Robot interaction control system

Abstract

A robot interaction control system comprises a handheld device, a main control unit arranged on the handheld device, a CAN receiving and transmitting unit, a serial port receiving and transmitting unit and a touch screen. The main control unit is connected with the touch screen through the serial port transceiving unit; and the main control unit is also in communication connection with a CAN bus of the robot through the CAN transceiving unit. According to the utility model, through data transmission of the CAN bus, various data and robot states can be reported and issued in real time; the handheld device directly reduces the operation difficulty of production and operation and maintenance, improves the production efficiency, indirectly reduces the cost, and directly breaks away from a computer to achieve the purpose of rapidly detecting various data and states of the robot.

Description

Technical Field

[0001] This utility model relates to the field of robot technology, and in particular to a robot interactive control system. Background Technology

[0002] With the rapid development of robotics technology, robots are increasingly being used in various fields such as industry, healthcare, and services. To ensure the normal operation and efficient control of robot systems, robots need to transmit their parameter information, operating status, and fault diagnosis data in real time. This data typically includes the status information of various robot subsystems, such as battery level, motion status, sensor data, and operating parameters. To monitor and control this data, existing robot systems often rely on transmitting this information to computers or other large devices for display and analysis through graphical interfaces or specialized software.

[0003] However, existing computer-based monitoring and operating systems have significant drawbacks in some application scenarios. First, traditional computer interfaces typically require operators to be at a fixed work location, leading to inconvenience; moreover, the response speed of these interfaces is slow. Second, traditional computer terminal interfaces are usually designed to be complex, requiring operators to possess a certain level of technical expertise. For operators, especially those lacking relevant technical backgrounds, this complex interface increases the difficulty of debugging and troubleshooting, prolonging debugging time. If information reception and adjustment using computer equipment are required, network access or configuration of complex communication protocols are usually necessary, making the operation inflexible. Furthermore, when robots are in complex environments or far from the control center, traditional computer interfaces often fail to provide flexible and efficient real-time interaction.

[0004] Furthermore, existing robots primarily communicate with terminals via wireless modules, transmitting data and status information wirelessly. However, wireless communication suffers from low stability and reliability, especially in environments with strong electromagnetic interference or weak signals, potentially leading to unstable or lost data transmission. Secondly, wireless modules typically have slow transmission speeds, limiting efficient real-time data exchange, particularly when large amounts of real-time data are transmitted, where bandwidth often becomes a bottleneck. In addition, wireless communication faces high energy consumption issues; frequent data transmissions consume significant battery resources, impacting the device's battery life. Utility Model Content

[0005] The purpose of this invention is to overcome the above-mentioned shortcomings of the prior art and provide a robot interactive control system that can operate independently of a computer, is convenient and fast, reduces debugging difficulty, and has a fast response speed.

[0006] The technical solution of this utility model is: a robot interactive control system, including a handheld device, a main control unit, a CAN transceiver unit, a serial transceiver unit and a touch screen mounted on the handheld device; the main control unit is connected to the touch screen through the serial transceiver unit; the main control unit is also connected to the robot's CAN bus through the CAN transceiver unit.

[0007] Furthermore, the robot's peripheral modules communicate via a CAN bus, and all peripheral modules exchange data through their respective CAN nodes. All peripheral modules share the same pair of differential signal lines CAN_H and CAN_L, and are distinguished by different node addresses.

[0008] Furthermore, the handheld device is connected to the robot's CAN bus access interface to access the CAN bus for data transmission.

[0009] Furthermore, the main control unit is an STM series MCU.

[0010] Furthermore, the CAN transceiver unit is a CAN transceiver chip.

[0011] Furthermore, the serial transceiver unit is a serial transceiver chip.

[0012] Furthermore, the handheld device is also equipped with a charging interface and a rechargeable battery, which powers the main control unit and the touch screen through a power conversion chip.

