CN105611053A - Mobile robot control system based on smart phone - Google Patents

Abstract

Smartphone-based mobile robot control system. This control system uses a smartphone as the core controller, that is, the onboard smartphone. The onboard smartphone is the server side, which is fixed on the mobile robot body. The smart phone interacts, sends and receives control commands, and associates calls to other applications to realize the control of the mobile robot; another smart phone is used as a remote controller to remotely control the smart phone, and the remote control smart phone is the client, through the wireless communication module and The onboard smart phone interacts, and after selecting the control mode, it sends control commands to the server. It makes the debugging of the mobile robot more convenient and fast, and does not need to be connected to the PC to burn the program every time, and becomes an ideal platform for verifying various control algorithms; it makes the mobile robot more powerful and more intelligent; the diversity of remote control operations enables The friendliness of human-computer interaction experience has been greatly improved.

Description

Mobile robot control system based on smart phone

technical field

The present invention relates to an experimental system for scientific research or teaching, in particular to a control system for a mobile robot by a smart phone. The system makes the machine more intelligent, improves the friendliness of the human-computer interaction experience, and is used in the field of control to test the correctness of various control algorithms performance and feasibility.

Background technique

With the development of science and technology and social progress, robots are gradually entering people's daily life to help people solve various problems. How to make a cold machine like a human requires research on the balance control and intelligence of the machine. and human-computer interaction.

Because of its very friendly human-computer interaction, powerful functions and portability, smartphones make people inseparable from it in various application scenarios. Smartphones have become a very important part of people's lives and are gradually changing people's lives. daily life.

In view of the above situation, the present invention proposes a smart phone-based mobile robot control system, using the smart phone that people are very familiar with as the brain of the machine to comprehensively improve the intelligence level and interaction friendliness of the robot, and better control the mobile robot.

Contents of the invention

The smart phone-based mobile robot control system designed by the present invention makes the machine more intelligent, comprehensively improves the friendliness of human-computer interaction experience, and is used in the field of control to test the correctness and feasibility of various control algorithms.

The present invention adopts following technical scheme, with reference to Fig. 1, mobile robot control system based on smart phone, this system comprises airborne smart phone (1), remote control smart phone (2), mobile robot (3), wireless communication module (4 ). This control system uses a smart phone as the core controller, that is, the on-board smart phone (1). The smart phone (1) interacts; another smart phone is used as a remote controller to remotely control the smart phone (2). interact.

Design the server-side and client-side application programs separately, collect and process the data of mobile robot attitude angle and motion speed in the server-side application, the server side receives the control instructions from the client side and calculates the control amount, and then sends it to the mobile robot control Unit, and then control the motion state of the mobile robot; and set the navigation, positioning, and shooting function options in this application. Carry the GPS and camera sensors on the smart phone itself to realize the navigation and positioning of the mobile robot, and remotely transmit the video captured by the camera to the client; set up three controls in the client application: button control, voice control and gravity sensor control mode, display the video captured by the onboard smart phone in real time, and realize the motion control of the mobile robot such as forward, backward, and turning according to the captured surrounding environment; and set the debugging option to debug the mobile robot in real time, including the change of the expected motion speed , Control algorithm parameter tuning.

The airborne smart phone (1) can be an Android smart phone or an Apple smart phone;

The remote control smart phone (2) can be an Android smart phone or an Apple smart phone;

The mobile robot (3) can be a two-wheeled self-balancing robot;

The wireless communication module (4) may be a Bluetooth communication module or a WiFi communication module.

The present invention can achieve the following beneficial effects: the debugging of the mobile robot is more convenient and fast, and it does not need to be connected to the PC to burn programs every time, and becomes an ideal platform for verifying various control algorithms; the mobile robot is more powerful and more intelligent; The diversity of remote control operations greatly improves the friendliness of human-computer interaction experience.

Description of drawings

Fig. 1 Schematic diagram of the mobile robot control system based on the smartphone;

Fig. 2 main program flow chart of mobile robot control system based on smart phone;

Fig. 3 interrupt subroutine flow chart of mobile robot control system based on smart phone;

In the figure: 1. Airborne smart phone; 2. Remote control smart phone; 3. Mobile robot; 4. Wireless communication module.

detailed description

The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments.

As shown in Figure 1, the smart phone-based mobile robot control system includes an airborne smart phone (1), a remote control smart phone (2), a mobile robot (3) and a wireless communication module (4). This control system uses a smart phone as the core controller, which is the server side, fixed on the mobile robot body, and communicates with the mobile robot through the wireless communication module. Another smart phone is the remote controller, which is the client side. The wireless communication module communicates with the onboard smartphone. Design the server-side and client-side application programs separately, collect and process various data such as the attitude angle and motion speed of the mobile robot in the server-side application, receive control instructions from the client side, and calculate the control amount according to the obtained state amount. Then send it to the mobile robot control unit, the control unit sends a PWM wave with a certain duty cycle to the motor driver, and then controls the movement and balance of the mobile robot; and set navigation, positioning, shooting and other functional options in this application, when received from After the corresponding command options on the client side, directly associate and call the functions of the server-side map, camera and other applications, use the GPS, camera and other sensors carried by the onboard smart phone to realize the navigation and positioning of the mobile robot, and remotely control the video captured by the camera. Send it to the client; set three control modes of button control, voice control and gravity sensor control in the client application, display the video shot by the server in real time, and realize the forward, backward, turning, etc. of the mobile robot according to the captured surrounding environment Motion control; and setting debugging options, real-time debugging of the mobile robot, including the change of the expected motion speed, the setting of the control algorithm parameters, etc.

