CN206287146U - The control system of robot - Google Patents
The control system of robot Download PDFInfo
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- CN206287146U CN206287146U CN201621330993.XU CN201621330993U CN206287146U CN 206287146 U CN206287146 U CN 206287146U CN 201621330993 U CN201621330993 U CN 201621330993U CN 206287146 U CN206287146 U CN 206287146U
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Abstract
The utility model discloses a kind of control system of robot.Wherein, the control system of robot includes：Multi-medium data for obtaining outside input, and the main control platform of the first control instruction is generated according to multi-medium data；Communicated with main control platform, for generating the second control instruction and to the cloud platform of main control platform the second control instruction of return according to multi-medium data；It is connected with main control platform, for the monitoring module that the motion according to the first control instruction and/or the second control instruction to robot is controlled.By the utility model, the effect for improving the flexibility that the control system of robot is controlled robot has been reached.
Description
Technical field
The utility model is related to robot field, in particular to a kind of control system of robot.
Background technology
At present, the intelligent level of robot is to weigh an important indicator for robot system, and control system is machine
One of most important part of people's total system.With the high speed development of science and technology, robot is towards bionic intelligence machine
People is developed in direction, and the control system of bionic intelligence robot also enjoys growing interest.
Robot control system of the prior art, is mainly based upon the single design that particular hardware is carried out, such as, utilize
ARM chips as master controller control system, the control system include circuit for controlling motor, telecommunication circuit, sensor collection
Circuit and power circuit etc., the control system are collecting and distributing control system, it is possible to achieve motor control and sensing data
Collection, carries out robot and carries out decision-making to make corresponding action.
But, above-mentioned control system does not often possess scalability, reconfigurability and compatibility on software and hardware.
For the demand of new product, mechanical structure and control circuit are increasingly sophisticated, because control system does not have on software and hardware
Standby scalability, reconfigurability and compatibility, control system upgrading more difficulty thus control system have to redesign,
So causing the cost and efficiency of control system will all have a greatly reduced quality.
Further, since control system output is single, there is no the input of the artificial intelligence such as main control platform and cloud platform, so machine
The very old-fashioned and inflexible machinery of the behavior act of device people, it is impossible to reach the effect of bionical action.The control system Functional Design of robot compared with
For simple, functional module type selecting is relatively simple, system power dissipation is higher, do not embody the flexible of bionic intelligence robot control
Property and opening, and then increased bionic intelligence robot research and control complexity.
For robot in the prior art control system to the low problem of flexibility that robot is controlled, not yet propose at present
Effective solution.
Utility model content
Main purpose of the present utility model is to provide a kind of control system of robot, to solve the control system of robot
The low problem of flexibility of the system to robot control.
To achieve these goals, according to one side of the present utility model, there is provided a kind of control system of robot.
The control system of the robot includes：Multi-medium data for obtaining outside input, and according to multi-medium data generation first
The main control platform of control instruction；Communicated with main control platform, for generating the second control instruction and to master control according to multi-medium data
Platform returns to the cloud platform of the second control instruction；It is connected with main control platform, for according to the first control instruction and/or described
The monitoring module that motion of two control instructions to robot is controlled.
Further, the control system of robot also includes：For the positioning that is positioned to robot and navigated with lead
Model plane block；Positioning also communicating with transmit positioning result to cloud platform and receive cloud platform with cloud platform with navigation module and tied according to positioning
The 3rd control instruction that fruit returns；Monitoring module is also connected according to the 3rd control instruction to robot with positioning with navigation module
Motion be controlled.
Further, positioning includes with navigation module：It is connected with monitoring module, for entering in indoor robot
First locating module of row positioning；It is connected with monitoring module, for determining positioned in outdoor robot second
Position module.
Further, the main control platform includes：For being processed multi-medium data and generated the first control instruction
Master control borad；Communicated with cloud platform, for cloud platform transmitting multimedia data and receive cloud platform according to multi-medium data return
The second control instruction wireless module；Main control platform also includes at least one of：Image for gathering view data is adopted
Collection module；Voice acquisition module for gathering speech data.
Further, the monitoring module includes：Control panel for exporting the control signal being controlled to robot；With
In the motor that the motion to robot is controlled；Monitoring module also includes at least one of：For gathering robot with barrier
Hinder the ultrasonic sensor of the distance between thing data；Pressure sensor for gathering the pressure data of robot.
Further, the motor includes at least one of：For controlling what robot was moved in the first preset range
DC servo motor；For the stepper motor for controlling robot to be moved in the second preset range；For controlling robot
The digital rudder controller of motion in three preset ranges.
Further, the monitoring module also includes：It is connected with stepper motor, the range of movement for limiting stepper motor
Limit switch.
Further, the limit switch includes：It is connected with stepper motor, the output signal for receiving stepper motor
Photoelectric sensor；It is connected with photoelectric sensor, the optocoupler for isolating photoelectric sensor and the control signal of control panel.
Further, the monitoring module also includes：It is connected with multi-path digital steering wheel, for output multi-channel pwm signal
Multi-channel PWM circuit.
Further, the control system also includes：The power module being powered to main control platform, monitoring module.
Robot control system of the present utility model includes the multi-medium data for obtaining outside input, and according to many matchmakers
Volume data generates the main control platform of the first control instruction；Communicated with main control platform, for being controlled according to multi-medium data generation second
System instructs and the cloud platform of the second control instruction is returned to main control platform；It is connected with main control platform, for according to the first control
The monitoring module that motion to robot of instruction and/or the second control instruction is controlled, main control platform, cloud platform both of which can
To acquired multi-medium data process obtaining control instruction, the control system of robot is solved to robot control
The low problem of flexibility, and then reached the technology effect for improving the flexibility that the control system of robot control robot
Really.
Brief description of the drawings
The accompanying drawing for constituting the part of the application is used for providing being further understood to of the present utility model, of the present utility model
Schematic description and description is used to explain the utility model, does not constitute to improper restriction of the present utility model.In accompanying drawing
In：
Fig. 1 is a kind of schematic diagram of the control system of the robot according to the utility model embodiment；
Fig. 2 is the schematic diagram of the control system of another robot according to the utility model embodiment；
Fig. 3 is a kind of schematic diagram of the pressure sensor of the control system of the robot according to the utility model embodiment；
Fig. 4 is a kind of motor schematic diagram of the control system of the robot according to the utility model embodiment；
Fig. 5 is a kind of signal of the position fixing and navigation system of the control system of the robot according to the utility model embodiment
Figure；
Fig. 6 is a kind of schematic diagram of the power-supply system of the control system of the robot according to the utility model embodiment；
Fig. 7 is the schematic diagram of the control system of another robot according to the utility model embodiment；And
Fig. 8 is the schematic diagram of the control system of another robot according to the utility model embodiment.
