CN203003899U - Master control system of transfer robot - Google Patents
Master control system of transfer robot Download PDFInfo
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- CN203003899U CN203003899U CN 201320039196 CN201320039196U CN203003899U CN 203003899 U CN203003899 U CN 203003899U CN 201320039196 CN201320039196 CN 201320039196 CN 201320039196 U CN201320039196 U CN 201320039196U CN 203003899 U CN203003899 U CN 203003899U
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Abstract
The utility model provides a master control system of a transfer robot. The master control system of the transfer robot comprises a motion state detecting module, an FPGA chip, a motion implement module, an ARM chip and a control input module, wherein the motion state detecting module is used for detecting motion date of the transfer robot, the FPGA chip is suitable for obtaining coordinates of the transfer robot in a specified area according to data detected through the motion state detecting module and controlling motions of the transfer robot according to implement API, the motion implement module is used for receiving control of the FPGA chip and enabling the transfer robot to move, the ARM chip is connected with the FPGA chip and used for generating the implement API according to the data from the FPGA chip and transmitting the implement API to the FPGA chip, and the control input module is used for transmitting user instructions to the ARM chip. The master control system of the transfer robot is simple in structure, convenient to drive and control, high in walking speed, flexible, high in work efficiency, and is a novel system implement method of applying the transfer robot to industry, antiterrorism and violence prevention, families, a space probe field.
Description
Technical field
The utility model relates to the robot field, relates in particular to a kind of transfer robot master control system.
Background technology
Along with social development and scientific and technological progress, robot has obtained using more and more widely in current productive life.
The mobile robot researches and develops a kind of robot early, and that travel mechanism mainly contains is wheeled, crawler type, leg formula, the formula of crawling, great-jump-forward and combined type.Wherein to have a grounding pressure little for crawler type, at soft ground adhesion property and good by performance, and stair climbing, the characteristics such as self-resetting capability that the obstacle detouring stationarity is high, good.But the speed of crawler-type mobile platform is slow, power consumption is large, large to the ground destructiveness when turning to.Though legged mobile robot can satisfy some special performance requirement, can adapt to complicated landform, too many due to its Degree of Structure Freedom, mechanism is complicated, cause restive, translational speed is slow, power consumption is large.Although the formula of crawling and great-jump-forward are in some aspects, have its unique superiority as complex environment, particular surroundings, mobility etc., also there are some fatal defectives, as bearing capacity, robust motion etc.Though the combined type robot can adapt to complex environment or some particular surroundings, as pipeline, what have even can also be out of shape, its structure and control all more complicated.
By contrast, wheeled mobile robot is because it has from heavy and light, carrying is large, mechanism simple, drive with control relative convenient, the advantages such as the speed of travel is fast, maneuverability, operating efficiency height, and is widely used in the fields such as industry, agricultural, anti-terrorism are explosion-proof, family, space exploration.
At present, need in the industry a kind of control system that can allow the roller mobile robot automatically locate carry an object.
The utility model content
The technical problems to be solved in the utility model is, for the deficiencies in the prior art, provides a kind of transfer robot master control system, can allow the roller mobile robot automatically locate carry an object.
According to aspect of the utility model, a kind of transfer robot master control system is provided, comprising:
The motion state detecting module is for the exercise data of sniffing robot;
Fpga chip is suitable for obtaining coordinate in the regulation zone of robot by the data that the motion state detecting module records, and comes the control motion according to carrying out API;
The Motor execution module be used for to receive the control of fpga chip, allows the robot motion;
The ARM chip is connected with fpga chip, is suitable for carrying out API according to the data formation from fpga chip, and sends to fpga chip;
The control inputs module is used for sending user instruction to the ARM chip.
Optionally, described motion state detecting module comprises:
Gyroscope modules is suitable for search angle speed;
Orthogonal encoder is suitable for speed of detection; With
Approach switch is suitable for the induction body of looking for something;
Described gyroscope modules, orthogonal encoder and approach switch are connected with described fpga chip and are connected;
Obtain the angle of robot and the integration of the speed that recorded by the code-disc that orthogonal encoder coordinates obtains the displacement of robot by the angular speed integration that is recorded by gyroscope modules, described fpga chip obtains the coordinate in the regulation zone of robot.
