoidance control commands to a first CAN transceiver through a CAN bus, the first CAN transceiver converts differential signals on the CAN bus into TTL (Time to Live, domain name resolution persisting Time in a DNS server) signals which CAN be identified by a first single chip microcomputer and sends the obstacle avoidance control commands to the first single chip microcomputer, because the interface of the first single chip microcomputer is different from that of the ultrasonic obstacle avoidance sensors, the first single chip microcomputer converts the obstacle avoidance control commands into second communication signals which CAN be identified by the ultrasonic obstacle avoidance sensors through a first interface conversion module, the ultrasonic obstacle avoidance sensors convert the acquired obstacle avoidance information into signals which CAN be identified by the first single chip microcomputer through a first interface conversion module after receiving the second communication signals, and the first single chip microcomputer sends the obstacle avoidance information to the control device through the first CAN transceiver.
The embodiment of the application keeps away barrier sensor through adopting a plurality of ultrasonic waves, can all-round collection keep away barrier information, reduces the probability that the robot hit the barrier, and in addition, the ultrasonic wave keeps away barrier sensor and will keep away barrier information transmission to controlling means after receiving and keep away barrier control command, avoids a plurality of ultrasonic waves to keep away the barrier sensor and takes place simultaneously and keeps away barrier information and cause the conflict.
Optionally, as shown in fig. 2, the obstacle avoidance device may further include an amplifier, an analog-to-digital conversion module, and a first single chip microcomputer, where the anti-drop module is connected to the first single chip microcomputer through the amplifier and the analog-to-digital conversion module, and the first single chip microcomputer is connected to the first CAN transceiver. The anti-falling module sends the height signal to the first single chip microcomputer after the height signal is sequentially amplified by the amplifier and converted by the analog-to-digital conversion module, and the first single chip microcomputer sends the amplified height signal and the converted height signal to the first communication transceiver module.
In the embodiment of the application, the obstacle avoidance device further comprises an amplifier, an analog-to-digital conversion module and a first single chip microcomputer, the anti-falling module is connected with the first single chip microcomputer through the amplifier and the analog-to-digital conversion module, and the first single chip microcomputer is connected with the first CAN transceiver. There may be a plurality of fall protection modules, such as fall protection module 1 and fall protection module 2 in fig. 2.
The anti-falling module detects the distance between the bottom of the robot and the ground, if the detected distance is greater than a preset distance, the anti-falling module sends a height signal to the control device, so that the control device CAN know that the robot has a falling risk, concretely, the control device sends an anti-falling detection instruction to the first single chip microcomputer, the first single chip microcomputer controls the anti-falling module to carry out distance acquisition, the output voltage is 0-0.5V, the anti-falling module amplifies the height signal output voltage through the amplifier to become 0-3V, then the analog signal is converted into a digital signal through the analog-to-digital conversion module, and the first single chip microcomputer sends the amplified digital signal to the control device through the first CAN transceiver. After receiving the height signal, the control device sends a motion instruction to the steering engine so that the robot changes the advancing direction and is prevented from falling.
Optionally, as shown in fig. 2, the obstacle avoidance device may further include a comparator and a first single chip microcomputer, the safety trimming module is connected to the first single chip microcomputer through the comparator, and the first single chip microcomputer is connected to the first CAN transceiver; the safety edge touching module sends the collision signal to the comparator, and the comparator sends the collision signal higher than the preset threshold value to the first communication transceiving module after comparison.
In this application embodiment, keep away barrier device still includes comparator and first singlechip, and the safe module of touching the limit passes through the comparator to be connected with first singlechip, and first singlechip is connected with first CAN transceiver.
The safety edge touching module sends the collision signal to the comparator, in the embodiment of the application, the comparator is an open-drain output comparator, the output voltage of the open-drain output comparator is determined by the pull-up voltage, and the comparator sends the collision signal higher than a preset threshold value to the first single chip microcomputer after comparison.
For example, if the touch signal of the safety touch edge module is 0 to 12V, and the preset threshold of the open-drain output comparator is 6V, the open-drain output comparator obtains a voltage of 6 to 12V, and since the output voltage of the open-drain output comparator is determined by the pull-up voltage, the voltage transmitted to the first single chip microcomputer by the open-drain output comparator is 0 to 3.3V.
