CN206357238U - A kind of robot control system - Google Patents
A kind of robot control system Download PDFInfo
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- CN206357238U CN206357238U CN201620853352.6U CN201620853352U CN206357238U CN 206357238 U CN206357238 U CN 206357238U CN 201620853352 U CN201620853352 U CN 201620853352U CN 206357238 U CN206357238 U CN 206357238U
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Abstract
The utility model discloses a kind of robot control system.It includes the control system of two kinds of different structures：Mono-processor machines people control system and multiprocessor robot control system；Mono-processor machines people control system includes controller, signal receiving module, sensor assembly, multimedia control module, joint control module, energy supply control module, dolly control module and Dextrous Hand control module, has the advantages that cost is low；Multiprocessor robot control system includes master control system and multiple from control system, has the advantages that the multiple positions of Synchronization Control robot.A kind of robot control system, there is multiple sensors module, the function with processing multiple sensors information, and with voice control function, and control model is various, can meet the requirement of different application occasion；System has preferable autgmentability and cutting property, can meet the control requirement of a variety of difference in functionality robots, robot is had bigger application field.
Description
Technical field
The utility model is related to a kind of robot control system.
Background technology
With scientific and technological fast development, automation, the intelligence degree more and more higher of people's lives and work, in industry system
Make, therapeutic treatment, entertainment service, military affairs, each field such as Aero-Space, occur in that increasing robot.
With being continuously increased for human cost, increasing service post replaces being serviced robot.Foreign countries, clothes
Being engaged in, machine man-based development is more early, and achievement is more, occurs in that as Pepper anthropomorphic robots, and it has more function, therefore should
It is wider with occasion；The domestic research starting to servicing humanoid robot is slower, but in recent years, in the good of fourth industrial revolution
Environment and national policy are vigorously supported down, and various robot levels are not poor, and in catering industry, meal delivery robot development is outstanding
To be rapid, substantial amounts of meal delivery robot is occurred in that, but the function of present meal delivery robot is less, corresponding control system
It is simpler.
Existing robot control system is excessively simple due to structure, realizes that function is less, it is impossible to meet future robot
The demand for development of multi-functional, many application scenarios.
The content of the invention
To solve the deficiency of prior art, the purpose of this utility model is to provide a kind of robot control system.The machine
The characteristics of device people's control system hardware and software can be cut, can simply make adjustment and can control different robots；Control
Mode diversification, can set different control models according to different application scenarios；Service robot extensive use can be made
With every field.
The utility model is adopted the following technical scheme that：
A kind of robot control system, using multiprocessor robot control system；The multiprocessor robot control
System includes master control system and from control system；The master control system is electrically connected with from control system；The main control system
System includes master controller, signal receiving module, master reference module, multimedia control module and energy supply control module；The master
Controller is electrically connected with signal receiving module, master reference module, multimedia control module and energy supply control module respectively；It is described
Include from control system separate from a control system, from two control systems ... from M control systems, wherein M >=2；Institute
State from a control system, electrically connected respectively with the master control system from two control systems ... from M control systems；The many places
Reason device robot control system has multiple controllers, is master controller respectively, from a controller, from two controllers ... from M
Controller；It is all separate from controller, and electrically connected respectively with master controller.
The signal receiving module at least include input module, voice signal processing module, remote signal processing module and
A module in communication module four；The input module, voice signal processing module, remote signal processing module and communication
Module is separate, and is electrically connected respectively with master controller；The input module has initialization system parameter, changes system mode
And control machine people's operation function；There is the voice signal processing module voice signal to receive, handle and identification function；It is described
Remote signal processing module has the remote information function of receiving, handle outside input；The communication module is responsible for the machine
People's control system and external communication function.
The master reference module at least includes temperature humidity sensor module, human body induction module and luminance sensor module
A module in three；The temperature humidity sensor module, human body induction module and luminance sensor module are separate, and
And electrically connected respectively with master controller；The temperature humidity sensor module has detection robot interior and surrounding enviroment temperature, wet
Spend function；
The human body induction module, which has, differentiates that robot periphery whether there is the mankind or other warm-blooded animal functions；
The luminance sensor module has the identification bright dark function of robot surrounding enviroment.
