CN112372634A - Chemical engineering safety robot control system - Google Patents
Chemical engineering safety robot control system Download PDFInfo
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- CN112372634A CN112372634A CN202011104588.7A CN202011104588A CN112372634A CN 112372634 A CN112372634 A CN 112372634A CN 202011104588 A CN202011104588 A CN 202011104588A CN 112372634 A CN112372634 A CN 112372634A
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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
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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
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Abstract
The invention discloses a chemical safety robot control system, which comprises a lower computer and an upper computer, wherein the lower computer comprises an upper layer control structure and a bottom layer control structure, and the bottom layer control structure comprises a motion control system and a sensor acquisition system; the cost of the lower computer is reduced while the whole reliability and stability are ensured, the data processing speed, the precision and the real-time performance are improved, the cost is lower, the precision is high, and the deficiency of the service robot in the chemical industry is made up by organically combining the chemical knowledge base and the service robot.
Description
Technical Field
The invention relates to the technical field of safety robots, in particular to a chemical safety robot control system.
Background
In recent years, with the rising of labor cost in China and the occurrence of safety production accidents causing serious casualties from time to time, the replacement of manpower by robots for manufacturing industry becomes more urgent, and the operation robots are greatly developed, but some safety production accidents still occur inevitably, and the main reasons are that the safety consciousness of staff is insufficient, and enterprises lack of regular safety propaganda and guidance.
Therefore, it is urgently needed to develop a safety robot capable of providing safety inspection and knowledge popularization functions, inspect a work factory area and provide knowledge propaganda for employees. Since the robot is a patrol type robot, the control system of the robot needs to be sufficiently perfected.
Disclosure of Invention
The invention aims at the problems and discloses a chemical safety robot control system.
The specific technical scheme is as follows:
a chemical safety robot control system is characterized by comprising a lower computer and an upper computer;
the lower computer: the chemical safety robot receives an instruction transmitted by an upper computer and transmits acquired data to the upper computer;
the upper computer: and controlling the lower computer and receiving data fed back by the lower computer.
The chemical safety robot control system comprises a lower computer, a lower computer and a control system, wherein the lower computer comprises an upper layer control structure and a bottom layer control structure;
the upper control structure takes an Android system as a core and is used for acquiring and processing data of the camera, the laser radar and the voice interaction module;
the bottom layer control structure takes an STM32 processor as a core and is used for closed-loop control of robot movement and data acquisition of sensors.
The chemical engineering safety robot control system is characterized in that the upper layer control structure and the bottom layer control structure are communicated through RS232 serial ports.
The chemical engineering safety robot control system comprises a bottom layer control structure and a bottom layer control structure, wherein the bottom layer control structure comprises a motion control system and a sensor acquisition system.
The chemical engineering safety robot control system comprises: the system comprises an STM32 processor, a driver module, a power supply module, a transformation module, an electric quantity acquisition module and an IMU module.
The chemical engineering safety robot control system comprises: an STM32 chip is selected to complete communication with an upper control structure through a serial port, so as to receive an upper command and transmit the command to a driver module; the driver module: the WSDC2412D dual-channel direct-current brushed motor driver is selected, so that the required voltage is reduced, and the controllable effect and the system compatibility are improved; the power supply module: selecting a 22V lithium battery functional group; the voltage transformation module selects LM2596T-5V and outputs 3A driving current; the electric quantity acquisition module: the real-time acquisition of the electric quantity of the power supply module is completed through AD conversion; the IMU module: MPU6050 is selected.
The chemical engineering safety robot control system comprises: the device comprises an STM32 processor, a JTAG debugging module, an IMU module, a driver running state sensor, an electric quantity acquisition module and an OLED display module.