Specific embodiment
It should be noted that in the case where not conflicting, the feature in embodiment and embodiment in the application can phase
Mutually combination.Describe the utility model in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
In order that those skilled in the art more fully understand application scheme, below in conjunction with the embodiment of the present application
Accompanying drawing, is clearly and completely described to the technical scheme in the embodiment of the present application, it is clear that described embodiment is only
The embodiment of the application part, rather than whole embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained under the premise of creative work is not made, should all belong to the model of the application protection
Enclose.
It should be noted that term " first ", " in the description and claims of this application and above-mentioned accompanying drawing
Two " it is etc. for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so using
Data can exchange in the appropriate case, so as to embodiments herein described herein.Additionally, term " including " and " tool
Have " and their any deformation, it is intended that covering is non-exclusive to be included, for example, containing a series of systems, product or setting
Standby those units for being not necessarily limited to clearly list, but may include not list clearly or for these products or equipment
Other intrinsic units.
The utility model provides a kind of control system of robot.
Fig. 1 is a kind of schematic diagram of the control system of the robot according to the utility model embodiment.As shown in figure 1, should
The control system of robot includes：Main control platform 10, cloud platform 20 and monitoring module 30.
Multi-medium data for obtaining outside input, and put down according to the master control that multi-medium data generates the first control instruction
Platform 10, be robot control system in important component, be to determine the function of robot and the key factor of performance.Should
Main control platform 10 is used to obtain multi-medium data, and multi-medium data can be speech data, view data etc., wherein, voice number
According to including the gathered data of voice signal, audio output data etc., view data is including image acquisition data, to IMAQ number
According to treatment etc..The main control platform 10 sends the first control instruction according to multi-medium data.
The main control platform 10 also including Processing Algorithm, such as, is being navigated when processing data to robot
Navigation algorithm during positioning, to the motion control arithmetic of robot when motion control is carried out etc..
The processor of the main control platform 10 is high-performance processor, by original memory control unit (Memory
Control Unit, referred to as MCU) replace with X 86 processor, digital signal processor (Digital Signal
Processor, referred to as DSP), the performance processor high such as arm processor, so as to realize that the intelligent of robot, algorithm are complicated
Change, the growth requirement of functional diversities.
The development board of main control platform 10 is high performance development board, for powerful multithreading operational capability, graphics process
Ability and hardware encoding ability, such as, the development board is Firefly RK3288 development boards.
Alternatively, the main control platform 10 includes image capture module, such as, and camera, including speech data collection module,
Such as, microphone, also including wireless communication module, such as, and WIFI module etc..
Communicated with main control platform 10, for generating the second control instruction according to multi-medium data and being returned to main control platform 10
The cloud platform 20 of the second control instruction, can receive the view data of the transmission of main control platform 10, and image is completed according to related algorithm
Identification work.The cloud platform 20 can be communicated between robot using WIFI, can also be according to robot and periphery thing
The location information of body carries out motion planning, generates the 3rd control instruction, and movement instruction is issued in robot, and then realizes
Navigation and positioning function to robot.
Be connected with main control platform 10, for according to the first control instruction and/or the second control instruction to the fortune of robot
The dynamic monitoring module 30 being controlled, namely transducing signal collection and kinetic control system, can according to the first control instruction and/
Or second control instruction realize pressure detecting, attitude detection, detection of obstacles etc..Alternatively, according to pressure sensing result to machine
The pressure-dependent motion of device people is controlled, such as, relevant with foot pressure during robot ambulation, the walking to robot
It is controlled, obtains walking movement data；It is controlled according to the motion that attitude detection result pair is relevant with attitude with robot,
Such as, robot waves, and the testing result with attitude of waving is relevant, and the attitude of waving to robot is controlled, and obtains machine
Attitude data of the people in waving motion；Controlled according to motion of the detection of obstacles result to robot during avoidance
System, such as, there is barrier in robot front, is deviateed according to the distance between barrier and robot testing result control robot
Barrier, obtains exercise data of the robot during barrier is deviateed；Monitoring module 30 is according to the first control instruction and
Two control instructions can also realize electric power detection, direct current generator detection and digital servos control, by electric power detection, direct current
The motion of machine testing and digital servos control to robot is controlled, and obtains the exercise data of robot.
The monitoring module 30 enters row data communication with main control platform 10.Alternatively, the data communication is serial communication, can be with
The feedback signal of the sensing data and motor collected by sensor is uploaded to control platform 10, realize monitor supervision platform 20 with
The tight interaction of both main control platforms 10.
Alternatively, the monitoring module 30 is including ultrasonic sensor, pressure sensor, motor control module etc..Wherein, press
Force snesor includes foot pressure sensor, backside pressure sensor and pressure at both sides sensor, and motor control module includes straight
Flow servo motor, stepper motor and digital rudder controller etc..
The control panel of the monitoring module 30 has flexible bus configuration, abundant Peripheral Interface, powerful calculation process
Ability, the control function of transducing signal data acquisition and motor needed for can meeting robot, such as, and the monitoring module 30
Control panel is STM32F407 chips.
It is connected with main control platform 10 and monitoring module 30, for the electricity being powered to main control platform 10 and monitoring module 30
Modules in the control system of source module, predominantly robot provide the energy, such as, be that the ultrasonic wave of monitoring module 30 is passed
The various kinds of sensors such as sensor, pressure sensor are powered, DC servo motor, stepper motor to monitoring module 30, digital rudder controller
Etc. being powered, so that the modules in ensureing the control system of robot can normally run.
Power module can be made up of battery pack, power-supply management system and power circuit.Alternatively, battery pack is lithium battery
Group, is made up of cylindrical single lithium battery battery core, and lithium battery group nominal voltage is 48V, and it is 150A to continue output current, nominal to hold
It is 140Ah to measure；The voltage of power-supply management system chargeable circuit is 54.6V, and charging current is 180A, with overcharging protection, mistake
The functions such as protection, overcurrent protection, short-circuit protection, RS485 communications and CAN communication are put, CAN2.0 side is used with monitoring module 30
Formula communicates.The power circuit of power module possesses 6V, 5V and 3.3V voltage output.