The multimedia control module at least includes separate projecting apparatus control module, camera control module, sound
A module in case control module and display control module four；The projecting apparatus control module, camera control module, sound
Case control module and display control module are electrically connected with master controller；The display control module, which has, shows the robot control
The function of system mode processed；
The multimedia control module and robot multimedia equipment connection, the multimedia equipment include projecting apparatus,
Camera, audio amplifier and liquid crystal display；
The control object of the projecting apparatus control module is the projecting apparatus of robot；The control of the camera control module
Object is the camera of robot；The control object of the audio amplifier control module is the audio amplifier of robot；The display control mould
The control object of block is liquid crystal display.
The energy supply control module includes controller power source control module, chip power control module, motor power control
Module and multimedia energy supply control module；The controller power source control module is electrically connected with described from control system；The core
Piece energy supply control module is electrically connected with master control system and from control system respectively, be in master and slave control system in addition to controller
Other chips and its circuit power；The motor power control module is electrically connected with master control system and from control system respectively
Connect, the drive module for all motors is powered；The multimedia energy supply control module respectively with the multimedia control module
Projecting apparatus control module, camera control module, audio amplifier control module and display control module electrical connection, respectively projecting apparatus
Control module, camera control module, audio amplifier control module and display control module are powered.
It is described to include from a control system from a controller, from a sensor assembly, from a joint control module and dolly
Control module；It is described from a controller respectively with from a sensor assembly, from a joint control module and dolly control module electricity
Connection；It is described at least to include separate collision avoidance module, range finder module, tracking module and navigation module from a sensor assembly
A module in four, the collision avoidance module, range finder module, tracking module and navigation module from a controller respectively with being electrically connected
Connect；It is described to include electrically connecting and separate head control module, neck with from a controller respectively from a joint control module
Portion's control module and waist joint control module；The dolly control module includes electrically connecting and mutually only with from a controller respectively
Vertical revolver control module and right wheel control module；The head control module, neck control module, waist joint control module,
Revolver control module and right wheel control module include motor drive module and joint sensors signal processing module；The motor
Drive module driving robot motor operation, the joint sensors signal processing module collection, feedback and motor corresponding part
Status information.
It is described to include from two control systems from two controllers and both arms joint control module；The both arms joint control module
Including the first shoulder joint control module, wherein the second shoulder joint control module ... N shoulder joint control modules, N >=2；It is described
Each shoulder joint control module of both arms joint control module includes motor drive module and joint sensors signal transacting mould
Block；
It is preferred that, the control object robot of the robot control system has more than two during free Dextrous Hand, described
Robot control system from control system have from three, from four control systems, wherein from three control systems control a Dextrous Hand,
Another Dextrous Hand is controlled from four control systems；It is described to have respectively from three controllers, from four controllers from three, four control systems,
It is respectively provided with motor drive module and joint sensors signal processing module.
A kind of robot control system of the present utility model, it is preferred that use mono-processor machines people's control system；It is described
Mono-processor machines people control system includes controller, signal receiving module, sensor assembly, multimedia control module, joint
Control module, energy supply control module, dolly control module and Dextrous Hand control module；The controller receives mould with signal respectively
Block, sensor assembly, multimedia control module, joint control module, energy supply control module, dolly control module and dexterous manual control
Molding block is electrically connected；The sensor assembly at least include two-by-two separate collision avoidance module, range finder module, tracking module,
A module in navigation module, temperature humidity sensor module, human body induction module and luminance sensor module seven, it is described to keep away
Hit module, range finder module, tracking module, navigation module, temperature humidity sensor module, human body induction module and luminance sensor mould
Block is electrically connected with the controller respectively；The joint control module includes head control module, neck control module, waist joint control
Module and both arms control module；The Dextrous Hand control module includes motor drive module and joint sensors signal transacting mould
Block；
A kind of robot control system of the present utility model, its control object is a robot；The head control module
Control object be robot head；The control object of the neck control module is the neck of robot；The waist joint
The control object of control module is the waist of robot；The control object of the both arms control module is the mechanical arm of robot；
The control object of the Dextrous Hand control module is the Dextrous Hand of robot；The control object of the dolly control module is machine
The dolly chassis of people.
