CN203217374U - Four-supporting arm six-track joint-type robot control system - Google Patents
Four-supporting arm six-track joint-type robot control system Download PDFInfo
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- CN203217374U CN203217374U CN 201320254562 CN201320254562U CN203217374U CN 203217374 U CN203217374 U CN 203217374U CN 201320254562 CN201320254562 CN 201320254562 CN 201320254562 U CN201320254562 U CN 201320254562U CN 203217374 U CN203217374 U CN 203217374U
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Abstract
The utility model discloses a four-supporting arm six-track joint-type robot control system. The four-supporting arm six-track joint-type robot control system includes an industrial personal computer; the industrial control computer is connected with a movement control module and a supporting arm control module respectively through serial communication interfaces; the industrial control computer is further connected with a GPS navigation module and a binocular vision module; the movement control module is connected with a left movement track unit and a right movement track unit; the supporting arm control module is connected with a front left supporting arm track unit, a front right supporting arm track unit, a back left supporting arm track unit and a back right supporting arm track unit; the industrial control computer is also connected with a remote controller; and the movement control module is also connected with an obstacle detection module. According to the four-supporting arm six-track joint-type robot control system of the utility model, the movement control module and the supporting arm control module are utilized to control the movement units and the supporting arm track units, and therefore, the four-supporting arm six-track joint-type robot control system is advantageous in simple and flexible structure; and at the same time, the movement control module and the supporting arm control module have the same hardware structure, and are different only in control methods, and therefore, the four-supporting arm six-track joint-type robot control system is advantageous in simplified design, and cost-saving property.
Description
Technical field
The utility model relates to a kind of robot control system, relates in particular to a kind of four support arms, six crawler belt prosthetic robot control system.
Background technology
Caterpillar type robot is a kind of of mobile robot, and it has the special construction of crawler belt and ground that bigger acting surface is arranged, and is more even better than other mobile robots aspect cross-country, climbing, stair climbing ability.It can adapt to various complicated and diversified road surfaces, also can carry out operation in rugged surroundings or field, thereby has obtained using widely in fields such as the removal of mines, explosive, mining, the disaster relief, anti-terrorisms.In contrast to the two caterpillar belt structure robots of common single-unit formula, the robot of four support arms, six caterpillar belt structures is stability and complicated ground adaptive faculty better.Four support arms, six crawler belt prosthetic robots are made up of six track unit, are divided into left and right 2 motion track unit and a preceding left side, the preceding right side, a left side, back, right 4 the support arm track unit in back.Four support arms, six crawler belt prosthetic robots can wherein use the control mode of 4 motors as follows by 4 motors or 6 Electric Machine Control: two motors are controlled left and right two motion track unit respectively, are used for providing the main driving force of robot; A left side, preceding right one group of support arm before the Electric Machine Control, a left side, the right one group of support arm in back after another Electric Machine Control.2 groups of support arm track unit can be rotated respectively, provide extra synkinesia to robot, improve the landform adaptive faculty of robot.Because structure and the running environment complexity of six caterpillar type robots, thereby needing a cover control system that walking and the attitude of robot are controlled, a kind of four support arms, the six crawler belt prosthetic robot control system that the utility model proposes can effectively solve this technical barrier.
The utility model content
The purpose of this utility model is exactly in order to address the above problem, a kind of four support arms, six crawler belt prosthetic robot control system are provided, its robot visual guidance function, GPS navigation function and motion control merge, the automatic of robot and remote manual control operation have been realized, realized that robot hides the function with throwing over barrier automatically, improved the adaptive capacity to environment of robot.
