CN210173581U - Remote robot control system based on VR technique - Google Patents
Remote robot control system based on VR technique Download PDFInfo
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- CN210173581U CN210173581U CN201821960852.5U CN201821960852U CN210173581U CN 210173581 U CN210173581 U CN 210173581U CN 201821960852 U CN201821960852 U CN 201821960852U CN 210173581 U CN210173581 U CN 210173581U
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Abstract
The utility model relates to a remote robot control system based on VR technique, the system includes camera, DC brushless motor driver, steering wheel, main controller, vehicle-mounted mobile phone equipment and hand-held mobile phone equipment; the camera and the main controller are installed on the robot, the direct current brushless motor driver drives the robot to walk, the steering engine controls the steering of the robot, the vehicle-mounted mobile phone device is installed on the robot and communicates with the main controller through Bluetooth, the output end of the main controller is connected with the direct current brushless motor driver and the steering engine respectively, and the vehicle-mounted mobile phone device is connected with the camera. The utility model discloses can the remote operation robot, all have better universality to all kinds of crowds, can be clear accurate present the equipment of handheld end with the image presentation of on-vehicle camera, accomplish the control of marcing to the robot through the data communication of on-vehicle mobile phone equipment and handheld mobile phone equipment.
Description
Technical Field
The utility model relates to the technical field of robot, specifically indicate a remote robot control system based on VR technique.
Background
With the gradual maturity of the robot remote control technology, the application field of the intelligent robot in daily life is also continuously expanded. The development of the virtual reality technology and the mobile internet intelligent terminal provides a new platform for the remote robot control technology, so that the stable remote control robot becomes possible.
A great deal of research is carried out in China on the aspects of remote video transmission control of robots based on Internet and PC terminals and on wireless Internet and mobile terminals. In the aspect of Internet and PC terminal, Shanghai traffic university designs and develops a robot remote control system based on a Web browser, and because a man-machine interaction interface developed by HTML technology is adopted, the operation mode is single, and the interactivity is poor. At present, domestic remote robot control is mostly controlled through bluetooth and Android client, the distance of control is shorter and operator's experience is relatively poor, and control is not accurate enough.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a remote robot control system based on VR technique, this system can the remote operation robot, all have better universality to all kinds of crowds, can be clear accurate present the equipment of handheld end with the image presentation of on-vehicle camera, accomplish the control of marcing to the robot through the data communication of on-vehicle mobile phone equipment and handheld mobile phone equipment.
In order to achieve the above object, the present invention has the following constitutions:
the remote robot control system based on the VR technology comprises a camera, a direct current brushless motor driver, a steering engine, a main controller, vehicle-mounted mobile phone equipment and handheld mobile phone equipment;
the camera and the main controller are installed on the robot, the direct-current brushless motor driver drives the robot to walk, the steering engine controls the steering of the robot, the vehicle-mounted mobile phone device is installed on the robot, the handheld mobile phone device is communicated with the public network server through a TCP (transmission control protocol), and the vehicle-mounted mobile phone device is communicated with the public network server through the TCP;
the vehicle-mounted mobile phone equipment is communicated with the main controller through Bluetooth, the output end of the main controller is respectively connected with the direct current brushless motor driver and the steering engine, and the vehicle-mounted mobile phone equipment is connected with the camera.
Optionally, the handheld mobile phone device includes a gyroscope, the handheld mobile phone device collects detection data of the gyroscope and sends the detection data to the public network server, and the main controller obtains the detection data of the gyroscope from the public network server.
Optionally, the system further comprises a handle, a robot control key is arranged on the handle, the handle acquires operation data of the robot control key and sends the operation data to the handheld mobile phone device through bluetooth, the handheld mobile phone device sends the operation data of the robot control key to the public network server, and the main controller obtains the operation data of the key from the public network server.
Optionally, the system includes two cameras, and the two cameras communicate with the vehicle-mounted mobile phone device respectively.
