CN206848799U - A kind of bus steering wheel and its control device, control system - Google Patents
A kind of bus steering wheel and its control device, control system Download PDFInfo
- Publication number
- CN206848799U CN206848799U CN201720455812.4U CN201720455812U CN206848799U CN 206848799 U CN206848799 U CN 206848799U CN 201720455812 U CN201720455812 U CN 201720455812U CN 206848799 U CN206848799 U CN 206848799U
- Authority
- CN
- China
- Prior art keywords
- steering wheel
- director data
- identifier
- bus
- byte
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
Links
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Landscapes
- Steering Controls (AREA)
Abstract
The utility model discloses a kind of bus steering wheel and its control device, control system.Control device is arranged in each steering wheel in bus steering wheel, including positional information determining module, for the identifier ID configured according to itself, the director data of reception is determined to need the positional information for reading director data；Read module, for when receiving a director data of control terminal transmission, director data corresponding with the identifier ID of itself configuration to be read from the relevant position of director data according to positional information；Control module, the director data for being read according to read module perform corresponding action.The identifier ID of each steering wheel need not be included in director data in the utility model again, the length of director data greatly reduces, and the time of the transmission consumption of director data is reduced so that each steering wheel can perform corresponding actions in time, ensure movement effects, and then strengthen Consumer's Experience.
Description
Technical field
Steering wheel technical field is the utility model is related to, more particularly to a kind of bus steering wheel and its control device, control system.
Background technology
Serial bus steering wheel is widely used in many products because its wiring is simple, has the advantages that feedback
In, for example, robot product.At present, the control mode of used bus steering wheel is：With a serial ports one is sent to bus
Instruction, the identifier ID of each steering wheel and corresponding command information are contained in this instruction.For example, if a certain instruction is specific
For steering wheel ID0, turn 20 degree；Steering wheel ID1 turns 30 degree, steering wheel ID2 rests ..., converts the instruction into simplest data and sends
Form is：0020 0130 02xx ... (space is intended merely to easy-to-read, and space is not included in actual instruction).In bus steering wheel
Each steering wheel corresponding action can be completed according to the instruction.But the traffic rate of a serial ports is limited, for bus steering wheel
In a fairly large number of situation of steering wheel for, the length of the director data of transmission is longer, and the time of consumption is longer, can cause to instruct
The hysteresis of execution, movement effects are influenceed, and then influence Consumer's Experience.
Utility model content
In view of the time of the transmission consumption of director data is longer in the prior art, the hysteresis that instruction can be caused to perform, influence
Movement effects, and then the problem of influence Consumer's Experience, it is proposed that a kind of bus steering wheel of the present utility model and its control device, control
System processed, to solve or to solve the above problems at least in part.
According to one side of the present utility model, there is provided a kind of control device of bus steering wheel, control terminal are described total
Each steering wheel in line steering wheel configures an identifier ID, and sends director data, the finger to the bus steering wheel using serial ports
Data are made to include all director datas corresponding with the identifier ID of all steering wheels in the bus steering wheel；The control device is set
Put in each steering wheel in bus steering wheel, including：
Positional information determining module, for the identifier ID configured according to itself, to described in the director data determination of reception
Steering wheel needs to read the positional information of the director data；
Read module, for when receiving the director data that the control terminal is sent, according to the positional information
Director data corresponding with the identifier ID of itself configuration is read from the relevant position of the director data；
Control module, the director data for being read according to the read module perform corresponding action.
According to other side of the present utility model, there is provided a kind of bus steering wheel, the bus steering wheel include one or
Multiple steering wheels, each steering wheel include foregoing control device.
According to another aspect of the present utility model, there is provided a kind of control system of bus steering wheel, the control system
Including bus steering wheel and control terminal；The bus steering wheel includes one or more steering wheels；
The control terminal, for configuring an identifier ID for each steering wheel in the bus steering wheel；And use serial ports
Director data is sent to the bus steering wheel, the director data includes the identifier ID with all steering wheels in the bus steering wheel
Corresponding all director datas；
Each steering wheel in the bus steering wheel, for the identifier ID configured according to itself, the instruction to reception
Data determine to need to read the positional information of the director data；When a director data for receiving the control terminal transmission
When, instructed according to the positional information from the identifier ID that the relevant position of the director data is read with itself is configured is corresponding
Data, corresponding action is performed according to the director data of reading.