To achieve these goals, the utility model adopts following technical scheme:
A kind of four support arms, six crawler belt prosthetic robot control system, it comprises industrial computer, industrial computer is connected with motion-control module, support arm control module by serial communication interface respectively;
Industrial computer also is connected with the binocular vision module with the GPS navigation module, obtains the current position of robot, obtains the environmental information of robot operation by the binocular vision module, and the position that the auxiliary judgment robot is current and attitude realize the robot integrated navigation;
Described motion-control module is connected with left side motion track unit, right side motion track unit;
Described support arm control module is connected with preceding left support arm track unit, preceding right support arm track unit, the left support arm track unit in back, the right support arm track unit in back;
Described industrial computer also is connected with telepilot, and robot is carried out remote control, industrial computer and telepilot wireless telecommunications;
Described motion-control module also is connected with the detection of obstacles module.
Described motion-control module comprises motion controller, motion controller is connected with right side moving cell motor driver with left side moving cell motor driver by PWM interface and general purpose I interface respectively, motion controller is connected with industrial computer by serial communication interface, and motion controller is connected with the detection of obstacles module by the IO interface.
Described support arm control module comprises arm controller, and an arm controller props up the arm unit motor driver with the front portion respectively and props up the arm unit motor driver with the rear portion and be connected, and described arm controller is connected with industrial computer by serial communication interface.
Described left side motion track unit is by left side moving cell motor-driven, and motion track unit in right side is by right side moving cell motor-driven.
Left support arm track unit and preceding right support arm track unit are propped up the arm unit motor-driven by the front portion jointly before described, and the right support arm track unit of the described left support arm track unit in back and back is propped up the arm unit motor-driven by the rear portion jointly.
Described detection of obstacles module comprises ultrasonic sensor and photoelectric sensor.
Described left side moving cell motor, right side moving cell motor, an anterior arm unit motor and rear portion are propped up the arm unit motor and are dc brushless motor.
Described motion controller is single-chip microcomputer or dsp controller.
Described arm controller is single-chip microcomputer or dsp controller.
Described binocular vision module is binocular vision sensor.
The beneficial effects of the utility model: the utility model uses motion-control module and support arm control module that robot motion unit and support arm track unit are controlled respectively, and is simple in structure flexible; Motion-control module has identical hardware configuration with the support arm control module simultaneously, only has difference in control method, thereby has simplified design, has saved cost; Use the mode of GPS+ binocular vision combination to navigate, the navigation accuracy height, adaptive capacity to environment is strong; Except the automatic method of operation, can also carry out remote control to robot by telepilot, thereby make robot have stronger versatility.
Description of drawings
Fig. 1 is system architecture synoptic diagram of the present utility model.
Wherein, 1. industrial computer, 2. telepilot, 3. motion-control module, 4. support arm control module, 5. 6. arm controllers of motion controller, 7. left side moving cell motor driver, 8. right side moving cell motor driver, 9. an anterior arm unit motor driver, 10. the arm unit motor driver is propped up at the rear portion, 11. left side motion track unit, 12. right side motion track unit, 13. preceding left support arm track unit, 14. preceding right support arm track unit, 15. the left support arm track unit in back, the right support arm track unit in 16. backs, 17. left side moving cell motors, 18. right side moving cell motor, 19. an anterior arm unit motor, the arm unit motor is propped up at 20. rear portions, the 21.GPS navigation module, 22. the binocular vision module, 23. detection of obstacles modules.
Embodiment
The utility model is described in further detail below in conjunction with accompanying drawing and embodiment.
As shown in Figure 1, a kind of four support arms, six crawler belt prosthetic robot control system, it comprises industrial computer 1, and industrial computer 1 is connected with motion-control module 3 by serial communication interface, and industrial computer 1 is by the motion of motion-control module 3 control left side motion track unit 11, right side motion track unit 12; Industrial computer 1 also is connected with support arm control module 4 by serial communication interface, and industrial computer 1 is by two groups of support arm rotations of the preceding right support arm track unit 14 of support arm control module 4 controls, the right support arm track unit 16 of preceding left support arm track unit 13 and back, the left support arm track unit 15 in back; Industrial computer 1 also is connected with binocular vision module 22 with GPS navigation module 21, can obtain the current position of robot by GPS navigation module 21, can obtain the environmental information of robot operation by binocular vision module 22, current position and the attitude of while auxiliary judgment robot, thus realize the robot integrated navigation; Industrial computer 1 also is connected with telepilot 2, can carry out remote control to robot, industrial computer 1 and telepilot 2 wireless telecommunications.