Optionally, the chip of the main controller includes two rows of sockets: a first row of plugs P1 and a second row of plugs P2, a5 pin of the first row of plugs P1 is connected with a left lamp of a front row of a trolley, a6 pin of the first row of plugs P1 is connected with a right lamp of the front row of the trolley, a9 pin of the first row of plugs P1 is connected with a left lamp of a trolley body, a10 pin of the first row of plugs P1 is connected with a right lamp of the trolley body, 11 and 12 pins of the first row of plugs P1 are signal ports of two freedom steering engines on the vehicle, 15 and 16 pins of the first row of plugs P1 are Bluetooth communication serial ports, 18 pin of the first row of plugs P5 is a 3.3V power supply port of a main controller, 19 and 20 pins of the first row of plugs P1 are a ground end of the main controller, 1, 2 and 3 pins of the second row of plugs P2 are respectively a 3.3V power supply end, a ground end and a 5V power supply end, and a4, 5, 7, 8 and 9 pins of the second row of plugs P2 are respectively an overcurrent direction driver, a brushless, pins 13, 16, 17, 18, 19 and 20 of the second socket P2 are respectively a PWM port, a DIR direction end, an enable end, a brake end, an overcurrent alarm end and a voltage output end of the right-side direct-current brushless driver, and pins 14 and 15 of the second socket P2 are upper computer debugging serial ports.
Optionally, the dc brushless motor driver includes a single chip microcomputer, a first dc brushless driver located on the left side of a drive board of the robot, and a second dc brushless driver located on the right side of the drive board of the robot, 6 optical couplers of the first dc brushless driver are powered by a 12V battery to reduce 3.3V, an input terminal of the first dc brushless driver is connected to pins 4, 5, 6, 7, 8, and 9 of the second socket P2, and outputs of the 6 optical couplers are connected to an IO port of the first dc brushless driver by a flat cable; an optical coupling isolation circuit is firstly externally connected with 3.3V and then connected with a resistor and then connected with the anode of an optical coupling diode, the IO output of a singlechip is connected with the cathode of the optical coupling diode, the other side of the optical coupling is grounded through the emitter of a triode, the collector of the triode is connected with the cathode of the diode, and the anode of the diode is externally connected with a power supply of 5V after being connected with a resistor;
6 opto-couplers of the second direct current brushless driver are powered by 3.3V of a 12V battery, the input end of the opto-couplers is connected with pins 13, 16, 17, 18, 19 and 20 of the second socket P2, the output of the 6 opto-couplers is connected with IO of the second direct current brushless driver by a flat cable, an opto-coupler isolation circuit is firstly connected with 3.3V in an external mode and then connected to the anode of an opto-coupler diode, the output of the single chip IO is connected with the cathode of the opto-coupler diode, the other side of the opto-coupler is grounded through the emitter of a triode, the collector of the triode is connected with the cathode of the diode, and the anode of the diode is connected with 5V.
Optionally, the system further includes a first voltage-reducing module, a power output end of the first voltage-reducing module is connected to a power input end of the main controller, the first voltage-reducing module adopts an LM2596 voltage-reducing chip, a pin 1 of the first voltage-reducing module is externally connected to a 12V power supply and a positive electrode of a capacitor C1, and a negative electrode of a capacitor C1 is grounded; the pin 3 of the first voltage reduction module is grounded, and the pin 5 is also grounded; the 2-pin of the first voltage reduction module is connected with an inductor L1 and the cathode of a diode D27, the anode of the diode D27 is grounded, and the other end of the inductor L1 is connected with an output 5V power supply; the 4 pins of the first voltage reduction module are connected with a 5V power supply and the positive electrode of a capacitor C2, and the negative electrode of a capacitor C2 is grounded;
the system further comprises a second voltage reduction module, wherein the output end of the second voltage reduction module is connected with an optical coupler of the direct-current brushless driver, the second voltage reduction module adopts an AMS1117 chip, a pin 1 of the second voltage reduction module is grounded, a pin 3 of the second voltage reduction module is externally connected with a 5V power supply, the anode of a capacitor C5 and the anode of a capacitor C7, and the other ends of the capacitor C5 and the capacitor C7 are grounded; the pin 2 of the second voltage reduction module is externally connected with a 3.3V power supply, the anode of a capacitor C6 and the anode of a capacitor C8, and the other ends of the capacitor C6 and the capacitor C8 are grounded; the pin 4 of the second voltage reduction module is connected to the anode of the capacitor C6;