Described mono-processor machines people's control system only has a controller.
A kind of robot control system of the present utility model, with various control pattern, including Stored program control pattern,
Input module control model, Voice command pattern, remote control pattern, PC control pattern, network control mode and mixing
Control model；The storage program control mode, refers to robot control system according to the number being stored in advance in control system
The pattern run according to control machine people control system；The input module control model, refers to according to the signal receiving module
In input module input information control machine people control system operation pattern；The Voice command pattern, refers to basis
The external sound signal control machine people control system operation of speech signal analysis module identification in the signal receiving module
Pattern；The remote control pattern, refers to that the remote signal processing module in the signal receiving module is recognized outer
The pattern of portion's remote signal control machine people control system operation；The PC control pattern, refers to that a host computer passes through institute
State the pattern of the communication module control machine people control system operation of signal receiving module；The network control mode, refers to outer
The pattern that portion's network is run by the communication module control machine people control system of the signal receiving module；The mixing control
Pattern, is referring to Stored program control pattern, input module control model, Voice command pattern, remote control pattern, host computer control
The pattern of at least two patterns control machine people control system operation simultaneously in molding formula and network control mode；
A kind of robot control system of the present utility model, using during different control models, it is necessary to be equipped with corresponding outer
Portion's equipment；The external equipment includes host computer, remote control and network；Using during remote control pattern, it is necessary to be equipped with a remote control
Device；Using during PC control pattern, it is necessary to be equipped with a host computer；Using during network control mode, it is necessary to connect network；Using
When mixing control model, it is also desirable to be equipped with the external equipment under corresponding modes.
The utility model compared with prior art, has an advantageous effect in that：
1. multiprocessor robot control system of the present utility model, with multiple controllers, using master-slave control mode,
Main controller controls work from controller, and each controller is each responsible for the control of robot different parts, and this structure is conducive to
Realize to the multiple position Synchronization Controls of robot；
2. mono-processor machines people control system of the present utility model, only one controller, this structure is advantageously reduced
The cost of control system；
3. a kind of robot control system of the present utility model, control model is various, wanting for different application occasion can be met
Ask；
4. a kind of robot control system of the present utility model, with voice control function, can recognize common human speech
Instruction；
5. a kind of robot control system of the present utility model, the control system with two kinds of different structures, to each
Position synchronization level of enforcement is required in higher robot, and multiprocessor robot control system may be selected and is used as robot control
System processed；In the higher robot of the low requirement to control system cost, mono-processor machines people's control system conduct may be selected
Robot control system；
6. a kind of robot control system of the present utility model, with multimedia control module, can realize a variety of multimedias
The control of equipment；
7. a kind of robot control system of the present utility model, with powerful control ability, realize to multi-joint, many
The flexible control of degree of freedom robot；
8. a kind of robot control system of the present utility model, with a variety of functional modules, can be installed additional according to actual needs
Or partial function module is removed, system has preferable autgmentability and cutting property.
Brief description of the drawings：
Fig. 1 is the theory diagram of multiprocessor robot control system of the present utility model；
Fig. 2 is the theory diagram of master control system of the present utility model；
Fig. 3 is the theory diagram of signal receiving module of the present utility model；
Fig. 4 is the theory diagram of master reference module of the present utility model；
Fig. 5 is the theory diagram of multimedia control module of the present utility model；
Fig. 6 is the theory diagram of energy supply control module of the present utility model；
Fig. 7 is the theory diagram of the present utility model from control system；
Fig. 8 is the theory diagram of the present utility model from a control system；
Fig. 9 is the theory diagram of the present utility model from a sensor assembly；
Figure 10 is the theory diagram of the present utility model from a joint control module；
Figure 11 is the theory diagram of dolly control module of the present utility model；
Figure 12 is the theory diagram of joint of the present utility model/dolly control module；
Figure 13 is the theory diagram of the present utility model from two control systems；
Figure 14 is the theory diagram of both arms joint control module of the present utility model；
Figure 15 is the theory diagram of mono-processor machines people control system of the present utility model；
Figure 16 is the theory diagram of sensor assembly of the present utility model；
Figure 17 is the theory diagram of joint control module of the present utility model；
Figure 18 is the theory diagram of the control program of robot control system of the present utility model；
Figure 19 is the control object of robot control system of the present utility model -- the structural representation of robot；
In figure：10. master controller, 11. signal receiving modules, 12. master reference modules, 13. multimedia control modules,
14. energy supply control module, 15. controllers, 16. sensor assemblies, 17. joint control modules, 18. Dextrous Hand control modules, 20.
