CN208689443U - A kind of Mobile Robot Control System based on wireless sensor network - Google Patents
A kind of Mobile Robot Control System based on wireless sensor network Download PDFInfo
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- CN208689443U CN208689443U CN201821282318.3U CN201821282318U CN208689443U CN 208689443 U CN208689443 U CN 208689443U CN 201821282318 U CN201821282318 U CN 201821282318U CN 208689443 U CN208689443 U CN 208689443U
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- China
- Prior art keywords
- mobile robot
- system based
- control system
- wireless sensor
- sensor network
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Abstract
The utility model is suitable for robot field, provide a kind of Mobile Robot Control System based on wireless sensor network, including acquisition terminal, mobile robot and controlling terminal, the mobile robot is rotated by display screen input control instruction, produce video camera to ambient enviroment, and the distance between various barriers and the mobile robot in ambient enviroment are measured by the range sensor, the information that the range sensor and the video camera acquire is depicted as electronic map by the image-drawing unit, and indicate coordinate position of the barrier in the electronic map, the positioning device is additionally provided in the mobile robot for positioning coordinate of the mobile robot in electronic map, electronic map is stored and is sent to the processor by the storage element, it is cooked up by the processor Mobile route avoids the problem of mobile robot collides waste more time in moving process with barrier.
Description
Technical field
The utility model belongs to robot field more particularly to a kind of mobile robot control based on wireless sensor network
System.
Background technique
Mobile robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run pre-
The program of first layout, can also be according to principle program action formulated with artificial intelligence technology.Its task is to assist or replace
The work of human work, such as production industry, construction industry, or dangerous work
Mobile robot can encounter more outer barrie object in moving process, and traditional robot is in moving process
Encountering can be by sensor sensing after barrier, and is sent to terminal, then changes direction, when can waste more in the meantime
Between, seriously affect the working efficiency of mobile robot.
Utility model content
The utility model provides a kind of Mobile Robot Control System based on wireless sensor network, it is intended to solve moving machine
Device people can encounter more outer barrie object in moving process, and traditional robot encounters meeting after barrier in moving process
By sensor sensing, and it is sent to terminal, then changes direction, more time can be wasted in the meantime, seriously affect movement
The problem of machine task efficiency.
The utility model is realized in this way a kind of Mobile Robot Control System based on wireless sensor network, including
Acquisition terminal, mobile robot and controlling terminal, the acquisition terminal are connect with the mobile robot, for acquiring extraneous ring
Border information is simultaneously stored, and the mobile robot is connect with the controlling terminal, for receiving the controlling terminal publication
Control instruction simultaneously executes；The acquisition terminal includes video camera, range sensor, image-drawing unit and storage element, the camera shooting
Machine is used to take in the image of external environment, and the range sensor is for measuring the distance between barrier, the image-drawing unit
It is connect respectively with the video camera and the range sensor, the letter for acquiring the video camera and the range sensor
Breath is depicted as electronic map, and the storage element is connect with the image-drawing unit, is used for stored electrons map；The mobile machine
People includes receiver, processor, servo motor and breaker, and the receiver is connected to the processor, for that will receive
Control instruction be transferred to the processor, the processor is connect with the breaker, for control breaker opening or
It closes and programme path, the breaker and the servo motor is connected in series in circuit, for controlling the servo electricity
The connection status of machine and circuit；The controlling terminal includes transmitter and memory unit, and the transmitter refers to for sending control
It enables, the memory unit is connect with the transmitter, for control instruction to be transferred to the transmitter.
Wherein, the mobile robot further includes sensing device, and the sensing device is installed on outside the mobile robot
Surface.
Wherein, by being wirelessly connected between the receiver and the transmitter, which includes local area network, indigo plant
Tooth, Ethernet, WIFI etc..
Wherein, the mobile robot further includes movable pulley, and the movable pulley is located at the bottom of the mobile robot.
Wherein, the quantity of the movable pulley is four, and four movable pulleys are rotatablely connected with the servo motor.
Wherein, the controlling terminal further includes display screen, and the display screen is connect with the memory unit.
Wherein, the display screen is touch screen, for outputting and inputting for control instruction.