the system also comprises a third voltage reduction module which supplies power to the steering engine; the third voltage reduction module adopts an MP1584 voltage reduction chip, a 12V power supply, a capacitor C9 and a resistor R42 are externally connected to a pin 7 of the third voltage reduction module, the other end of the capacitor C9 is grounded, and the resistor R42 is grounded after being connected with a resistor R44; the 2 pin of the third voltage reduction module is grounded after being connected with a resistor R44, the 6 pin of the third voltage reduction module is grounded after being connected with a resistor R46, and the 5 pin of the third voltage reduction module is grounded; the 3-pin of the third voltage reduction module is connected with the anodes of the capacitor C10 and the capacitor C11, the cathode of the capacitor C11 is grounded, and the cathode of the capacitor C10 is connected with the resistor R47 and then grounded; the 4-pin resistor R45 of the third voltage reduction module is grounded, and the 4-pin resistor R43 is externally connected with an output 6V; a pin 1 of the third voltage reduction module is connected with a cathode of an inductor L2 and a voltage regulator tube D28, the other end of the inductor L2 is externally connected with an output 6V, an anode of the voltage regulator tube D28 is grounded, an anode of a capacitor C4 is externally connected with an output 6V power supply, and a cathode of the capacitor C4 is grounded; the pin 8 of the third voltage reduction module is connected with the cathode of the capacitor C3, and the anode of the capacitor C3 is connected with the inductor L2 and then externally connected with a 6V power supply.
Optionally, the system further comprises an illuminating lamp driving circuit, the illuminating lamp driving circuit supplies power to an illuminating lamp of the robot, an IO port of a singlechip in the illuminating lamp driving circuit is connected with a resistor as an input and then connected with a base of a triode, an emitter of the triode is grounded, a collector of the triode is connected with a cathode of a diode, an anode of the diode is connected with a resistor and then externally connected with a 5V power supply, a collector of the triode is connected with a negative end of the power supply, a headlamp NO end of the robot is connected with a 48V storage battery, and a small lamp NO end of the robot is connected with a 12.
The utility model provides a remote robot control system based on VR technique has following beneficial effect:
(1) the utility model discloses can the remote operation robot, all have better universality to all kinds of crowds, can be clear accurate present in the equipment of handheld end with the image of on-vehicle camera, data communication through on-vehicle mobile phone equipment and handheld mobile phone equipment Android client accomplishes the control of marcing to the robot, the handle sends the instruction of marcing of dolly for handheld mobile phone equipment through the bluetooth, send the instruction to public network server through the TCP agreement again, on-vehicle end equipment accepts the instruction, bluetooth send motor drive control command control robot to marc simultaneously. The camera of the vehicle-mounted end equipment is connected with the handheld mobile phone equipment through the steering engine to perform follow-up control, when the handheld mobile phone equipment turns, the steering engine rotates, and the vehicle-mounted camera can capture image information of the upper part, the lower part, the left part and the right part, so that an operator can make a clearer control instruction on the environment where the robot is located;
(2) the utility model discloses a unity engine, utilize VR technique to establish the Android client, form two virtual cameras and establish virtual reality system, the operator can clearly obtain the image information of on-vehicle camera through the binocular formation of handheld mobile phone equipment, therefore the remote robot control system based on VR technique can bring the experience of being personally on the scene for the operator, carries out data transmission through the TCP protocol of public network server and is stable effective, can accurately control the robot under dangerous environment, accomplishes the task;
(3) the TCP protocol of the public network server is adopted for data transmission, so that the transmission of video streams becomes possible, the stability and the efficiency of communication are improved, the communication distance is also improved, and the remote control of the robot is more reliable;
(4) the steering engine of the fixed camera and the vehicle-mounted mobile phone device is controlled by the handheld mobile phone device in a follow-up mode, so that the moving range of the vehicle-mounted camera is greatly enlarged, an operator can know the environmental information around the trolley more clearly and make accurate instruction control;
(5) the robot body adopts an explosion-proof shell and a crawler structure, so that the obstacle crossing performance and the structural stability of the robot are greatly improved, the dangerous and complex conditions can be overcome, and the robot can really replace a person to operate in dangerous areas.
Drawings
Fig. 1 is a circuit connection block diagram of a remote robot control system based on VR technology according to an embodiment of the present invention.