Host computer, 21. remote controls, 22. voices, 23. networks, 100. master control systems, 111. input modules, 112. Speech processings
Module, 113. remote signal processing modules, 114. communication modules, 121. temperature humidity sensor modules, 122. human body induction modules,
123. luminance sensor module, 131. projecting apparatus control modules, 132. camera control modules, 133. audio amplifier control modules,
134, display control module, 141. controller power source control modules, 142. chip power control modules, the control of 143. motor powers
Module, 144. multimedia energy supply control modules, 200. from control system, and 300. from a control system, and 310. from a controller,
320. from a sensor assembly, 321. collision avoidance modules, 322. range finder modules, 323. tracking modules, 324. navigation modules, 330. from
One joint control module, 331. head control modules, 332. neck control modules, 333. waist joint control modules, 340. dollies
Control module, 341. revolver control modules, 342. right wheel control modules, 343. motor drive modules, 344. joint sensors letter
Number processing module, 400. close from two control systems, 410. from two controllers, 420. both arms joint control modules, 421. first arms
Save control module, 422. second shoulder joint control modules, 423. N shoulder joint control modules, 500. from three control systems, 600.
From four control systems, 700. from M control systems, 1000. multiprocessor robot control systems, 2000. mono-processor machines people
Control system, 3000. robots, 3001. dolly chassis, 3002. waists, 3003, mechanical arm, 3004. Dextrous Hands, 3005. necks
Portion, 3006. heads, 3007. robot host computers, 10000. robot control systems.
Embodiment
Below in conjunction with accompanying drawing, the specific embodiment of the utility model is described in further detail.
Figure 19 is referred to, embodiment is control object with a robot 3000, and robot 3000 has a dolly chassis
3001st, a waist 3002, two mechanical arms 3003, two Dextrous Hands 3004, a neck 3005, a head 3006 and a robot are upper
Machine 3007；Wherein, each mechanical arm 3003 is respectively provided with four joints, and each Dextrous Hand is that eight degrees of freedom multisensor is dexterous
Hand；Robot 3000 also have a Temperature Humidity Sensor, a human body sensor, a luminance sensor, four sonacs,
One electronic compass and a track detection module；The multimedia equipment that robot 3000 has includes a projecting apparatus, a camera, one
Audio amplifier and two liquid crystal displays.
Embodiment one
Referring to Fig. 1 and 7, for robot 3000, this implementation uses multi-processor control system 1000, and it uses principal and subordinate to control
Mode processed, with a master control system 100 and from control system 200, wherein including from control system 200 from a control system
300th, from two control systems 400, from three control systems 500 and from four control systems 600；
Referring to 1,2 and 7, the master control system 100 is electrically connected with from control system 200；The master control system 100 is wrapped
Include master controller 10, signal receiving module 11, master reference module 12, multimedia control module 13 and energy supply control module 14；
The master controller 10 respectively with signal receiving module 11, master reference module 12, multimedia control module 13 and power supply
Module 14 is electrically connected；It is described to be from a control system 300, from two control systems 400, from three control systems 500 and from four controls
System 600 is electrically connected with the master control system 100 respectively.