Optionally, referring to fig. 3, fig. 3 is a schematic view of a sports apparatus according to an embodiment of the present application. The movement device can also comprise a third communication bus, a second interface conversion module and a second single chip microcomputer, the steering engine module is connected with the second single chip microcomputer through the third communication bus and the second interface conversion module, and the second single chip microcomputer is connected with the second communication transceiving module. The second single chip microcomputer receives the control instruction through the second communication transceiving module and transmits the control instruction to the third communication bus through the second interface conversion module, the steering engine module is connected with the third communication bus, and the steering engine module obtains the control instruction through the third communication bus and moves according to the control instruction.
In this embodiment of the present application, the third communication bus may be a 485 bus, the second interface conversion module is a UART to 485 module, and the second communication transceiver module is a second CAN transceiver.
The second CAN transceiver receives the motion control instruction from the control device, converts the motion control instruction into a TTL signal which CAN be identified by the single chip microcomputer and sends the TTL signal to the second single chip microcomputer, the second single chip microcomputer converts the motion control instruction into a third communication signal which CAN be identified by the steering engine module through the second interface conversion module, the steering engine module performs corresponding motion actions after acquiring the signal through a third communication bus, and sends the motion action signal to the second single chip microcomputer through the second interface conversion module, and the second single chip microcomputer feeds the motion action signal back to the control device through the second CAN transceiver.
In the embodiment of the application, the number of the steering engine modules can be multiple, such as the steering engine modules 1-9 in fig. 3. After receiving the motion control instruction of the control device, the steering engine module performs corresponding motion actions and feeds back the motion action signals to the control device, so that the conflict of a plurality of motion action signals generated on the third communication bus can be reduced. In addition, if one of the steering engine modules fails, the second single chip sends an error signal of the failed steering engine module to the control device, and the control device determines the ip address of the failed steering engine module according to the corresponding relation between the error signal and the ip (Internet Protocol, Internet interconnection Protocol) address, so that the specific steering engine module is known to fail.
Optionally, referring to fig. 4, fig. 4 is a schematic view of a light source control device provided in an embodiment of the present application. The system CAN also comprise a light source control device, the light source control device is connected with the first CAN bus, the light source control device comprises an LED driving unit, a third single chip microcomputer and a third communication transceiving module, and the LED driving unit is connected with the third communication transceiving module through the third single chip microcomputer.
In the embodiment of the present application, the third communication transceiver module is a third CAN transceiver, and the number of the LED driving units may be multiple, such as the LED driving units 1 to 3 included in fig. 4.
The light source control device is connected with the first CAN bus, the light source control device comprises an LED driving unit, a third single chip microcomputer and a third communication transceiving module, the third CAN transceiver receives a light control signal sent by the control device and sends the light control signal to the third single chip microcomputer, the third single chip microcomputer controls the LED driving unit to change the color and the brightness of light according to the light control signal, and after the LED driving unit works, the third single chip microcomputer feeds back an execution working result to the control device, so that the control device CAN know whether the light is successfully controlled.
Optionally, referring to fig. 5, fig. 5 is a schematic view of a sound collection device provided in an embodiment of the present application. The system CAN also comprise a sound acquisition device, the sound acquisition device is connected with the first CAN bus, the sound acquisition device comprises a sound acquisition module, a voice processing module, a power amplification module, a loudspeaker and a fourth communication transceiving module, the sound acquisition module, the power amplification module and the fourth communication transceiving module are respectively connected with the voice processing module, and the loudspeaker is connected with the power amplification module.
In this embodiment of the application, the fourth communication transceiver module is a fourth CAN transceiver, the sound collection module is a pickup microphone, and the number of the pickup microphones may be multiple, such as sound collection modules 1 to 6 in fig. 5.
The sound collection device is connected with the first CAN bus and comprises a sound collection module, a voice processing module, a power amplifier module, a loudspeaker and a fourth communication transceiving module, the sound collection module, the power amplifier module and the fourth communication transceiving module are respectively connected with the voice processing module, and the loudspeaker is connected with the power amplifier module.
The sound collection module collects sound and sends the sound to the voice processing unit, the voice processing unit converts sound signals into level signals, the level signals are sent to the control device through the fourth CAN transceiver, the control device sends sound control instructions to the fourth CAN transceiver after receiving the sound signals, the fourth CAN transceiver sends the sound control instructions to the power amplifier module through the voice processing unit to carry out voice amplification processing, and then the sound control instructions are played through the loudspeaker.