Wherein, the mobile robot further includes built-in power, and the built-in power and the servo motor are electrically connected.
Compared with prior art, the utility model has the beneficial effects that by the way that the camera, the Distance-sensing is arranged
Device, the image-drawing unit, the storage element and the processor, the camera are located in the mobile robot, pass through
The display screen input control instruction rotates the mobile robot, ambient enviroment is produced, and pass through the distance
Sensor measures the distance between various barriers and the mobile robot in ambient enviroment, the image-drawing unit will it is described away from
The information acquired from sensor and the video camera is depicted as electronic map, and indicates seat of the barrier in the electronic map
Cursor position is additionally provided with the positioning device in the mobile robot for positioning the mobile robot in electronic map
Electronic map is stored and is sent to the processor by coordinate, the storage element, cooks up shifting by the processor
Dynamic route avoids the problem of mobile robot collides waste more time in moving process with barrier.
Detailed description of the invention
Fig. 1 is the first system figure of the utility model；
Fig. 2 is the second system figure of the utility model；
Fig. 3 is the third system diagram of the utility model；
Fig. 4 is the 4th system diagram of the utility model；
In figure: 100- acquisition terminal, 1001- video camera, 1002- range sensor, 1003- image-drawing unit, 1004- storage
Unit, 110- mobile robot, 1101- receiver, 1102- built-in power, 1103- sensing device, 1104- processor, 1105-
Servo motor, 1106- breaker, 1107- positioning device, 1108- movable pulley, 120- controlling terminal, 1201- display screen, 1202-
Transmitter, 1203- memory unit.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
In the description of the present invention, it should be understood that term " length ", " width ", "upper", "lower", " preceding ",
The orientation or positional relationship of the instructions such as " rear ", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outside" be based on
Orientation or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as pair
The limitation of the utility model.In addition, the meaning of " plurality " is two or more in the description of the present invention, unless
Separately there is clearly specific restriction.
Fig. 1-4 is please referred to, the utility model provides a kind of technical solution: a kind of mobile machine based on wireless sensor network
People's control system, including acquisition terminal 100, mobile robot 110 and controlling terminal 120, acquisition terminal 100 and mobile robot
110 connections, for acquiring external environment information and being stored, mobile robot 110 is connect with controlling terminal 120, for connecing
Receive the control instruction that controlling terminal 120 is issued and execution；Acquisition terminal 100 includes video camera 1001, range sensor 1002, draws
Figure unit 1003 and storage element 1004, video camera 1001 are used to take in the image of external environment, and range sensor 1002 is used for
The distance between barrier is measured, image-drawing unit 1003 is connect with video camera 1001 and range sensor 1002 respectively, and being used for will
The information that video camera 1001 and range sensor 1002 acquire is depicted as electronic map, storage element 1004 and image-drawing unit 1003
Connection is used for stored electrons map；Mobile robot 110 includes receiver 1101, processor 1104, servo motor 1105 and breaks
Road device 1106, receiver 1101 are connect with processor 1104, for the control instruction received to be transferred to processor 1104, are located
Reason device 1104 connect with breaker 1106, for control breaker 1106 open or close and programme path, breaker
1106 are connected in series in circuit with servo motor 1105, for controlling the connection status of servo motor 1105 Yu circuit；Control
Terminal 120 includes transmitter 1202 and memory unit 1203, transmitter 1202 for sending control instruction, memory unit 1203 with
Transmitter 1202 connects, for control instruction to be transferred to transmitter 1202.
In the present embodiment, video camera 1001 is used to be arranged the environmental information of surrounding, and range sensor 1002 is for surveying
The distance between barrier in ambient enviroment out, video camera 1001 and range sensor 1002 are connect with image-drawing unit 1003,
The information of acquisition is sent to image-drawing unit 1003, ambient condition information is depicted as by electronic map by image-drawing unit 1003,
Then on the electronic map by the Labeling Coordinate of barrier, and it is sent to storage element 1004 and is stored, mobile robot 110
It is equipped with positioning device, it being capable of the position of positioning mobile robot 110 in the environment, storage element 1004 and the company of processor 1104
It connects, the obstacle article coordinate in electronic map that processor 1104 is stored according to storage element 1004, cooks up reasonable mobile road
Line, mobile robot 110 are moved according to the mobile route, avoid and collide in moving process with barrier, wave
The problem of taking more time, to improve the mobile efficiency of mobile robot 110.
