CN208126196U - Multifunctional inspecting robot based on distributed AC servo system - Google Patents
Multifunctional inspecting robot based on distributed AC servo system Download PDFInfo
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- CN208126196U CN208126196U CN201820155629.7U CN201820155629U CN208126196U CN 208126196 U CN208126196 U CN 208126196U CN 201820155629 U CN201820155629 U CN 201820155629U CN 208126196 U CN208126196 U CN 208126196U
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Abstract
The utility model relates to robotic technology fields, more particularly to a kind of Multifunctional inspecting robot based on distributed AC servo system, including control module, cruise module, motion module, image capture module, gas detection module, soil sampling module, wireless communication transceiver module and host computer monitoring module；Control module uses MSP430G2553 single-chip microcontroller, cruise module uses RX23T5F523T5ADFM single-chip microcontroller, RX23T5F523T5ADFM single-chip microcontroller is read in real time by SCCB communication modes by CMOS camera acquired image information, and location information is transferred to MSP430G2553 single-chip microcontroller through serial communication mode.The utility model is using MSP430 processor as main control core, and using RX23T as supplementary controlled system, this distributed AC servo system reduces calculating error in data processing, increases data processing precision.
Description
Technical field
The utility model relates to robotic technology field more particularly to a kind of Multifunctional inspecting machines based on distributed AC servo system
Device people.
Background technique
Currently, the development of artificial intelligence technology has driven robot field, and intelligent inspection robot is outdoor indoors, power transformation
It stands, computer room or market have very big demand.
Existing crusing robot system is limited by hardware, software, only one main control chip, main control chip function
Consumption is big, and long-play processing will lead to the decline of the robot speed of service, and operational efficiency is lower, and finally influences entire robot
Work.
Utility model content
Purpose of the utility model is to overcome the shortcomings of the above technology, and to provide a kind of more function based on distributed AC servo system
It can crusing robot and working method.
The utility model to achieve the above object, using following technical scheme：It is a kind of based on the multi-functional of distributed AC servo system
Crusing robot, it is characterised in that：Including control module, cruise module, motion module, image capture module, gas detection mould
Block, soil sampling module, wireless communication transceiver module and host computer monitoring module；The control module uses MSP430G2553
Single-chip microcontroller is as key control unit；
The cruise module uses RX23T5F523T5ADFM single-chip microcontroller, and the RX23T5F523T5ADFM single-chip microcontroller passes through
SCCB communication modes are read in real time by CMOS camera acquired image information, are handled through binary conversion treatment and fuzzy control
Afterwards, to obtain current location information, location information is transferred to the MSP430G2553 single-chip microcontroller through serial communication mode,
The route planning information of crusing robot is obtained after being computed processing later；
The motion module uses crawler type motion structure and differential steering mode, and by the MSP430G2553 monolithic
Machine control；
Described image acquisition module uses infrared high definition network head, acquires image information in real time and passes through wireless network
Send host computer monitoring module to；
The gas detection module due to detection pm2.5, ammonia, hydrogen sulfide, air pollution gas, the data such as smog, and
Send data information to the MSP430G2553 single-chip microcontroller；
The soil sampling module is for acquiring soil information, including two steering engines and early scoop, by MSP430G2553
Single-chip microcontroller control；
The wireless communication module includes ZigBee and WI FI, and wherein ZigBee is used for RX23T5F523T5ADFM monolithic
The transmission of data is transmitted between machine and host computer monitoring module, WI FI is used for RX23T5F523T5ADFM single-chip microcontroller and host computer
The transmission of image between monitoring module；
The host computer monitoring module is monitored using PC machine.
Preferably, further include IR evading obstacle sensors, be used for monitoring robot peripheral obstacle information, and send to
MSP430G2553 single-chip microcontroller.
The utility model has the beneficial effects that:The utility model uses dual processor distributed control mode, with MSP430
Processor is as the main control core of the system, and using RX23T as supplementary controlled system, this distributed AC servo system is in data processing
Calculating error is reduced, increases data processing precision, simplifies data operation process, to reduce the negative of core processor
Load, makes control system become more safe and stable；
2. 32 RX23T5F523T5ADFM processors have a variety of peripheral hardware communication interfaces, such as SCI, RSP I, RI I
C, UART etc..The largest optimization scheme with flexibility is provided in wake-up delay and power consumption, several battery saving modes.
3. separate men from machines may be implemented in the utility model, remote operation enters complex environment operation instead of staff, one
Determine to reduce the injury coefficient to staff in degree.
4. robot motion's system and soil sampling module use PWM speed-regulating controling mode, make to control it is more accurate with it is clever
Living, speed adjusts more smooth, whole system reliable operation small by external interference.