Optionally, described Motor execution module comprises:
Level switch module is connected with fpga chip;
Motor module and steering wheel module are connected with level switch module.
Optionally, described control inputs module comprises:
Handle is connected with the ARM chip by the RS232 serial ports, is used for controlling movement, the crawl of manipulator, thereby reaches the purpose of carry an object;
PC is used for the program of finishing writing is sent to the ARM chip by serial ports.
Optionally, described transfer robot master control system also comprises:
Main control backplane carries described fpga chip and ARM chip; With
The power module that is connected with main control backplane is to the described ARM chip that is positioned at main control backplane and fpga chip power supply.
Optionally, described power module is for the voltage-stabilized power supply that the PWM generation module independently is set; The PWM generation module can generate different PWM waveforms under robot different operating condition, adjust dutycycle, and is stable to guarantee the each several part operation circuit voltage.
Optionally, the data that described fpga chip is suitable for obtaining are passed to the bottom layer driving zone of ARM chip by parallel bus, thereby form ARM chip upper strata action executing API;
Described fpga chip is suitable for controlling the PWM generation module and generating different PWM waveforms after receiving execution API, controls rotating and the rotating speed thereof of steering wheel, thereby reaches the purpose in robot automatic seeking footpath.
Optionally, the model of described ARM chip is EasyARM1138, and chip and peripheral circuit form the minimum operating circuit of ARM chip; The model of described fpga chip is EP1C3, comprises peripheral minimum operating circuit.
Optionally, described approach switch is that model is the Ultrasonic Sensor of M18; Described orthogonal encoder model is HEDS-9700; Described gyroscope modules is that model is the rate gyroscope of CMR3000.
Optionally, the driver that described steering wheel module adopts is Accelnet, and steering wheel is the Maxon stepper motor; The motor of described motor module model used is the Maxon stepper motor; The model of described level switch module is 74LVC4245.
After the utility model adopts said structure, although robot has the road conditions on kinetic stability and road surface much relations is arranged, how to realize at complex-terrain the problems such as accurate TRAJECTORY CONTROL, but simple from heavy and light, mechanism, drive with control relative convenient, the speed of travel is fast, maneuverability, operating efficiency are higher, for it is applied to that industry, anti-terrorism are explosion-proof, family, space exploration field provides a kind of new network system realization.
Description of drawings
The structural representation of the transfer robot master control system that provides in embodiment of the utility model is provided Fig. 1;
The PWM generation module input and output schematic diagram of the transfer robot master control system that provides in embodiment of the utility model is provided Fig. 2;
The steering wheel and self-control motor driver schematic diagram of the transfer robot master control system that provides in embodiment of the utility model are provided Fig. 3;
The schematic diagram of the RS232 serial ports of the handle that provides in embodiment of the utility model is provided Fig. 4.
Reference numeral in above-mentioned figure comprises: 1, approach switch; 2, gyroscope modules; 3, handle; 4, ARM chip; 5, PC; 6, motor module; 7, steering wheel module; 8, electrical level transferring chip; 9, orthogonal encoder; 10, fpga chip; 11, power module.
The specific embodiment
In order to make the purpose of this utility model, technical scheme and advantage clearer, below in conjunction with accompanying drawing, the utility model is further described.Should be appreciated that specific embodiment described herein only in order to explaining the utility model, and be not used in restriction the utility model.
According to embodiment of the utility model, a kind of transfer robot master control system is provided, as shown in Figure 1, comprising:
Described ARM chip 4 is connected with handle 3, PC 5, fpga chip 10 respectively; PC is sent to by serial ports the program of finishing writing in ARM chip 4;
Described fpga chip 10 is connected with gyroscope modules 2, approach switch 1, orthogonal encoder 9, electrical level transferring chip 8 respectively;
Described electrical level transferring chip 8 is connected with motor module 6, steering wheel module 7 respectively;
Described power module 11 is connected with main control backplane, to the described ARM chip 4 that is positioned at main control backplane, fpga chip 10 power supplies; Power module 11 is with the voltage-stabilized power supply that the PWM generation module independently is set.
