CN109262615A - A kind of control system of robot - Google Patents
A kind of control system of robot Download PDFInfo
- Publication number
- CN109262615A CN109262615A CN201811329435.5A CN201811329435A CN109262615A CN 109262615 A CN109262615 A CN 109262615A CN 201811329435 A CN201811329435 A CN 201811329435A CN 109262615 A CN109262615 A CN 109262615A
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- CN
- China
- Prior art keywords
- robot
- controller
- host computer
- control system
- bus sensors
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- 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.)
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1679—Programme controls characterised by the tasks executed
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
A kind of control system of robot of disclosure of the invention, including bus sensors equipment, robot controller and PC host computer, the PC host computer is connected with robot controller, robot controller is also connected with a bus sensors equipment, the bus sensors equipment is also attached by serial connection mode and other bus sensors equipment, and the present invention solves the scheme how to recover one's legs automatically fallen down in the process of walking or when executing dance movement accidentally for robot.It is configured using an acceleration gyro module cooperation PC host computer.More flexible and convenient compared to traditional robot solve the problems, such as that robot is fallen down and how to have climbed.
Description
Technical field
The present invention relates to a kind of robot, the control system of specifically a kind of robot.
Background technique
Educational robot existing market is extremely burning hot, with the notice of national Artificial Intelligence Development planning of new generation, education
Robot is used as its integration capability of stimulating students ' interests culture, is widely used in colleges and universities and each training organization uses.Make
For the control system for controlling robot, the present invention provides a kind of efficient, easy-to-use expansible robot control systems and reality
Existing method.Traditional robot system uses single control module, is integrated in together.This method is not easy to extension and intermodule
Wiring is cumbersome, increases system burden.Interaction is excessively single simultaneously, limits the application field of robot.
Summary of the invention
The control system for being designed to provide a kind of robot of invention, to solve mentioned above in the background art ask
Topic.
To achieve the above object, invention provides the following technical solutions:
A kind of control system of robot, including bus sensors equipment, robot controller and PC host computer, the PC
Host computer is connected with robot controller, and robot controller is also connected with a bus sensors equipment, the bus sensors
Equipment is also attached by serial connection mode and other bus sensors equipment.
Preferred embodiment as invention: the bus sensors equipment includes microprocessor, sensor, communication unit sum number
According to processing unit, microprocessor is also respectively connected with sensor, communication unit and data processing unit.
Preferred embodiment as invention: the robot controller include controller, bus sensors interface, master cpu,
Host computer communication interface, acceleration gyroscope and servo motor driving interface, the controller are separately connected bus sensors and connect
Mouth, master cpu, host computer communication interface, acceleration gyroscope and servo motor driving interface.
Preferred embodiment as invention: it is connected between the PC host computer and robot controller by TCP or USB serial ports
It connects.
Preferred embodiment as invention: it is connected with each other between multiple bus sensors by communication unit.
Preferred embodiment as invention: the robot controller further includes robot motion storage unit, the machine
Human action storage unit is connected with controller.
Preferred embodiment as invention: the robot controller further includes system power management module, the system electricity
Source control module is connected with controller.
Compared with prior art, advantageous effect of the invention is: the present invention solves robot in the process of walking or holds
The scheme how to recover one's legs automatically is fallen down when row dance movement accidentally.Using on an acceleration gyro module cooperation PC
Position machine is configured.More flexible and convenient compared to traditional robot solve the problems, such as that robot is fallen down and how to have climbed.
Detailed description of the invention
Fig. 1 is that whole system constitutes figure.
Fig. 2 is that bus sensors equipment constitutes figure.
Fig. 3 is robot controller main composition figure.
Fig. 4 is robot motion schematic diagram.
Fig. 5 is that robot fall detection solves the flow chart that carries into execution a plan.
Specific embodiment
Below in conjunction with the attached drawing in inventive embodiments, the technical solution in inventive embodiments is carried out clearly and completely
Description, it is clear that described embodiment is only invention a part of the embodiment, instead of all the embodiments.Based in invention
Embodiment, every other embodiment obtained by those of ordinary skill in the art without making creative efforts,
Belong to the range of invention protection.
Fig. 1-5 is please referred to, embodiment 1: in inventive embodiments, a kind of control system of robot, including bus sensors
Equipment, robot controller and PC host computer, the PC host computer are connected with robot controller, and robot controller also connects
Connect a bus sensors equipment, the bus sensors equipment also by way of serial connection with other bus sensors equipment into
Row connection；
Bus sensors equipment with microprocessor, each bus sensors equipment have microprocessor, each bus
It is attached between sensor device by serial connection mode.Equipment room is carried out using IIC and single line serial port communication two ways
Communication.It can be with setting module communication mode in host computer.When being communicated by IIC mode, each equipment can pass through
Upper computer software sets the address of device, is accessed by address.It, can be by upper when passing through single line serial port communication mode
Machine software specifies each sensor device ID number, and equipment room is accessed by ID number.All bus sensors all ultimately lead to machine
On people's control panel.The method can allow continuous extension sensor equipment, without redesigning entire robot controller.Simultaneously
Since each sensor device has microprocessor, system effectiveness can be greatly provided, reduces the CPU of robot controller
Burden.And each sensor device of traditional robot is directly connected to controller one by one, or is integrated in robot controller.By
In without independent microprocessor and serial connection mode.It is highly detrimental to later period extension.Function limitation.And this scheme solution
It has determined problem above.Whole system composition is shown in Fig. 1, and bus sensors equipment composition is shown in Fig. 2, the main structure of robot controller
Prejudice Fig. 3.