The airborne smart phone (1) can be an Android smart phone or an Apple smart phone;

The remote control smart phone (2) can be an Android smart phone or an Apple smart phone;

The mobile robot (3) can be a two-wheeled self-balancing robot;

The wireless communication module (4) may be a Bluetooth communication module or a WiFi communication module.

Figure 2 shows the main program flow chart of the system, and the control steps are:

Step 1. Initialize the onboard control unit of the mobile robot (3), and configure the corresponding registers.

Step 2. Enable the interrupt and wait for the corresponding register to receive the interrupt.

Step 3. Use a loop statement to continuously judge whether there is an interruption. The interruption control cycle is set to 10ms. Whenever the condition is met, jump to the interruption subroutine flow chart shown in Figure 3 and enter the interruption.

The steps of the interrupt subroutine flow chart shown in Figure 3 are:

Step 1. Receive the data packet of the mobile robot (3) airborne attitude sensor, and obtain attitude data, including inclination angle and inclination angle velocity.

Step 2. The server side reads the remote control command of the client application program and selects the motion mode of the mobile robot.

Step 3. Read the information of the left and right motor encoders, and calculate the displacement, speed, and acceleration of the mobile robot.

Step 4. According to the obtained state quantity, the control quantity is calculated in the server-side application program by using the set control algorithm.

Step 5. Send the obtained left and right motor control quantities to the airborne control unit to obtain two PWM waves with a certain duty ratio, and the airborne control unit then sends the PWM waves to the motor servo driver module.

Step 6. After the interruption ends, return to the main program.

In the interruption process, by selecting the button, voice, and gravity sensor control modes in the client application, the controller sends corresponding instructions, and the client application calculates and recognizes the instructions, and then sends them to the server to control the mobile robot in real time movement balance;

In any mode, you can select the navigation, positioning, camera and other functions in the client application, and call the map, camera and other related applications on the server to realize the corresponding functions.

Described mobile robot (3) is that the airborne control unit is a single-chip microcomputer chip, and this single-chip microcomputer chip can be a DSP chip or an ARM chip;

The airborne attitude sensor of the mobile robot (3) can be a gyroscope MTI or an inclinometer.

Finally, it should be noted that: the above embodiments are only used to illustrate the present invention rather than limit the technical solutions described in the present invention; therefore although the specification has been described in detail with reference to the above embodiments, those of ordinary skill in the art should It is understood that the present invention can still be modified or equivalently replaced; and all technical solutions and improvements that do not deviate from the spirit and scope of the invention should be covered by the claims of the present invention.

Claims (5)

1. The mobile robot control system based on smart phones is characterized in that: the system includes an airborne smart phone (1), a remote control smart phone (2), a mobile robot (3), and a wireless communication module (4); the control system A smart phone is used as the core controller, that is, the on-board smart phone (1). 1) to interact; another smart phone is used as a remote controller to remotely control the smart phone (2), and the remote control smart phone (2) is a client, which interacts with the airborne smart phone through the wireless communication module (4); Design the server-side and client-side application programs separately, collect and process the data of mobile robot attitude angle and motion speed in the server-side application, the server side receives the control instructions from the client side and calculates the control amount, and then sends it to the mobile robot control Unit, and then control the motion state of the mobile robot; and set the navigation, positioning, and shooting function options in this application. Carry the GPS and camera sensors on the smart phone itself to realize the navigation and positioning of the mobile robot, and remotely transmit the video captured by the camera to the client; set up three controls in the client application: button control, voice control and gravity sensor control mode, display the video captured by the onboard smart phone in real time, and realize the motion control of the mobile robot such as forward, backward, and turning according to the captured surrounding environment; and set the debugging option to debug the mobile robot in real time, including the change of the expected motion speed , Control algorithm parameter tuning. 2. The mobile robot control system based on smart phones according to claim 1, characterized in that: the control steps of the main program flow of the system are as follows, Step 1. Initialize the mobile robot (3) on-board control unit, and configure the corresponding registers; Step 2. Enable the interrupt and wait for the corresponding register to receive the interrupt; Step 3. Use a loop statement to continuously judge whether there is an interruption. The interruption control cycle is set to 10ms. Whenever the condition is met, it will jump to the interruption subroutine flow and enter the interruption. 3. The mobile robot control system based on smart phones according to claim 1, characterized in that: said mobile robot (3) is an on-board control unit that is a single-chip microcomputer chip, and this single-chip microcomputer chip is a DSP chip or an ARM chip. 4. The smart phone-based mobile robot control system according to claim 1, characterized in that: the mobile robot (3) airborne attitude sensor can be a gyroscope MTI or an inclinometer. 5. The mobile robot control system based on smart phones according to claim 2, characterized in that: the interrupt subroutine flow process steps are as follows, Step 1. Receive the data packet of mobile robot (3) airborne attitude sensor, obtain attitude data, comprise angle of inclination, angle of inclination velocity; Step 2. The server side reads the remote control instruction of the client application program, and selects the motion mode of the mobile robot; Step 3. Read the information of the left and right motor encoders, and calculate the displacement, speed, and acceleration of the mobile robot; Step 4. According to the obtained state quantity, adopt the set control algorithm to calculate the control quantity in the server-side application program; Step 5. Send the obtained left and right motor control quantities to the airborne control unit to obtain two PWM waves with a certain duty ratio, and then the airborne control unit sends the PWM waves to the motor servo driver module; Step 6. After the interruption ends, return to the main program; In the interruption process, by selecting the button, voice, and gravity sensor control modes in the client application, the controller sends corresponding instructions, and the client application calculates and recognizes the instructions, and then sends them to the server to control the mobile robot in real time movement balance; In any mode, you can select functions such as navigation, positioning, and camera in the client application, and call the map and camera-associated applications on the server to realize the corresponding functions.