CN210038547U - Wheeled robot motion execution and peripheral control system - Google Patents
Wheeled robot motion execution and peripheral control system Download PDFInfo
- Publication number
- CN210038547U CN210038547U CN201921077694.3U CN201921077694U CN210038547U CN 210038547 U CN210038547 U CN 210038547U CN 201921077694 U CN201921077694 U CN 201921077694U CN 210038547 U CN210038547 U CN 210038547U
- Authority
- CN
- China
- Prior art keywords
- interface
- sensor
- controller
- driver
- control system
- 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.)
- Active
Links
- 230000002093 peripheral effect Effects 0.000 title claims abstract description 42
- 230000033001 locomotion Effects 0.000 title claims abstract description 39
- 238000004891 communication Methods 0.000 claims abstract description 71
- 238000001914 filtration Methods 0.000 claims description 14
- 238000007726 management method Methods 0.000 claims description 6
- 230000002265 prevention Effects 0.000 claims description 6
- 230000005611 electricity Effects 0.000 claims description 5
- 230000003993 interaction Effects 0.000 claims description 4
- 230000001976 improved effect Effects 0.000 abstract description 7
- 230000004888 barrier function Effects 0.000 abstract description 4
- 230000010354 integration Effects 0.000 abstract description 3
- 238000012545 processing Methods 0.000 abstract description 3
- 238000006243 chemical reaction Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 8
- 238000001514 detection method Methods 0.000 description 4
- 238000002955 isolation Methods 0.000 description 4
- 230000001939 inductive effect Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 239000004568 cement Substances 0.000 description 2
- 206010063385 Intellectualisation Diseases 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000009529 body temperature measurement Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000009429 electrical wiring Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000012212 insulator Substances 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 230000008093 supporting effect Effects 0.000 description 1
Images
Abstract
The utility model discloses a wheeled robot motion is carried out and peripheral hardware control system, including controller, industrial computer, driver, motor, range sensor, DC motor, stop the barrier sensor, anti-falling sensor, peripheral equipment power and emergency stop button, the controller passes through communication interface 11 and is connected with the industrial computer communication, the controller passes through communication interface 12 and is connected with the driver communication, the controller pass through interface 16, interface 14 and interface 13 respectively with range sensor, stop the barrier sensor and anti-falling sensor electric connection. The utility model discloses mainly carry out and peripheral hardware control system to wheeled robot motion, can realize that robot motion control function and realization control algorithm and certain specific sensor's data processing and control are independent of the industrial computer, improve the real-time and the stability of robot motion, and integrated multiple sensor and control interface, improve the system integration level, simplify structure and electric layout, improved the expansibility and the maintainability of system.
Description
Technical Field
The utility model relates to a robot control field specifically is wheeled robot motion execution and peripheral hardware control system.
Background
The intelligent inspection robot project of the traction substation aims at realizing the intellectualization and the unmanned of railway substations, relates to high and new technologies such as image recognition, infrared temperature measurement, voice recognition, laser navigation, motion control and the like, can realize the intelligent detection of various instruments of the substations, transformer oil levels, insulator damage conditions, wire end falling and loosening conditions, realizes quick alarm and quick response, completely realizes the trackless autonomous walking of the laser navigation, the wheel type robot is divided into two-drive, four-drive, omnidirectional full-drive and the like, the motor drives wheels to rotate to complete the motion control of the robot, the two-drive and four-drive robots mainly complete the steering operation of the robot through differential steering, the omnidirectional full-drive robot comprises four driving motors and four steering engines to complete the steering operation of the robot, the motion control mode of the existing robot is completed by an industrial personal computer based on ROS, the industrial personal computer needs to complete functions of composition, navigation, obstacle stopping, motion planning of the robot, communication with the upper computer and various sensors, control of driving equipment and the like, and for some sensors and driving equipment needing special interface control, the functions are realized by externally connecting a conversion circuit or an interface, so that the burden of the industrial personal computer is too large, the CPU occupancy is too high, the instability of the robot is increased due to too low real-time performance of motion control, and even more serious consequences such as collision events of the robot occur. The detection and control of the whole robot need more sensors, driving devices and control devices, and because the devices are more and dispersed, the structure layout and the electrical wiring are more in workload, meanwhile, the difficulty of the design of an industrial personal computer and the type selection of products is increased by more interfaces, and sometimes an interface conversion module needs to be added, so that the control system is more complicated.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a wheeled robot motion is carried out and peripheral hardware control system to solve the problem that proposes among the above-mentioned background art.