The course of work of this master control system is described below for example:
In the process of robot action, the angular speed integration that is recorded by gyroscope modules 2 obtains the angle of robot and the integration of the speed that the code-disc that coordinated by orthogonal encoder 9 records obtains the displacement of robot, thereby can obtain coordinate in the regulation zone of robot, fpga chip 10 is passed to the bottom layer driving zone of ARM chip 4 with the data that obtain by parallel bus, form ARM chip 4 upper strata action executing API; After FPGA receives and carries out API, control the PWM generation module and generate different PWM waveforms, control rotating and the rotating speed thereof of steering wheel, reach the purpose in robot automatic seeking footpath.
When robot soon arrived the destination, approach switch 1 was sensed the body of looking for something, and 4 judgements produce halt instruction through the ARM chip to produce signal, and steering wheel module 7 is quit work, and robot stops mobile.
After arriving the destination, control movement, the crawl of manipulator by handle 3, thereby reach the purpose of carry an object.
Wherein, the PWM generation module can generate different PWM waveforms under robot different operating condition, adjusts dutycycle, and is stable to guarantee the each several part operation circuit voltage.
The above is exemplarily described the utility model by reference to the accompanying drawings, above-mentioned transfer robot master control system can drive one can automatic seeking the transfer robot in footpath, its high efficiency, frame for movement is simple, and the fields such as industry, agricultural, family that are applied to for it provide a kind of new way of thinking and system to realize.
According to embodiment of the utility model, the model of ARM chip 4 is EasyARM1138, and chip and peripheral circuit form the minimum operating circuit of ARM chip.
According to embodiment of the utility model, the model of fpga chip 10 is EP1C3, comprises peripheral minimum operating circuit.
According to embodiment of the utility model, steering wheel module 7 driver used is Accelnet, and steering wheel is the Maxon stepper motor.
According to embodiment of the utility model, motor module 6 driver used is self-control driver (schematic diagram is seen Fig. 3), and motor model used is the Maxon stepper motor.
According to embodiment of the utility model, level switch module 8 models are 74LVC4245.
According to embodiment of the utility model, approach switch 1 is that model is the Ultrasonic Sensor of M18.The orthogonal coding type is for No. 9 HEDS-9700.Gyroscope modules 2 is that model is the rate gyroscope of CMR3000.
According to embodiment of the utility model, described handle 3 is common game paddle, is connected with the ARM chip by the RS232 serial ports.Described RS232 serial ports is through improved charged serial ports (as Fig. 4).
According to embodiment of the utility model, described power module is with the voltage-stabilized power supply that the PWM generation module independently is set.Described PC is PC host computer commonly used.
After the practical said structure of the utility model, although robot has the road conditions on kinetic stability and road surface much relations is arranged, how to realize at complex-terrain the problems such as accurate TRAJECTORY CONTROL, but simple from heavy and light, mechanism, drive with control relative convenient, the speed of travel is fast, maneuverability, operating efficiency are higher, for it is applied to that industry, anti-terrorism are explosion-proof, family, space exploration field provides a kind of new network system realization.
Should be noted that and understand, in the situation that do not break away from the desired spirit and scope of the present utility model of accompanying claim, can make various modifications and improvement to the utility model of foregoing detailed description.Therefore, the scope of claimed technical scheme is not subjected to the restriction of given any specific exemplary teachings.
Claims (10)
1. a transfer robot master control system, is characterized in that, comprising:
The motion state detecting module is for the exercise data of sniffing robot;
Fpga chip is suitable for obtaining coordinate in the regulation zone of robot by the data that the motion state detecting module records, and comes the control motion according to carrying out API;
The Motor execution module be used for to receive the control of fpga chip, allows the robot motion;
The ARM chip is connected with fpga chip, is suitable for carrying out API according to the data formation from fpga chip, and sends to fpga chip;
The control inputs module is used for sending user instruction to the ARM chip.
2. transfer robot master control system according to claim 1, is characterized in that, described motion state detecting module comprises:
Gyroscope modules is suitable for search angle speed;
Orthogonal encoder is suitable for speed of detection; With
Approach switch is suitable for the induction body of looking for something;
Described gyroscope modules, orthogonal encoder and approach switch are connected with described fpga chip and are connected;
Obtain the angle of robot and the integration of the speed that recorded by the code-disc that orthogonal encoder coordinates obtains the displacement of robot by the angular speed integration that is recorded by gyroscope modules, described fpga chip obtains the coordinate in the regulation zone of robot.
