CN205750532U - A kind of control system of caterpillar type robot - Google Patents
A kind of control system of caterpillar type robot Download PDFInfo
- Publication number
- CN205750532U CN205750532U CN201620332572.4U CN201620332572U CN205750532U CN 205750532 U CN205750532 U CN 205750532U CN 201620332572 U CN201620332572 U CN 201620332572U CN 205750532 U CN205750532 U CN 205750532U
- Authority
- CN
- China
- Prior art keywords
- robot
- control circuit
- circuit plate
- responsible
- communication module
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The control system of a kind of caterpillar type robot, including power-supply system, drive system, control circuit plate, sensor assembly, communication module and upper computer module, sensor assembly is responsible for robot interior and the collection of external status information, provides data message for control circuit plate；The driving of all of sensor data acquisition, process and actuator is responsible for by described control circuit plate；Drive system performs the instruction of control circuit plate；Described communication module is responsible for the communication between robot and host computer, and this communication module includes wireless receiving and dispatching plate and via node；Power-supply system is responsible for all electricity consumption modules of robot interior and provides suitable voltage, and provides power protection；Upper computer module provides man-machine interface for operator.This control system enables the operator of far-end host computer accurately to obtain the environmental information of robot position, it is achieved allows the robot to locally autonomous while being remotely controlled robot, meets the requirements such as robot obstacle-avoiding, location and environment sensing.
Description
Technical field
This utility model belongs to robot field, especially relates to the control system of a kind of caterpillar type robot.
Background technology
At present, mobile robot is broadly divided into bionic leg formula, wheeled and crawler type three types, though wherein legged mobile robot
So motion flexibly but controls complexity, is also difficult to reach application level in the non-structured environment of height；Wheeled robot structure
Simply, research maturation, but it is poor that ground is adapted to ability, is susceptible to sag on soft terrain；Crawler frame
People generally refers to the caterpillar robot of monomeric form, and this robot has good terrain trafficability.Crawler frame
People has needed specifically to move, and completes the communication with host computer.In prior art, the control system knot of caterpillar type robot
Structure design is unreasonable, and the operator of far-end host computer cannot accurately obtain the environmental information of robot position, it is impossible to realize
Locally autonomous is allowed the robot to, it is impossible to meet robot obstacle-avoiding, location and environment sensing while robot is remotely controlled
Deng requirement.
Summary of the invention
In view of this, this utility model is directed to the control system of a kind of caterpillar type robot, makes far-end host computer
Operator can accurately obtain the environmental information of robot position, it is achieved makes robot while being remotely controlled robot
Can locally autonomous, meet the requirements such as robot obstacle-avoiding, location and environment sensing.
For reaching above-mentioned purpose, the technical solution of the utility model is achieved in that
The control system of a kind of caterpillar type robot, including power-supply system, drive system, control circuit plate, sensor die
Block, communication module and upper computer module, wherein upper computer module is connected with communication module, communication module and sensor assembly and control
Circuit board processed connects respectively, and control circuit plate is connected respectively with drive system and power-supply system, power-supply system also with drive system
Connecting respectively with sensor assembly, described sensor assembly is responsible for robot interior and the collection of external status information, for control
Circuit board processed provides data message；Described control circuit plate is responsible for all of sensor data acquisition, process and actuator
Driving；Described drive system performs the instruction of control circuit plate；Described communication module be responsible for robot and host computer it
Between communication, this communication module includes wireless receiving and dispatching plate and via node；Described power-supply system is responsible for robot interior
All electricity consumption modules provide suitable voltage, and provide power protection；Described upper computer module provides human-machine interface for operator
Mouthful.
Described sensor assembly includes photographic head, position sensor, sonac, baroceptor and gas sensing
Device.
Described drive system includes all of crawler belt and joint drive motor, the rudder of communication via node relieving mechanism
Machine, the electromagnetic valve of positive-pressure explosion-proof system and infrared illumination lamp.
Relative to prior art, the control system of caterpillar type robot described in the utility model has the advantage that this
The control system of the caterpillar type robot described in utility model enables the operator of far-end host computer accurately to obtain institute of robot
Environmental information in position, it is achieved allow the robot to locally autonomous while being remotely controlled robot, meets robot and keeps away
The requirements such as barrier, location and environment sensing.