Described GPS navigation module 21 and industrial computer 1 are connected by serial communication interface, can obtain the position of robot in current map by to the gps satellite Coordinate Calculation, for robot navigation and location provide foundation.
Described binocular vision module 22 is connected by the IEEE1394 interface with industrial computer 1, can provide resolution up to 1024 * 768 high clear video image to industrial computer 1.Industrial computer 1 can be known the position of robot in current environment, for the robot navigation provides assistant criteria by the calculating to video image; If there is barrier in robot the place ahead, industrial computer 1 can also calculate size and the shape of obtaining barrier by video image, thereby the control robot is crossed or the cut-through thing.
Described motion-control module 3 comprises motion controller 5, left side moving cell motor driver 7 and right side moving cell motor driver 8, motion controller 5 is connected with industrial computer 1 by serial communication interface, carry out the instruction that industrial computer 1 sends, to the state of industrial computer 1 feedback robot; Motion controller 5 is connected with right side moving cell motor driver 8 with left side moving cell motor driver 7 by PWM interface and general purpose I interface respectively, the information such as rotating speed of left side moving cell motor 17 and right side moving cell motor 18 are obtained in moving cell motor driver 7 and right side moving cell motor driver 8 transmission speeds instruction to the left from left side moving cell motor driver 7 and right side moving cell motor driver 8; Motion controller 5 also is connected with detection of obstacles module 23 by the general purpose I interface, there is barrier when detecting robot the place ahead, and when motion-control module 3 hiding of not receiving that industrial computer 1 sends or cutoff command, motion-control module 3 will directly be controlled robot and stop, thereby avoid robot and barrier to collide and damage.Left side moving cell motor driver 7 is connected with right side moving cell motor 18 with left side moving cell motor 17 respectively with right side moving cell motor driver 8, left side moving cell motor driver 7 and right side moving cell motor driver 8 directly drive the rotation of left side moving cell motor 17 and right side moving cell motor 18, and calculate the rotating speed of left side moving cell motor 17 and right side moving cell motor 18 by the scrambler of left side moving cell motor 17 and right side moving cell motor 18.Motion-control module 3 is used for the motion of control left side motion track unit 11 and right side motion track unit 12, thereby the control robot advances, retreats, turning etc.
Described detection of obstacles module 23 comprises ultrasonic sensor and photoelectric sensor.
Described left side moving cell motor 17, right side moving cell motor 18, an anterior arm unit motor 19, rear portion are propped up arm unit motor 20 and are all adopted dc brushless motor.
Described support arm control module 4 comprises that arm unit motor driver 9 is propped up in an arm controller 6, front portion and arm unit motor driver 10 is propped up at the rear portion, and its hardware configuration is identical with motion-control module 3.Support arm control module 4 is used for the selection of the preceding left side of control, the preceding right side and a left side, back, the right two groups of support arms in back, for robot provides extra synkinesia, improves the landform adaptive faculty of robot.
A kind of control system of four support arms, six crawler belt prosthetic robots, this system comprises left side motion track unit 11, right side motion track unit 12, preceding left support arm track unit 13, preceding right support arm track unit 14, the right support arm track unit 16 of the left support arm track unit 15 in back and back altogether, totally 6 track unit, respectively by four motor-driven, be connected by reducer casing between motor and each track unit.Wherein, left side motion track unit 11 and right side motion track unit 12 are driven by left side moving cell motor 17 and right side moving cell motor 18 respectively, preceding left support arm track unit 13 and preceding right support arm track unit 14 are propped up arm unit motor 19 by the front portion jointly and are driven, and the left support arm track unit 15 in back and the right support arm track unit 16 in back are propped up 20 drivings of arm unit motor by the rear portion jointly.