3. transfer robot master control system according to claim 1, is characterized in that, described Motor execution module comprises:
Level switch module is connected with fpga chip;
Motor module and steering wheel module are connected with level switch module.
4. transfer robot master control system according to claim 1, is characterized in that, described control inputs module comprises:
Handle is connected with the ARM chip by the RS232 serial ports, is used for controlling movement, the crawl of manipulator, thereby reaches the purpose of carry an object;
PC is used for the program of finishing writing is sent to the ARM chip by serial ports.
5. transfer robot master control system according to claim 1, is characterized in that, also comprises:
Main control backplane carries described fpga chip and ARM chip; With
The power module that is connected with main control backplane is to the described ARM chip that is positioned at main control backplane and fpga chip power supply.
6. transfer robot master control system according to claim 5, is characterized in that, described power module is with the voltage-stabilized power supply that the PWM generation module independently is set;
The PWM generation module can generate different PWM waveforms under robot different operating condition, adjust dutycycle, and is stable to guarantee the each several part operation circuit voltage.
7. transfer robot master control system according to claim 5 is characterized in that:
The data that described fpga chip is suitable for obtaining are passed to the bottom layer driving zone of ARM chip by parallel bus, thereby form ARM chip upper strata action executing API;
Described fpga chip is suitable for controlling the PWM generation module and generating different PWM waveforms after receiving execution API, controls rotating and the rotating speed thereof of steering wheel, thereby reaches the purpose in robot automatic seeking footpath.
8. transfer robot master control system according to claim 1 is characterized in that:
The model of described ARM chip is EasyARM1138, and chip and peripheral circuit form the minimum operating circuit of ARM chip;
The model of described fpga chip is EP1C3, comprises peripheral minimum operating circuit.
9. transfer robot master control system according to claim 2 is characterized in that:
Described approach switch is that model is the Ultrasonic Sensor of M18;
Described orthogonal encoder model is HEDS-9700;
Described gyroscope modules is that model is the rate gyroscope of CMR3000.
10. transfer robot master control system according to claim 3 is characterized in that:
The driver that described steering wheel module adopts is Accelnet, and steering wheel is the Maxon stepper motor;
The motor of described motor module model used is the Maxon stepper motor;
The model of described level switch module is 74LVC4245.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320039196 CN203003899U (en) | 2013-01-11 | 2013-01-11 | Master control system of transfer robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320039196 CN203003899U (en) | 2013-01-11 | 2013-01-11 | Master control system of transfer robot |
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| CN203003899U true CN203003899U (en) | 2013-06-19 |
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| CN 201320039196 Expired - Fee Related CN203003899U (en) | 2013-01-11 | 2013-01-11 | Master control system of transfer robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105892465A (en) * | 2016-05-05 | 2016-08-24 | 河海大学常州校区 | Automatic guided trolley for work piece transmission in processing workshop |
| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN107116551A (en) * | 2017-05-04 | 2017-09-01 | 安徽师范大学 | The trace follow control method of independent navigation handling robot system |
| CN107443378A (en) * | 2017-08-21 | 2017-12-08 | 江苏青诚信息科技有限公司 | A kind of control system for transfer robot |
| CN108828999A (en) * | 2018-06-19 | 2018-11-16 | 南京恩瑞特实业有限公司 | The generalization radar servo system of " building block system " combination can be achieved |
-
2013
- 2013-01-11 CN CN 201320039196 patent/CN203003899U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105892465A (en) * | 2016-05-05 | 2016-08-24 | 河海大学常州校区 | Automatic guided trolley for work piece transmission in processing workshop |
| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN107116551A (en) * | 2017-05-04 | 2017-09-01 | 安徽师范大学 | The trace follow control method of independent navigation handling robot system |
| CN107116551B (en) * | 2017-05-04 | 2020-10-30 | 安徽师范大学 | Tracing control method of autonomous navigation carrying robot system |
| CN107443378A (en) * | 2017-08-21 | 2017-12-08 | 江苏青诚信息科技有限公司 | A kind of control system for transfer robot |
| CN108828999A (en) * | 2018-06-19 | 2018-11-16 | 南京恩瑞特实业有限公司 | The generalization radar servo system of " building block system " combination can be achieved |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130619 Termination date: 20140111 |