CN203480308U - Autonomous wheel type mobile robot control system - Google Patents
Autonomous wheel type mobile robot control system Download PDFInfo
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- CN203480308U CN203480308U CN201320425696.3U CN201320425696U CN203480308U CN 203480308 U CN203480308 U CN 203480308U CN 201320425696 U CN201320425696 U CN 201320425696U CN 203480308 U CN203480308 U CN 203480308U
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- mobile robot
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- autonomous mobile
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- 238000004891 communication Methods 0.000 claims abstract description 9
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000002265 prevention Effects 0.000 claims 1
- 238000011217 control strategy Methods 0.000 abstract 1
- 238000000034 method Methods 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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Abstract
The utility model discloses a wheeled type mobile robot control system, which is characterized by comprising a vehicle-mounted control system and a host control system. The vehicle-mounted control system comprises a control module, a positioning module, a safety anti-collision module, a communication module, a motor-driven steering module and the like. The host control system assigns a mission to the vehicle-mounted control system in the wireless communication mode. The vehicle-mounted control system acquires the current posture data of a robot body by means of the positioning module. After that, a corresponding control input variable is figured out by means of a computer control module according to a certain control strategy. Upon receiving the control input, the motor-driven steering module carries out a given control command to realize the movement of the mobile robot. According to the technical scheme of the utility model, by means of the wheeled type mobile robot control system, not only product modules can be customized according to users' demands, but also the movement precision of the mobile robot is higher.
Description
Technical field
The utility model relates to a kind of control system, relates in particular to a kind of wheeled autonomous mobile robot control system.
Background technology
In recent years, along with the develop rapidly of the technology such as computing machine, artificial intelligence, mechano-electronic and robotization, mobile robot's research has entered a brand-new stage, and its product is also widely used in the fields such as factory, post office, hospital, family.Yet existing a lot of wheeled mobile robot product functions are single, can not be by user's request tailor-made product, especially, aspect motion control precision, can not meet some has the occasion of special requirement to precision.
Summary of the invention
The related Control of Wheeled Mobile Robots system of the utility model is comprised of vehicle control syetem and upper control system, and wherein vehicle control syetem has comprised that again control module, locating module, anticollision module, communication module and motor drive steering module.
Described control module is the core of whole Mobile Robot Control System, selects motion control card as microcontroller.
Described locating module adopts laser navigation locator meams, selects the NAV200 laser navigation positioning system of German SICK company.
Described anticollision module, for preventing in real time the generation of collision, selects the German SICK S3000 of company laser scan type area protection device as the security system of infrared laser beam.
Described communication module adopts wireless local area network technology as the means of communication of wheeled mobile robot.
Described motor drives steering module to adopt front-wheel drive to turn to scheme, is controlled separately the driving of wheeled mobile robot and is turned to respectively by a servomotor.
The wheeled autonomous mobile robot control system that the utility model provides, has following beneficial effect: (1), owing to using motion control card as microcontroller, therefore can significantly improve the kinematic accuracy of wheeled mobile robot; (2) owing to adopting modular design, user can customize the software and hardware that is applicable to oneself, strong adaptability; (3) owing to adopting the vehicle-mounted control mode separated with upper control, user can monitor and process various data at upper control end, and especially in the place of some inclement conditions, user can remote control, practical.
Accompanying drawing explanation
Fig. 1 is the system construction drawing of the utility model embodiment;
Fig. 2 is the principle schematic of laser positioning module;
Fig. 3 is the principle schematic of anticollision module.
Embodiment
Below in conjunction with drawings and Examples, the utility model is described in further detail.
As shown in Figure 1, wheeled autonomous mobile robot control system of the present utility model, comprise vehicle control syetem 1 and upper control system 2, wherein vehicle control syetem has comprised that again control module 3, motor drive steering module 4, laser guiding locating module 5, anticollision module 6 and communication module 7.
As shown in Figure 2, laser positioning module 5 of the present utility model comprises the laser head 9 being arranged on mobile apparatus human body 8 and is fixed on metope 11) on reflecting plate 10.In mobile apparatus human body 8 driving process, the laser head 9 of navigation positioning system constantly towards periphery environment carry out 360 ° of comprehensive scannings, launch sightless laser beam simultaneously, and detect the laser beam of returning by being vertically set in advance mobile robot's baffle reflection around, by measuring the geometric relationship of reflecting plate in reference frame, calculate position and the direction of laser sensor system in reference frame, provide in real time mobile robot's accurate posture information.