The embodiment obtains multi-medium data by main control platform 10, and is referred to according to the control of multi-medium data generation first
Order；Communicated with main control platform 10 by cloud platform 20, for generating the second control instruction according to multi-medium data and being put down to master control
Platform 10 returns to the second control instruction, by monitoring module 30, is connected with main control platform 10, for according to the first control instruction and
Motion of second control instruction to robot is controlled, and obtains exercise data；By power module, with main control platform 10 and prison
Control module 30 is connected, for being powered to main control platform 10 and monitoring module 30, because control system has main control platform 10
And the artificial intelligent input of the grade of cloud platform 20, functional module type selecting enriches, and the control system Functional Design of robot enriches, system work(
Consumption is low, and autgmentability is high, and control system is easily scalable, it is to avoid system power dissipation is higher, autgmentability is not enough, control system upgrading is tired
Difficult, development cost deficiency higher, embodies flexibility and the opening of bionic intelligence robot control, reduces bionic intelligence
Robot research and the complexity of control, solve the problems, such as that the control system of robot is low to flexibility that robot is controlled,
And then reached and improve the technique effect of flexibility that the control system of robot is controlled robot, reach bio-robot
The effect of bionical action.
Used as a kind of optional implementation method, the control system of robot also includes：For to robot carry out positioning and
The positioning and navigation module of navigation；Positioning also communicates with cloud platform with navigation module and transmit positioning result to cloud platform and receive cloud
The 3rd control instruction that platform is returned according to positioning result；It is used for reception the with the monitoring module that is connected with navigation module of positioning
The three control instructions and motion according to the 3rd control instruction to robot is controlled.
Positioning and navigation module, are connected with monitoring module, are mainly used in determining the location of robot, such as, right
The positioning of position and orientation of the robot in venue.
Positioning and navigation module can also in real time to presetting position and orientation and the periphery thing of the robot in scene
The position and orientation of body are positioned, and obtain the positioning result of robot and the positioning result of periphery object, and by positioning result
Transmitted to cloud platform.Wherein, cloud platform according to the positioning result of robot itself and the positioning result of periphery object to robot
Motor behavior planned, obtain the 3rd control instruction, and the 3rd control instruction is issued to and positioned and navigation module phase
The monitoring module of connection, motion of the monitoring module according to the 3rd control instruction to robot is controlled, and realizes to machine
The purpose that people is navigated, has reached and has improved the technique effect of flexibility that the control system of robot is controlled robot.
Power module, is connected with positioning with navigation module, can by nominal voltage 48V, persistently output current 150A,
The lithium battery of nominal capacity 140Ah, and chargeable circuit is that 54.6V, the power-supply management system of chargeable electric current 180A are fixed
Position powers with navigation module.
Used as a kind of optional implementation method, positioning includes with navigation module：It is connected with monitoring module, for being in
The first locating module that indoor robot is positioned；It is connected with monitoring module, for entering in outdoor robot
Second locating module of row positioning.
Positioning includes the first locating module and the second locating module with navigation module.Wherein, the first locating module can be
Indoor locating system, is mainly used in, to being positioned in indoor robot, (Ultra being positioned using ultra wide band
Wideband, referred to as UWB) technology.Second locating module can be attitude heading reference system, for being carried out to outdoor robot
Positioning.First locating module can position up to a hundred targets, and refresh rate can not be too high, alternatively, general 10Hz of refresh rate or so.
The position error that robot causes in motion in the presence of a refresh interval, additionally, the first locating module there is also in itself
Certain position error (decimeter grade), carries out positioning to robot and improves the precision of positioning and accurate with reference to the second locating module
Property.
Alternatively, in order to allow robot normal work, not only will be to the position of robot, attitude, speed and internal system
State etc. is monitored, and static information and multidate information of the supervisory-controlled robot in residing working environment is also wanted, so that machine
The job order and operation content of device people can adapt to the change of working environment.Attitude transducer is mainly for detection of robot
Movement velocity, direction etc., therefore detect that the position of robot and attitude largely have impact on the navigation quality of robot.
The embodiment can be by the position of G-AHRS-100 attitude heading reference system robot measurements and attitude.The biography of attitude heading reference system
Sensor initial data includes three axis accelerometer, three-axis gyroscope, three axle magnetometer data, and in multi-shaft inertial measuring unit
On the basis of, carry out Fusion and obtain accurate attitude.
Used as a kind of optional implementation method, main control platform includes：For being processed multi-medium data and generated
The master control borad of one control instruction, communicates with cloud platform, for cloud platform transmitting multimedia data and receiving cloud platform according to many
The wireless module of the second control instruction that media data is returned, main control platform also includes at least one of：For gathering image
The image capture module of data；Voice acquisition module for gathering speech data.
Master control borad, for being processed multi-medium data and is generated the first control instruction.The processor of intelligent robot
The performance processor high such as X86, DSP, ARM is brought up to by the simple MCU of function.According to robot to power consumption of processing unit, performance, outer
If the requirement of interface quantity, volume.Alternatively, using Firefly RK3288 development boards as monitor supervision platform master control borad.
Firefly RK3288 are a high performance platforms, and it has 4 ARM Cortex-A17 cores, possess powerful multithreading fortune
Calculation ability, graphics capability and hardware decoding capability, support that Android and Ubuntu dual systems, plate level support infrared, indigo plant
Tooth 4.0, the output of double frequency WIFI, 4K*2K high definition, and abundant peripheral expansion interface：HDMI2.0、MIPI、LVDS、EDP、
SPDIF, gigabit Ethernet, USB-Host, USB-OTG, TF card, UART, I2S COBBAIF, I2C, SPI, ADC, PWM etc..
Main control platform also includes wireless module, and the wireless module is connected with cloud platform, can transmit many matchmakers to cloud platform
The second control instruction that volume data and receiving platform are returned according to multi-medium data, can with transmitting audio data, view data etc.,
So as to realize the communication between main control platform and cloud platform.The wireless module can be Wireless Fidelity (Wireless
Fidelity, referred to as WIFI) module, alternatively, by using the onboard AP6335 modules of RK3288 realize main control platform with
Radio communication between cloud platform, wherein, AP6335 is a 2.4GHz/5GHz double frequencies WIFI and integrated bluetooth 4.0, is supported
802.11a/b/g/n/ac agreements.