Embodiment 2: on the basis of embodiment 1, the PC host computer of the design is set as the interaction with robot controller
Standby, PC host computer (visualized graphs software) turns TTL serial ports by USB with robot controller and is communicated or passed through TCP
It is wirelessly communicated with robot controller WIFI.Host computer can set controller relevant parameter.It simultaneously can also be with company
It is communicated in the bus sensors equipment on robot controller.Robot control panel can connect 20 servo motors.It is upper
Machine can be designed in real time to robot motion and on-line operation and preservation.Music or song can also be added to dancing simultaneously
It acts in corresponding list.Detailed process is shown in Fig. 4.
When falling down, there are two types of states for robot, and a kind of body face down, one is backs downward.Robot control
A built-in acceleration gyro module, obtains the status information of robot in real time on plate.In the corresponding machine of PC upper computer software
Device people's fall detection interface, which is clicked to open, obtains robotary.Robot control panel can will it is processed after acceleration gyroscope
Module data is sent to host computer and shows.
At this time by robot face down.It is A that host computer, which reads status information, at this time, and certain error model can be set
It encloses between for example, -10---10.So we can set the machine human body face down man of while falling acceleration gyroscope state
Information is between A-10 to A+10.And designated robot executes forward direction and recovers one's legs and act G1 at this moment.Similarly we are by machine
Downward, the information that host computer is read at this time is B, and certain error can be set, between for example, -10 to 10 at people back.That
Acceleration gyroscope state is between B-10 to B+10 when robot is fallen down at back downward.And designated robot is held at this moment
Row reversely recovers one's legs and acts G2.The status information determined and corresponding execution movement are sent to machine in host computer by us
People's controller storage unit saves.Robot such as dances at work or falls down robot in the process of walking and can touch automatically
The movement of recovering one's legs that hair is arranged before executing.Very convenient efficiently solve how robot tumble has climbed automatically in the process
Solution.
It is obvious to a person skilled in the art that invention is not limited to the details of above-mentioned exemplary embodiment, and not
In the case where the spirit or essential attributes of invention, invention can be realized in other specific forms.Therefore, no matter from which
Point from the point of view of, the present embodiments are to be considered as illustrative and not restrictive, the range of invention by appended claims and
It is not that above description limits, it is intended that all changes that come within the meaning and range of equivalency of the claims are included
In invention.Any reference signs in the claims should not be construed as limiting the involved claims.
In addition, it should be understood that although this specification is described in terms of embodiments, but not each embodiment is only wrapped
Containing an independent technical solution, this description of the specification is merely for the sake of clarity, and those skilled in the art should
It considers the specification as a whole, the technical solutions in the various embodiments may also be suitably combined, forms those skilled in the art
The other embodiments being understood that.
Claims (7)
1. a kind of control system of robot, including bus sensors equipment, robot controller and PC host computer, feature exist
In the PC host computer is connected with robot controller, and robot controller is also connected with a bus sensors equipment, this is total
Line sensor device is also attached by serial connection mode and other bus sensors equipment.
2. the control system of robot according to claim 1, which is characterized in that the bus sensors equipment includes micro-
Processor, sensor, communication unit and data processing unit, microprocessor are also respectively connected with sensor, communication unit and data
Processing unit.
3. the control system of robot according to claim 1, which is characterized in that the robot controller includes control
Device, bus sensors interface, master cpu, host computer communication interface, acceleration gyroscope and servo motor driving interface, it is described
Controller is separately connected bus sensors interface, master cpu, host computer communication interface, acceleration gyroscope and servo motor and drives
Mobile interface.
4. the control system of robot according to claim 1, which is characterized in that the PC host computer and robot control
It is connected between device by TCP or USB serial ports.
5. the control system of robot according to claim 2, which is characterized in that by logical between multiple bus sensors
Believe that unit is connected with each other.
6. the control system of robot according to claim 3, which is characterized in that the robot controller further includes machine
Device human action storage unit, the robot motion storage unit are connected with controller.
7. the control system of the robot according to claim 3 or 6, which is characterized in that the robot controller also wraps
System power management module is included, the system power management module is connected with controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811329435.5A CN109262615A (en) | 2018-11-09 | 2018-11-09 | A kind of control system of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811329435.5A CN109262615A (en) | 2018-11-09 | 2018-11-09 | A kind of control system of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109262615A true CN109262615A (en) | 2019-01-25 |
Family
ID=65192793
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811329435.5A Pending CN109262615A (en) | 2018-11-09 | 2018-11-09 | A kind of control system of robot |
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| CN (1) | CN109262615A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113443313A (en) * | 2021-07-13 | 2021-09-28 | 深圳市海柔创新科技有限公司 | Robot falling processing method and device, server and storage medium |
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| US20170165838A1 (en) * | 2015-12-09 | 2017-06-15 | Seiko Epson Corporation | Robot, controller, and robot system |
| CN205889200U (en) * | 2016-06-23 | 2017-01-18 | 深圳市哎哟不错机器人科研有限公司 | Prevent falling down robot |
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| CN113443313A (en) * | 2021-07-13 | 2021-09-28 | 深圳市海柔创新科技有限公司 | Robot falling processing method and device, server and storage medium |
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Application publication date: 20190125 |