In the present embodiment, it is instructed by 1201 input control of display screen, display screen 1201 connect with transmitter, passes through
Transmitter 1201 sends control instruction, and receiver 1101 connect with relay 1106, by the control instruction received be transferred to after
Electric appliance 1106 opens relay 1106, so that servo motor 1105 and built-in power 1102 be made to be electrically connected, makes servo motor
1105 rotations, movable pulley 1108 and servo motor 1105 are rotatablely connected, and the rotation of servo motor 1105 drives movable pulley 1108 to rotate,
To keep mobile robot 110 mobile, mobile robot 110 is placed in working environment, surrounding is acquired by video camera 1101
The image information of working environment, and each barrier and mobile robot in working environment are measured by range sensor 1002
The distance between 110, video camera 1001 is connect with image-drawing unit with range sensor 1002, and image-drawing unit passes through video camera
1001 images acquired with range sensor 1002 and range information are depicted as electronic map, and each barrier is labeled in electricity
It on sub- map, is then sent to storage element 1004 and is stored, due to being additionally provided with positioning device, energy in mobile robot 110
Enough show that the coordinate of mobile robot 110 on the electronic map, processor 1104 are connect with storage element 1004, processor 1104
Mobile route is planned by the electronic map that storage element 1004 stores, and carries out mobile robot 110 according to the mobile route
It is mobile, it avoids mobile robot 110 and generates collision with barrier in moving process, waste the plenty of time, reduce mobile effect
The problem of rate.
Further, mobile robot 110 further includes sensing device 1103, and sensing device 1103 is installed on mobile robot
110 outer surfaces.
In the present embodiment, when setting sensing device 1103 avoids breaking down inside mobile robot 110, in movement
It collides in the process with the barrier in working environment, mobile robot is caused to be damaged.
Further, between receiver 1101 and transmitter 1202 by be wirelessly connected, the wireless connection include local area network,
Bluetooth, Ethernet, WIFI etc..
In the present embodiment, controlling terminal 120 is enable remotely to control mobile robot using radio connection
110, using multiple network type of attachment, keep connection type more extensive, increases whole practicability.
Further, mobile robot 110 further includes movable pulley 1108, and movable pulley 1108 is located at mobile robot 110
Bottom.
In the present embodiment, movable pulley 1108 is set in 110 bottom of mobile robot, band is rotated by movable pulley 1108
Dynamic mobile robot is mobile.
Further, the quantity of movable pulley 1108 is four, and four movable pulleys 1108, which are rotated with servo motor 1105, to be connected
It connects.
In the present embodiment, four movable pulleys 1108 are set and support mobile robot 110, when keeping mobile robot mobile
It is able to maintain steady, movable pulley 1108 and the rotation connection of servo motor 1105, makes the rotation drive movable pulley of servo motor 1105
1108 rotations, to realize the movement of mobile robot 110.
Further, controlling terminal 120 further includes display screen 1201, and display screen 1201 is connect with memory unit 1203.
In the present embodiment, setting display screen 1201 is instructed for input control, memory unit 1203 and display screen
1201 connections, for recording control instruction, convenient for repeating to implement the control instruction.
Further, display screen 1201 is touch screen, for outputting and inputting for control instruction.
In the present embodiment, display screen 1201 is arranged to touch screen, sliding, the methods of click input control can be passed through
Instruction.
Further, mobile robot 110 further includes built-in power 1102,1105 electricity of built-in power 1102 and servo motor
Property connection.