Accompanying drawing explanation
The accompanying drawing constituting a part of the present utility model is further appreciated by of the present utility model for providing, and this practicality is new
The schematic description and description of type is used for explaining this utility model, is not intended that improper restriction of the present utility model.?
In accompanying drawing:
Fig. 1 is structural representation of the present utility model.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in this utility model and the feature in embodiment can
To be mutually combined.
In description of the present utility model, it is to be understood that term " " center ", " longitudinally ", " laterally ", " on ", D score,
Orientation or the position relationship of the instruction such as "front", "rear", "left", "right", " vertically ", " level ", " top ", " end ", " interior ", " outward " are
Based on orientation shown in the drawings or position relationship, it is for only for ease of description this utility model and simplifies description rather than instruction
Hint indication device or element must have specific orientation, with specific azimuth configuration and operation, be not understood that
For to restriction of the present utility model.Additionally, term " first ", " second " etc. are only used for describing purpose, and it is not intended that indicate
Or imply relative importance or the implicit quantity indicating indicated technical characteristic.Thus, " first ", " second " etc. are defined
Feature can express or implicitly include one or more this feature.In description of the present utility model, unless separately
Being described, " multiple " are meant that two or more.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " peace
Dress ", should be interpreted broadly " being connected ", " connection ", for example, it may be fix connection, it is also possible to be to removably connect, or integratedly
Connect；Can be to be mechanically connected, it is also possible to be electrical connection；Can be to be joined directly together, it is also possible to be indirectly connected to by intermediary,
It can be the connection of two element internals.For the ordinary skill in the art, on can being understood by concrete condition
State term concrete meaning in this utility model.
Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
As it is shown in figure 1, the control system of a kind of caterpillar type robot, including power-supply system, drive system, control circuit
Plate, sensor assembly, communication module and upper computer module, wherein upper computer module is connected with communication module, communication module and biography
Sensor module and control circuit plate connect respectively, and control circuit plate is connected respectively with drive system and power-supply system, power-supply system
Also being connected respectively with drive system and sensor assembly, described sensor assembly is responsible for robot interior and external status information
Collection, for control circuit plate provide data message；Described control circuit plate is responsible for all of sensor data acquisition, process
Driving with actuator；Described drive system performs the instruction of control circuit plate；Described communication module is responsible for robot
And the communication between host computer, this communication module includes wireless receiving and dispatching plate and via node；Described power-supply system is responsible for machine
All electricity consumption modules within device people provide suitable voltage, and provide power protection；Described upper computer module is operator
Man-machine interface is provided.
Described sensor assembly includes photographic head, position sensor, sonac, baroceptor and gas sensing
Device.
Described drive system includes all of crawler belt and joint drive motor, the rudder of communication via node relieving mechanism
Machine, the electromagnetic valve of positive-pressure explosion-proof system and infrared illumination lamp.Drive system is by controlling crawler belt and joint drive motor thus reality
Show the advance of caterpillar type robot, retreat and turn to.In order to ensure robot in complex environment telecommunication, for
Robot Design communication via node, the steering wheel of communication via node relieving mechanism is for logical in the forward march of robot
Cross release node to keep in communication the normal work of system.Positive-pressure explosion-proof system includes electromagnetic valve and gas cylinder, in gas cylinder
Be full of noble gas or carbon dioxide, drive system by control gas in the aperture of air relief valve and then release gas cylinder from
And keep the air pressure of robot interior higher than more than outside 200 handkerchiefs.Outside inflammable gas so can be stoped to enter enclosure interior,
Thus realize requirement of explosion proof.
Owing to sensor assembly includes photographic head, position sensor, sonac, baroceptor and gas sensing
Device so that the operator of far-end host computer can accurately obtain the environmental information of robot position, it is achieved enters robot
Row remote control；Simultaneously because control circuit plate is able to receive that the collection data of all of sensor, and correspondingly send instruction by driving
Dynamic system performs, and allows the robot to locally autonomous, meets the requirements such as robot obstacle-avoiding, location and environment sensing.
The foregoing is only preferred embodiment of the present utility model, not in order to limit this utility model, all at this
Within the spirit of utility model and principle, any modification, equivalent substitution and improvement etc. made, should be included in this utility model
Protection domain within.