Fig. 2 is a schematic diagram of a robot driving board according to an embodiment of the present invention.
Fig. 3 is an optical coupling isolation schematic diagram of a left-side dc brushless motor driver according to an embodiment of the present invention.
Fig. 4 is an optical coupling isolation schematic diagram of a right-side dc brushless motor driver according to an embodiment of the present invention.
Fig. 5 is a schematic diagram of three-part voltage reduction of the driving board according to an embodiment of the present invention.
Fig. 6 is a schematic diagram of driving front and rear illumination lamps of a robot according to an embodiment of the present invention.
Fig. 7 is a schematic view of a working state of the robot when the robot is connected to the mobile phone device.
Fig. 8 is a schematic view of a remote control handle according to an embodiment of the present invention.
Detailed Description
As shown in fig. 1, in order to solve the technical problem among the prior art, the utility model provides a remote robot control system based on VR technique, the system includes camera, main control unit, direct current brushless motor driver, robot PCB drive plate, on-vehicle mobile phone equipment and handheld mobile phone equipment and constitutes. The main controller can adopt STM32F103C8T6, the DC brushless motor driver can adopt BLD-750, and the vehicle-mounted mobile phone equipment and the handheld mobile phone equipment can adopt various existing mobile phone equipment in the prior art.
As shown in fig. 1, the handheld mobile phone device and the vehicle-mounted mobile phone device perform data communication through the public network server by using a TCP protocol, and transmit a video data stream and an operation instruction. The handheld mobile phone device transfers gyroscope data to the vehicle-mounted mobile phone device through the public network server, then the vehicle-mounted mobile phone device sends a Bluetooth instruction to the main controller, and the main controller outputs corresponding PWM (pulse-width modulation) waves to control the steering engine, so that follow-up control of the handheld mobile phone device and the vehicle-mounted camera is completed. The images collected by the camera are transmitted to the vehicle-mounted mobile phone device, then transmitted to the handheld mobile phone device through the public network server, and exported by the unity engine to the Android client to construct binocular vision, so that a virtual reality system is formed. An operator makes a trolley advancing instruction on the handle according to the current environment information, and the Bluetooth is sent to the handheld mobile phone device and then sent to the vehicle-mounted mobile phone device through the public network server. And after receiving the instruction, the main controller controls the track of the trolley to rotate by PWM signals of a direct current brushless motor driver, and the driver is powered by a 48V storage battery. The main controller is powered by 5V of a 12V battery, and the steering engine is powered by 6V of the 12V battery.
As shown in FIG. 2, the upper side is the chip carrier of the main controller STM32F103C8T6, and the two rows of sockets are P1 and P2 respectively. A5-pin plug P1 (namely an A0 port of a main controller) is connected with a left side lamp of a front row of the trolley, a 6-pin plug P1 (namely an A1 port of the main controller) is connected with a right side lamp of the front row of the trolley, a 9-pin plug P1 (namely an A4 port of the main controller) is connected with a left side lamp of a trolley body, and a 10-pin plug P1 (namely an A5 port of the main controller) is connected with a right side lamp of the trolley body. The pins 11 and 12 of the extension socket P1 (namely ports A6 and A7 of the main controller) are signal ports of the vehicle-mounted steering engine with two degrees of freedom. Pins 15 and 16 of the extension P1 (namely ports B10 and B11 of the main controller) are Bluetooth communication serial ports, pin 18 of the extension P1 is a 3.3V power supply port of the main controller, and pins 19 and 20 of the extension P1 are ground terminals of the main controller. Pins 1, 2 and 3 of the extension socket P2 are respectively a 3.3V power supply terminal, a ground terminal and a 5V power supply terminal. Pins 4, 5, 6, 7, 8 and 9 of the extension socket P2 (i.e. ports B9, B8, B7, B6, B5 and B4 of the main controller) are a PWM port, a DIR direction port, an enable port, a brake port, an overcurrent alarm port and a voltage output port of the left-side dc brushless driver, respectively. Pins 13, 16, 17, 18, 19 and 20 of the extension socket P2 (i.e. ports a11, a8, B15, B14, B13 and B12 of the master controller) are a PWM port, a DIR direction terminal, an enable terminal, a brake terminal, an overcurrent alarm terminal and a voltage output terminal of the right-side dc brushless driver, respectively. Pins 14 and 15 of the extension socket P2 (namely ports A10 and A9 of the main controller) are debugging serial ports of the upper computer.