In the present embodiment, setting built-in power 1102 is used to provide power for servo motor 1105, by built-in power
1102 are electrically connected with servo motor 1105, rotate servo motor 1105, to keep mobile robot 110 mobile.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (8)
1. a kind of Mobile Robot Control System based on wireless sensor network, it is characterised in that: including acquisition terminal (100),
Mobile robot (110) and controlling terminal (120), the acquisition terminal (100) connect with the mobile robot (110), use
It in acquisition external environment information and is stored, the mobile robot (110) connect with the controlling terminal (120), is used for
Receive the control instruction of the controlling terminal (120) publication and execution；
The acquisition terminal (100) includes that video camera (1001), range sensor (1002), image-drawing unit (1003) and storage are single
First (1004), the video camera (1001) are used to take in the image of external environment, and the range sensor (1002) is for measuring
The distance between barrier, the image-drawing unit (1003) respectively with the video camera (1001) and the range sensor
(1002) it connects, the information for acquiring the video camera (1001) and the range sensor (1002) is depicted as electronically
Figure, the storage element (1004) connect with the image-drawing unit (1003), are used for stored electrons map；
The mobile robot (110) includes receiver (1101), processor (1104), servo motor (1105) and breaker
(1106), the receiver (1101) connect with the processor (1104), for the control instruction received to be transferred to institute
It states processor (1104), the processor (1104) connect with the breaker (1106), for controlling breaker (1106)
It opens or closes and programme path, the breaker (1106) and the servo motor (1105) is connected in series in circuit,
For controlling the connection status of the servo motor (1105) and circuit；
The controlling terminal (120) includes transmitter (1202) and memory unit (1203), and the transmitter (1202) is for sending out
Control instruction is sent, the memory unit (1203) connect with the transmitter (1202), described for control instruction to be transferred to
Transmitter (1202).
2. a kind of Mobile Robot Control System based on wireless sensor network as described in claim 1, it is characterised in that: institute
Stating mobile robot (110) further includes sensing device (1103), and the sensing device (1103) is installed on the mobile robot
(110) outer surface.
3. a kind of Mobile Robot Control System based on wireless sensor network as described in claim 1, it is characterised in that: institute
State between receiver (1101) and the transmitter (1202) by be wirelessly connected, the wireless connection include local area network, bluetooth, with
Too net, WIFI etc..
4. a kind of Mobile Robot Control System based on wireless sensor network as described in claim 1, it is characterised in that: institute
Stating mobile robot (110) further includes movable pulley (1108), and the movable pulley (1108) is located at the mobile robot (110)
Bottom.
5. a kind of Mobile Robot Control System based on wireless sensor network as claimed in claim 4, it is characterised in that: institute
The quantity for stating movable pulley (1108) is four, and four movable pulleys (1108), which rotate with the servo motor (1105), to be connected
It connects.
6. a kind of Mobile Robot Control System based on wireless sensor network as described in claim 1, it is characterised in that: institute
Stating controlling terminal (120) further includes display screen (1201), and the display screen (1201) connect with the memory unit (1203).
7. a kind of Mobile Robot Control System based on wireless sensor network as claimed in claim 6, it is characterised in that: institute
Stating display screen (1201) is touch screen, for outputting and inputting for control instruction.
8. a kind of Mobile Robot Control System based on wireless sensor network as described in claim 1, it is characterised in that: institute
Stating mobile robot (110) further includes built-in power (1102), the built-in power (1102) and the servo motor (1105)
It is electrically connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821282318.3U CN208689443U (en) | 2018-08-09 | 2018-08-09 | A kind of Mobile Robot Control System based on wireless sensor network |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821282318.3U CN208689443U (en) | 2018-08-09 | 2018-08-09 | A kind of Mobile Robot Control System based on wireless sensor network |
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| Publication Number | Publication Date |
|---|---|
| CN208689443U true CN208689443U (en) | 2019-04-02 |
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ID=65884584
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821282318.3U Expired - Fee Related CN208689443U (en) | 2018-08-09 | 2018-08-09 | A kind of Mobile Robot Control System based on wireless sensor network |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110502011A (en) * | 2019-08-16 | 2019-11-26 | 湖南格兰博智能科技有限责任公司 | A kind of sweeper obstacles borders detection method |
-
2018
- 2018-08-09 CN CN201821282318.3U patent/CN208689443U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110502011A (en) * | 2019-08-16 | 2019-11-26 | 湖南格兰博智能科技有限责任公司 | A kind of sweeper obstacles borders detection method |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190402 Termination date: 20200809 |
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| CF01 | Termination of patent right due to non-payment of annual fee |