Main control platform can also include image capture module, for IMAQ view data and identification so that robot
Possess visual identity function, image can be gathered, recognize object.Alternatively, image capture module can be carried out to human face expression
Identification, such as, recognize happy emotional state, unhappy emotional state and normal emotional state.Additionally, robot is adopted by image
Collection module can also recognize that human body waves, waves downwards, waves to the left and wave to the right four kinds to act upwards.Alternatively, image
Acquisition module mainly carries out IMAQ using camera, and the utilizing camera interface is USB (Universal
Serial Bus, referred to as USB) communication protocol between interface, with main control platform is USB2.0, and by wireless module with nothing
The view data that the mode of line communication gathers image capture module is transmitted to cloud platform in real time.Cloud platform is calculated using relevant treatment
Method is identified to view data, wherein, the Processing Algorithm processed view data can be by Eyesight systems
Technology is realized.
Main control platform can also include voice acquisition module, for gathering speech data.The main control platform is adopted by voice
Collection module realizes the voice interactive function of robot.Voice interactive function is a very important function of robot, can be with
A number of preset instructions are recognized, such as, recognize 500 preset instructions, alternatively, voice messaging is recognized using microphone,
Wherein, the plug of microphone uses GB standard.Additionally, voice acquisition module can also be according to residing for robot environment and from
The state of body, sends number voice and is interacted with people, such as, for pet robot, can be sent out by voice acquisition module
The sound and people for going out animal are interacted, and have reached the technology of flexibility that the control system of robot is controlled robot that improves
Effect.
Used as a kind of optional implementation method, monitoring module includes：For exporting the control for being controlled to robot
The control panel of signal processed；For the motor that the motion to robot is controlled.Monitoring module also includes at least one of：With
In the ultrasonic sensor of the distance between collection robot and barrier data；Pressure for gathering the pressure data of robot
Force snesor.
Monitoring module includes control panel, is connected with main control platform, for receiving the detection data that main control platform is issued, root
The control signal for being controlled to robot is exported according to detection data.Alternatively, control panel is made using STM32F407 chips
It is controller, the chip uses Cortex-M4 core architectures, and dominant frequency reaches as high as 168MHz, containing flexible bus configuration, rich
Rich Peripheral Interface, powerful calculation processing power, transducing signal collection, data acquisition and electricity needed for disclosure satisfy that robot
The control function of machine.The control panel is powered by power module use+5V or+3.3V supply voltages.
Monitoring module also includes motor, is controlled for the motion to robot.Such as, to the leg exercise of robot
It is controlled, motor can be connected by CAN with motor drive module, wherein, the species of motor, model and specific
Load and other electrical characteristics corresponding configuration is carried out according to specific service condition.The number of motor and corresponding line can roots
It is adjusted according to specific mechanical requirements and respective electric connection.
Motor drive module includes motor sensing module, motor control module, motor driver and its communications module.Its
In, motor sensing module is mainly used in receiving position signalling, current signal of sensor of installation etc. on motor, and these are believed
Number feed back to motor control module；The Main Function of motor control module is after receiving signal from control panel and motor sensing module
Motor driver is controlled；Motor driver is mainly electronic circuit and exports corresponding driving current, for driving each
Motor, so that robot is moved accordingly, such as, advance, retrogressing, left-hand rotation, right-hand rotation etc. are mobile；Its communications module
Main Function is that the control signal for receiving control panel is controlled with to motor driver, so as to be carried out accordingly to each motor
Drive.
Monitoring module can also include ultrasonic sensor, and sonac is used between robot measurement and barrier
Distance.Supersonic sounding refers to carrying out range measurement using the reflection characteristic of ultrasonic wave, is a kind of contactless detection mode.
Compared with other are apart from detection mode, such as, electromagnetic detection mode, or optical detection mode is compared, supersonic sounding not light
Line, measurand color etc. influence.When measured object is under the rugged environments such as dark, dust, smog, electromagnetic interference, ultrasound
Range finding has certain adaptability.Alternatively, the robot of the embodiment uses KS103 ultrasonic measurement modules, and the KS103 surpasses
Sound ranging module has high precision temperature compensation function, and investigative range is 1cm~600cm, and look-in frequency is used up to 40KHz
I2C/ serial ports and main-machine communication.Alternatively, multiple ultrasonic sensors, KS103 ultrasounds are installed in the actual demand according to robot
Wave measurement uses I2C interfaces and main-machine communication, it is possible to use I2C buses carry multiple module will so as to reduce controller docking port
Ask, reduce the complexity of the control system of robot.Alternatively, ultrasonic sensor interface mode can also be IIC, by power supply
Module use+5V or+3.3V is powered.
Monitoring module can also include pressure sensor, and the pressure sensor is used to gather the pressure data of robot.Machine
Device people has certain load-bearing requirements, such as, there is the load-carrying demand less than or equal to 25kg, can sustain a child
Weight, the backside pressure to robot detects, to prevent the load capacity at robot back excessive, robot caused
Infringement.Robot is when motion control is carried out, it is also desirable to real-time detection foot pressure, to prevent foot pressure excessive to robot
Cause damage.Robot is also required to perceive the touch pressure of body both sides, it is also desirable to the pressure of real-time detection body both sides, in case
Only body pressure at both sides is excessive causes damage to robot.Pressure sensor is supplied by power module use+5V or+3.3V
Electricity,
Used as a kind of optional implementation method, pressure sensor includes at least one of：The back of the body for detecting robot
The backside pressure sensor of portion's pressure data；Foot pressure sensor for detecting the foot pressure data of robot；For
Detect the pressure at both sides sensor of the pressure data of the body both sides of robot.
Backside pressure sensor, the backside pressure data for detecting robot.Robot has less than or equal to 25kg's
Load-carrying demand, can sustain the weight of child, so backside pressure detection should be carried out, prevent load capacity excessive,
Robot is caused damage.Alternatively, the backside pressure of robot is detected using A801 pressure sensors, A801 is piezoresistance
Sensor, pressure detecting range is 0-110N, is powered by power module use+5V or+3.3V.
Foot pressure sensor, the foot pressure data for detecting robot.Alternatively, using A801 pressure sensors
The foot pressure of robot is detected, A801 is piezoresistance sensor, and pressure detecting range is 0-110N, used by power module
+ 5V or+3.3V is powered.
Pressure at both sides sensor, the pressure data of the body both sides for detecting robot.Robot needs to perceive both sides
Touch pressure, alternatively, using FSR408 pressure sensors detect body pressure at both sides change, by power module use+
5V or+3.3V is powered.
Used as a kind of optional implementation method, motor includes at least one of：It is default first for controlling robot
In the range of motion DC servo motor；For the stepper motor for controlling robot to be moved in the second preset range；For
The digital rudder controller that control robot is moved in the 3rd preset range.