In order to achieve the above object, the utility model provides a following technical scheme: a motion execution and peripheral control system of a wheeled robot comprises a controller, an industrial personal computer, a driver, a motor, a distance measuring sensor, a direct current motor, an obstacle stopping sensor, a falling prevention sensor, a peripheral equipment power supply and an emergency stop button, wherein the controller is in communication connection with the industrial personal computer through a communication interface 11, the controller is in communication connection with the driver through a communication interface 12, the driver is electrically connected with the motor, the controller is respectively electrically connected with the distance measuring sensor, the obstacle stopping sensor and the falling prevention sensor through an interface 16, an interface 14 and an interface 13, the controller is electrically connected with the direct current motor through an interface 15, the controller is respectively electrically connected with the peripheral equipment power supply and the emergency stop button through an interface 19 and an interface 18, an interface 17 of the controller is connected with three-phase power of the direct current motor, and an interface 20 of the controller is connected with three-phase power of the, the controller can receive a control command of the industrial personal computer, converts the control command into the rotating speed of each motor through a speed planning algorithm, and sends the rotating speed to the driver, the controller can detect information of the driver, the distance measuring sensor, the obstacle stopping sensor and the anti-falling sensor, complete emergency operation under special conditions, and feed the information back to the industrial personal computer, the controller can complete power supply management of peripheral equipment, and the controller can complete three-phase current filtering of the driver and current release of the motor in an emergency stop state.
Preferably, the controller receives the instruction of the industrial personal computer, then sends the control instruction to the driver through operation, and acquires the driver information.
Preferably, the controller can detect data of the obstacle sensor and the anti-falling sensor, acquire road condition information, and complete emergency stop or other emergency actions under special road conditions.
Preferably, the interface 13 is a GPI input interface, the interface 14 is an RS485 interface, the interface 15 is a PWM output interface, the interface 16 is an RS485 interface, the communication interface 12 is a CAN interface, and the interface 19 is a relay output interface.
Preferably, the controller can be connected with the anti-falling sensor and the obstacle avoidance sensor through the interface 13 and the interface 14 to obtain the road condition information of the robot and complete emergency stop or other emergency actions under special road conditions.
Preferably, the controller is electrically connected with a power supply of the peripheral device through the interface 19, so that the on-off of the power supply of the device can be controlled, and the power supply management of the peripheral device is completed.
Preferably, the controller can be connected with three-phase electricity of the direct current motor and three-phase electricity of the driver through the interface 17 and the interface 20, and is connected with the emergency stop button through the interface 18, so that three-phase current filtering of the driver and motor current release in an emergency stop state are completed.
Preferably, the communication interface 11 selects an RJ45 interface and a UDP communication mode.
Preferably, the controller includes main control chip and PHY chip, the main control chip chooses STM32F407 for use, and the main control chip passes through the PHY chip and connects the RJ45 interface formation network communication interface.
Preferably, the PHY chip selects DP83848C, the RJ45 interface is an input/output network port, the RJ45 interface is a standard ethernet physical layer interface, the PHY chip implements data encoding, decoding and transceiving, and performs data interaction through the network port RJ 45.
Compared with the prior art, the beneficial effects of the utility model are that: the utility model discloses mainly carry out and peripheral hardware control system to wheeled robot motion, this system hardware system comprises market mainstream control singlechip chip and various interfaces, include: the system comprises an industrial personal computer communication interface, a motor driver communication interface, an obstacle-stopping ultrasonic sensor, a falling-prevention sensor, other equipment sensor communication interfaces of a robot, a peripheral equipment power management interface, a driver, a motor three-phase electric filtering interface and the like, wherein all the interfaces are designed with filtering and isolating measures to improve the anti-interference capability of the system, a software system comprises various communication protocols and can complete real-time communication with the industrial personal computer, a controller transmits real-time data of the robot such as an encoder, current, speed and the like to the industrial personal computer, receives a motion instruction of the industrial personal computer, converts the motion instruction into the rotating speed of each motor through a speed planning algorithm to control the motion of the robot, communicates with the motor driver of the robot in real time to acquire the state of the motor driver and control the motion of the motor, acquires the obstacle-stopping ultrasonic data of the robot by combining, the robot motion control function can be realized, the data processing and control of certain specific sensors are independent of the industrial personal computer, the real-time performance and the stability of the robot motion can be greatly improved, various sensors and control interfaces are integrated, the system integration level is improved, the structure and the electrical layout are simplified, and the expansibility and the maintainability of the system are improved.
