Control device for moving robot based on blue-tooth technology
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A technology for mobile robots and control devices, which is applied in electrical program control, program control manipulators, program control in sequence/logic controllers, etc., to achieve the effects of simple peripheral circuits, fast response speed, and fast computing processing capabilities.
Inactive Publication Date: 2007-10-17
JIANGNAN UNIV
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However, infrared signals are not as suitable for mobile connections as radio signals due to their limited coverage area
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[0024] The robot adopts four-wheel omni-directional drive, adopts plate-column structure, and is divided into three layers: control board, driving board, and body chassis. 1 in Figure 1 is the core control unit DSP chip; 2 is the power supply unit, including 5V, 3.3V; 3 is the attitude sensor unit, including gyroscope and acceleration chip; 4 is the robot control board; 5 is the Bluetooth module; 6 is CPLD ; 7 is the data interaction bridge between the control board and the driving board; 8 is the driving board; 9 is the power switch tube MOSFET, a total of 4 groups of 24; 10 is the pillar; 11 is the adapter board; 12 is the robot chassis; 13 is the omnidirectional wheel , a total of 4 pieces; 14 is 8.4V lithium batteries, a total of 3 pieces; 15 is a motor bracket, which is integrated with the chassis; 16 is a brushless DC motor with a gearbox, a total of 4 pieces.
[0025] The invention mainly includes six major blocks: a power supply unit, a communication unit, a motor driv...
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Abstract
The present invention relates to a control device based on the bluetooth technology and used for a mobile robot. In the present invention, a DSP+CPLD control mode is adopted, a DSP serves as the master control chip of a robot motion platform, at the same time, a CPLD is used for the phase discrimination of the pulse signal fed back by a motor, for the signal conformity, and for the expanding of the four paths of signals generated by the DSP, so as to reduce the burden of a nuclear controller and make up the deletion thereof, thereby, the nuclear controller is mainly used for the realization of the highlevel control algorithm. The wireless communication is realized based on the bluetooth technology. The present invention mainly comprises a powder pack, a communication unit, a motor driving unit, a nuclear control unit, a CPLD unit and an attitude detecting unit. A mobile robot subsystem prepared by means of the present invention, the sampling period can be very small even in a complicated control process, the control effect is similar to a continuous control process; besides, in the run procedure, the response speed is rapid, the overshoot is small, and the stability is high; furthermore, the control effect can be further improved by combining with the signal of a multiple sensor, the program memory has no need of expanding, the periphery circuit of the nuclear unit is simple, the function of the controller is convenient to be expanded.
Description
technical field [0001] The invention belongs to a wireless remote multi-motor control device, in particular to a motor control device for a mobile robot motion platform. Background technique [0002] A mobile robot is a challenging high-tech intensive complex large system, integrating machinery, robotics, mechatronics, microprocessors, data fusion, precision instruments, real-time digital signal processing, image processing and image recognition, knowledge Engineering and expert system, decision-making, trajectory planning, self-organization and self-learning theory, multi-agent coordination and wireless communication theory and technology are integrated, generally can be divided into four parts: robot subsystem, communication subsystem, vision subsystem and decision subsystems. Collect site information through the vision subsystem and send the information to the decision-making host. The decision-making system makes decisions according to different situations of the site. ...
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