Summary of the invention
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of joint series mobile robot control systemsSystem, remote control system and method.
The technical solution used in the present invention is:
A kind of joint series Mobile Robot Control System, including main control module, bus and multiple joint control modules,The main control module is connect with bus, and the multiple joint control module is connected with bus；
The main control module, for analyzing data and issuing control instruction to joint control module by bus；
The joint control module, for being controlled according to each joint of the control instruction to robot.
As a kind of further improvement of joint series Mobile Robot Control System, the main control module packetInclude first microprocessor, camera, wireless communication module, key module, the first logical communication circuit, FLASH module, power supply pipeManage module, clock circuit, infrared sensor, external communication interface and gas sensor；
The first microprocessor respectively with wireless communication module, key module, the first logical communication circuit, FLASH mouldBlock, power management module, clock circuit, infrared sensor, external communication interface are connected with gas sensor, the channel radioLetter module is connect with camera, and the first logical communication circuit is connected with bus.
As a kind of further improvement of joint series Mobile Robot Control System, the joint control mouldBlock includes the second microprocessor, the second logical communication circuit and driving condition feedback module；
Second microprocessor is connected with the second logical communication circuit and driving condition feedback module respectively, and describedTwo logical communication circuits are connected with bus；
The driving condition feedback module, for feeding back the status information of joint of robot.
As a kind of further improvement of joint series Mobile Robot Control System, the joint control mouldBlock further includes having light modules, and the output end of second microprocessor and the input terminal of light modules connect.
As a kind of further improvement of joint series Mobile Robot Control System, first logic is logicalInterrogating circuit includes the first logic inverter chip and the first logic gate chip.
As a kind of further improvement of joint series Mobile Robot Control System, second logic is logicalInterrogating circuit includes the second logic inverter chip and the second logic gate chip.
Another technical solution of the present invention is:
A kind of joint series mobile robot remote control system, including host computer, binocular camera and the control is installedThe joint series mobile robot ontology of system processed；
The host computer is connected with binocular camera, and the host computer and joint series mobile robot ontology are wirelessConnection.
Another technical solution of the present invention is:
A kind of joint series mobile robot control method, comprising the following steps:
Receive the upper message from host computer；
According to the type of upper message, upper information is stored in corresponding message queue；
Preset priority and preset queue processing mode are corresponded to according to message queue, is successively taken out in message queueUpper message is handled；
According to the upper message of taking-up, which is forwarded to corresponding joint control module and handle simultaneously insteadFeedback.
As a kind of joint series mobile robot control further improvements in methods, the upper message packageInclude control message, setting message and status message.
The beneficial effects of the present invention are:
A kind of joint series Mobile Robot Control System of the present invention, remote control system and method pass through main control module and passSection control module can provide control input mode abundant for manipulator, and provide an intuitive multi-joint string for manipulatorJoin robotary feedback, to effectively improve the control precision of robot.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
With reference to Fig. 1, a kind of joint series Mobile Robot Control System of the present invention, including main control module 1,2 and of busMultiple joint control modules 3, the main control module 1 are connect with bus 2, the bus 2 respectively with multiple 3 phases of joint control moduleConnection；
The main control module 1, for analyzing data and issuing control instruction to joint control module 3 by bus 2；
The joint control module 3, for being controlled according to each joint of the control instruction to robot.
Be further used as preferred embodiment, the main control module 1 include first microprocessor 101, camera 102,Wireless communication module 103, key module 104, the first logical communication circuit 105, FLASH module 106, power management module 107,Clock circuit 108, infrared sensor 109, external communication interface 110 and gas sensor 111；
The first microprocessor 101 respectively with wireless communication module 103, key module 104, the first logical communication circuit105, FLASH module 106, power management module 107, clock circuit 108, infrared sensor 109,110 and of external communication interfaceGas sensor 111 is connected, and the wireless communication module 103 is connect with camera 102, the first logical communication circuit105 are connected with bus 2.
Wherein, the first microprocessor 101 for handle wireless communication module 103 from user it is received instruction, pass throughFirst logical communication circuit 105 controls joint control module 3, handles the pass that the first logical communication circuit 105 receivesSave 3 status information of control module, the information of the processing detection feedback of infrared sensor 109, the detection feedback of processing gas sensor 111Information；The electric power management circuit is used to provide power supply to all parts module on main control module 1；The clock circuit108 for providing accurately clock to first microprocessor 101；The wireless communication module 103 is for user and main control module 1Communication and to user return camera 102 video image；109 module of infrared sensor is for detecting robot and outerThe distance between portion's barrier；The gas sensor 111 can be the sensor of the harmful gas concentrations such as detection carbon monoxide；The external communication interface 110 is the physical interface of main control module 1 and joint control module 3.