As shown in fig. 3, the optical couplers of the left-side dc brushless driver of the driving board are powered by 3.3V from a 12V battery, the input end is connected to pins 4, 5, 6, 7, 8, and 9 of the socket P2 (i.e. ports B9, B8, B7, B6, B5, and B4 of the main controller), and the outputs of the 6 optical couplers are connected to the IO of the left-side dc brushless driver by cables. The optical coupling isolation circuit is firstly externally connected with a 3.3V resistor and then connected with the anode of the optical coupling diode, the IO output of the single chip microcomputer is connected with the cathode of the optical coupling diode, the emitter of a triode at the other side of the optical coupling is grounded, the collector is output, the collector is connected with the cathode of the diode, and the anode of the diode is externally connected with a power supply 5V after being connected with the resistor.
As shown in fig. 4, the optical couplers of the dc brushless driver on the right side of the driving board are also powered by 3.3V from 12V battery, the input terminals are connected to pins 13, 16, 17, 18, 19, and 20 of the pin bank P2 (i.e. ports a11, a8, B15, B14, B13, and B12 of the main controller), and the outputs of the 6 optical couplers are connected to the IO of the dc brushless driver on the right side by the pin bank. The optical coupling isolation circuit is firstly externally connected with a 3.3V resistor and then connected with the anode of the optical coupling diode, the IO output of the single chip microcomputer is connected with the cathode of the optical coupling diode, the emitter of a triode at the other side of the optical coupling is grounded, the collector is output, the collector is connected with the cathode of the diode, and the anode of the diode is externally connected with a power supply 5V after being connected with the resistor.
As shown in fig. 5, the main controller is powered by a 12V battery and 5V, an LM2596 voltage reduction chip is adopted, a pin 1 Vin of the chip is externally connected with 12V and the positive electrode of a capacitor C1, and the negative electrode of C1 is grounded. The 3 pin GND of the chip is grounded, and the 5 pin is also grounded. The 2 pin of the chip is connected with the inductor L1 and the cathode of the diode D27, and the anode of the diode D27 is grounded. The other end of the inductor L1 is connected with the output 5V. The 4 pins of the chip are connected with 5V and the anode of a capacitor C2, and the cathode of the C2 is grounded. The optocoupler is powered by a 12V battery to drop 3.3V, the voltage dropping circuit adopts an AMS1117 chip, a pin 1 GND of the chip is grounded, a pin 3 Vin is externally connected with 5V, the positive electrode of a capacitor C5 and the positive electrode of a capacitor C7, and the other ends of the capacitor C5 and the capacitor C7 are grounded. The 2 pin Vout of the chip is externally connected with an output 3.3V, the positive electrode of the capacitor C6 and the positive electrode of the capacitor C8, and the other ends of the capacitors C6 and C8 are grounded. The 4-pin of the chip is connected to the positive pole of the capacitor C6. The steering engine is powered by a 12V battery to reduce 6V, an MP1584 voltage reduction chip is adopted, a 7-pin Vin of the chip is externally connected with 12V, the other end of a capacitor C9 and a resistor R42 are grounded, the other end of the C9 is grounded, and the resistor R42 is grounded after being connected with a resistor R44. The 2 pin EN of the chip is connected with a resistor R44 and then grounded. The 6-pin FREQ of the chip is connected with the resistor R46 and then grounded, and the 5-pin GND of the chip is grounded. The 3 pin COMP of the chip is connected with the positive electrodes of the capacitor C10 and the capacitor C11, the negative electrode of the capacitor C11 is grounded, and the negative electrode of the capacitor C10 is connected with the resistor R47 and then grounded. The 4-pin FB of the chip is connected with the resistor R45 and then grounded, and the 4-pin FB is connected with the resistor R43 and then externally connected with an output 6V. The 1 pin SW of the chip is connected with an inductor L2 and a cathode D28 of a voltage regulator tube, the other end of the inductor L2 is externally connected with an output 6V, and the anode of the voltage regulator tube D28 is connected with GND. The positive electrode of the capacitor C4 is externally connected with an output 6V, and the negative electrode is grounded. The 8 pins of the chip are connected with the cathode of a capacitor C3, and the anode of a capacitor C3 is connected with an inductor L2 and then is externally connected with an output 6V.