Claims (3)
1. the control system of a caterpillar type robot, it is characterised in that: include power-supply system, drive system, control circuit plate,
Sensor assembly, communication module and upper computer module, wherein upper computer module is connected with communication module, communication module and sensor
Module and control circuit plate connect respectively, and control circuit plate is connected respectively with drive system and power-supply system, power-supply system also with
Drive system and sensor assembly connect respectively, and described sensor assembly is responsible for adopting of robot interior and external status information
Collection, provides data message for control circuit plate；Described control circuit plate is responsible for all of sensor data acquisition, is processed and hold
The driving of row mechanism；Described drive system performs the instruction of control circuit plate；Described communication module is responsible for robot with upper
Communication between the machine of position, this communication module includes wireless receiving and dispatching plate and via node；Described power-supply system is responsible for robot
Internal all electricity consumption modules provide suitable voltage, and provide power protection；Described upper computer module provides for operator
Man-machine interface.
The control system of caterpillar type robot the most according to claim 1, it is characterised in that: described sensor assembly bag
Include photographic head, position sensor, sonac, baroceptor and gas sensor.
The control system of caterpillar type robot the most according to claim 2, it is characterised in that: described drive system includes
All of crawler belt and joint drive motor, the steering wheel of communication via node relieving mechanism, the electromagnetic valve of positive-pressure explosion-proof system and red
Outer illuminating lamp.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620332572.4U CN205750532U (en) | 2016-04-19 | 2016-04-19 | A kind of control system of caterpillar type robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620332572.4U CN205750532U (en) | 2016-04-19 | 2016-04-19 | A kind of control system of caterpillar type robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205750532U true CN205750532U (en) | 2016-11-30 |
Family
ID=57373940
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620332572.4U Expired - Fee Related CN205750532U (en) | 2016-04-19 | 2016-04-19 | A kind of control system of caterpillar type robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205750532U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108255102A (en) * | 2017-12-23 | 2018-07-06 | 清研华宇智能机器人（天津）有限责任公司 | A kind of modularization educational robot control device and system |
| WO2018223637A1 (en) * | 2017-06-09 | 2018-12-13 | 上海岭先机器人科技股份有限公司 | Mobile robot system |
| CN109634271A (en) * | 2018-11-12 | 2019-04-16 | 中山火炬高新企业孵化器有限公司 | A kind of indoor moving service robot and its control method |
-
2016
- 2016-04-19 CN CN201620332572.4U patent/CN205750532U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2018223637A1 (en) * | 2017-06-09 | 2018-12-13 | 上海岭先机器人科技股份有限公司 | Mobile robot system |
| CN108255102A (en) * | 2017-12-23 | 2018-07-06 | 清研华宇智能机器人（天津）有限责任公司 | A kind of modularization educational robot control device and system |
| CN109634271A (en) * | 2018-11-12 | 2019-04-16 | 中山火炬高新企业孵化器有限公司 | A kind of indoor moving service robot and its control method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN205750532U (en) | A kind of control system of caterpillar type robot | |
| CN204954839U (en) | Intelligence security robot | |
| CN106985141A (en) | A kind of both arms cooperation robot | |
| CN105291086A (en) | Indoor mobile robot for delivering meals | |
| CN103268104A (en) | Control system of remote-controlled rescue robot | |
| CN106393142A (en) | Intelligent robot | |
| KR102031942B1 (en) | Guidance robot | |
| CN203993892U (en) | A kind of intelligent robot structure | |
| CN206317078U (en) | A kind of automatic patrol robot and its supporting charging pile | |
| CN205968985U (en) | Portable investigation robot based on intelligent Mobile Terminal control | |
| CN205343106U (en) | General base of service robot | |
| CN103777634A (en) | Large-size spherical robot control system | |
| CN211415167U (en) | Snake-shaped robot | |
| CN205857831U (en) | A kind of stage robot | |
| EP3865381A1 (en) | Unmanned vehicle chassis and unmanned vehicle | |
| CN206086670U (en) | Trade level platform truck | |
| CN105729485B (en) | A kind of service robot | |
| CN211841988U (en) | Snakelike detection robot | |
| CN108032923A (en) | Walking charging robot | |
| CN204203767U (en) | A kind of intelligent inspection robot | |
| CN208034687U (en) | Follow robot | |
| CN207488265U (en) | A kind of home environment detects robot | |
| CN107263440A (en) | A kind of outdoor self-powered mobile robot | |
| CN209103668U (en) | A kind of demonstration teaching aid of automatic driving car | |
| CN202781143U (en) | Safety inspection robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161130 Termination date: 20170419 |