It is further used as preferred embodiment, the joint control module 3 is patrolled including the second microprocessor 301, secondCollect communicating circuit 302 and driving condition feedback module 303；
Second microprocessor 301 is connected with the second logical communication circuit 302 and driving condition feedback module 303 respectivelyIt connects, the second logical communication circuit 302 is connected with bus 2；
The driving condition feedback module 303, for feeding back the status information of joint of robot.
It is further used as preferred embodiment, the joint control module 3 further includes having light modules 304, and describedThe output end of two microprocessors 301 is connect with the input terminal of light modules 304.
It is further used as preferred embodiment, the first logical communication circuit 105 includes the first logic inverter chipWith the first logic gate chip.
It is further used as preferred embodiment, the second logical communication circuit 302 includes the second logic inverter chipWith the second logic gate chip.
With reference to Fig. 2, the function of the first logical communication circuit 105 and the second logical communication circuit 302 is micro- by firstThe data line that sends and receivees of processor 101 or the second microprocessor 301 is merged into a data line, allows entire joint seriesMobile Robot Control System only needs single line that can realize the communication between joint module and robot main control module 1,Great convenience is brought for robot wiring.The first logical communication circuit 105 and the second logical communication circuit 302 are equal in the present embodimentIt is made of SN74AHC1G04DBV chip U1 and 74HC126D chip U2 and several resistance.
There are 5 pins on SN74AHC1G04DBV logic inverter chip, is that the enabled pin of connection, 3 feet are patrolled inside 2 feet respectivelyCollect input pin, 4 foot power ground pins, 5 foot power supply power supply pins, 1 foot logic output pin；The function of SN74AHC1G04DBVActually a NOT gate, under the premise of 2 feet inside connects enabled pin floating, when 3 foot logic input pins are high level, thenThe output of 1 foot logic output pin is low level；When 3 foot logic input pins are low level, then 1 foot logic output pin exportsFor high level.
74HC126D logic gate chip is four groups of tri-state gate integrated circuits, there is 14 pins, respectively 8 foot tri-state gates oneEnabled pin is exported, 9 foot tri-state gate, one input pin, 10 foot tri-state gate, one output pin, the output of 11 foot tri-state gates two is enabled to drawFoot, 12 foot tri-state gate, two input pin, 13 foot tri-state gate, two output pin, 14 foot power ground pins, 15 foot power supply power supply pins,16 foot tri-state gates four export enabled pin, 17 foot tri-state gate, four input pin, 18 foot tri-state gate, four output pin, 19 foot tri-state gatesThree export enabled pin, 6 foot tri-state gate, three input pin, 7 foot tri-state gate, three output pin.
When it is high level that 8 foot tri-state gates one, which export enabled pin, the logic level etc. of 10 foot tri-state gate, one output pinIn the logic level of 9 foot tri-state gate, one input pin；When it is low level that 8 foot tri-state gates one, which export enabled pin, no matter 9 feet threeUnder which kind of state of the logic level of one input pin of state door, the output of 10 foot tri-state gate, one output pin is all high-impedance state；
When it is high level that 11 foot tri-state gates two, which export enabled pin, the logic level etc. of 13 foot tri-state gate, two output pinIn the logic level of 12 foot tri-state gate, two input pin；When it is low level that 11 foot tri-state gates two, which export enabled pin, no matter 12Under which kind of state of the logic level of two input pin of foot tri-state gate, the output of 13 foot tri-state gate, two output pin is all high-impedance state；
When it is high level that 19 foot tri-state gates three, which export enabled pin, the logic level of three output pin 6 of tri-state gate is equal toThe logic level of three input pin 7 of tri-state gate；When it is low level that 19 foot tri-state gates three, which export enabled pin, no matter 6 foot tri-statesUnder which kind of state of the logic level of three input pins of door, the output of 7 foot tri-state gate, three output pin is all high-impedance state；
When it is high level that 16 foot tri-state gates four, which export enabled pin, the logic level of four output pin 17 of tri-state gate is equal toThe logic level of four input pin 18 of tri-state gate；When it is low level that 16 foot tri-state gates four, which export enabled pin, no matter 17 feet threeUnder which kind of state of the logic level of four input pin of state door, the output of 18 foot tri-state gate, four output pin is all high-impedance state；
Enabled pin floating is connected inside 2 feet in the SN74AHC1G04DBV chip of logic gate telecommunication circuit；4 foot power supplysGround pin is connect with power supply cathode；5 foot power supply power supply pins are connect with power supply；3 foot logic input pins and power supplyOne one kilohm of resistance is connected between power supply；9 foot tri-state gates one input of 3 foot logic input pins, 74HC126D chipPin, 11 foot tri-state gates two export enabled pin and 18 foot tri-state gate, four output pin links together；1 foot logic output pinEnabled pin is exported with 8 foot tri-state gates one of 74HC126D chip to connect；
10 foot tri-state gate, one output pin of the 74HC126D logic gate chip of logic gate telecommunication circuit and power supply itBetween one one kilohm of resistance of connection；10 foot tri-state gate, one output pin is connect with 12 foot tri-state gate, two input pin, sectionPoint is used as 22 external communication interfaces 110；13 foot tri-state gate, two output pin is connect with micro controller series receiving end；14 foot power supplysGround pin is connect with power supply cathode；The connection of 15 foot power supply power supply pin powered positive poles；The output of 16 foot tri-state gates four makesThe resistance of a ten dry ohms can be connected between pin and power supply anode；17 foot tri-state gate, four input pin and microcontrollerSerial ports transmitting terminal connection；19 foot tri-state gates three export enabled pin, 6 foot tri-state gate, three input pin, the output of 7 foot tri-state gates threePin is hanging.