As shown in fig. 6, the IO port of the single chip in the lighting lamp driving circuit is connected with the resistor as an input and then connected with the base of the triode, the emitter of the triode is grounded, the collector of the triode is connected with the cathode of the diode, the anode of the diode is connected with the resistor and then connected with the 5V power supply, the collector of the triode is connected with the negative end of the buck chip, the anode of the buck chip is connected with the 5V power supply, the NO end of the headlight is connected with the 48V battery, the NO end of the small lamp is connected with the 12.
The mechanical structure of the vehicle adopts an explosion-proof shell design, so that the safety is high, certain weight can be borne, and the vehicle body is not easy to deform. Meanwhile, the design of a high chassis and a damping crawler belt is adopted, so that the trafficability characteristic is good, and the obstacle crossing performance of the trolley is improved. The carriage is closed with a sealing ring, the sealing performance is good, and the waterproof performance is good. The trolley is provided with a reduction gearbox, the torque is large, the power of the crawler belt is sufficient, and the climbing of the trolley is facilitated.
As shown in fig. 7, when the vehicle-mounted mobile phone device is connected with the handheld mobile phone device, the camera fixed on the steering engine of the vehicle head collects image information, the data video stream is sent to the handheld mobile phone device through the public network server, an operator makes a corresponding vehicle traveling instruction after the handheld mobile phone device obtains environment information, then the vehicle-mounted mobile phone device receives the instruction, and the bluetooth is sent to the main controller to complete the control of the vehicle traveling.
As shown in fig. 8, the left side of the remote control handle of the robot is provided with an instruction key for controlling the trolley to move forward and backward and turn left and right; the upper and lower buttons on the right are a trolley program initialization instruction and a trolley stop instruction, and the left and right buttons on the right are follow-up control starting and ending instructions. After the program is started, an operator makes a trolley advancing instruction on the remote control handle according to the image displayed by the handheld mobile phone device.
The utility model provides a remote robot control system based on VR technique has following beneficial effect:
(1) the utility model discloses can the remote operation robot, all have better universality to all kinds of crowds, can be clear accurate present in the equipment of handheld end with the image of on-vehicle camera, data communication through on-vehicle mobile phone equipment and handheld mobile phone equipment Android client accomplishes the control of marcing to the robot, the handle sends the instruction of marcing of dolly for handheld mobile phone equipment through the bluetooth, send the instruction to public network server through the TCP agreement again, on-vehicle end equipment accepts the instruction, bluetooth send motor drive control command control robot to marc simultaneously. The camera of the vehicle-mounted end equipment is connected with the handheld mobile phone equipment through the steering engine to perform follow-up control, when the handheld mobile phone equipment turns, the steering engine rotates, and the vehicle-mounted camera can capture image information of the upper part, the lower part, the left part and the right part, so that an operator can make a clearer control instruction on the environment where the robot is located;
(2) the utility model discloses a unity engine, utilize VR technique to establish the Android client, form two virtual cameras and establish virtual reality system, the operator can clearly obtain the image information of on-vehicle camera through the binocular formation of handheld mobile phone equipment, therefore the remote robot control system based on VR technique can bring the experience of being personally on the scene for the operator, carries out data transmission through the TCP protocol of public network server and is stable effective, can accurately control the robot under dangerous environment, accomplishes the task;
(3) the TCP protocol of the public network server is adopted for data transmission, so that the transmission of video streams becomes possible, the stability and the efficiency of communication are improved, the communication distance is also improved, and the remote control of the robot is more reliable;
(4) the steering engine of the fixed camera and the vehicle-mounted mobile phone device is controlled by the handheld mobile phone device in a follow-up mode, so that the moving range of the vehicle-mounted camera is greatly enlarged, an operator can know the environmental information around the trolley more clearly and make accurate instruction control;
(5) the robot body adopts an explosion-proof shell and a crawler structure, so that the obstacle crossing performance and the structural stability of the robot are greatly improved, the dangerous and complex conditions can be overcome, and the robot can really replace a person to operate in dangerous areas.