Referring to Fig. 2 and 3, in the present embodiment, the signal, which receives mould 11, includes input module 111, Speech processing mould
Block 112,114 4 modules of remote signal processing module 113 and communication module；The input module 111, Speech processing mould
Block 112, remote signal processing module 113 and communication module 114 are separate, and are electrically connected respectively with master controller 10；It is described
Input module 111 has initialization system parameter, changes system mode and the function of control machine people operation；At the voice signal
Manage the function that there is module 112 voice signal to receive, handle and recognize；The remote signal processing module 113, which has, to be received, locates
Manage the function of the remote information of outside input；Incorporated by reference to Figure 18, the communication module 114 is responsible for the robot control system
10000 and PERCOM peripheral communication.
Referring to Fig. 2 and 4, in the present embodiment, the master reference module 12 includes temperature humidity sensor module 121, human body
123 3 modules of induction module 122 and luminance sensor module；The temperature humidity sensor module 121, human body induction module
122 and luminance sensor module 123 it is separate, and electrically connected respectively with master controller 10；The Temperature Humidity Sensor mould
Block 121 is electrically connected with the Temperature Humidity Sensor of robot 3000, and it has detection robot interior and surrounding enviroment epidemic disasters
Function；The human body induction module 122 is electrically connected with the human body sensor of robot 3000, and it, which has, differentiates robot week
Side is with the presence or absence of the mankind or the function of other warm-blooded animals；The luminance sensor module 123 and the brightness of robot 3000 are passed
Sensor is electrically connected, with the identification bright dark function of robot surrounding enviroment；
Referring to Fig. 2 and 5, in the present embodiment, the multimedia control module 13 includes separate projecting apparatus control mould
Block 131, camera control module 132, four modules of audio amplifier control module 133 and display control module 134 piece；The projecting apparatus
Control module 131, camera control module 132, audio amplifier control module 133 and display control module 134 respectively with master controller
10 electrical connections；Incorporated by reference to Figure 18, the display control module 134, which has, shows the state of robot control system 10000
Function；The multimedia control module 13 is connected with the multimedia equipment of robot 3000, and the multimedia equipment includes projection
Instrument, camera, audio amplifier and liquid crystal display；The control object of the projecting apparatus control module 131 is the projecting apparatus of robot；It is described to take the photograph
As the camera that the control object of head control module 132 is robot；The control object of the audio amplifier control module 133 is machine
The audio amplifier of people；The control object of the display control module 134 is the liquid crystal display of robot.
Referring to Fig. 1,2 and 6, in the present embodiment, the energy supply control module 14 include controller power source control module 141,
Chip power control module 142, motor power control module 143 and multimedia energy supply control module 144；The controller power source
Control module 141 is electrically connected with described from control system 200；The chip power control module 142 respectively with master control system
100 and electrically connected from control system 200, be that other chips and its circuit in master and slave control system in addition to controller are powered；Institute
State motor power control module 143 to electrically connect with master control system 100 and from control system 200 respectively, for the drive of all motors
Dynamic module for power supply；Incorporated by reference to Fig. 5, the multimedia energy supply control module 144 respectively with the throwing in the multimedia control mould 13
Shadow instrument control module 131, camera control module 132, audio amplifier control module 133 and display control module 134 are electrically connected, respectively
Powered for projecting apparatus control module 131, camera control module 132, audio amplifier control module 133 and display control module 134；
It is described to include from a control system 300 from a controller 310, from a sensor die in the present embodiment referring to Fig. 8
Block 320, from a joint control module 330 and dolly control module 340；It is described from a controller 310 respectively with from a sensor
Module 320, electrically connect from a joint control module 330 and dolly control module 340；It is described in the present embodiment incorporated by reference to Fig. 9
Include separate collision avoidance module 321, range finder module 322, tracking module 323 and navigation module from a sensor assembly 320
324 4 modules, the collision avoidance module 321, range finder module 322, tracking module 323 and navigation module 324 from one respectively with controlling
Device 310 processed is electrically connected；The collision avoidance module 321 and range finder module 322 are electrically connected with four sonacs of robot 3000；Institute
Tracking module 323 is stated to electrically connect with the track detection module of robot 3000；The electricity of the navigation module 324 and robot 3000
Sub- compass electrical connection.It is described to include electrically connecting with from a controller 310 respectively from a joint control module 330 incorporated by reference to Figure 10
And separate head control module 331, neck control module 332 and waist joint control module 333；Incorporated by reference to Figure 11, institute
Stating dolly control mould 340 includes electrically connecting and separate revolver control module 341 and right wheel with from a controller 310 respectively
Control module 342；Incorporated by reference to Figure 12, the head control module 331, neck control module 332, waist joint control module 333,
Revolver control module 341 and right wheel control module 342 include motor drive module 343 and joint sensors signal processing module
344；The driving of motor drive module 343 robot 3000 motor operation, the joint sensors signal processing module 344 is adopted
Collection, feedback and the status information of motor corresponding part.
