Mobile robot motion control system based on QT human-machine interaction interface and motor servo system

A human-computer interaction interface and robot motion technology, applied in general control systems, computer control, program control, etc., can solve the problems of large robot volume, poor control performance, poor versatility, etc., to ensure the operation effect and avoid dead zone problems. , the effect of convenient debugging

Active Publication Date: 2018-11-06
HARBIN INST OF TECH
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Problems solved by technology

[0003] The purpose of the present invention is to solve the problems that currently used robots are generally too large in size, which is not conducive to integration, has poor versatility, and poor control performance, and because the overall structure is too closed, it is not conducive to debugging during failure or trial period. Provide mobile robot motion control system based on QT human-computer interaction interface and motor servo system

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  • Mobile robot motion control system based on QT human-machine interaction interface and motor servo system
  • Mobile robot motion control system based on QT human-machine interaction interface and motor servo system
  • Mobile robot motion control system based on QT human-machine interaction interface and motor servo system

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specific Embodiment approach 1

[0024] Specific implementation mode one: refer to Figures 1 to 4 Specifically illustrate the present embodiment, the mobile robot motion control system based on the QT human-computer interaction interface and the motor servo system described in the present embodiment,

[0025] like figure 1 As shown, the mobile robot has a total of four wheels, which are respectively two driving wheels on the left and right, and two universal wheels on the front and rear. Among them, the two driving wheels are respectively driven by a brushless DC motor. With the help of differential drive, the robot can turn in situ and move flexibly.

[0026] For the robot with the above two drive wheels, this embodiment adopts the following figure 2 In the control system shown, gyroscope 3, controller 4, optocoupler isolation circuit 5, upper computer 7, 2 motor feedback circuits and 2 motor drive modules 6, each motor feedback circuit includes pulse frequency multiplication circuit 1 and pulse Measur...

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Abstract

A mobile robot motion control system based on a QT human-machine interaction interface and a motor servo system relates to a mobile robot platform and solves the problem that a conventional application rotor is uneasy to integrate, poor in universality and control performance, and is uneasy to debug during a failure or trial period because of closed overall structure. A motor feedback circuit is used for acquiring the pulse signal of a driving wheel of the robot, measuring the pulse frequency of the pulse signal, and transmits the pulse frequency to a controller. A motor driving module drivesthe driving motor of the driving wheel of the robot to rotates according to a motor control signal issued by the controller. A gyroscope acquires the angular acceleration data of the mobile robot andsends the same to the controller. The controller and a host computer realize data interaction. A motor control unit in the controller is used for acquiring the current pulse frequency sent by the motor feedback circuit of the corresponding driving wheel and obtains the motor control signal by PID operation according to the current pulse frequency and a preset signal of the motor.

Description

technical field [0001] The invention belongs to a mobile robot platform, and in particular relates to a motion control system technology of a mobile robot and a human-computer interaction technology for system debugging. Background technique [0002] With the advancement of robot technology and the continuous expansion of its application fields, mobile robots, as a branch of intelligent robots, are gradually entering our lives, and have brought new impetus to the related theories of robot autonomy and intelligence. At present, mobile robot technology is increasingly becoming a research hotspot in the field of robotics. It has great application prospects in fields such as restaurant service, warehouse management, express delivery, and factory material transportation. However, the currently applied robots are generally too large in size, which is not conducive to integration, poor versatility, and poor control performance; at the same time, because the overall structure is to...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G05B19/042
CPCG05B19/0423G05B2219/25257
Inventor 张福海陶一帆袁儒鹏付宜利
Owner HARBIN INST OF TECH
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