Optionally, referring to fig. 6, fig. 6 is a schematic view of an environment collection device according to an embodiment of the present application. The system CAN also comprise an environment acquisition device, the environment acquisition device is connected with the first CAN bus, the environment acquisition device comprises a temperature acquisition module, a humidity acquisition module, a noise acquisition module, a wind speed acquisition module, an air cleanliness acquisition module, a fourth single chip microcomputer and a fifth communication transceiving module, and the temperature acquisition module, the humidity acquisition module, the noise acquisition module, the wind speed acquisition module, the air cleanliness acquisition module and the fifth communication transceiving module are respectively connected with the fourth single chip microcomputer.
In this embodiment, the fifth communication transceiving module is a fifth CAN transceiver.
The environment acquisition device is connected with the first CAN bus, and comprises a temperature acquisition module, a humidity acquisition module, a noise acquisition module, a wind speed acquisition module, an air cleanliness acquisition module, a fourth singlechip and a fifth communication transceiving module, wherein the temperature acquisition module, the humidity acquisition module, the noise acquisition module, the wind speed acquisition module, the air cleanliness acquisition module and the fifth communication transceiving module are respectively connected with the fourth singlechip.
The control device sends the environment acquisition control instruction to the fourth single chip microcomputer through the fifth CAN transceiver, and the fourth single chip microcomputer controls the temperature acquisition module, the humidity acquisition module, the noise acquisition module, the wind speed acquisition module and the air cleanliness acquisition module to carry out environment acquisition work respectively and feeds acquired result information back to the control device.
Optionally, referring to fig. 7, fig. 7 is a schematic diagram of a power control apparatus according to an embodiment of the present application. The system may further comprise: the power supply control device is connected with the first CAN bus, and comprises a power supply, a voltage stabilizing module, a voltage conversion module, a fifth single chip microcomputer and a sixth communication transceiving module, wherein the power supply is connected with the power device through the voltage stabilizing module and a first switch, the power supply is connected with the obstacle avoidance device through the voltage conversion module and a second switch, the power supply is connected with the movement device through the voltage conversion module and a third switch, the first switch, the second switch and the third switch are respectively connected with the fifth single chip microcomputer, and the fifth single chip microcomputer is connected with the sixth communication transceiving module.
In the embodiment of the application, a power supply is connected with a power device through a voltage stabilizing module and a first switch to provide electric energy for the power device, the power supply is connected with an obstacle avoiding device through a voltage conversion module and a second switch, the power supply is connected with a movement device through the voltage conversion module and a third switch, the power supply is connected with a light source control device through the voltage conversion module and a fourth switch, the power supply is connected with a sound acquisition device through the voltage conversion module and a fifth switch, the power supply is connected with an environment acquisition device through the voltage conversion module and a sixth switch, the power supply is connected with the control device through the voltage conversion module and a seventh switch, the first switch, the second switch, the third switch, the fourth switch, the fifth switch, the sixth switch and the seventh switch are respectively connected with a fifth single chip microcomputer, and the fifth single chip microcomputer is connected with a sixth communication transceiving module. In the embodiment of the present application, the sixth communication transceiver module is a sixth CAN transceiver, and each switch is a MOS (field effect transistor) switch or a relay.
Specifically, the power supply supplies power to the power device through the 24V voltage stabilizing module, the power supply converts the voltage from 24V to 12V through the voltage conversion module to supply power to other devices, when the robot is started, the power supply control module is started firstly, the power supply sequentially powers on all the modules according to a specified time sequence, if a certain module needs to be powered off, the control device sends a power-off instruction to the fifth single chip microcomputer through the sixth CAN transceiver, and the fifth single chip microcomputer controls the corresponding MOS switch or the relay to achieve power-off of the modules.
Optionally, the present application further provides a robot including any one of the above control systems.