5. using ZigBee CC2500 radio transmitting and receiving chip, working frequency range is the ISM band of 2.4GHz；It is a
Low cost, low-power consumption, high performance radio transmitting and receiving chip.With good wireless receiving sensitivity and powerful anti-interference energy
Power.
6. the man-machine boundary that the utility model host computer monitoring unit uses Vi sua l Stud i o software development close friend
Face, it can be achieved that site environment data and image/video real-time Transmission and control.
Detailed description of the invention
Fig. 1 is system hardware block diagram involved in the utility model；
Fig. 2 is system initialization routine flow chart involved in the utility model；
Fig. 3 is that gas data involved in the utility model samples subroutine flow chart；
Fig. 4 is autonomous cruise system flow block diagram involved in the utility model；
Fig. 5 is design principle flow chart involved in the utility model.
Specific embodiment
With reference to the accompanying drawing and specific embodiment of the present utility model is described in detail in preferred embodiment.As shown in Figure 1, one
Multifunctional inspecting robot of the kind based on distributed AC servo system, including：Power supply, level switch module 1, level switch module 2, level
Conversion module 3, level switch module 4, the first direct current generator, the second direct current generator, motor driving plate, robot control unit,
Gas detection cell, wireless communication transceiver module, IP Camera, router, IR evading obstacle sensors, CMOS camera,
OLED display screen and host computer composition.
Power output end is separately connected the input terminal and DC24v terminal block input terminal of level switch module 1,2；Level turns
The input terminal of the output end connection DC5v terminal block of block 1 is changed the mold, the output end connection DC12v terminal block of level switch module 2
Input terminal, the output end of the input terminal connection DC5v terminal block of level switch module 3, the input terminal connection of level switch module 4
The output end of DC5v terminal block, the power input of the output end connection RX23T5F523T5ADFM control panel of level switch module 4
End；The output end of the power input connection DC24v terminal block of first direct current generator, the second direct current generator, the first direct current generator
Control signal connects out1, out2 output end of motor driving plate, and the second DC MOTOR CONTROL input terminal connects motor driven
Out3, out4 output end of plate；The output end of motor driving plate power input connection DC24v terminal block；Control voltage input
End connection DC5v terminal block output end；The signal input part I N1/I N2/I N3/I N4 of motor driving plate is connected respectively
The output end of the P2.1/P2.2/P2.4/P2.5 of MSP430G2553 single-chip microcontroller；The power input of MSP430G2553 single-chip microcontroller
Connect DC5v terminal block output end；The power input of second wireless communication transceiver module connects RX23T5F523T5ADFM circuit
The output end of plate；
First wireless communication transceiver module power input is connected to the output end of host computer USB interface；IP Camera
Power input connect DC12v terminal block output end, the input terminal that its data output end passes through cable connection router；Road
By the output end of the power input connection level switch module 3 of device；
PM2.5 sensor, hydrogen sulfide sensor, ammonia gas sensor, smog alarm sensor, the confession of combustible gas sensor
Piezoelectric voltage is DC5v, all access terminal block DC5v output end in parallel；
The output end of PM2.5 sensor connects MSP430G2553 single-chip microcomputer input mouth P1.0；
The output end of ammonia gas sensor connects MSP430G2553 single-chip microcomputer input mouth P1.3；
The output end of hydrogen sulfide sensor connects MSP430G2553 single-chip microcomputer input mouth P1.4；
The output end of smog alarm sensor connects MSP430G2553 single-chip microcomputer input mouth P1.5；
The output end of air pollution gas detection sensor connects MSP430G2553 single-chip microcomputer input mouth P1.7；
The output end of IR evading obstacle sensors connects MSP430G2553 single-chip microcomputer input mouth P2.0；
The power supply of the power input parallel connection access RX23T5F523T5ADFM circuit board of CMOS camera, OLED display screen
Input terminal.
The port P1.1/P1.2 of MSP430G2553 circuit board is correspondingly connected with the 16/14 of RX23T5F523T5ADFM circuit board
Port；The signal input part of the output end connection RX23T5F523T5ADFM circuit board of CMOS camera；OLED display screen output
The signal input part of end connection RX23T5F523T5ADFM circuit board.
The power supply DC24v provides for rechargeable lithium battery, and the level switch module 1 is that DC24v turns DC12v module,
Level switch module 2 is that DC24v turns DC5v module, and level switch module 3 is that DC5v turns DC9v module, and level switch module 4 is
DC5v turns 3.3v module.
The MSP430G2553 single-chip microcontroller is a kind of 16 super low-power consumptions of Texas Instruments (T I), has reduced instruction
Collect the mixed-signal processor of (RI SC)；RX23T5F523T5ADFM single-chip microcontroller is the low of a kind of 32 of Rui Sa semiconductor company
Power consumption, the high-performance processor with multiple communication interface.