In summary, in technical solutions of the utility model, control terminal can be that each steering wheel configuration one in bus steering wheel is known
Alias ID, and director data is sent to bus steering wheel using serial ports, director data here is only included with owning in bus steering wheel
All director datas corresponding to the identifier ID of steering wheel；And each steering wheel can be according to the identifier ID itself configured, to reception
Director data determines to need the positional information for reading director data；When receiving a director data of control terminal transmission, root
According to defined location information director data corresponding with the identifier ID of itself configuration is read from the relevant position of director data；So
Corresponding action is performed according to the director data of reading afterwards.Due to need to only include and all steering wheels in bus steering wheel in director data
Identifier ID corresponding to all director datas, it is not necessary to the identifier ID including each steering wheel again, compared to more existing skill
For art, the length of director data greatly reduces, and the time of the transmission consumption of director data is reduced, and communication efficiency improves so that
Each steering wheel can perform corresponding actions in time, ensure movement effects, and then strengthen Consumer's Experience.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the control device for bus steering wheel that the utility model embodiment one provides；
Fig. 2 is a kind of structural representation for bus steering wheel that the utility model embodiment two provides；
Fig. 3 is a kind of structural representation of the control system for bus steering wheel that the utility model embodiment three provides；
Fig. 4 is a kind of control flow schematic diagram for bus steering wheel that the utility model embodiment four provides.
Embodiment
Mentality of designing of the present utility model is：To reduce the length of director data, control terminal can be every in bus steering wheel
Individual steering wheel configures an identifier ID, and sends director data to bus steering wheel using serial ports；And each steering wheel can match somebody with somebody according to itself
The identifier ID put, it is determined that needing to read the positional information of director data；Then only need according to the positional information determined from
Read director data corresponding with the identifier ID of itself configuration in the relevant position of director data；Further according to the director data of reading
Perform corresponding action.It is corresponding with the identifier ID of all steering wheels in bus steering wheel all due to need to only include in director data
Director data, it is not necessary to which the identifier ID including each steering wheel, the length of director data greatly reduce again.To make this practicality
New purpose, technical scheme and advantage are clearer, the utility model embodiment made below in conjunction with accompanying drawing further
It is described in detail on ground.
Embodiment one
Control terminal is that each steering wheel in bus steering wheel configures an identifier ID, and is sent and referred to bus steering wheel using serial ports
Data are made, director data includes all director datas corresponding with the identifier ID of all steering wheels in bus steering wheel.
For example, bus steering wheel includes 5 steering wheels, the identifier ID of this 5 steering wheels be respectively ID00, ID01, ID02,
ID03、ID04.Then just include director data corresponding with ID00, ID01, ID02, ID03, ID04 respectively in director data.
Fig. 1 is a kind of structural representation of the control device for bus steering wheel that the utility model embodiment one provides, and this is total
The control device of line steering wheel is arranged in each steering wheel in bus steering wheel.As shown in figure 1, the control device of the bus steering wheel
100 include：
Positional information determining module 110, for the identifier ID configured according to itself, the director data of reception is determined to need
Read the positional information of director data.
Read module 120, for when receiving a director data of control terminal transmission, according to positional information from instruction
Read director data corresponding with the identifier ID of itself configuration in the relevant position of data.
Control module 130, the director data for being read according to read module 120 perform corresponding action.
Because each steering wheel can read the identification configured with itself according to positional information from the relevant position of director data
Number director data corresponding to ID, then only it need to include institute corresponding with the identifier ID of all steering wheels in bus steering wheel in director data
There is director data, it is not necessary to the identifier ID including each steering wheel again, for example, the data format of the director data can be
" 1020304050 ", rather than " 00100120023003400450 ".For the prior art that compares, the length of director data is big
Big to reduce, the time of the transmission consumption of director data is reduced, and communication efficiency improves so that each steering wheel can perform accordingly in time
Action, ensure movement effects, and then strengthen Consumer's Experience.
Below for how to determine steering wheel need read director data positional information be described in detail.
If control terminal sets director data and arranged according to the identifier ID of corresponding each steering wheel order from small to large
Row, for example, bus steering wheel includes 5 steering wheels, the identifier ID of this 5 steering wheels be respectively ID00, ID02, ID03, ID05,
ID06.Control terminal send director data according to steering wheel ID size order arrange, then each steering wheel can according to
The director data of itself is corresponded in the ID determine instruction data of itself.
So positional information determining module 110, the byte number that the director data specifically for determining each steering wheel takes；Root
The positional information for determining to need to read director data according to identifier ID and byte number is：N section byte sections in director data；
Wherein, every section of byte section includes the several bytes of byte, and N represents the identifier ID of steering wheel size all steering wheels in bus steering wheel
Identifier arrangement from small to large in arrange N positions.