As shown in Figure 3, anticollision module 6 of the present utility model be arranged on mobile apparatus human body 8 before, it ceaselessly outwards launches the infrared pulse bundle with constant speed rotation, when running into objects in front, light beam will be reflected back, the mistiming that anticollision module 6 is launched between light beam and reflection ray by measurement just can calculate objects in front and its distance B, meanwhile, the residing direction θ of objects in front can be detected by the angle inductor in anticollision module 6.Once the distance B of objects in front and direction θ determined, the accurate orientation of object is also determined thereupon.Perform region comprises protected location and zone of alarm two parts.When object having been detected, enter protection zone or alarm region, anticollision module 6 will correspondingly be sent stopping signal or alerting signal.
Above-described embodiment is most preferred embodiment of the present utility model, but not in order to limit the utility model.In the situation that not deviating from the utility model principle, those of ordinary skill in the art can make various corresponding changes and distortion according to the utility model, but these corresponding change and within distortion all should belong to the claim scope under the utility model.
Claims (7)
1. wheeled autonomous mobile robot control system, comprises vehicle control syetem and upper control system; Described vehicle control syetem drives steering module to form by control module, locating module, anticollision module, communication module and motor.
2. wheeled autonomous mobile robot control system according to claim 1, is characterized in that: described control module selects motion control card as microcontroller, and inserts PC mainboard, realizes the accurate motion control to wheeled mobile robot.
3. wheeled autonomous mobile robot control system according to claim 1, it is characterized in that: described locating module adopts laser navigation locator meams, utilize the reflecting plate that is arranged on the laser head on wheeled mobile robot body and is arranged on metope to realize self-align and navigation.
4. wheeled autonomous mobile robot control system according to claim 1, is characterized in that: described anticollision module selects the security system of infrared laser beam to realize collision prevention function.
5. wheeled autonomous mobile robot control system according to claim 1, is characterized in that: described communication module adopts wireless local area network technology as communication modes.
6. wheeled autonomous mobile robot control system according to claim 1, is characterized in that: described motor drives steering module to select front-wheel drive steering mode, at front-wheel, the function that a servomotor is realized front-wheel drive and front-wheel steer is installed respectively.
7. wheeled autonomous mobile robot control system according to claim 1, is characterized in that: described upper control system is realized by a PC remote control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320425696.3U CN203480308U (en) | 2013-07-12 | 2013-07-12 | Autonomous wheel type mobile robot control system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201320425696.3U CN203480308U (en) | 2013-07-12 | 2013-07-12 | Autonomous wheel type mobile robot control system |
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| Publication Number | Publication Date |
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| CN203480308U true CN203480308U (en) | 2014-03-12 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201320425696.3U Expired - Fee Related CN203480308U (en) | 2013-07-12 | 2013-07-12 | Autonomous wheel type mobile robot control system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN104483967A (en) * | 2014-11-11 | 2015-04-01 | 浙江师范大学 | Wheeled mobile robot trace tracking control method based on energy saving consideration |
| CN107607117A (en) * | 2017-08-09 | 2018-01-19 | 华南理工大学 | A kind of robot based on laser radar builds figure navigation system and method |
| CN107688983A (en) * | 2017-07-27 | 2018-02-13 | 北京光年无限科技有限公司 | Intelligent robot custom service processing method and system based on business platform |
-
2013
- 2013-07-12 CN CN201320425696.3U patent/CN203480308U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104102222A (en) * | 2014-07-31 | 2014-10-15 | 广州大学 | Accurately positioning method for AGV (Automatic Guided Vehicle) |
| CN104102222B (en) * | 2014-07-31 | 2017-03-01 | 广州大学 | A kind of pinpoint method of AGV |
| CN104483967A (en) * | 2014-11-11 | 2015-04-01 | 浙江师范大学 | Wheeled mobile robot trace tracking control method based on energy saving consideration |
| CN107688983A (en) * | 2017-07-27 | 2018-02-13 | 北京光年无限科技有限公司 | Intelligent robot custom service processing method and system based on business platform |
| CN107607117A (en) * | 2017-08-09 | 2018-01-19 | 华南理工大学 | A kind of robot based on laser radar builds figure navigation system and method |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140312 Termination date: 20140712 |
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| EXPY | Termination of patent right or utility model |