The gas detection cell selects high-precision meteorological sensor, acquires PM2.5, vulcanization by A/D sample mode
Hydrogen, ammonia, air pollution gas data pass through switch acquisition IR evading obstacle sensors, infrared electro smoke sensor device data.
The data of all acquisitions are transmitted to MSP430G2553 single-chip microcontroller, then by MSP430G2553 single-chip microcontroller by TTL communication mode with
The connection of RX23T5F523T5ADFM single-chip microcontroller, transceiver module is sent to host computer by wireless communication.
The soil sampling module is made of 2 steering engines, digging bucket, brackets.Steering engine control uses the control of PWM pulsewidth
Mode processed.Device power, soil sampling apptss set back, steering engine successive relay trip, complete lifting, pitching, digging, one system of recycling
Column sampling action terminates sampling.
The wireless communication transceiver module, is divided into the first radio receiving transmitting module and the second radio receiving transmitting module.First nothing
Line transceiver module is connected by USB interface with host computer, and the second wireless communication transceiver module passes through TTL communication mode and RX23T
Processor unit connection.IP Camera is connect by network interface with router, acquires CMOS camera capture by SCCB agreement
Information, OLED display screen connect by SP PCI interface with RX23T5F523T5ADFM single-chip microcontroller, and RX23T5F523T5ADFM is mono-
Piece machine first sends the data to the second radio receiving transmitting module by asynchronous receiving-transmitting mouth UART1, between the first radio receiving transmitting module
The mutual transmission that data are realized by Radio Link, in host computer real-time display relevant parameter.
The working method of Multifunctional inspecting robot based on distributed AC servo system includes the following steps in detail：
By gas detection module, it can be achieved that the detection work of pm2.5, ammonia, hydrogen sulfide, air pollution gas, smog,
By A/D sampling, switch acquisition mode, SPI communication mode, the gas data of acquisition is sent to MSP430 processor list
Member.
By CMOS camera and RX23T5F523T5ADFM single-chip microcontroller, believed using SCCB communications protocol real-time image acquisition
Breath is read the track position information that CMOS camera captures in real time, through binary conversion treatment and is obscured by the way of external interrupt
Control algolithm obtains current location information, handles eventually by MSP430G2553 single-chip microcontroller COMPREHENSIVE CALCULATING, obtains inspection machine
The route planning information of people, and then by PWM speed regulating control, corresponding pose adjustment is made according to path locus.
By IP Camera, using WI FI wireless communication technique real-time Transmission acquired image video information, and
Host computer display window directly displays.
DC24v power supply can provide power supply directly to 2 direct current generators and motor driving plate.Pass through the first level switch module
DC5v is exported, can be supplied directly to PM2.5, ammonia, hydrogen sulfide, air pollution gas detection, smog alarm, IR evading obstacle sensors
Electricity can provide power supply to MSP430G2553 single-chip microcontroller, can also provide input power for third, the 4th level switch module.It is logical
Second electrical level conversion module output DC12v is crossed, can be powered to IP Camera.It is exported by third level switch module
DC9v can power to router.DC3.3v is exported by the 4th level switch module, is RX23T5F523T5ADFM single-chip microcontroller
And CMOS camera, OLED display screen, wireless communication transceiver module 2 provide power supply.
Soil collection instruction is sent by host computer, by wireless communication transceiver module transmission, MSP430G2553 single-chip microcontroller
Two steering engine successive relay trips of soil sampling are responsible in response, complete lifting, pitching, digging, a series of sampling actions of recycling, knot
Beam sampling.
Data are sent to host computer monitoring unit by ZigBee wireless module by MSP430G2553 single-chip microcontroller, realize gas
The acquisition of volume data and real-time monitoring judgement and the real-time monitoring of live view.
Finally by host computer monitoring unit, it can be achieved that one key switching between remote manual control and autonomous cruise function；Cruise
The setting of parameter；The adjustment of body movement offset；Holder picture acquires orientation adjustment；Smog alert；The functions such as obstacle alarm.
The software realization of meteorological data collection described in above-mentioned steps：
As shown in Fig. 2, system initialization routine is only executed in system electrification once, mainly to system status register
Setting, the setting of interrupt identification and permission, the setting of house dog, timer, external crystal-controlled oscillation, capturing unit initialization, OLED
Screen display initialization, CMOS camera initialization, infrared camera initialization, I/O mouthfuls of setting and initialization etc..
After timer period interrupt service routine executes, subprogram is sampled into corresponding gas data.Such as Fig. 3
It is shown.After main program initialization, the working method and initial value of number of sampling points and timer 0 are set, opens interrupters simultaneously start timing
Device starts to sample, judges timing, and the comparison of A/D sampling and maximum value is carried out if reaching, otherwise returns to previous step,
A/D sampling is completed to start to judge whether to complete frequency in sampling, if it is not, starting timer re-starts A/D sampling, if complete
Cheng Ze is terminated by maximum value calculation virtual value, calculating, opens AD kernel, is selected the conversion of reference voltage commencing signal, is judged whether
Conversion finishes, if it is not, previous step is returned to, if so, sampling terminates.Acquired original data are removed later, are finally recycled
Execute the sampling of next round.