It is described to include closing from two controllers 410 and both arms from two control systems 400 in the present embodiment referring to Figure 13 and 14
Save control module 420；The both arms joint control module 420 includes the first shoulder joint control module 421, the second shoulder joint and controlled
Module 422, the shoulder joint control module of the 3rd shoulder joint control module ... the 8th, all shoulder joint control modules distinguish control machine
Eight shoulder joints of two mechanical arms of device people 3000；Incorporated by reference to Figure 12, each shoulder joint of the both arms joint control module 420
Control module includes motor and drives mould 343 and joint sensors signal processing module 344；
In the present embodiment, the control object machine 3000 of the robot control system has two Dextrous Hands, incorporated by reference to
Fig. 7, the robot control system 1000 has from three control systems 500, from four control systems 600 from control system, its
In from three control systems 500 control a Dextrous Hand, control another Dextrous Hand from four control systems 600；Incorporated by reference to Figure 12, it is described from
3rd, four control systems have from three controllers, from four controllers respectively, are respectively provided with motor drive module 343 and joint sensors
Signal processing module 344；
Incorporated by reference to Fig. 2,7,8 and 13, the multiprocessor robot control system 1000 has five controllers, is respectively
Master controller 10, from a controller 310, from two controllers 410, from three controllers and from four controllers；It is all from controller phase
It is mutually independent, and electrically connected respectively with master controller 10.
Incorporated by reference to Figure 10,11 and 13, a kind of robot control system of the present embodiment, its control object is robot
3000；The control object of the head control module 331 is the head of robot 3000；The control of the neck control module 332
Object processed is the neck of robot 3000；The control object of the waist joint control module 333 is the waist of robot 3000；Institute
The control object for stating both arms control module 420 is the mechanical arm of robot 3000；The control object of the dolly control module 340
For the dolly chassis of robot 3000.
A kind of robot control system of the present embodiment, with various control pattern, including it is Stored program control pattern, defeated
Enter module control model, Voice command pattern, remote control pattern, PC control pattern, network control mode and mixing control
Molding formula；The storage program control mode, refers to robot control system according to the data being stored in advance in control system
The pattern of control machine people control system operation；The input module control model, refers to according in the signal receiving module
Input module input information control machine people control system operation pattern；The Voice command pattern, refers to according to institute
State the external sound signal control machine people control system operation that the speech signal analysis module in signal receiving module is recognized
Pattern；The remote control pattern, refers to the outside of the remote signal processing module identification in the signal receiving module
The pattern of remote signal control machine people control system operation；The PC control pattern, refers to that a host computer passes through described
The pattern of the communication module control machine people control system operation of signal receiving module；The network control mode, refers to outside
The pattern that network is run by the communication module control machine people control system of the signal receiving module；The mixing control mould
Formula, is referring to Stored program control pattern, input module control model, Voice command pattern, remote control pattern, PC control
The pattern of at least two patterns control machine people control system operation simultaneously in pattern and network control mode；
Incorporated by reference to Figure 18, a kind of robot control system in the present embodiment, using during different control models, it is necessary to match somebody with somebody
Standby corresponding external equipment；The external equipment includes host computer 20, remote control 21 and network 23；Using remote control pattern
When, it is necessary to be equipped with a remote control 21；Using during PC control pattern, it is necessary to be equipped with a host computer 20；Mould is controlled using network
, it is necessary to connect network 23 during formula；During using mixing control model, it is also desirable to be equipped with the external equipment under corresponding modes.