In the above example, the identifier ID of 5 steering wheels is respectively ID00, ID02, ID03, ID05, ID06.It is it is determined that each
The byte number that the director data of steering wheel takes is 3, then the form of director data is：Aaabbbcccdddeee (letters here
There is no specific meaning or the director data of corresponding each steering wheel can be represented), this director data can be according to the finger of each steering wheel
The byte number 3 for making data take, is divided into 5 sections of byte sections, is aaa, bbb, ccc, ddd, eee respectively.If determine
ID03 steering wheels need to read the positional information of director data, judge to arrange in arrangements from small to large of the ID3 in all steering wheels
Arrange the 3rd, then determine that the positional information that the steering wheel reads director data is the 3rd section of byte section in director data.Often connect
A director data of control terminal transmission is received, the ID03 steering wheels need to only read the 3rd section of byte section.
Further, if control terminal sets the initial bit of director data as 0, and by the identification of the steering wheel in bus steering wheel
Number ID is configured successively since 0 by order from small to large；For example, bus steering wheel includes 5 steering wheels, the knowledge of this 5 steering wheels
Alias ID is respectively ID00, ID01, ID02, ID03, ID04.
So positional information determining module 110, specifically for determining to need reading to refer to according to identifier ID and byte number
The positional information for making data is：The byte of (ID* byte numbers) position in director data to (ID* byte numbers+byte number-
1) byte of position.
Generally, the director data of steering wheel is angle-data, then the byte number taken is 2 bytes, so this reality
A specific example for applying example is exactly：Determine that steering wheel needs the position for reading director data to believe according to identifier ID and byte number
Cease and be：The byte of (ID*2) position and the byte of (ID*2+1) position in director data.
For example, the position that ID03 steering wheel reads director data is：The the 6th, 7 in director data.Controlled when receiving
After holding the director data " 1020304050 " sent, it is byte that the ID03 steering wheels, which need to only read the 6th of director data and the 7th,
The data of " 40 ", then rotate 40 degree according to the instruction for being somebody's turn to do " 40 ".
Embodiment two
Fig. 2 is a kind of structural representation for bus steering wheel that the utility model embodiment two provides.As shown in Fig. 2 this is total
Line steering wheel includes steering wheel 210, steering wheel 220, steering wheel 230, steering wheel 240, steering wheel 250, is connected respectively with serial bus.Each steering wheel
Including control device 100 as shown in Figure 1.
It should be noted that the steering wheel number in bus steering wheel is not limited to 5 here, can set as needed.
Embodiment three
Fig. 3 is a kind of structural representation of the control system for bus steering wheel that the utility model embodiment three provides.Such as Fig. 3
Shown, the control system of the bus steering wheel includes bus steering wheel 310 and control terminal 320；Bus steering wheel 310 includes one or more
Steering wheel.
Control terminal 320, for configuring an identifier ID for each steering wheel in bus steering wheel；And using serial ports to total
Line steering wheel sends director data, and director data includes all instruction numbers corresponding with the identifier ID of all steering wheels in bus steering wheel
According to.For example, bus steering wheel includes 5 steering wheels, the identifier ID of this 5 steering wheels be respectively ID00, ID01, ID02, ID03,
ID04.Then just include director data corresponding with ID00, ID01, ID02, ID03, ID04 respectively in director data.
Each steering wheel in bus steering wheel 310, it is true to the director data of reception for the identifier ID configured according to itself
Surely the positional information of reading director data is needed；When receiving a director data of control terminal transmission, according to positional information
Director data corresponding with the identifier ID of itself configuration is read from the relevant position of director data, according to the director data of reading
Perform corresponding action.
Because each steering wheel can read from the relevant position of director data the identifier ID with steering wheel according to positional information
Corresponding director data, then only it need to include institute corresponding with the identifier ID of all steering wheels in the bus steering wheel in director data
There is director data, it is not necessary to the identifier ID including each steering wheel again, for example, the data format of the director data can be
" 1020304050 ", rather than " 00100120023003400450 ".For the prior art that compares, the length of director data is big
Big to reduce, the time of the transmission consumption of director data is reduced, and communication efficiency improves so that each steering wheel can perform accordingly in time
Action, ensure movement effects, and then strengthen Consumer's Experience.