DC servo motor, for controlling robot to be moved in the first preset range.Such as, DC servo motor is used for
The leg exercise of robot is controlled, its communication protocol is CAN2.0 bus communications, and CAN transceiver uses TJA1040, control panel to adopt
Communicated with CAN with motor drive module, motor drive module connects N number of DC servo motor with CAN, its
In, the species of DC servo motor, model and specific load and other electrical characteristics are entered according to specific service condition
The corresponding configuration of row.The number of DC servo motor and corresponding line can connect according to specific mechanical requirements and respective electric
Connect and be adjusted, 48V DC-voltage supplies are used by power module, directly exported from battery.
Stepper motor, for controlling robot to be moved in the second preset range, alternatively, the second preset range is less than the
One preset range.Such as, stepper motor is used for the motion of neck, afterbody and the mouth for controlling robot.Control panel is to stepping electricity
Machine is controlled, and then controls the movement velocity and movement position of stepper motor.The master control signal of stepper motor includes making
Can signal, direction signal and pulse signal.Wherein, enabling signal is used to enable/forbid, alternatively, when level is high level,
Driver is enabled, and when level is low level, driver can not work, and generally stepper motor can not connect, and be allowed to outstanding
It is empty and enable automatically；Direction signal includes high level signal and low level signal, and alternatively, high level signal controlled motor is positive
Rotate, low level signal controlled motor is rotated backward, and in order to ensure that motor is reliably responded, direction signal should be prior to pulse signal
At least 1.5 μ S set up, and its initial launch direction is relevant with the wiring of stepper motor, and exchanging any one phase winding can change stepping
The initial launch direction of motor, when level is high level, the voltage of stepper motor is 4-5V, the stepping when level is low level
The voltage of motor is 0-0.5V；Effectively, voltage is 4-5V to the rising edge of a pulse of pulse control signal during high level, electricity during low level
It is 0-0.5V to press, and in order to reliably respond, the width of pulse signal is more than 1.5 μ S, if, it is necessary to go here and there during using+12V or+24V
Connection current-limiting resistance, alternatively, current-limiting resistance is 1K or 2K.
Digital rudder controller, for controlling robot to be moved in the 3rd preset range, alternatively, the 3rd preset range is less than the
Two preset ranges.Such as, digital rudder controller is used for the motion of the eyes for controlling robot.Alternatively, the eyes of robot are using silver
The digital rudder controller of the model ES3153 of swallow is controlled, and it uses the PWM ripples that timer mode is produced to carry out servos control.
Used as a kind of optional implementation method, monitoring module also includes：It is connected with stepper motor, for limiting stepping electricity
The limit switch of the range of movement of machine.
In order to the movement position for preventing stepper motor exceedes restriction site, the control system of robot needs to increase spacing opening
Close.Alternatively, the limit switch of the embodiment is mechanical limit switch, and its control interface is connected using three line terminals, composition
Normally-open normally-close end.
Used as a kind of optional implementation method, limit switch includes：It is connected with stepper motor, for receiving stepper motor
Output signal photoelectric sensor；It is connected with photoelectric sensor, believes with the control of control panel for isolating photoelectric sensor
Number optocoupler.
The limit switch of robot can also be realized using optocoupler and photoelectric sensor.Photoelectric sensor, with stepping
Motor is connected, the output signal for receiving stepper motor, and optocoupler is connected with photoelectric sensor, for isolating photoelectric sensing
The control signal of device and control panel, it is to avoid pulse signal is interfered to control panel, also ensure that stablizing for sensor signal is defeated
Go out.
Used as a kind of optional implementation method, monitoring module also includes：It is connected with multi-path digital steering wheel, it is many for exporting
The multi-channel PWM circuit of road pwm signal.
Monitoring module also controls multi-channel PWM output circuit by IIC, is controlled using the IIC and PCA9685PWM of control panel
Chip communication, carries out 16 road PWM outputs, the demand of robot multiple digital rudder controller can be met, so as to cost savings control
The resource of device processed.
With reference to preferred embodiment being illustrated to the technical solution of the utility model.
Fig. 2 is the schematic diagram of the control system of another robot according to the utility model embodiment.As shown in Fig. 2
The control system of the robot of the embodiment includes main control platform, transducing signal collection and kinetic control system, positioning and navigation
System, power module.Data are transmitted between main control platform and cloud platform, mainly by Firefly RK3288 master control borads, camera,
Microphone etc. is constituted, wherein, Firefly RK3288 master control borads include onboard WIFI module, Audio Input Modules, audio output
Module etc., camera is connected with Firefly RK3288 master control borads by USB interface, for Firefly RK3288 master controls
Plate input image data, microphone is connected with Firefly RK3288 master control borads by Audio Input Modules, for
Firefly RK3288 master control borad input audio datas.
Transducing signal gather it is main with kinetic control system by STM32 M4 motion control signals collection plate, head steering wheel,
Each road servomotor, stepper motor, limit switch, pressure sensor, electric power detection sensor, attitude detecting sensor, ultrasound
Wave sensor and loudspeaker are constituted, wherein, the onboard power amplifier and Firefly of STM32 M4 motion control signal collection plates
The dio Output Modules of RK3288 master control borads are connected, the voice data for receiving dio Output Modules, and defeated to loudspeaker
Go out voice data, the UART of UART and Firefly the RK3288 master control borads of STM32 M4 motion control signal collection plates is connected
Connect, head steering wheel receives the 6V voltage signals and pwm signal of STM32 M4 motion control signals collection plate connection, each road servo electricity
Machine is connected with STM32 M4 motion control signal collection plates by CAN, and data are transmitted mutually, and stepper motor passes through I/O
Mouth receives the output signal of STM32 M4 motion control signal collection plates, and limit switch is connected with stepper motor, for preventing
Stepper motor moves past restriction site, and to I/O mouthfuls of input signal of STM32 M4 motion control signal collection plates.Pressure is passed
Sensor is by ADC mouthfuls to STM32 M4 motion control signal collection plate input pressure signals.Electric power detection sensor is by IIC mouthfuls
Electric quantity signal is input into STM32 M4 motion control signals collection plate.Attitude detecting sensor and STM32 M4 motion control signals
Collection plate is connected by UART, the attitude data for being input into robot to STM32 M4 motion control signals collection plate.It is super
Sonic sensor is connected with STM32 M4 motion control signal collection plates by IIC, for believing to STM32 M4 motion controls
Number collection plate transmission range data.
Position fixing and navigation system positions the induced signal produced by label, and the appearance that attitude transducer is gathered by UWB
State data are positioned to robot.
Power module includes lithium battery and power panel.