The robot motion unit is by motion-control module 3 controls, and this motion-control module 3 comprises that one is the motion controller 5 of core with the single-chip microcomputer, left side moving cell motor driver 7 and right side moving cell motor driver 8.Wherein left side moving cell motor driver 7 is used for the rotation of control left side moving cell motor 17, and then drives 11 motions of left side motion track unit; Right side moving cell motor driver 8 is used for the rotation of control right side moving cell motor 18, and then drives 12 motions of right side motion track unit.Motion-control module 3 also is connected with detection of obstacles module 23; when detecting robot the place ahead, detection of obstacles module 23 has barrier; and motion-control module 3 is not received the parking of industrial computer 1 or when hiding order; motion-control module 3 can stop by the ACTIVE CONTROL robot, so that robot is protected.
Robot props up arm unit by 4 controls of support arm control module, and this support arm control module 4 comprises that one is an arm controller 6 of core with the single-chip microcomputer, and arm unit motor driver 10 is propped up at an anterior arm unit motor driver 9 and rear portion.Its middle front part support arm unit motor driver 9 is used for the rotation of the anterior arm unit motor 19 of control, and then left support arm track unit 13 and preceding right support arm track unit 14 are rotated synchronously before driving; The rear portion is propped up arm unit motor driver 10 and is used for the rotation that arm unit motor 20 is propped up at the control rear portion, and then the right support arm track unit 16 of left support arm track unit 15 and back is rotated synchronously after driving.
This robot control system also comprises industrial computer 1, and industrial computer 1 is the core of The whole control system.This industrial computer 1 is connected with binocular vision module 22 with GPS navigation module 21, obtains position coordinates and the environmental information of robot in current map, finishes control algolithm; This industrial computer 1 is connected with support arm control module 4 with motion-control module 3, to motion-control module 3 and support arm control module 4 sending controling instructions, and the motion of control robot and the rotation of support arm.This industrial computer 1 can also be connected with telepilot 2 by wireless communication mode, is used for robot is carried out manual operation.
Though above-mentionedly by reference to the accompanying drawings embodiment of the present utility model is described; but be not the restriction to the utility model protection domain; one of ordinary skill in the art should be understood that; on the basis of the technical solution of the utility model, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection domain of the present utility model.
Claims (9)
1. support arm six crawler belt prosthetic robot control system is characterized in that it comprises industrial computer, and industrial computer is connected with motion-control module, support arm control module by serial communication interface respectively;
Industrial computer also is connected with the binocular vision module with the GPS navigation module, obtains the current position of robot, obtains the environmental information of robot operation by the binocular vision module, and the position that the auxiliary judgment robot is current and attitude realize the robot integrated navigation;
Described motion-control module is connected with left side motion track unit, right side motion track unit;
Described support arm control module is connected with preceding left support arm track unit, preceding right support arm track unit, the left support arm track unit in back, the right support arm track unit in back;
Described industrial computer also is connected with telepilot, and robot is carried out remote control, industrial computer and telepilot wireless telecommunications;
Described motion-control module also is connected with the detection of obstacles module.
2. a kind of four support arms, six crawler belt prosthetic robot control system according to claim 1, it is characterized in that, described motion-control module comprises motion controller, motion controller is connected with right side moving cell motor driver with left side moving cell motor driver by PWM interface and general purpose I interface respectively, motion controller is connected with industrial computer by serial communication interface, and motion controller is connected with the detection of obstacles module by the IO interface.
3. a kind of four support arms, six crawler belt prosthetic robot control system according to claim 1, it is characterized in that, described support arm control module comprises an arm controller, arm controller props up the arm unit motor driver with the front portion respectively and props up the arm unit motor driver with the rear portion and be connected, and described arm controller is connected with industrial computer by serial communication interface.