Specifically, control terminal 320, it is additionally operable to set director data according to the identifier ID of corresponding each steering wheel from small
Arranged to big order, for example, bus steering wheel includes 5 steering wheels, the identifier ID of this 5 steering wheels be respectively ID00, ID02,
ID03、ID05、ID06.The director data that control terminal is sent arranges according to steering wheel ID size order, then each steering wheel
Can corresponds to the director data of itself according in the ID determine instruction data of itself.
Each steering wheel in bus steering wheel 310, the byte number taken specifically for determining the director data of itself；According to certainly
Body configuration identifier ID and byte number determine need read director data positional information be：N sections in director data
Byte section；Wherein, every section of byte section includes the several bytes of byte, and N represents the identifier ID of itself configuration size in bus rudder
In machine N positions are arranged in the identifier ID of all steering wheels arrangement from small to large.
In the above example, the identifier ID of 5 steering wheels is respectively ID00, ID02, ID03, ID05, ID06.It is it is determined that each
The byte number that the director data of steering wheel takes is 3, then the form of director data is：Aaabbbcccdddeee (letters here
There is no specific meaning or the director data of corresponding each steering wheel can be represented), this director data can be according to the finger of each steering wheel
The byte number 3 for making data take, is divided into 5 sections of byte sections, is aaa, bbb, ccc, ddd, eee respectively.If determine
ID03 steering wheels need to read the positional information of director data, judge to arrange in arrangements from small to large of the ID3 in all steering wheels
Arrange the 3rd, then determine that the positional information that the steering wheel reads director data is the 3rd section of byte section in director data.Often connect
A director data of control terminal transmission is received, the ID03 steering wheels need to only read the 3rd section of byte section.
Further, control terminal 320, it is additionally operable to set the initial bit of director data as 0；And by bus steering wheel
The identifier ID of steering wheel is configured successively since 0 by order from small to large；For example, bus steering wheel includes 5 steering wheels, this 5
The identifier ID of individual steering wheel is respectively ID00, ID01, ID02, ID03, ID04.
Each steering wheel in bus steering wheel 310, specifically for determining to need reading to refer to according to identifier ID and byte number
The positional information for making data is：The byte of (ID* byte numbers) position in director data to (ID* byte numbers+byte number-
1) byte of position.
Generally, the director data of steering wheel is angle-data, then the byte number taken is 2 bytes, so this reality
A specific example for applying example is exactly：Determine that steering wheel needs the position for reading director data to believe according to identifier ID and byte number
Cease and be：The byte of (ID*2) position and the byte of (ID*2+1) position in director data.
For example, the position that ID03 steering wheel reads director data is：The the 6th, 7 in director data.Controlled when receiving
After holding the director data " 1020304050 " sent, it is word that the ID03 steering wheels, which need to only read the 6th of director data and the 7th,
The data of " 40 " are saved, then rotate 40 degree according to the instruction for being somebody's turn to do " 40 ".
Example IV
Fig. 4 is a kind of workflow schematic diagram for bus steering wheel that the utility model embodiment four provides.It is artificial with machine
Example, there are 18 joint freedom degrees to calculate according to robot, 18 steering wheels can be included in bus steering wheel, be respectively ID00, ID01,
ID02、…、ID17.The director data that line needs to send is to make steering wheel ID00, turns 20 degree；Steering wheel ID01 turns 30 degree, steering wheel ID02
Rest ..., ID17 turn 60 °, then the form of director data is " 2030xx ... 60 ", the baud rate of serial ports is 9600.Such as Fig. 4
Shown, the workflow of bus steering wheel is：
Control terminal is that each steering wheel configures an identifier ID.Steering wheel ID00 determines to read instruction number when itself receiving data
According to positional information be the 0th, 1, steering wheel ID01 determine itself receive data when read director data positional information be the 2nd, 3
Position, the positional information that steering wheel ID02 determines to read director data when itself receiving data is the 4th, 5 ..., and steering wheel ID17 is determined
The positional information that director data is read when itself receiving data is the 34th, 35.When receiving director data " 2030xx ...
After 60 ", steering wheel ID00 reads director data " 20 ", turns 20 degree；Steering wheel ID01 reads director data " 30 ", turns 30 degree；Steering wheel
ID02 reads director data " xx ", rest；…；Steering wheel ID17 reads director data " 60 ", turns 60 degree, and the call duration time is
288ms.Comparing, " 576ms of the director datas of 0020012002xx ... 1760 " consumption time, saves the time for transmission
288ms, improve communication efficiency so that each steering wheel can perform corresponding actions in time, ensure movement effects, and then strengthen and use
Experience at family.