The main control platform of above-mentioned control system is the principal element for determining robot function and performance, in being robot system
Commander's maincenter, its task is to control movement position of the robot in working space, attitude and track according to control instruction,
Realize IMAQ identification and treatment, speech signal collection input and instruction identification, audio output, Autonomous Navigation Algorithm, motion
Control algolithm, and communicated with cloud platform by WIFI.For realize the intelligent of robot, algorithm complicate, functional diversities
Growth requirement, the processor of intelligent robot also brings up to the performance processor high such as X86, DSP, ARM by the simple MCU of function.
According to robot to power consumption of processing unit, performance, Peripheral Interface quantity, volume requirement, using Firefly RK3288 development boards
As main control platform.RK3288 is a high performance platform, with 4 ARM Cortex-A17 cores, possesses powerful multi-thread
Journey operational capability, graphics capability and hardware decoding capability, support that Android and Ubuntu dual systems, plate level support red
Outward, bluetooth 4.0, the output of double frequency WIFI, 4K*2K high definition, with abundant peripheral expansion interface：HDMI2.0、MIPI、LVDS、
EDP, SPDIF, gigabit Ethernet, USB-Host, USB-OTG, TF card, UART, I2S COBBAIF, I2C, SPI, ADC, PWM
Deng.
Above-mentioned main control platform can be identified to human face expression, such as, recognize happy emotional state, unhappy expression shape
State and normal three-type-person's face emotional state.Additionally it is possible to recognize that human body is waved, waves downwards, waving to the left and to the right upwards
Wave four kinds to act, so as to realize robotic vision identification function.Main control platform mainly carries out adopting for image using camera
Collection, utilizing camera interface can be USB interface, and the communication protocol with main control platform is USB2.0, and by way of radio communication
View data is real-time transmitted in cloud platform, cloud platform completes image recognition work using related algorithm.Wherein, the place of image
Adjustment method depends on Eyesight technologies and carries out.
Above-mentioned main control platform has voice interactive function, and interactive voice is a very important work(to robot control
Can, it is capable of identify that a number of preset instructions, such as, recognize 500 preset instructions, can recognize voice using microphone
Information, wherein, microphone plug is GB standard.Main control platform can also by dio Output Modules according to environment and itself
State, sends the sound of some animals to be interacted with people.
Communicated using WIFI between above-mentioned main control platform and cloud platform, can be using RK3288 onboard AP6335 moulds
Group realizes communication function.Wherein, AP6335 is a 2.4GHz/5GHz double frequencies WIFI and integrated bluetooth 4.0, supports 802.11a/
B/g/n/ac agreements.Main control platform passes through serial communication, lower generator and sensing with STM32 M4 motion control signals collection plate
The control instruction of device to STM32 M4 motion control signal collection plates, STM32 M4 motion control signals collection plate uploads sensor
Gathered data and motor feedback signals are to main control platform, so as to realize that both closely interact.
Above-mentioned transducing signal collection uses STM32 M4 motion control signal collection plates with the control panel of kinetic control system,
STM32 M4 motion control signals collection plate uses Cortex-M4 core architectures, and dominant frequency reaches as high as 168MHz, containing flexible
Bus configuration, abundant Peripheral Interface, powerful calculation processing power, the transducing signal data needed for disclosure satisfy that robot are adopted
The control function of collection and motor.
Above-mentioned transducing signal collection can realize supersonic sounding, supersonic sounding with the ultrasonic sensor of kinetic control system
Refer to carrying out range measurement using the reflection characteristic of ultrasonic wave, be a kind of contactless detection mode, with other distance inspections
Survey mode is compared, such as, compared with electromagnetism or optical detection mode, it is not influenceed by light, measurand color etc..Ultrasound
Wave sensor for measured object be in it is dark, have under the rugged environments such as dust, smog, electromagnetic interference and have certain adaptation energy
Power.The ultrasonic sensor of the embodiment uses KS103 ultrasonic measurement modules, and the KS103 ultrasonic measurements module is with height
Accurate temperature compensation function, investigative range is 1cm~600cm, and look-in frequency is led to up to 40KHz using I2C/ serial ports and main frame
Letter.Alternatively, the demand according to machine body is needed to install multiple ultrasonic sensors, and KS103 is led to using I2C interfaces with main frame
Letter, it is possible to use I2C buses carry multiple module reduces robot control system so as to reduce the interface requirement to controller
Complexity.
Fig. 3 is a kind of schematic diagram of the pressure sensor of the control system of the robot according to the utility model embodiment.
As shown in figure 3, in transducing signal pressure sensor of the collection with kinetic control system, pressure sensor is passed including foot pressure
Sensor A801, backside pressure sensors A 801 and pressure at both sides sensor FSR408.Foot pressure sensors A 801, backside pressure
Sensors A 801 and pressure at both sides sensor FSR408 are connected with STM32 M4 motion control signal collection plates respectively.Robot
When motion control is carried out, it is also desirable to real-time monitoring foot pressure, foot pressure can be detected from foot pressure sensors A 801
Power, foot pressure sensors A 801 is piezoresistance sensor, and pressure detecting range is 0-110N；Robot is less than or equal to
The load-carrying demand of 25kg, can sustain the weight of child, so backside pressure detection should be carried out, so as to prevent carrying
Weight is excessive, and robot body is caused damage, and can detect backside pressure from backside pressure sensor FSR408；Robot
The touch pressure of perception both sides is needed, the change of machine person pressure at both sides can be detected using pressure at both sides sensor FSR408
Change.
Fig. 4 is a kind of motor schematic diagram of the control system of the robot according to the utility model embodiment.Such as Fig. 4 institutes
Show, in transducing signal motor control of the collection with kinetic control system, motor includes DC servo motor, stepper motor sum
Word steering wheel.DC servo motor, stepper motor and digital rudder controller are connected with STM32 M4 motion control signal collection plates respectively,
And be connected with power panel, powered by power panel.
DC servo motor can be used for controlling the leg exercise of robot, and its communication protocol is CAN2.0 bus communications,
CAN transceiver uses TJA1040, control panel to be communicated with motor drive module using CAN, and motor drive module is used
CAN connects N number of DC servo motor, the wherein species of DC servo motor, model and specific load and others
Electrical characteristic is configured accordingly according to specific service condition.The number of DC servo motor and corresponding line can be with roots
It is adjusted according to specific mechanical requirements and respective electric connection.