The chemical engineering safety robot control system comprises: an STM32 chip is selected to calculate and process the collected analog quantity and digital quantity, and the communication is completed through a serial port and an upper control structure to execute related instructions; the JTAG debugging module: the method is used for online programming, debugging and simulation of the STM32 processor; the IMU module: selecting MPU 6050; the driver operating state sensor: the sensor is one or more of an encoder, a current sensor and a proximity switch; the electric quantity acquisition module: the real-time acquisition of the electric quantity of the power supply module is completed through AD conversion; the OLED display module comprises: used for displaying the signals collected and processed by the sensor collecting system.
The chemical engineering safety robot control system comprises an upper-layer control structure and a lower-layer control structure, wherein the upper-layer control structure comprises the following working methods: the Android system interacts with the camera, the laser radar and the voice interaction module, realizes the collection of pictures, navigation and audio data of the chemical engineering safety robot, is connected with a lower control layer through a serial port, interacts with each hardware device in a driving bottom layer control structure through an STM32 processor, drives the hardware devices to operate through instructions, and simultaneously, completes the training work and the navigation routing inspection work of the chemical engineering safety by taking a chemical engineering safety knowledge base as a support.
The chemical engineering safety robot control system comprises a bottom layer control structure and a control system, wherein the bottom layer control structure comprises the following working methods: firstly, initializing each module through an STM32 processor, then entering a main cycle, receiving a motion instruction given by an upper computer through the STM32 processor, distributing the instruction to a driver module through motion analysis, compensating and adjusting the speed of the driver module through the feedback of a driver running state sensor and the adjustment of a pid adjuster by the driver module, and judging whether the speed reaches a target point or not by combining information obtained by an IMU (inertial measurement unit); the sensor acquisition system acquires data of each module, such as power quantity, displacement size, encoder information and the like, through serial port and AD conversion, and finally displays the data on the OLED display module.
The invention has the beneficial effects that:
the invention discloses a chemical safety robot control system, which comprises a lower computer and an upper computer, wherein the lower computer comprises an upper layer control structure and a bottom layer control structure, and the bottom layer control structure comprises a motion control system and a sensor acquisition system; the cost of the lower computer is reduced while the whole reliability and stability are ensured, the data processing speed, the precision and the real-time performance are improved, the cost is lower, the precision is high, and the deficiency of the service robot in the chemical industry is made up by organically combining the chemical knowledge base and the service robot.
Drawings
FIG. 1 is a schematic view of the present invention.
Fig. 2 is a schematic diagram of a motion control system.
Fig. 3 is a schematic diagram of a sensor acquisition system.
Fig. 4 is a schematic diagram of a lower layer control system.
Detailed Description
In order to make the technical solution of the present invention clearer and clearer, the present invention is further described below with reference to embodiments, and any solution obtained by substituting technical features of the technical solution of the present invention with equivalents and performing conventional reasoning falls within the scope of the present invention.
Example one
The chemical safety robot control system is characterized by comprising a lower computer and an upper computer;
the lower computer: the chemical safety robot receives an instruction transmitted by an upper computer and transmits acquired data to the upper computer;
the upper computer: controlling the lower computer and receiving data fed back by the lower computer;
the lower computer comprises an upper-layer control structure and a bottom-layer control structure;
the upper control structure takes an Android system as a core and is used for acquiring and processing data of the camera, the laser radar and the voice interaction module;
the bottom layer control structure takes an STM32 processor as a core and is used for closed-loop control of robot motion and data acquisition of a sensor;
the upper layer control structure is communicated with the bottom layer control structure through an RS232 serial port;
the embodiment provides a control system of a chemical safety robot, which is used for realizing the real-time control of the chemical safety robot.
The working method comprises the following steps: the Android system interacts with the camera, the laser radar and the voice interaction module, realizes the collection of pictures, navigation and audio data of the chemical engineering safety robot, is connected with a lower control layer through a serial port, interacts with each hardware device in a driving bottom layer control structure through an STM32 processor, drives the hardware devices to operate through instructions, and simultaneously, completes the training work and the navigation routing inspection work of the chemical engineering safety by taking a chemical engineering safety knowledge base as a support.