Embodiment two
The present embodiment other structures be the same as Example one in addition to following characteristics：
Referring to Figure 15, in the present embodiment, a kind of robot control is 1000 to use mono-processor machines people's control systems
2000；The mono-processor machines people control system 2000 include controller 15, signal receiving module 11, sensor assembly 16,
Multimedia control module 13, joint control module 17, energy supply control module 14, dolly control module 340 and Dextrous Hand control mould
Block 18；The controller 15 respectively with signal receiving module 11, sensor assembly 16, multimedia control module 13, joint control
Module 17, energy supply control module 14, dolly control module 340 and Dextrous Hand control module 18 are electrically connected；It is described incorporated by reference to Figure 16
Sensor assembly 16 include two-by-two separate collision avoidance mould 321, range finder module 322, tracking module 323, navigation module 324,
Temperature humidity sensor module 121,123 7 modules of human body induction module 122 and luminance sensor module, the collision avoidance module
321st, range finder module 322, tracking module 323, navigation module 324, temperature humidity sensor module 121, human body induction module 122 and
Luminance sensor module 123 is electrically connected with controller 15 respectively；Incorporated by reference to Figure 17, the joint control mould 17 is controlled including head
Module 331, neck control module 332, waist joint control module 333 and both arms control module 420；Incorporated by reference to Figure 12, the spirit
Dab hand control module 18 includes motor and drives mould 343 and joint sensors signal processing module 344.
Referring to Figure 15, in the present embodiment, described mono-processor machines people control is a 2000 only controllers 15；Institute
The control object for stating Dextrous Hand control module 18 is the Dextrous Hand of robot 3000.
Embodiment three
Certainly, a kind of control object Bu Danzhi robots 3000 of robot control system, can also be other and machine
The different frees degree of people 3000, different structure, the robot of difference in functionality.In other embodiments, a kind of robot control system
It can install or reduce part of module additional according to different machines people.
Although having been illustrated with some exemplary embodiments above, it will be apparent to one skilled in the art that not departing from
In the case of principle or spirit of the present utility model, change, model of the present utility model can be made to these exemplary embodiments
Enclose and limited by claim and its coordinate.
Claims (9)
1. a kind of robot control system, using multiprocessor robot control system；The multiprocessor robot control system
System includes master control system and from control system；The master control system is electrically connected with from control system；
The master control system includes master controller, signal receiving module, master reference module, multimedia control module and power supply
Control module；The master controller respectively with signal receiving module, master reference module, multimedia control module and power supply
Module is electrically connected；
It is described from control system include it is separate from a control system, from two control systems ... from M control systems, wherein
M≥2；It is described to be electrically connected respectively with the master control system from a control system, from two control systems ... from M control systems；
The multiprocessor robot control system has multiple controllers, is master controller respectively, from a controller, from two controls
Device ... processed is from M controllers；It is all separate from controller, and electrically connected respectively with master controller.
2. robot control system according to claim 1, it is characterised in that the signal receiving module at least includes defeated
Enter a module in module, voice signal processing module, remote signal processing module and communication module four；The input mould
Block, voice signal processing module, remote signal processing module and communication module are separate, and are electrically connected respectively with master controller
Connect；
The input module has initialization system parameter, changes system mode and control machine people's operation function；
There is the voice signal processing module voice signal to receive, handle and identification function；
The remote signal processing module has the remote information function of receiving, handle outside input；
The communication module is responsible for the robot control system and external communication function.
3. robot control system according to claim 1, it is characterised in that the master reference module at least includes temperature
A module in moisture sensor module, human body induction module and luminance sensor module three；The Temperature Humidity Sensor
Module, human body induction module and luminance sensor module are separate, and are electrically connected respectively with master controller；
The temperature humidity sensor module has detection robot interior and surrounding enviroment epidemic disaster function；
The human body induction module, which has, differentiates that robot periphery whether there is the mankind or other warm-blooded animal functions；
The luminance sensor module has the identification bright dark function of robot surrounding enviroment.