The motor drive module of the DC servo motor includes：Motor sensing module, motor control module, motor driver
And its communications module.Wherein, the Main Function of motor sensing module is to receive the sensing such as position, electric current of installation on motor
The signal of device, and these signals are fed back into motor control module, the Main Function of motor control module is from control panel and electricity
Machine sensing module receives signal and motor driver is controlled, and motor driver is mainly the corresponding drive of electronic circuit output
Streaming current, is driven to each motor, so that robot is moved accordingly, such as, advances, retreats, turns left, turns right
Deng movement；The Main Function of its communications module is the control signal for receiving STM32 M4 motion control signal collection plates with to electricity
Machine driver is controlled, so as to be driven accordingly to each motor M.
Stepper motor can carry out motion control to the neck of robot, afterbody and mouth, and control panel is to stepper motor control
System, and then control movement velocity and the position of stepper motor.Wherein, the main control signal of stepper motor has enable signal, side
To signal and pulse signal.Enabling signal is used to enable/forbid, and high level is enabled, and driver can not work during low level, typically
In the case of can not connect, be allowed to hanging and enable automatically.Direction signal is high level signal and low level signal, corresponds respectively to electricity
The forward and reverse of machine, to ensure motor reliable response, direction signal should be set up prior to pulse signal at least 1.5 μ S, motor
Initial launch direction is relevant with the wiring of motor, and exchanging any one phase winding can change the direction of motor initial launch, electricity high
Usually voltage is 4-5V, and voltage is 0-0.5V during low level.Effectively, voltage is 4- to the rising edge of pulse control signal during high level
5V, voltage is 0-0.5V during low level, and in order to ensure the reliable response of pulse signal, pulse width is more than 1.5 μ S, such as, when
, it is necessary to series limiting resistor during using+12V or+24V voltages, wherein, current-limiting resistance can be 1K or 2K.
In order to prevent stepper motor from moving past restriction site, it is necessary to increase limit switch.Spacing the opening of example use
It is mechanical limit switch to close, and control interface is connected using three line terminals, composition normally-open normally-close end.
Digital rudder controller is used to control the eyes of robot, being controlled using the model ES3153 of silver swallow-aeroplane, its
The PWM ripples produced using timer mode carry out servos control.
Fig. 5 is a kind of signal of the position fixing and navigation system of the control system of the robot according to the utility model embodiment
Figure.As shown in figure 5, position fixing and navigation system includes indoor locating system and attitude heading reference system, indoor locating system and navigation attitude
Frame of reference is connected with STM32 M4 motion control signal collection plates respectively.Position fixing and navigation system is used for main determination machine
The location of body, and the positional information of robot is sent to by robot by cloud platform, it is used to realize to robot
Navigation and positioning function.Alternatively, the main position and side in real time to robot in venue of Position Fixing Navigation System of robot
Position is positioned, and location information is transferred into cloud platform, and cloud platform is entered according to the location information of body itself and periphery object
Row motion planning, and movement instruction is issued to robot body guide navigation.Position Fixing Navigation System is main by indoor positioning system
System (Global localization navigation) and attitude heading reference system (local positioning navigation).Wherein, indoor navigation system is mainly used in the overall situation
In the range of position, using UWB technology, because the system needs to position up to a hundred targets, refresh rate can not too high (general 10Hz be left
It is right), the position error that a refresh interval causes is certainly existed during motion；Additionally, alignment system there is also one in itself
Fixed position error (decimeter grade), accordingly, it would be desirable to improve the precision and accuracy of positioning with reference to attitude heading reference system.In order to allow
Robot normal work, will not only be monitored to the position of robot, attitude, speed and internal system state etc., also supervise
The static information and multidate information of the working environment residing for man-controlled mobile robot, so that the job order and operation content of robot
The change of working environment can naturally be adapted to.Attitude transducer mainly for detection of robot movement velocity, direction etc., therefore
The selection of attitude transducer largely have impact on the quality navigated to robot.
The attitude heading reference system of the embodiment be G-AHRS-100 attitude heading reference systems, for robot measurement position and
Attitude, carries out inertial navigation.Wherein sensor raw data contains the detection data of three axis accelerometer, three-axis gyroscope
Detection data, the detection data of three axle magnetometer.Attitude heading reference system contains Embedded attitude data solving unit with boat
To information, on the basis of multi-shaft inertial measuring unit, the detection number of detection data, three-axis gyroscope to three axis accelerometer
Fusion is carried out according to the detection data of, three axle magnetometer, so as to obtain the accurate attitude of robot.
Fig. 6 is a kind of schematic diagram of the power-supply system of the control system of the robot according to the utility model embodiment.Such as
Shown in Fig. 6, the power-supply system is DC servo motor, stepper motor, digital rudder controller, the STM32 M4 motion controls letter of robot
Number collection plate etc. provides power supply.Wherein, the nominal voltage of 48V180Ah lithium battery groups is 48V, and nominal current is 180Ah, can be with
It is continuous to provide 48V voltages, 180A electric currents to DC servo motor and stepper motor.48V180Ah lithium battery groups pass through Power convert
48V is turned 24V and is powered to DC servo motor brake by plate, and supply current is 20A, by power conversion board by 48V turn 12V to
DC-DC TPS54335A motion control boards are powered, and supply current is 25A, wherein, TPS54335A is 4.5V to 28V inputs, 3A
Output, the dc-dc of synchronous buck, the buck mode DC-DC converter are integrated with low side switch field-effect transistor
(FET) demand to external diode, is eliminated, so as to reduce package count, is protected with overcurrent protection, overvoltage protection, overheat
The functions such as shield, TPS54335A is exported with+6V and+5V in the embodiment.Digital rudder controller is powered using 6V, STM32 M4 motion controls
Signal acquiring board processed is used 5V or is powered with 3.3V by AMS1117-3.3.
Alternatively, the DC servo motor of six foots of robot body, neck, afterbody and mouth uses 48V direct currents
Pressure power supply, directly exports from battery, and head steering wheel use+6V powers, master control borad, signal acquisition motion control board, sensor and
Each module is both needed to be powered using+5V or+3.3V.Therefore power panel need to have+6V independent all the way to export, and independent+5V is defeated all the way
Go out, the interface that+3.3V outputs independent all the way and each input and output need.
The technical solution of the utility model is illustrated with reference to a kind of optional implementation method.
Fig. 7 is the schematic diagram of the control system of another robot according to the utility model embodiment.As shown in fig. 7,
Using photoelectric sensor and optocoupler composition photo-electric limit switch interface circuit, optocoupler believes photo-sensor signal and control panel
Number isolation, it is to avoid pulse signal is interfered to control panel, also ensure that sensor signal stabilization output.The embodiment its
The effect of its module is identical with the effect in embodiment illustrated in fig. 2, and here is omitted.