Drawings
Fig. 1 is a schematic view of the overall structure of the controller of the present invention;
fig. 2 is a schematic diagram of an integrated interface of a main control chip of the controller according to the present invention;
fig. 3 is a schematic diagram of the power supply system of the present invention;
fig. 4 is a schematic diagram of a driver communication interface circuit according to the present invention;
fig. 5 is a schematic diagram of the interface circuit for detecting the height of the lifting rod of the present invention;
FIG. 6 is a schematic diagram of a universal input interface circuit according to the present invention;
fig. 7 is a schematic diagram of the interface circuit connection of the obstacle sensor of the present invention;
fig. 8 is a schematic diagram of the network communication interface circuit connection according to the present invention;
fig. 9 is a schematic diagram of a driving circuit of a dc motor according to the present invention;
fig. 10 is a peripheral power supply control circuit of the present invention;
fig. 11 is an inductive filtering and emergency shutdown circuit of the present invention;
fig. 12 is a main software control algorithm of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be described clearly and completely below, and it should be understood that the described embodiments are only some embodiments of the present invention, but not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Referring to fig. 1 to 12, the present invention provides a technical solution: a motion execution and peripheral control system of a wheeled robot is shown in figure 1 and comprises a controller, an industrial personal computer, a driver, a motor, a distance measuring sensor, a direct current motor, a fault stopping sensor, a falling prevention sensor, a peripheral equipment power supply and an emergency stop button, wherein the controller is in communication connection with the industrial personal computer through a communication interface 11, is in communication connection with the driver through a communication interface 12, is electrically connected with the motor, is respectively electrically connected with the distance measuring sensor, the fault stopping sensor and the falling prevention sensor through an interface 16, an interface 14 and an interface 13, is electrically connected with the direct current motor through an interface 15, is respectively electrically connected with the peripheral equipment power supply and the emergency stop button through an interface 19 and an interface 18, is connected with the three-phase power of the direct current motor through an interface 17 of the controller, and is connected with the three-phase power of the driver through an interface 20, the controller can receive a control command of the industrial personal computer, and converts the control command into the rotating speed of each motor through a speed planning algorithm to control the movement of the vehicle body, the controller can detect information of the driver, the distance measuring sensor, the obstacle stopping sensor and the anti-falling sensor to complete emergency operation under special conditions, and feeds the information back to the industrial personal computer, the controller can receive a power supply control command of peripheral equipment of the industrial personal computer and control the on-off of the power supply of the peripheral equipment, the controller can complete three-phase electric filtering of the driver, and the controller can complete three-phase current release of the motor in an emergency stop state.
Specifically, as shown in fig. 1, the controller CAN receive a control command from the host computer and feed back information of the driver and the sensor to the host computer, the optional communication interface 11 includes a RJ 45-packaged network interface, a CAN interface, a serial port, etc., the communication mode CAN be TCP/IP, UDP, CANOPEN, RS485, etc., the invention selects a RJ45 interface and a UDP communication mode, the controller receives the command from the industrial computer and then operates to send the control command to the driver and collect driver information, the optional communication interface 12 CAN be a CAN interface or a serial port, the communication protocol CAN follow CANOPEN protocol or RS485, RS232, etc., the utility model adopts a CAN interface and CANOPEN communication protocol, the controller CAN be connected with drop-proof and obstacle-avoidance sensors through the interfaces 13 and 14 to obtain road condition information of the robot, complete emergency parking or other emergency actions under special road conditions, and prevent the robot from collision and drop, optional 13, 14 interfaces can be according to the sensor configuration, the utility model discloses well 13 interfaces are GPI input interface, 14 are the RS485 interface, and the controller can pass through the break-make of 19 control peripheral unit powers of interface, the utility model discloses in be relay output interface, the controller can detect distance information through 15 interface drive DC brushless motor and 16 interfaces of accessible, the utility model discloses well 15 interface drive lifter to detect lifter height information through 16RS232 interfaces, the emergency stop of 18 interface control automobile bodies of controller accessible, the inductive filtering and the emergency stop state through 17, 20 interfaces completion driver three phase current release reverse current down and reach the purpose of protection driver.