[0013] Furthermore, the touchscreen is used to display parameter information and operating status information transmitted by the robot via the CAN bus, and to read and write parameters through the touch function of the touchscreen.

[0014] The beneficial effects of this utility model are:

[0015] (1) By using handheld devices to communicate with the robot instead of traditional fixed terminal equipment such as computers, on the one hand, operators can get rid of the complex computer interface and directly obtain the robot's data and status in real time through handheld devices. Whether on the production site, workbench, or far from the control center, operators can quickly obtain key information and perform convenient operations through handheld devices, which significantly reduces the difficulty of production and maintenance operations and improves flexibility and response speed. Moreover, intuitive operation and input can be achieved through the touch screen, enabling users to quickly and accurately select and adjust parameters. In cooperation with the main control module, click operations can be instantly recognized and converted into corresponding CAN data and transmitted to the robot. On the other hand, operators can move freely and are no longer limited by fixed computer equipment. This portability improves the efficiency of on-site maintenance and production management, indirectly reduces costs, and also enables operators to perform remote monitoring or on-site testing anytime and anywhere.

[0016] (2) Using CAN bus as the data transmission medium can realize wired communication, effectively avoid the signal interference and instability problems existing in wireless communication, and ensure high stability and high reliability of data transmission. Especially in high-noise industrial environments, CAN bus can ensure timely and accurate transmission of robot status data by relying on its anti-interference capability, which greatly improves the data reliability in the production process. It also effectively reduces the power consumption of the communication module and extends the battery life of the handheld device. On the other hand, different subsystems can exchange data effectively through CAN bus without being affected by the data transmission bottleneck of a single node.

[0017] (3) By combining handheld devices with CAN bus transmission, the advantages of both can be fully utilized to improve the overall performance and efficiency of the system. Operators can directly monitor and control various parameters of the robot in real time through handheld devices. Whether on-site or far from the control center, operators can easily obtain the robot's operating status and make operational adjustments. At the same time, the CAN bus enables efficient connection and data sharing of multiple devices, allowing handheld devices to communicate seamlessly with multiple robot systems, thereby improving the flexibility and response speed of the production line. This combination not only improves the work efficiency of operators but also reduces production and maintenance costs, making the entire production process more intelligent and convenient. Attached Figure Description

[0018] Figure 1 This is a circuit diagram of the handheld device according to an embodiment of the present invention;

[0019] Figure 2 This is a schematic diagram of the connection node of the CAN bus in an embodiment of this utility model. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] like Figure 1 As shown: A robot interactive control system includes a handheld device, a main control unit, a CAN transceiver unit, a serial transceiver unit, and a touch screen mounted on the handheld device; the main control unit is connected to the touch screen through the serial transceiver unit; the main control unit communicates with the robot's CAN bus through the CAN transceiver unit.

[0022] Specifically, in this embodiment, the handheld device can be a main body similar to a mobile phone or iPad, or other handheld devices. Using a handheld device to read and write robot parameters offers the following advantages compared to using a computer: (1) Convenience: Handheld devices are small and lightweight, offering more flexible operation, and are particularly suitable for use on-site or in confined spaces; (2) Immediacy: Operation can be performed anytime, anywhere, without relying on a fixed workstation or computer; (3) Fast Response: Handheld devices typically start quickly, reducing waiting time and improving work efficiency; (4) Intuitive Operation: Handheld devices have a touchscreen interface, making operation more intuitive and reducing learning costs. In short, this embodiment, by using a handheld device to monitor and modify robot parameters, achieves the goals of eliminating the need for a computer, convenience, reduced debugging difficulty, and lower requirements for clerical staff.