In this specification, the invention has been described with reference to specific embodiments thereof. It will, however, be evident that various modifications and changes may be made thereto without departing from the broader spirit and scope of the invention. The specification and drawings are, accordingly, to be regarded in an illustrative rather than a restrictive sense.
Claims (7)
1. A remote robot control system based on VR technology is characterized by comprising a camera, a direct current brushless motor driver, a steering engine, a main controller, vehicle-mounted mobile phone equipment and handheld mobile phone equipment;
the camera and the main controller are installed on the robot, the direct-current brushless motor driver drives the robot to walk, the steering engine controls the steering of the robot, the vehicle-mounted mobile phone device is installed on the robot, the handheld mobile phone device is communicated with the public network server through a TCP (transmission control protocol), and the vehicle-mounted mobile phone device is communicated with the public network server through the TCP;
the vehicle-mounted mobile phone equipment is communicated with the main controller through Bluetooth, the output end of the main controller is respectively connected with the direct current brushless motor driver and the steering engine, and the vehicle-mounted mobile phone equipment is connected with the camera;
the chip of the main controller comprises two rows of socket: a first row of plugs P1 and a second row of plugs P2, 5 pins of a first row of plugs P1 are connected with a left lamp of a front row of a trolley, 6 pins of a first row of plugs P1 are connected with a right lamp of the front row of the trolley, 9 pins of a first row of plugs P1 are connected with a left lamp of a trolley body, 10 pins of a first row of plugs P1 are connected with a right lamp of the trolley body, 11 and 12 pins of a first row of plugs P1 are signal ports of two freedom steering engines on the trolley, 15 and 16 pins of a first row of plugs P1 are Bluetooth communication serial ports, 18 pins of a first row of plugs P1 are 3.3V power supply ports of a main controller, 19 and 20 pins of a first row of plugs P1 are ground ends of the main controller, 1, 2 and 3 pins of a second row of plugs P2 are respectively a 3V power supply end, a ground end and a 5V power supply end, 4, 5, 6, 7, 8 and 9 pins of a second row of plugs P2 are respectively a left direct current driver, a brushless driver, a DIR direction of a PWM output end, a PWM output end and a PWM output end, so that an overcurrent alarm end can enable the vehicle to be connected with, 16. Pins 17, 18, 19 and 20 are respectively a PWM port, a DIR direction end, an enabling end, a brake end, an overcurrent alarm end and a voltage output end of the right-side direct-current brushless driver, and pins 14 and 15 of the second socket P2 are upper computer debugging serial ports.
2. The VR technology based telepresence robot control system of claim 1, wherein the handheld mobile phone device comprises a gyroscope, the handheld mobile phone device collects detection data of the gyroscope and sends the detection data to the public network server, and the master controller obtains the detection data of the gyroscope from the public network server.
3. The remote robot control system according to claim 1, further comprising a handle, wherein the handle is provided with a robot control button, the handle obtains operation data of the robot control button and sends the operation data to the handheld mobile phone device through bluetooth, the handheld mobile phone device sends the operation data of the robot control button to the public network server, and the main controller obtains the operation data of the button from the public network server.
4. The VR technology based tele-robotic control system of claim 1 wherein the system includes two cameras that are each in communication with the in-vehicle handset device.
5. The remote robot control system based on VR technique of claim 1, wherein said DC brushless motor driver includes a single chip microcomputer, a first DC brushless driver located at left side of the driving board of the robot and a second DC brushless driver located at right side of the driving board of the robot, 6 optical couplers of said first DC brushless driver are powered by 12V battery to 3.3V, input end is connected with 4, 5, 6, 7, 8, 9 pins of said second row plug P2, output of 6 optical couplers is connected with IO port of the first DC brushless driver by flat cable; an optical coupling isolation circuit is firstly externally connected with 3.3V and then connected with a resistor and then connected with the anode of an optical coupling diode, the IO output of a singlechip is connected with the cathode of the optical coupling diode, the other side of the optical coupling is grounded through the emitter of a triode, the collector of the triode is connected with the cathode of the diode, and the anode of the diode is externally connected with a power supply of 5V after being connected with a resistor;
6 opto-couplers of the second direct current brushless driver are powered by 3.3V of a 12V battery, the input end of the opto-couplers is connected with pins 13, 16, 17, 18, 19 and 20 of the second socket P2, the output of the 6 opto-couplers is connected with IO of the second direct current brushless driver by a flat cable, an opto-coupler isolation circuit is firstly connected with 3.3V in an external mode and then connected to the anode of an opto-coupler diode, the output of the single chip IO is connected with the cathode of the opto-coupler diode, the other side of the opto-coupler is grounded through the emitter of a triode, the collector of the triode is connected with the cathode of the diode, and the anode of the diode is connected with 5V.