In summary, in technical solutions of the utility model, control terminal can be that each steering wheel configuration one in bus steering wheel is known
Alias ID, and director data is sent to bus steering wheel using serial ports, director data here is only included with owning in bus steering wheel
All director datas corresponding to the identifier ID of steering wheel；And each steering wheel can be according to the identifier ID itself configured, to reception
Director data determines to need the positional information for reading director data；When receiving a director data of control terminal transmission, root
According to defined location information director data corresponding with the identifier ID of itself configuration is read from the relevant position of director data；So
Corresponding action is performed according to the director data of reading afterwards.Due to each steering wheel can be according to positional information from director data phase
Answer position to read director data corresponding with the identifier ID of steering wheel, then need to only include with owning in bus steering wheel in director data
All director datas corresponding to the identifier ID of steering wheel, it is not necessary to the identifier ID including each steering wheel again, compared to more existing
For having technology, the length of director data greatly reduces, and the time of the transmission consumption of director data is reduced, and communication efficiency improves,
Enable each steering wheel to perform corresponding actions in time, ensure movement effects, and then strengthen Consumer's Experience.
It is described above, only specific embodiment of the present utility model, under above-mentioned teaching of the present utility model, this area
Technical staff can carry out other improvement or deformation on the basis of above-described embodiment.It will be understood by those skilled in the art that
Above-mentioned specific descriptions simply preferably explain the purpose of this utility model, and the scope of protection of the utility model should be with claim
Protection domain be defined.
Claims (7)
1. a kind of control device of bus steering wheel, it is characterised in that control terminal is each steering wheel configuration in the bus steering wheel
One identifier ID, and director data is sent to the bus steering wheel using serial ports, the director data includes and the bus rudder
All director datas corresponding to the identifier ID of all steering wheels in machine；The control device is arranged on each rudder in bus steering wheel
In machine, including：
Positional information determining module, for the identifier ID configured according to itself, the director data of reception is determined to need to read
The positional information of the director data；
Read module, for when receiving the director data that the control terminal is sent, according to the positional information from institute
Read director data corresponding with the identifier ID of itself configuration in the relevant position for stating director data；
Control module, the director data for being read according to the read module perform corresponding action.
2. control device as claimed in claim 1, it is characterised in that the control terminal sets the director data according to corresponding
Each steering wheel identifier ID from small to large order arrangement；
The positional information determining module, the byte number that the director data specifically for determining each steering wheel takes；According to described
The positional information that identifier ID and the byte number determine to need to read the director data is：In the director data
N section byte sections；Wherein, every section of byte section includes the several bytes of the byte, and the N represents that the identifier ID's of the steering wheel is big
N positions are arranged in the arrangement from small to large of the identifier of small all steering wheels in the bus steering wheel.
3. control device as claimed in claim 2, it is characterised in that the control terminal sets the initial bit of the director data
For 0, and the identifier ID of the steering wheel in the bus steering wheel is configured successively since 0 by order from small to large；
The positional information determining module, specifically for determining to need to read institute according to the identifier ID and the byte number
The positional information for stating director data is：The byte of (ID* byte numbers) position in the director data to (ID* byte numbers+
Byte number -1) position byte.
4. a kind of bus steering wheel, the bus steering wheel includes one or more steering wheels, it is characterised in that each steering wheel is included as weighed
Profit requires the control device described in any one of 1-3.
5. a kind of control system of bus steering wheel, it is characterised in that the control system includes bus steering wheel and control terminal；It is described
Bus steering wheel includes one or more steering wheels；
The control terminal, for configuring an identifier ID for each steering wheel in the bus steering wheel；And using serial ports to institute
State bus steering wheel and send director data, the director data includes corresponding with the identifier ID of all steering wheels in the bus steering wheel
All director datas；
Each steering wheel in the bus steering wheel, for the identifier ID configured according to itself, to the director data of reception
It is determined that need to read the positional information of the director data；When receiving the director data that the control terminal is sent, root
Director data corresponding with the identifier ID of itself configuration is read from the relevant position of the director data according to the positional information,
Corresponding action is performed according to the director data of reading.
6. control system as claimed in claim 5, it is characterised in that
The control terminal, be additionally operable to set the director data according to the identifier ID of corresponding each steering wheel from small to large
Order arranges；
Each steering wheel in the bus steering wheel, the byte number taken specifically for determining the director data of itself；According to itself
The identifier ID and the byte number of configuration determine that the positional information that needs to read the director data is：The instruction
N section byte sections in data；Wherein, every section of byte section includes the several bytes of the byte, and the N represents the institute of itself configuration
The size for stating identifier ID arranges N in the bus steering wheel in the identifier ID of all steering wheels arrangement from small to large
Position.