Example two
The chemical engineering safety robot control system of this embodiment, its characterized in that, bottom control structure includes motion control system and sensor acquisition system, motion control system: the system comprises an STM32 processor, a driver module, a power supply module, a voltage transformation module, an electric quantity acquisition module and an IMU module;
wherein the STM32 processor: an STM32 chip is selected to complete communication with an upper control structure through a serial port, so as to receive an upper command and transmit the command to a driver module; the driver module: the WSDC2412D dual-channel direct-current brushed motor driver is selected, so that the required voltage is reduced, and the controllable effect and the system compatibility are improved; the power supply module: selecting a 22V lithium battery functional group; the voltage transformation module selects LM2596T-5V and outputs 3A driving current; the electric quantity acquisition module: the real-time acquisition of the electric quantity of the power supply module is completed through AD conversion; the IMU module: MPU6050 is selected.
EXAMPLE III
The chemical engineering safety robot control system of this embodiment, its characterized in that, sensor acquisition system: the device comprises an STM32 processor, a JTAG debugging module, an IMU module, a driver running state sensor, an electric quantity acquisition module and an OLED display module;
wherein the STM32 processor: an STM32 chip is selected to calculate and process the collected analog quantity and digital quantity, and the communication is completed through a serial port and an upper control structure to execute related instructions; the JTAG debugging module: the method is used for online programming, debugging and simulation of the STM32 processor; the IMU module: selecting MPU 6050; the driver operating state sensor: the sensor is one or more of an encoder, a current sensor and a proximity switch; the electric quantity acquisition module: the real-time acquisition of the electric quantity of the power supply module is completed through AD conversion; the OLED display module comprises: used for displaying the signals collected and processed by the sensor collecting system.
Example four
The chemical engineering safety robot control system according to the second and third embodiments is characterized in that the working method of the bottom layer control structure is as follows: firstly, initializing each module through an STM32 processor, then entering a main cycle, receiving a motion instruction given by an upper computer through the STM32 processor, distributing the instruction to a driver module through motion analysis, compensating and adjusting the speed of the driver module through the feedback of a driver running state sensor and the adjustment of a pid adjuster by the driver module, and judging whether the speed reaches a target point or not by combining information obtained by an IMU (inertial measurement unit); the sensor acquisition system acquires data of each module, such as power quantity, displacement size, encoder information and the like, through serial port and AD conversion, and finally displays the data on the OLED display module.
EXAMPLE five
By integrating the above embodiments, the work flow of the chemical safety robot control system is as follows:
(1) the upper computer and the lower computer are communicated through a network local area network and are used for sending instructions and receiving information sent back by the lower computer to fulfill the aims of chemical safety training and guiding;
(2) the lower computer processes the received instruction, transmits the received instruction to the motion control system and the sensor acquisition system through the STM32 processor, and simultaneously calls the camera, the laser radar and the voice interaction module to acquire and process corresponding data;
(3) the motion control system processes the received instruction to realize the accurate control of the omnibearing autonomous movement of the robot; the sensor acquisition system processes and completes the received instruction and feeds back information to an upper control layer;
(4) and the lower computer processes the received feedback information and transmits the feedback information to the upper computer to wait for a next step of instruction.
In conclusion, the chemical engineering safety robot is reasonable in design and simple in principle, can effectively realize remote control of the chemical engineering safety robot, and is reliable and stable in control system and communication; the cost of the lower computer is reduced while the whole reliability and stability are ensured, the data processing speed, the precision and the real-time performance are improved, the cost is lower, the precision is high, and the deficiency of the service robot in the chemical industry is made up by organically combining the chemical knowledge base and the service robot.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are also included in the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.