4. robot control system according to claim 1, it is characterised in that the multimedia control module at least includes
One in separate projecting apparatus control module, camera control module, audio amplifier control module and display control module four
Individual module；The projecting apparatus control module, camera control module, audio amplifier control module and display control module and master controller
Electrical connection；
The display control module has the function of showing the robot control system state.
5. robot control system according to claim 1, it is characterised in that the energy supply control module includes controller
Energy supply control module, chip power control module, motor power control module and multimedia energy supply control module；
The controller power source control module is electrically connected with described from control system；
The chip power control module is electrically connected with master control system and from control system respectively, in being master and slave control system
Other chips and its circuit in addition to controller are powered；
The motor power control module is electrically connected with master control system and from control system respectively, for the driving mould of all motors
Block is powered；
The multimedia energy supply control module respectively with the projecting apparatus control module in the multimedia control module, camera control
Molding block, audio amplifier control module and display control module electrical connection, respectively projecting apparatus control module, camera control module,
Audio amplifier control module and display control module are powered.
6. robot control system according to claim 1, it is characterised in that described to include from a control system from a control
Device processed, from a sensor assembly, from a joint control module and dolly control module；It is described from a controller respectively with from one pass
Sensor module, electrically connect from a joint control module and dolly control module；
It is described at least to include separate collision avoidance module, range finder module, tracking module and navigation module from a sensor assembly
A module in four, the collision avoidance module, range finder module, tracking module and navigation module from a controller respectively with being electrically connected
Connect；
It is described to include electrically connecting and separate head control module, neck with from a controller respectively from a joint control module
Portion's control module and waist joint control module；
The dolly control module includes electrically connecting and separate revolver control module and right wheel with from a controller respectively
Control module；
The head control module, neck control module, waist joint control module, revolver control module and right wheel control module are equal
Including motor drive module and joint sensors signal processing module；The motor drive module drives robot motor fortune
OK, the joint sensors signal processing module collection, feedback and the status information of motor corresponding part.
7. robot control system according to claim 1, it is characterised in that described to include from two control systems from two controls
Device and both arms joint control module processed；The both arms joint control module includes the first shoulder joint control module, the second shoulder joint
Control module ... N shoulder joint control modules, wherein N >=2；Each shoulder joint control mould of the both arms joint control module
Block includes motor drive module and joint sensors signal processing module；
The control object robot of the robot control system has more than two during free Dextrous Hand, the robot control system
That unites has from three, from four control systems from control system, wherein a Dextrous Hand is controlled from three control systems, from four control systems
Control another Dextrous Hand；It is described to have respectively from three controllers, from four controllers from three, four control systems, it is respectively provided with motor drive
Dynamic model block and joint sensors signal processing module.
8. a kind of robot control system, using mono-processor machines people's control system；The mono-processor machines people control system
System includes controller, signal receiving module, sensor assembly, multimedia control module, joint control module, power supply mould
Block, dolly control module and Dextrous Hand control module；The controller respectively with signal receiving module, sensor assembly, many matchmakers
Body control module, joint control module, energy supply control module, dolly control module and the electrical connection of Dextrous Hand control module；
The sensor assembly at least include two-by-two separate collision avoidance module, range finder module, tracking module, navigation module,
A module in temperature humidity sensor module, human body induction module and luminance sensor module seven；
The joint control module includes head control module, neck control module, waist joint control module and both arms control mould
Block；
The Dextrous Hand control module includes motor drive module and joint sensors signal processing module.
9. robot control system according to claim 8, it is characterised in that mono-processor machines people's control system only has
One controller.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620853352.6U CN206357238U (en) | 2016-08-08 | 2016-08-08 | A kind of robot control system |
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| CN201620853352.6U CN206357238U (en) | 2016-08-08 | 2016-08-08 | A kind of robot control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112506197A (en) * | 2020-12-09 | 2021-03-16 | 深圳市优必选科技股份有限公司 | Control method and device of navigation robot, electronic equipment and storage medium |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112506197A (en) * | 2020-12-09 | 2021-03-16 | 深圳市优必选科技股份有限公司 | Control method and device of navigation robot, electronic equipment and storage medium |
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