The technical solution of the utility model is illustrated with reference to another optional implementation method.
Fig. 8 is the schematic diagram of the control system of another robot according to the utility model embodiment.As shown in figure 8,
Multi-channel PWM circuit is controlled by IIC, it is possible to use IIC and the PCA9685PWM control chip of control panel communicate, and carry out 16 tunnels
PWM is exported, and such that it is able to meet the demand of robot multiple digital rudder controller, greatlys save the resource of controller.The embodiment
Other modules effect it is identical with the effect in embodiment illustrated in fig. 1, here is omitted.
The control system implementation of the robot of the embodiment, it is intended to develop one kind possess good animal appearance, can
Machine life interactive with people and that social attribute can be embodied.The robot mainly has motion walking, facial expressions and acts, voice to hand over
Mutually, the function such as visual identity, navigation and positioning, remote control, security protection, electric power detection, avoidance, heavy burden.Control system by
Main control platform, transducing signal collection and kinetic control system, position fixing and navigation system, the part of power-supply system 4 composition, have reached and have carried
The effect of the flexibility that the control system of robot high is controlled robot.
The control system functional module type selecting Nover practical of the robot of the embodiment, topology layout is reasonable, system power dissipation
Low, control system upgrading is easier to, and upgrade cost is low, and collection is controlled, sensed, being in communication in one, can be used for entering for robot system
One step is transplanted and developed, the expense that reduction is developed again.This control system can be not only used for control system of bionic intelligence robot
The research and development of system, are also used as the control of various robots such as multi-foot robot, bionical snake-shaped robot, contest Dancing Robot
Platform is developed and used, and is worth with teaching very high and contest.The utility model is required for protection be it is above-mentioned each
Unit module and its annexation, are not related to the innovation to internal software.
The machine of the embodiment artificially possess good animal appearance, being capable of machine interactive with people and that social attribute can be embodied
Device life, can be various robots such as multi-foot robot, bionical snake-shaped robot, contest Dancing Robot, mainly there is motion
Walking, facial expressions and acts, interactive voice, visual identity, navigation with positioning, remote control, security protection, electric power detection, avoidance, bear
The function such as again.
The robot of the embodiment can also be intelligent robot, industrial robot, smart home robot, other pets
Robot etc., can be used for the further transplanting of robot system and exploitation, so as to reduce again with the control system of the robot
The expense of secondary exploitation.
Preferred embodiment of the present utility model is the foregoing is only, the utility model is not limited to, for this
For the technical staff in field, the utility model can have various modifications and variations.It is all it is of the present utility model spirit and principle
Within, any modification, equivalent substitution and improvements made etc. should be included within protection domain of the present utility model.
Claims (10)
1. a kind of control system of robot, it is characterised in that including：
Multi-medium data for obtaining outside input, and put down according to the master control that the multi-medium data generates the first control instruction
Platform；
Communicated with the main control platform, for generating the second control instruction and to the main control platform according to the multi-medium data
Return to the cloud platform of second control instruction；
Be connected with the main control platform, for according to first control instruction and/or second control instruction to described
The monitoring module that the motion of robot is controlled.
2. control system according to claim 1, it is characterised in that the control system also includes：
For positioning and navigation module that the robot is positioned and navigated；It is described positioning with navigation module also with it is described
Cloud platform to communicate and transmit positioning result to the cloud platform and receive the cloud platform is returned according to the positioning result the 3rd
Control instruction；
The monitoring module is also connected according to the 3rd control instruction to the robot with the positioning with navigation module
Motion be controlled.
3. control system according to claim 2, it is characterised in that the positioning includes with navigation module：
It is connected with the monitoring module, for the first locating module to being positioned in indoor robot；
It is connected with the monitoring module, for the second locating module to being positioned in outdoor robot.
4. control system according to claim 1, it is characterised in that the main control platform includes：For to many matchmakers
Volume data is processed and is generated the master control borad of first control instruction；Communicated with the cloud platform, for flat to the cloud
Platform transmits the multi-medium data and receives second control instruction that the cloud platform is returned according to the multi-medium data
Wireless module；
The main control platform also includes at least one of：
Image capture module for gathering view data；
Voice acquisition module for gathering speech data.
5. control system according to claim 1, it is characterised in that the monitoring module includes：For exporting to described
The control panel of the control signal that robot is controlled；For the motor that the motion to the robot is controlled；
The monitoring module also includes at least one of：
Ultrasonic sensor for gathering the distance between the robot and barrier data；
Pressure sensor for gathering the pressure data of the robot.
6. control system according to claim 5, it is characterised in that the motor includes at least one of：
For the DC servo motor for controlling the robot to be moved in the first preset range；
For the stepper motor for controlling the robot to be moved in the second preset range；
For the digital rudder controller for controlling the robot to be moved in the 3rd preset range.
7. control system according to claim 6, it is characterised in that the monitoring module also includes：With stepping electricity
Machine is connected, the limit switch of the range of movement for limiting the stepper motor.
8. control system according to claim 7, it is characterised in that the limit switch includes：
It is connected with the stepper motor, the photoelectric sensor of the output signal for receiving the stepper motor；
It is connected with the photoelectric sensor, the light for isolating the photoelectric sensor and the control signal of the control panel
Coupling.
9. control system according to claim 6, it is characterised in that the monitoring module also includes：With multi-path digital rudder
Machine is connected, for the multi-channel PWM circuit of output multi-channel pwm signal.
10. control system according to claim 1, it is characterised in that the control system also includes：It is flat to the master control
The power module that platform, monitoring module are powered.
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|---|---|---|---|
| CN201621330993.XU CN206287146U (en) | 2016-12-02 | 2016-12-02 | The control system of robot |
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| CN201621330993.XU CN206287146U (en) | 2016-12-02 | 2016-12-02 | The control system of robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107931898A (en) * | 2017-11-30 | 2018-04-20 | 成都科力夫科技有限公司 | Cutting robot control system based on UWB technology |
| CN109335669A (en) * | 2018-12-19 | 2019-02-15 | 攀枝花学院 | A kind of control circuit of transfer robot |
-
2016
- 2016-12-02 CN CN201621330993.XU patent/CN206287146U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107931898A (en) * | 2017-11-30 | 2018-04-20 | 成都科力夫科技有限公司 | Cutting robot control system based on UWB technology |
| CN109335669A (en) * | 2018-12-19 | 2019-02-15 | 攀枝花学院 | A kind of control circuit of transfer robot |
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