[0023] In this embodiment, the robot is preferably a wheeled robot. All parameters of the wheeled robot are transmitted via the CAN protocol, and handheld devices can be operated by attaching to the robot's CAN bus. Each robot is equipped with a CAN bus access interface. The wheeled robot has multiple peripheral modules, such as sensors and actuators. Each peripheral module is equipped with an independent MCU, responsible for managing the module's working status, data acquisition, processing, and communication with other modules. All peripheral modules exchange data through their respective CAN nodes, and the node address is used to distinguish different peripheral modules and their MCUs. All peripheral module CAN nodes (e.g., node 1, node 2... node n) share the same pair of differential signal lines CAN_H and CAN_L for communication. The two ends of CAN_H and CAN_L are connected to terminating resistors R to ensure signal integrity and prevent reflections, specifically as follows... Figure 2 As shown, the handheld device connects to the robot's CAN bus access interface, communicating with the differential signal lines CAN_H and CAN_L, thereby accessing the CAN bus for data transmission.

[0024] In this embodiment, the main control unit is an STM series MCU, specifically the STM32F407 chip. The CAN transceiver unit is a CAN transceiver chip, specifically the TAJ1050 chip. The serial transceiver unit is a serial transceiver chip. The touchscreen size is preferably 5 inches. Additionally, a charging interface is provided on the side or end of the handheld device, which contains a rechargeable battery. The rechargeable battery powers the main control unit and the touchscreen through a power conversion chip.

[0025] The working principle of this embodiment is as follows:

[0026] After initialization, the handheld device connects to the robot's CAN bus. Since the CAN bus is based on multi-point connections, multiple nodes are connected via a pair of differential signal lines (CAN_H and CAN_L). Each peripheral module has an independent CAN node, distinguished by its address. When the handheld device connects to the CAN bus, the main control unit detects the message identifier (ID) of the corresponding node to select which node to communicate with. After confirmation, the robot uses the CAN bus to transmit data, sending parameter information, operating status, and other information to the handheld device's main control unit. The main control unit then transmits this information to the touchscreen via a serial transceiver unit for display.

[0027] When operations such as reading and writing parameters need to be performed on the touchscreen of a handheld device, the main control unit detects whether a human is clicking the touchscreen. If an operation is detected, the corresponding click address is detected. Based on the correspondence between the address and ID, the operation data is sent to the robot via the CAN bus, and the robot can then respond to the operation.

[0028] In summary, this embodiment enables real-time reporting and distribution of various data and robot status via CAN bus data transmission; the handheld device directly reduces the operational difficulty of production and maintenance, improves production efficiency, and indirectly reduces costs, achieving the goal of quickly detecting various robot data and statuses without the need for a computer.

Claims

1. A robot interactive control system, characterized in that, It includes a handheld device, a main control unit, a CAN transceiver unit, a serial transceiver unit, and a touch screen mounted on the handheld device; the main control unit is connected to the touch screen through the serial transceiver unit; the main control unit also communicates with the robot's CAN bus through the CAN transceiver unit.

2. The robot interactive control system according to claim 1, characterized in that, The robot's peripheral modules communicate via a CAN bus. All peripheral modules exchange data through their respective CAN nodes, and all peripheral modules share the same pair of differential signal lines CAN_H and CAN_L, and are distinguished by different node addresses.

3. The robot interactive control system according to claim 2, characterized in that, The handheld device is connected to the robot's CAN bus access interface to access the CAN bus for data transmission.

4. The robot interaction control system according to claim 1, 2, or 3, characterized in that, The main control unit is an STM series MCU.

5. The robot interaction control system according to claim 1, 2, or 3, characterized in that, The CAN transceiver unit is a CAN transceiver chip.

6. The robot interaction control system according to claim 1, 2, or 3, characterized in that, The serial transceiver unit is a serial transceiver chip.

7. The robot interaction control system according to claim 1, 2, or 3, characterized in that, The handheld device is also equipped with a charging interface and a rechargeable battery. The rechargeable battery powers the main control unit and the touch screen through a power conversion chip.

8. The robot interactive control system according to claim 1, 2, or 3, characterized in that, The touchscreen is used to display parameter information and operating status information transmitted by the robot via the CAN bus, and to read and write parameters through the touch function of the touchscreen.

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