With reference to Fig. 3, a kind of joint series mobile robot remote control system of the present invention, including host computer 4, binocular camera5 and the joint series mobile robot ontology 6 of the control system is installed；
The host computer 4 is connected with binocular camera 5, the host computer 4 and joint series mobile robot ontology 6It is wirelessly connected.
In the present embodiment, the host computer 4 is common laptop or desktop computer, but must have can connect it is wirelessThe function of local area network；Binocular camera 5 is connect by usb line with host computer 4；Manipulator's both hands are as binocular camera 5When area just above, binocular camera 5 can identify the gesture of manipulator and be shown on 4 screen of host computer；Manipulator can be withThe input of manipulation joint series robot control instruction is carried out by the mouse of host computer 4, keyboard or binocular camera 5；OnPosition machine 4 and joint series robot body carry out data interaction by wireless communication；The control that host computer 4 can input manipulatorSystem instruction is sent to the execution of joint series robot body；Joint series robot body can be by joint series machineThe status information of human body is sent to 4 real-time display of host computer；Host computer 4 can be according to the pass of joint series robot bodySection information carries out one to one three-dimensionalreconstruction and shows.
With reference to Fig. 4~Fig. 6, a kind of joint series mobile robot control method is present embodiments provided, including followingStep:
Receive the upper message from host computer 4；
According to the type of upper message, upper information is stored in corresponding message queue；
Preset priority and preset queue processing mode are corresponded to according to message queue, is successively taken out in message queueUpper message is handled；
According to the upper message of taking-up, which is forwarded to corresponding joint control module 3 and handle simultaneously insteadFeedback.
It is further used as preferred embodiment, the upper message includes control message, message and status message is arranged,Then message queue is divided into control message queue, setting message queue and status message queue in the present embodiment.
In the present embodiment, highest priority is control message, secondly for setting message, it is minimum be status message；It is presetQueue processing mode is the mode of first in first out.When handling message, judged whether control message queue is empty before this, if controllingMessage queue is not then to take out the control message fallen in lines at first from control message queue and handled, according to the control for skyMessage processed judges whether to need to be communicated with other joint control modules, if desired communicates, which is forwarded to phaseThe joint control module answered, directly handles the control message if not needing, is fed back after treatment to host computer,And the control message is deleted from control message queue.
If control message queue is sky, judge to be arranged whether message queue is empty, if not then from setting message queueThe middle setting message fallen in lines at first of taking out is handled, and judges whether to need and other joint control modules according to the setting messageIt is communicated, is if desired communicated, which is forwarded to corresponding joint control module, directly to this if not needingSetting message is handled, and is fed back after treatment to host computer, and the setting message is deleted from setting message queue.
If it is sky that message queue, which is arranged, judge whether status message queue is sky, if not then from status message queueThe middle status message fallen in lines at first that takes out is handled, and judges whether to need and other joint control modules according to the status messageIt is communicated, is if desired communicated, which is forwarded to corresponding joint control module, directly to this if not needingStatus message is handled, and is fed back after treatment to host computer, and the status message is deleted from status message queue.
From the foregoing it can be that a kind of joint series Mobile Robot Control System of the present invention, remote control system and methodControl input mode abundant can be provided for manipulator by main control module 1 and joint control module 3, and is provided for manipulatorOne intuitive joint series robotary feedback, to effectively improve the control precision of robot.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation aboveExample, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replaceIt changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.