Specifically, as shown in fig. 2, optionally, the main control chip may be a conventional main control single chip microcomputer chip, the present invention selects STM32F407, and the interface includes a main control chip and an industrial personal computer communication interface, optionally, the present invention adopts an RJ45 network communication interface; the sensor signal general input interface, the utility model discloses, the sensor includes the drop sensor; the power supply interface, the utility model adopts a 24V DC power supply; the barrier detection interface, the sensor in the utility model is an ultrasonic sensor, and the interface is an RS485 interface; the utility model discloses an analog signal output interface, which is mainly used for detecting the bus voltage of a battery; the lifting rod height detection interface, in the utility model, is an RS232 interface; the motor drives the interface, the utility model is used for driving the lifting rod; sensor power control interface, the utility model discloses in the power that is each peripheral sensor of relay control, scram circuit output interface, the utility model discloses in for motor UVW power supply, scram circuit input interface through inductive filtering, the utility model discloses including scram signal input and driver UVW signal input interface.
Specifically, as shown in fig. 3, the input main power supply is 24V DC power supply, for the entire system power supply, through voltage conversion chip output 5V and 3.3V signal, does not do the restriction to the type of voltage conversion chip here, the utility model discloses well chooseing for use MC34063 and AMS1117 chip, through voltage conversion chip MC34063 with 24V direct current conversion to 5V DC power supply, for RS232, RS485, CAN communication chip supply, the rethread chip AMS1117 converts 3.3V into and is main control chip STM32F407, temperature sensor, the power supply of network communication chip.
Specifically, as shown in fig. 4, fortune control board accessible driver communication interface and driver carry out data communication, the utility model discloses well selection CAN communication interface, CAN communication interface and motor driver mutual information, CAN control the motor motion, gather motor motion information simultaneously, main control chip passes through high-speed opto-coupler 6N137 and links to each other with CAN communication chip PCA82C251T, the interference killing feature of reinforcing communication, PCA82C251T links to each other with external equipment, end way CAN interface output CANH and CANL configuration 120R resistance simultaneously, and accessible jumper selection connects or breaks off, when the controller is as CAN bus terminal equipment, joinable 120R resistance is as terminal resistance.
Specifically, as shown in fig. 5, optionally, in the present invention, the interface chip is an RS232 interface, and the interface chip adopts an SP3232 chip and is isolated by 6N 137.
Specifically, as shown in fig. 6, detectable dropproof sensor state, the utility model discloses in, digital input interface is chooseed for use to the interface, and main control chip GPI interface passes through opto-coupler EL357N and links to each other with input interface, and when the state of falling produced, the opto-coupler switched on, and main control chip detects the signal of falling.
Specifically, as shown in fig. 7, the utility model discloses in choose the RS485 interface for use, can with keep away the equipment communication that barrier ultrasonic wave board, altitude sensor etc. supported the RS485 interface, main control chip keeps apart the chip through high-speed and links to each other with the RS485 chip, keeps apart model, type and the performance of chip and RS485 chip and does not do the restriction, the utility model discloses in keep apart the chip and choose high-speed opto-coupler 6N137 for use, SP485 chip selection SP485EE, two chips adopt to keep apart 5V mains operated, SP485EE links to each other with RS485 output interface.
Specifically, as shown in fig. 8, the main control chip passes through the PHY chip and connects the RJ45 interface and form network communication interface and industrial computer communication the utility model discloses in, the PHY chip can select any chip that can implement according to the applied scene of difference, does not do the restriction optionally to specific model, type and the performance of above-mentioned chip here, the utility model discloses well DP83848C is chooseed for use to the PHY chip, and input/output interface can be net gape RJ45, and the main control chip links to each other with the PHY chip, and the PHY chip realizes data encoding, decoding and receiving and dispatching, through the ethernet physical layer interface of standard, and net gape RJ45 carries out the interaction of data promptly.
Specifically, as shown in fig. 9, the driving chip adopts BTS7960, the driving current can reach 43A, the motor control is realized through the control of the main control chip, the forward and reverse rotation control and the speed regulation of the motor can be realized, the position control can be realized by matching with a distance measuring sensor, the lifting of the lifting rod of the robot can be optionally controlled, the real-time height of the lifting rod is detected by a pull rope sensor in RS232 communication, and the motor of the lifting rod is controlled to move, so that the accurate position control of the lifting rod is realized.
Specifically, as shown in fig. 10, the output end is coupled with a photocoupler isolator, the output end of the photocoupler is +24v, the relay output is driven, the output driving chip adopts MC1413, and the photocoupler chip adopts EL 357N.