4. a kind of four support arms, six crawler belt prosthetic robot control system according to claim 1 is characterized in that described left side motion track unit is by left side moving cell motor-driven, and motion track unit in right side is by right side moving cell motor-driven; Left support arm track unit and preceding right support arm track unit are propped up the arm unit motor-driven by the front portion jointly before described, and the right support arm track unit of the described left support arm track unit in back and back is propped up the arm unit motor-driven by the rear portion jointly.
5. a kind of four support arms, six crawler belt prosthetic robot control system according to claim 1 is characterized in that described detection of obstacles module comprises ultrasonic sensor and photoelectric sensor.
6. as a kind of four support arms, six crawler belt prosthetic robot control system as described in the claim 4, it is characterized in that described left side moving cell motor, right side moving cell motor, an anterior arm unit motor and rear portion are propped up the arm unit motor and be dc brushless motor.
7. as a kind of four support arms, six crawler belt prosthetic robot control system as described in the claim 2, it is characterized in that described motion controller is single-chip microcomputer or dsp controller.
8. as a kind of four support arms, six crawler belt prosthetic robot control system as described in the claim 3, it is characterized in that described arm controller is single-chip microcomputer or dsp controller.
9. a kind of four support arms, six crawler belt prosthetic robot control system according to claim 1 is characterized in that described binocular vision module is binocular vision sensor.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320254562 CN203217374U (en) | 2013-05-10 | 2013-05-10 | Four-supporting arm six-track joint-type robot control system |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320254562 CN203217374U (en) | 2013-05-10 | 2013-05-10 | Four-supporting arm six-track joint-type robot control system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635732A (en) * | 2013-11-08 | 2015-05-20 | 三星电子株式会社 | Walk-assistive robot and method of controlling the same |
| CN104827483A (en) * | 2015-05-25 | 2015-08-12 | 山东理工大学 | Method for grabbing object through mobile manipulator on basis of GPS and binocular vision positioning |
-
2013
- 2013-05-10 CN CN 201320254562 patent/CN203217374U/en not_active Expired - Lifetime
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104635732A (en) * | 2013-11-08 | 2015-05-20 | 三星电子株式会社 | Walk-assistive robot and method of controlling the same |
| CN104635732B (en) * | 2013-11-08 | 2020-09-11 | 三星电子株式会社 | Auxiliary walking robot and control method thereof |
| CN104827483A (en) * | 2015-05-25 | 2015-08-12 | 山东理工大学 | Method for grabbing object through mobile manipulator on basis of GPS and binocular vision positioning |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee after: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Patentee after: STATE GRID CORPORATION OF CHINA Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Co-patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF SHANDONG ELECTRIC POWER Corp. Patentee before: State Grid Corporation of China |
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| CP01 | Change in the name or title of a patent holder | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Denomination of utility model: Four-supporting arm six-track joint-type robot control system Granted publication date: 20130925 License type: Exclusive License Record date: 20191014 |
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| EE01 | Entry into force of recordation of patent licensing contract | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20201102 Address after: 250101 Electric Power Intelligent Robot Production Project 101 in Jinan City, Shandong Province, South of Feiyue Avenue and East of No. 26 Road (ICT Industrial Park) Patentee after: National Network Intelligent Technology Co.,Ltd. Address before: 100031 Xicheng District West Chang'an Avenue, No. 86, Beijing Patentee before: STATE GRID CORPORATION OF CHINA Patentee before: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. |
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| TR01 | Transfer of patent right | ||
| EC01 | Cancellation of recordation of patent licensing contract |
Assignee: National Network Intelligent Technology Co.,Ltd. Assignor: ELECTRIC POWER RESEARCH INSTITUTE OF STATE GRID SHANDONG ELECTRIC POWER Co. Contract record no.: X2019370000006 Date of cancellation: 20210324 |
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| EC01 | Cancellation of recordation of patent licensing contract | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130925 |
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| CX01 | Expiry of patent term |