6. The VR-based telerobot control system of claim 5, further comprising a first buck module, wherein a power output of the first buck module is connected to a power input of the master controller, the first buck module is an LM2596 buck chip, a 12V power supply is connected to pin 1 of the first buck module, a positive electrode of a capacitor C1 is connected, and a negative electrode of a capacitor C1 is connected to ground; the pin 3 of the first voltage reduction module is grounded, and the pin 5 is also grounded; the 2-pin of the first voltage reduction module is connected with an inductor L1 and the cathode of a diode D27, the anode of the diode D27 is grounded, and the other end of the inductor L1 is connected with an output 5V power supply; the 4 pins of the first voltage reduction module are connected with a 5V power supply and the positive electrode of a capacitor C2, and the negative electrode of a capacitor C2 is grounded;
the system further comprises a second voltage reduction module, wherein the output end of the second voltage reduction module is connected with an optical coupler of the direct-current brushless driver, the second voltage reduction module adopts an AMS1117 chip, a pin 1 of the second voltage reduction module is grounded, a pin 3 of the second voltage reduction module is externally connected with a 5V power supply, the anode of a capacitor C5 and the anode of a capacitor C7, and the other ends of the capacitor C5 and the capacitor C7 are grounded; the pin 2 of the second voltage reduction module is externally connected with a 3.3V power supply, the anode of a capacitor C6 and the anode of a capacitor C8, and the other ends of the capacitor C6 and the capacitor C8 are grounded; the pin 4 of the second voltage reduction module is connected to the anode of the capacitor C6;
the system also comprises a third voltage reduction module which supplies power to the steering engine; the third voltage reduction module adopts an MP1584 voltage reduction chip, a 12V power supply, a capacitor C9 and a resistor R42 are externally connected to a pin 7 of the third voltage reduction module, the other end of the capacitor C9 is grounded, and the resistor R42 is grounded after being connected with a resistor R44; the 2 pin of the third voltage reduction module is grounded after being connected with a resistor R44, the 6 pin of the third voltage reduction module is grounded after being connected with a resistor R46, and the 5 pin of the third voltage reduction module is grounded; the 3-pin of the third voltage reduction module is connected with the anodes of the capacitor C10 and the capacitor C11, the cathode of the capacitor C11 is grounded, and the cathode of the capacitor C10 is connected with the resistor R47 and then grounded; the 4-pin resistor R45 of the third voltage reduction module is grounded, and the 4-pin resistor R43 is externally connected with an output 6V; a pin 1 of the third voltage reduction module is connected with a cathode of an inductor L2 and a voltage regulator tube D28, the other end of the inductor L2 is externally connected with an output 6V, an anode of the voltage regulator tube D28 is grounded, an anode of a capacitor C4 is externally connected with an output 6V power supply, and a cathode of the capacitor C4 is grounded; the pin 8 of the third voltage reduction module is connected with the cathode of the capacitor C3, and the anode of the capacitor C3 is connected with the inductor L2 and then externally connected with a 6V power supply.
7. The remote robot control system according to claim 1, wherein the system further comprises a lamp driving circuit, the lamp driving circuit supplies power to a lamp of the robot, an IO port of a singlechip in the lamp driving circuit is used as an input and is connected with a resistor and then connected with a base of a triode, an emitter of the triode is grounded, a collector of the triode is connected with a cathode of a diode, an anode of the diode is connected with a resistor and then connected with a 5V power supply, a collector of the triode is connected with a negative terminal of the power supply, a head lamp NO of the robot is connected with a 48V battery, and a small lamp NO of the robot is connected with a 12V battery.
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