Specifically, as shown in fig. 11, controlled by a two-node relay, when the emergency stop button is pressed, a reverse current is released by 2 cement resistors of 20W and 30 RJ.
Specifically, as shown in fig. 12, the control system mainly includes a robot motion control algorithm, wherein a main control chip receives a vehicle speed and angle command of an industrial personal computer, converts the vehicle speed and angle command into the speed of each motor through a differential steering or omnidirectional full-drive control algorithm, and controls wheels to rotate; the speed control algorithm comprises an S curve control algorithm and a T curve control algorithm and is used for controlling the motor to move smoothly; the direct current motor control algorithm and the lifting rod height control algorithm are used for regularly receiving the height instruction of the industrial personal computer, detecting the real-time height of the lifting rod and accurately controlling the height of the lifting rod through the PID control algorithm; the method comprises the steps of (1) stopping obstacles, receiving information of an obstacle stopping sensor and information of a falling sensor in real time by using an anti-falling algorithm, and stopping in time if falling and collision risks are found after filtering; the temperature control algorithm detects the ambient temperature at regular time, and controls the cabin temperature by controlling the fan and the heater after the ambient temperature exceeds a threshold value; and the peripheral sensor power control algorithm receives power management instructions of the industrial personal computer at regular time and controls the on-off of the power supply.
In conclusion, the wheeled robot motion controller CAN receive a control instruction of an industrial personal computer, and CAN feed information of a driver and a sensor back to the industrial personal computer, the optional communication interface 11 comprises an RJ45 packaged network interface, a CAN interface, a serial port and the like, the communication mode CAN be TCP/IP, UDP, CANOPEN, RS485 and the like, the utility model adopts an RJ45 interface and a UDP communication mode, the controller receives the instruction of the industrial personal computer, then calculates, sends the control instruction to the driver, and collects information of the driver, the optional communication interface 12 is the CAN interface or the serial port, and the communication protocol CAN follow CANOPEN protocol or RS485, RS232 and the like, the utility model adopts the CAN interface and CANOPEN communication protocol, the controller CAN be connected with a falling-proof sensor and a barrier-avoiding sensor through the interfaces 13 and 14 to obtain road condition information of the robot, and prevent the robot from collision and falling, the selectable interfaces 13 and 14 can be configured according to the sensor, the interface 13 in the utility model is a GPI input interface, the interface 14 is a RS485 interface, the controller can detect other sensors in the car body or control other driving devices in the car body through the interfaces 15 and 16, the interface mode can be selected according to the sensor, the interface 15 in the utility model is a PWM output interface, the interface 16 is a RS485 interface, the main control chip can be a conventional main control single chip, the utility model selects STM32F407, the main control chip forms a network communication interface by connecting RJ45 interface through the PHY chip, in the utility model, the PHY chip can select any practical chip according to different application scenes, the specific model, type and performance of the chip are not limited, the PHY chip selects DP83848C, the input and output interface can be a net port 45, the main control chip is connected with the PHY chip, PHY chip realizes data coding, decoding and receiving, the interaction of data is carried out through standard Ethernet physical layer interface, namely, interface RJ45, the power supply system of controller supplies power through 3.3V DC power supply outputted by voltage conversion chip, the type of voltage conversion chip is not limited, the utility model selects MC34063 and AMS1117 chip, 24V DC is converted into 5V main power supply through voltage conversion chip MC34063, then converted into 3.3V through chip AMS1117 to supply power for main control chip STM32F407, meanwhile, 5VDC outputted by MC34063 chip supplies power for RS485 and CAN communication chip through power isolation chip BS0505, controller CAN carry out data communication through interface 12 and driver, the utility model selects CAN communication interface, CAN communication interface interacts information with motor driver, CAN control motor movement, collects motor movement information at the same time, main control chip connects with CAN communication chip PCA82C251T through high-speed optical coupler 6N137, the anti-interference performance of the communication is enhanced, PCA82C251T is connected with external equipment, meanwhile, CAN interface output terminal CANH and CANL are configured with 120R resistor, and CAN be selectively connected or disconnected through jumper wires, when the motion control panel is taken as CAN bus terminal equipment, 120R resistor CAN be connected as terminal resistor, controller integrated falling-proof sensor interface, the utility model adopts digital input interface as falling-proof sensor interface, main control chip GPI interface is connected with input interface through optical coupler EL357N, controller integrated obstacle-avoiding sensor interface, the utility model adopts RS485 interface, and CAN communicate with devices supporting RS485 interface such as obstacle-avoiding ultrasonic plate and distance measuring sensor, the main control chip is connected with RS485 chip through high-speed isolation chip, the isolation chip is not limited with model, type and performance of 4RS85 chip, the isolation chip adopts optical coupler 6N137, RS chip selects SP485EE, two chips adopt to keep apart 5V mains operated, and SP485EE links to each other with RS485 output interface, and controller accessible interface 17 and interface 20 connect motor and driver three-phase electricity respectively, accomplish driver three-phase current filtering, the utility model discloses in, the filter inductance adopts 8A, 60uH I-shaped inductance. The controller can be connected with an emergency stop button through an interface 18, the utility model discloses a reverse current is released to two 20W, 30 RJ's cement resistance, the protection driver.