After initialization program, which executes, to be completed and obtain tracing signal, the program that tracks enters initialization wait state.Such as Fig. 4
It is shown.When being initialized to function, then enter Automatic Track Finding program, otherwise return and continue to execute upper level order, unlatching is adjusted after tracking
It is tracked camera with CMOS, while sending OLED display screen for the image of capture.Loop to determine capture image be black also
It is white, if it is white, then returns to upper level, otherwise records center line, enter judgement center later, is carried out according to center line
Judgement amendment carries out left and right offset adjustment or straight trip according to the location information of feedback.Agreement is sent, the data that once track are completed
Acquisition.
As shown in figure 5, described in the utility model as follows to the principle software flow of crusing robot control system：
(1) system power-on reset；
(2) system program initializes：According to initialization program, system items state and each control register are initialized；
(3) sensor initializing：According to the sequence of setting, successively execute；
(4) sensor signal is read；Acquire the gas data that each sensor is sent back to；
(5) situation is read in judgement：Continuing to read if returned without if, otherwise executing next stage order；
(6) information is handled：The gas data of sensor acquisition is handled by MSP processor unit, by wireless communication
Transceiver module is sent to host computer and does final process.
The above is only the preferred embodiment of the utility model, it is noted that for the common skill of the art
For art personnel, without departing from the principle of this utility model, several improvements and modifications can also be made, these improve and
Retouching also should be regarded as the protection scope of the utility model.
Claims (2)
1. a kind of Multifunctional inspecting robot based on distributed AC servo system, it is characterised in that：Including control module, cruise module,
Motion module, image capture module, gas detection module, soil sampling module, wireless communication transceiver module and host computer monitoring
Module；
The control module is using MSP430G2553 single-chip microcontroller as key control unit；
The cruise module uses RX23T5F523T5ADFM single-chip microcontroller, and the RX23T5F523T5ADFM single-chip microcontroller passes through SCCB
Communication modes are read in real time by CMOS camera acquired image information, after binary conversion treatment and fuzzy control processing, from
And obtain current location information, location information is transferred to the MSP430G2553 single-chip microcontroller through serial communication mode, after pass through
The route planning information of crusing robot is obtained after calculation processing；
The motion module uses crawler type motion structure and differential steering mode, and by the MSP430G2553 single-chip microcontroller control
System；
Described image acquisition module uses infrared high definition network head, acquires image information in real time and is transmitted by wireless network
Give host computer monitoring module；
The gas detection module is due to detecting pm2.5, ammonia, hydrogen sulfide, air pollution gas, smoke data, and by data
Information sends the MSP430G2553 single-chip microcontroller to；
The soil sampling module is for acquiring soil information, including two steering engines and early scoop, by MSP430G2553 monolithic
Machine control；
The wireless communication module includes ZigBee and WIFI, wherein ZigBee for RX23T5F523T5ADFM single-chip microcontroller with
The transmission of data is transmitted between the machine monitoring module of position, WIFI is for RX23T5F523T5ADFM single-chip microcontroller and host computer monitoring module
Between image transmission；
The host computer monitoring module is monitored using PC machine.
2. the Multifunctional inspecting robot according to claim 1 based on distributed AC servo system, it is characterised in that：It further include red
Outer obstacle avoidance sensor is used for monitoring robot peripheral obstacle information, and sends MSP430G2553 single-chip microcontroller to.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820155629.7U CN208126196U (en) | 2018-01-30 | 2018-01-30 | Multifunctional inspecting robot based on distributed AC servo system |
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| CN201820155629.7U CN208126196U (en) | 2018-01-30 | 2018-01-30 | Multifunctional inspecting robot based on distributed AC servo system |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108132670A (en) * | 2018-01-30 | 2018-06-08 | 天津中德应用技术大学 | Multifunctional inspecting robot and method of work based on distributed AC servo system |
| CN111862377A (en) * | 2020-06-22 | 2020-10-30 | 南通大学 | Artificial intelligence inspection robot supporting deep learning |
-
2018
- 2018-01-30 CN CN201820155629.7U patent/CN208126196U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108132670A (en) * | 2018-01-30 | 2018-06-08 | 天津中德应用技术大学 | Multifunctional inspecting robot and method of work based on distributed AC servo system |
| CN111862377A (en) * | 2020-06-22 | 2020-10-30 | 南通大学 | Artificial intelligence inspection robot supporting deep learning |
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Granted publication date: 20181120 Termination date: 20210130 |