7. control system as claimed in claim 6, it is characterised in that
The control terminal, it is additionally operable to set the initial bit of the director data as 0；And by described in the bus steering wheel
The identifier ID of steering wheel is configured successively since 0 by order from small to large；
Each steering wheel in the bus steering wheel, specifically for determining to need to read according to the identifier ID and the byte number
The positional information for taking the director data is：The byte of (ID* byte numbers) position in the director data is to (ID* words
Joint number+byte number -1) position byte.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720455812.4U CN206848799U (en) | 2017-04-26 | 2017-04-26 | A kind of bus steering wheel and its control device, control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720455812.4U CN206848799U (en) | 2017-04-26 | 2017-04-26 | A kind of bus steering wheel and its control device, control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206848799U true CN206848799U (en) | 2018-01-05 |
Family
ID=60794302
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720455812.4U Withdrawn - After Issue CN206848799U (en) | 2017-04-26 | 2017-04-26 | A kind of bus steering wheel and its control device, control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206848799U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015542A (en) * | 2017-04-26 | 2017-08-04 | 歌尔科技有限公司 | A kind of bus steering wheel and its control device, control system and control method |
| CN113183149A (en) * | 2021-04-01 | 2021-07-30 | 深圳市优必选科技股份有限公司 | Control method, control device and terminal equipment |
-
2017
- 2017-04-26 CN CN201720455812.4U patent/CN206848799U/en not_active Withdrawn - After Issue
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107015542A (en) * | 2017-04-26 | 2017-08-04 | 歌尔科技有限公司 | A kind of bus steering wheel and its control device, control system and control method |
| CN107015542B (en) * | 2017-04-26 | 2023-09-01 | 歌尔科技有限公司 | Bus steering engine and control device, control system and control method thereof |
| CN113183149A (en) * | 2021-04-01 | 2021-07-30 | 深圳市优必选科技股份有限公司 | Control method, control device and terminal equipment |
| CN113183149B (en) * | 2021-04-01 | 2022-09-16 | 深圳市优必选科技股份有限公司 | Control method, control device and terminal equipment |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN206848799U (en) | A kind of bus steering wheel and its control device, control system | |
| CN104698950B (en) | A kind of peripheral device control method, microcontroller, host computer and system | |
| CN107015542A (en) | A kind of bus steering wheel and its control device, control system and control method | |
| CN114138700B (en) | Flow control method, device, equipment and storage medium for serial port data transmission | |
| CN103164232B (en) | Update method, system and the computer of intelligent terminal operation system | |
| CN108508812B (en) | AGV controller IO port multiplexing configuration system and method thereof | |
| CN109814900A (en) | A kind of controller of firmware update, device and joint of robot | |
| CN105373079A (en) | Motion controller and servo driver cooperative control system | |
| CN109814482A (en) | The controller and its control method and industrial robot of robot | |
| CN105094037B (en) | Expansion module for the programmable logic controller (PLC) using universal serial bus communications | |
| CN208506542U (en) | A kind of AGV controller I/O port multiplexing configuration system | |
| CN109683470A (en) | A kind of software and hardware self-adaptive matching method, device and driving device | |
| CN107807669A (en) | Control method and device based on enzyme numerical value membrane structure and readable storage medium | |
| CN102760105B (en) | Realize the system and method for the communication of local principal and subordinate's intermodule | |
| CN107972024A (en) | Robot and apply data processing method and system in robot | |
| CN203697011U (en) | IO multiplex circuit in robot | |
| CN204354135U (en) | A kind of industrial robot motion control terminal | |
| CN105159613B (en) | A kind of emmc control systems and its access method | |
| CN110832410A (en) | Motion controller and motion control method | |
| CN108170091A (en) | A kind of PLC controller, PLC controller group system | |
| CN207882745U (en) | A kind of PLC controller, PLC controller group system | |
| CN206961112U (en) | A kind of multi-standard interface system | |
| CN107844437A (en) | Control method, addressing method, robot controller and control system | |
| CN206804302U (en) | A kind of simulative automobile communication test device | |
| CN206490621U (en) | Servomotor drive control module |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180105 Effective date of abandoning: 20230901 |
|
| AV01 | Patent right actively abandoned |
Granted publication date: 20180105 Effective date of abandoning: 20230901 |