It is noted that, in this document, relational terms such as "first" and "second," and the like, may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is merely exemplary of the present application and is presented to enable those skilled in the art to understand and practice the present application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the application. Thus, the present application is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. A robot control system is characterized by comprising a moving device, an obstacle avoidance device and a first communication bus respectively connected with the moving device and the obstacle avoidance device, wherein the obstacle avoidance device comprises an obstacle avoidance detection module, a falling prevention module, a safe touch edge module and a first communication transceiving module;
the obstacle avoidance detection module is used for sending detected obstacle detection signals to the first communication transceiving module, wherein the obstacle avoidance detection module is an ultrasonic obstacle avoidance sensor, the number of the ultrasonic obstacle avoidance sensors is multiple, and after the ultrasonic obstacle avoidance sensor receives an obstacle avoidance control instruction, obstacle avoidance information is sent to the control device;
the anti-falling module is used for sending the measured height signal of the robot from the ground to the first communication transceiver module;
the safe edge touching module is used for sending the measured collision signal of the robot to the first communication transceiving module;
the steering engine modules are used for receiving motion control instructions obtained from the second communication transceiver module, moving according to the motion control instructions and feeding back motion conditions to the second communication transceiver module, wherein the number of the steering engine modules is multiple, the steering engine modules are connected with a third communication bus, the steering engine modules perform corresponding motion actions after receiving the motion control instructions of the control device and feed back motion action signals to the control device, the motion action signals carry error signals, and the error signals correspond to ip addresses of the steering engine modules;
wherein the system further comprises: a power control device connected to the first communication bus;
the power supply control device comprises a power supply, a voltage stabilizing module, a voltage conversion module, a fifth single chip microcomputer and a sixth communication transceiving module;
the power supply is connected with the power device through the voltage stabilizing module and the first switch, the power supply is connected with the obstacle avoiding device through the voltage conversion module and the second switch, the power supply is connected with the moving device through the voltage conversion module and the third switch, the first switch, the second switch and the third switch are respectively connected with the fifth single chip microcomputer, and the fifth single chip microcomputer is connected with the sixth communication transceiving module.
2. The control system of claim 1, wherein the obstacle avoidance device further comprises: the obstacle avoidance detection module is connected with the second communication bus, the second communication bus is connected with the first single chip microcomputer through the first interface conversion module, and the first single chip microcomputer is connected with the first communication transceiving module.
3. The control system of claim 1, wherein the obstacle avoidance device further comprises an amplifier, an analog-to-digital conversion module and a first single chip microcomputer, the fall prevention module is connected with the first single chip microcomputer through the amplifier and the analog-to-digital conversion module, and the first single chip microcomputer is connected with the first communication transceiver module;
the anti-falling module sends the height signal to the first single chip microcomputer after the height signal is amplified by the amplifier and converted by the analog-to-digital conversion module in sequence, and the first single chip microcomputer sends the amplified height signal and the converted height signal to the first communication transceiver module.
4. The control system of claim 1, wherein the obstacle avoidance device further comprises a comparator and a first single chip microcomputer, the safety margin module is connected with the first single chip microcomputer through the comparator, and the first single chip microcomputer is connected with the first communication transceiver module;
the safety edge touching module sends the collision signal to the comparator, and the comparator sends the collision signal higher than a preset threshold value to the first communication transceiving module after comparison.
5. The control system of claim 1, wherein the exercise device further comprises a third communication bus, a second interface conversion module and a second single chip microcomputer, the steering engine module is connected with the second single chip microcomputer through the third communication bus and the second interface conversion module, and the second single chip microcomputer is connected with the second communication transceiver module;
the second single chip microcomputer receives a control instruction through the second communication transceiving module and transmits the control instruction to the third communication bus through the second interface conversion module, the steering engine module is connected with the third communication bus, and the steering engine module obtains the control instruction through the third communication bus and moves according to the control instruction.
6. The control system of claim 1, further comprising a light source control device, wherein the light source control device is connected to the first communication bus, the light source control device comprises an LED driving unit, a third single chip and a third communication transceiver module, and the LED driving unit is connected to the third communication transceiver module through the third single chip;
and the third communication transceiving module sends a light control signal to the third single chip microcomputer, and the third single chip microcomputer drives the LED driving unit to work.
7. The control system of claim 1, further comprising a sound collection device, wherein the sound collection device is connected to the first communication bus, and the sound collection device comprises a sound collection module, a voice processing module, a power amplification module, a speaker, and a fourth communication transceiver module;
the voice acquisition module, the power amplifier module and the fourth communication transceiving module are respectively connected with the voice processing module, and the loudspeaker is connected with the power amplifier module.
8. The control system of claim 1, further comprising: the environment acquisition device is connected with the first communication bus;
the environment acquisition device comprises a temperature acquisition module, a humidity acquisition module, a noise acquisition module, a wind speed acquisition module, an air cleanliness acquisition module, a fourth single chip microcomputer and a fifth communication transceiving module;
the temperature acquisition module, the humidity acquisition module, the noise acquisition module, the wind speed acquisition module, the air cleanliness acquisition module and the fifth communication transceiving module are respectively connected with the fourth single chip microcomputer.
9. A robot, characterized in that the robot comprises a control system according to any of claims 1-8.
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| CN111625000B (en) * | 2020-05-28 | 2023-12-05 | 京东科技信息技术有限公司 | Robot, obstacle avoidance method and device for robot |
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