Claims (10)
1. A chemical safety robot control system is characterized by comprising a lower computer and an upper computer;
the lower computer: the chemical safety robot receives an instruction transmitted by an upper computer and transmits acquired data to the upper computer;
the upper computer: and controlling the lower computer and receiving data fed back by the lower computer.
2. A chemical engineering safety robot control system according to claim 1, wherein the lower computer comprises an upper control structure and a lower control structure;
the upper control structure takes an Android system as a core and is used for acquiring and processing data of the camera, the laser radar and the voice interaction module;
the bottom layer control structure takes an STM32 processor as a core and is used for closed-loop control of robot movement and data acquisition of sensors.
3. The chemical engineering safety robot control system according to claim 2, wherein the upper control structure and the lower control structure communicate through an RS232 serial port.
4. A chemical industry safety robot control system as claimed in claim 3, wherein the underlying control structure comprises a motion control system and a sensor acquisition system.
5. A chemical engineering safety robot control system as claimed in claim 4, wherein the motion control system: the system comprises an STM32 processor, a driver module, a power supply module, a transformation module, an electric quantity acquisition module and an IMU module.
6. A chemical engineering safety robot control system as claimed in claim 5, wherein the STM32 processor: an STM32 chip is selected to complete communication with an upper control structure through a serial port, so as to receive an upper command and transmit the command to a driver module; the driver module: the WSDC2412D dual-channel direct-current brushed motor driver is selected, so that the required voltage is reduced, and the controllable effect and the system compatibility are improved; the power supply module: selecting a 22V lithium battery functional group; the voltage transformation module selects LM2596T-5V and outputs 3A driving current; the electric quantity acquisition module: the real-time acquisition of the electric quantity of the power supply module is completed through AD conversion; the IMU module: MPU6050 is selected.
7. A chemical engineering safety robot control system as claimed in claim 5, wherein the sensor acquisition system: the device comprises an STM32 processor, a JTAG debugging module, an IMU module, a driver running state sensor, an electric quantity acquisition module and an OLED display module.
8. A chemical engineering safety robot control system as claimed in claim 7, wherein the STM32 processor: an STM32 chip is selected to calculate and process the collected analog quantity and digital quantity, and the communication is completed through a serial port and an upper control structure to execute related instructions; the JTAG debugging module: the method is used for online programming, debugging and simulation of the STM32 processor; the IMU module: selecting MPU 6050; the driver operating state sensor: the sensor is one or more of an encoder, a current sensor and a proximity switch; the electric quantity acquisition module: the real-time acquisition of the electric quantity of the power supply module is completed through AD conversion; the OLED display module comprises: used for displaying the signals collected and processed by the sensor collecting system.
9. The chemical engineering safety robot control system according to claim 7, wherein the upper control structure works as follows: the Android system interacts with the camera, the laser radar and the voice interaction module, realizes the collection of pictures, navigation and audio data of the chemical engineering safety robot, is connected with a lower control layer through a serial port, interacts with each hardware device in a driving bottom layer control structure through an STM32 processor, drives the hardware devices to operate through instructions, and simultaneously, completes the training work and the navigation routing inspection work of the chemical engineering safety by taking a chemical engineering safety knowledge base as a support.
10. A chemical engineering safety robot control system according to claim 9, wherein the working method of the underlying control structure is as follows: firstly, initializing each module through an STM32 processor, then entering a main cycle, receiving a motion instruction given by an upper computer through the STM32 processor, distributing the instruction to a driver module through motion analysis, compensating and adjusting the speed of the driver module through the driver module according to the feedback of a driver running state sensor and the adjustment of a PID (proportion integration differentiation) adjuster, and judging whether the speed reaches a target point or not by combining information obtained by an IMU (inertial measurement Unit); the sensor acquisition system acquires data of each module, such as power quantity, displacement size, encoder information and the like, through serial port and AD conversion, and finally displays the data on the OLED display module.
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| CN202010641756X | 2020-07-06 | ||
| CN202010641756 | 2020-07-06 |
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