The utility model discloses mainly carry out and peripheral hardware control system to wheeled robot motion, this system hardware system comprises market mainstream control singlechip chip and various communication interface, include: the system comprises an industrial personal computer communication interface, a motor driver communication interface, a fault-stopping ultra-sensor, a falling-prevention sensor, a driver three-phase electric filtering interface, a robot peripheral power management interface, other equipment sensor communication interfaces of the robot and the like, wherein all the interfaces are designed with filtering and isolating measures to improve the anti-interference capability of the system, a software system comprises various communication protocols and can complete real-time communication with the industrial personal computer, a controller transmits robot real-time data such as an encoder, current, speed and the like to the industrial personal computer, receives a motion instruction of the industrial personal computer, converts the motion instruction into the rotating speed of each motor through a speed planning algorithm to control the motion of the robot, communicates with the motor driver of the robot in real time to acquire the state of the motor driver and control the motion of the motor, acquires the fault-stopping ultrasonic data of the robot by combining the fault-, the robot holder is controlled to lift, a hardware interruption algorithm is adopted, the robot anti-falling function is achieved, the controller can receive a power supply control command of the industrial control machine peripheral equipment and control the power supply of the peripheral equipment to be switched on and switched off, the controller can complete three-phase electric filtering of the driver, and the controller can complete three-phase current release of the motor in an emergency stop state. The robot motion control system has the advantages that the robot motion control function can be realized, the data processing of certain specific sensors is independent of the industrial personal computer, the real-time performance and the stability of the robot motion can be greatly improved, various sensors and control interfaces are integrated, the system integration level is improved, the structure and the electrical layout are simplified, and the expansibility and the maintainability of the system are improved.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.
Claims (10)
1. The motion execution and peripheral control system of the wheeled robot is characterized by comprising a controller, an industrial personal computer, a driver, a motor, a distance measuring sensor, a direct current motor, a fault stopping sensor, a falling prevention sensor, a peripheral equipment power supply and an emergency stop button, wherein the controller is in communication connection with the industrial personal computer through a communication interface 11, is in communication connection with the driver through a communication interface 12, is electrically connected with the motor, is respectively electrically connected with the distance measuring sensor, the fault stopping sensor and the falling prevention sensor through an interface 16, an interface 14 and an interface 13, is electrically connected with the direct current motor through an interface 15, is respectively electrically connected with the peripheral equipment power supply and the emergency stop button through an interface 19 and an interface 18, is connected with a three-phase power of the direct current motor through an interface 17 of the controller, is connected with the three-phase power of the driver through an interface 20, the controller can receive the control command of the industrial personal computer, and the controller can feed back information of the driver, the distance measuring sensor, the obstacle stopping sensor and the anti-falling sensor to the industrial personal computer.
2. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the controller receives the vehicle speed command of the industrial personal computer, converts the vehicle speed command into the rotating speed of each motor through a speed planning algorithm, sends the rotating speed control command to the driver, and acquires the driver information.
3. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the controller can detect the data of the obstacle stopping sensor and the anti-falling sensor, acquire road condition information and complete emergency stopping or emergency action under the road condition.
4. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the interface 13 is a GPI input interface, the interface 14 is an RS485 interface, the interface 15 is a PWM output interface, the interface 16 is an RS485 interface, and the communication interface 12 employs a CAN interface.
5. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the controller can be connected with the anti-falling sensor and the obstacle avoidance sensor through the interface 13 and the interface 14 to obtain the road condition information of the robot.
6. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the controller is electrically connected with a power supply of the peripheral equipment through the interface 19, and can control the on-off of the power supply of the equipment to finish the power supply management of the peripheral equipment.
7. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the controller can be connected with three-phase electricity of the direct current motor and three-phase electricity of the driver through the interface 17 and the interface 20, and is connected with the emergency stop button through the interface 18, so that three-phase current filtering of the driver and motor current release in an emergency stop state are completed.
8. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the communication interface 11 adopts RJ45 interface and UDP communication mode.
9. The wheeled robot motion-execution and peripheral control system of claim 1, wherein: the controller includes main control chip and PHY chip, the main control chip chooses STM32F407 for use, and the main control chip passes through the PHY chip and connects the RJ45 interface and form network communication interface.
10. The wheeled robot motion-execution and peripheral control system of claim 9, wherein: the PHY chip selects DP83848C, an RJ45 interface as an input/output network port, an RJ45 interface as a standard Ethernet physical layer interface, the PHY chip realizes data encoding, decoding and receiving and transmitting, and data interaction is carried out through the network port RJ 45.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921077694.3U CN210038547U (en) | 2019-07-10 | 2019-07-10 | Wheeled robot motion execution and peripheral control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921077694.3U CN210038547U (en) | 2019-07-10 | 2019-07-10 | Wheeled robot motion execution and peripheral control system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210038547U true CN210038547U (en) | 2020-02-07 |
Family
ID=69349546
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921077694.3U Active CN210038547U (en) | 2019-07-10 | 2019-07-10 | Wheeled robot motion execution and peripheral control system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210038547U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244745A (en) * | 2019-07-10 | 2019-09-17 | 北京思方技术开发有限公司 | Wheeled robot Motor execution and peripheral hardware control system |
-
2019
- 2019-07-10 CN CN201921077694.3U patent/CN210038547U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110244745A (en) * | 2019-07-10 | 2019-09-17 | 北京思方技术开发有限公司 | Wheeled robot Motor execution and peripheral hardware control system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN210255452U (en) | Terrace grinds dust absorption robot | |
| CN201302669Y (en) | DC motor-driven system for monitoring running state | |
| CN107097241A (en) | A kind of service robot and its control method | |
| CN104298235A (en) | Mobile robot system based on wireless video transmission and PID compound control | |
| CN112332558B (en) | Wireless charging system and method | |
| CN210038547U (en) | Wheeled robot motion execution and peripheral control system | |
| CN104787057B (en) | Battery cart integrated intelligent control system and control method | |
| CN105739491A (en) | Electric intelligent vehicle dual-driving dual-control system based on braking intervention and control method | |
| CN103472839A (en) | Fast exploring controller of four-wheel micro-mouse based on double processors | |
| CN109510172A (en) | A kind of the control system for non-brush direct currunt electromotors of coaxial two wheels robot | |
| CN110244745A (en) | Wheeled robot Motor execution and peripheral hardware control system | |
| JP2010110038A (en) | Power supply system having function of limiting output for simple installation type robot, and simple installation type robot equipped with the system | |
| CN206311970U (en) | Intelligent tracking monitoring cart system based on STM32 | |
| CN206099827U (en) | Six industrial robot drive arrangement of integration | |
| WO2024001150A1 (en) | Can-bus-based electrical control system for electric mower | |
| CN101214907A (en) | Alternating current frequency conversion tyre crane | |
| CN105997392A (en) | Wireless double-core double-wheel drive robot electric sickbed control system | |
| CN206216709U (en) | Robot of traffic police | |
| CN110842950A (en) | Driving and controlling integrated control system compatible with multi-field bus protocol | |
| CN213303273U (en) | AGV remote controller | |
| CN108821196B (en) | Magnetic navigation AGV electrical control system and method | |
| CN201665453U (en) | Elevator controller | |
| CN206825429U (en) | A kind of car body barrier-surpassing robot control system | |
| CN106781566A (en) | Traffic guidance system and robot of traffic police | |
| CN208255718U (en) | One kind intelligently climbing vehicle control |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220224 Address after: 100083 floor 1-3, No. 25, Qinghua East Road, Haidian District, Beijing Patentee after: BEIJING HOLLYSYS Co.,Ltd. Address before: 100000 609, floor 6, building 2, yard 8, West Road, Automobile Museum, Fengtai District, Beijing Patentee before: Beijing Sifang Technology Development Co.,Ltd. |