CN102778848B - A kind of self-driven sampling system of teleoperation robot and the method for sampling - Google Patents
A kind of self-driven sampling system of teleoperation robot and the method for sampling Download PDFInfo
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Abstract
The present invention relates to the self-driven sampling system of a kind of teleoperation robot, described system is by teleoperation robot, sensing mechanism, data buffer, data processing module, signal generator, clock module, CPU module, topworks, information display module and communication module composition, sensing mechanism and topworks are arranged on teleoperation robot, data buffer, data processing module, signal generator, be connected with sensing mechanism after clock module connects successively, sensing mechanism comprises sensor and camera, sensing mechanism sampling data through communication network transmission to CPU module, the control command of CPU module through communication network transmission to topworks.Topworks is a zero-order holder.The invention discloses the method for sampling of this system simultaneously.The present invention by setting data buffer zone, data processing module, signal generator, clock module, CPU module etc., and by rationally connecting each physical equipment, realizes the self-driven sampling of teleoperation robot.Signal wiring relation is simple, and self-driven sampling implementation method is simple and easy to do, can reduce offered load and improve the operating performance of teleoperation robot, having practical application and promotional value.
Description
Technical field
The present invention relates to the self-driven sampling system of a kind of teleoperation robot and method.Belong to teleoperation robot control based on network and Sampling techniques field.
Background technology
Teleoperation robot refers to a kind of remote handling system that can be applied under the manipulation of people and complete the accurate operation of more complicated in the inaccessible environment of the mankind such as atomic energy technology, space technology, deep ocean work.In Teleoperation Systems, the state of sensing mechanism sampling teleoperation robot, and by communication network, corresponding information is transferred to CPU module, and the control signal of CPU module also can through communication network transmission to the topworks of teleoperation robot.Teleoperation robot usually will send via common network and receive data, if the sampling period of sensing mechanism is constant, then when robotary does not change or state change is little, sensing mechanism sends and repeats or the approximate signal repeated, and causes the waste of channel like this and adds offered load; And when robotary frequently changes, the data that sensing mechanism sends may far can not be satisfied the demand, and the control performance of teleoperation robot is had a negative impact.Therefore, how to realize the self-driven sampling of teleoperation robot, reduce the possibility of offered load and generation network congestion, and the performance improving teleoperation robot is a very valuable problem.
Number of patent application is 201010225437.7, denomination of invention is the patent of " telechiric device that teleoperation robot is scouted in a kind of coring ", it " carries out coring scouting by cordless communication network remote control robot, comprises CPU module, power module, order load module, station telecommunication module and information display module ".Number of patent application is 200910145179.9, name is called the patent of invention of " teleoperation robot packet loss compensating system and its implementation ", it " by making full use of idle network channel, greatly reduces the negative effect of network delay and data-bag lost and improves the interference free performance of Teleoperation Systems ".The Sampling in teleoperation robot control procedure is not considered in above two inventions.Number of patent application is 201110024869.6, the patent that denomination of invention is " a kind of sensor device and control method thereof changing sample frequency ", whether it " normally carrys out automatically to adjust the frequency acquisition of signal pickup assembly according to the information that induction installation perceives and carries out information processing ".The foundation changing sample frequency in this invention is that whether normal the information that induction installation perceives is.Number of patent application be 201110226878.3 patent of invention " disclose a kind of implementation method and the device of supporting the Bluetooth stereo of plurality of sampling rates ".Above patent does not all tackle the problem at its root.
Summary of the invention
Goal of the invention: the object of the invention is to construct a kind of self-driven sampling system to reduce the possibility of offered load and generation network congestion, and improve the operating performance of teleoperation robot, the invention provides the method for sampling of this system simultaneously.
Technical scheme: the present invention for achieving the above object, adopts following technical scheme:
The self-driven sampling system of a kind of teleoperation robot, described system is by teleoperation robot, sensing mechanism, data buffer, data processing module, signal generator, clock module, CPU module, topworks, information display module and communication module composition, sensing mechanism and topworks are arranged on teleoperation robot, data buffer, data processing module, signal generator, be connected with sensing mechanism after clock module connects successively, sensing mechanism comprises sensor and camera, sensing mechanism sampling data through communication network transmission to CPU module, the control command of CPU module through communication network transmission to topworks.
Topworks is a zero-order holder.
Communication module both comprised the signal receiving/transmission devices such as switch, also comprised communication network.Information display module is connected with CPU module, and its function is the information such as speed, direction, manipulator joint angle, teleoperation robot periphery video image of the current operation of display teleoperation robot.
A method of sampling for the self-driven sampling system of teleoperation robot, comprises the following steps
1) sensing mechanism sampled data, and count;
2) sensing mechanism sends data, and counts;
3) clock module adjusts the sampling period according to the counting of sampled data and the counting sending data.
Sensing mechanism sampled data with send the counting of data and realized by counter n, the i be arranged in clock module, when sensing mechanism sampling should be carried out data, n assignment is n+1; If sensing mechanism is just sampled and do not send data, i assignment is 0; When sensing mechanism sends a secondary data, n assignment is 0, i assignment is i+1.
The data that data buffer sends recently for storing sensing mechanism; Data processing module calculates the difference of the data stored in the data and data buffer of newly sampling, and when 2 norms of this difference are more than a (0<a<0.5), sensing mechanism sends data.
In step 3, the step in clock module adjustment sampling period is as follows:
1) after each sensing mechanism transmission or sampled data, clock module reads n, i value;
2) n, i value and built-in m (0<m<5) value compare by clock module, as n=m+1, sampling period h assignment is h+ Δ (0< Δ <0.5h) by clock module, is 0 by n assignment simultaneously; As i=m, sampling period h assignment is h-Δ by clock module, is 0 by i assignment simultaneously.
Beneficial effect: the present invention is on the basis being background with the self-driven sampling system of a kind of teleoperation robot and method, by setting data buffer zone, data processing module, signal generator, clock module, CPU module etc., and by rationally connecting each physical equipment, realize the self-driven sampling of teleoperation robot.Simple for the signal wiring relation of self-driven sampling in the present invention, self-driven sampling implementation method is simple and easy to do, can reduce offered load and improve the operating performance of teleoperation robot, having practical application and promotional value.
Accompanying drawing explanation
Fig. 1 is teleoperation robot of the present invention self-driven sampling system signal wiring graph of a relation.
Fig. 2 is self-driven sampling work process flow diagram of the present invention.
Embodiment
Below in conjunction with Figure of description, the present invention is described in further detail:
The self-driven sampling system of a kind of teleoperation robot of the present invention, is made up of teleoperation robot, sensing mechanism, data buffer, data processing module, signal generator, clock module, CPU module, topworks, information display module and communication module etc.The present invention discloses a kind of teleoperation robot self-driven method of sampling adjustment sampling period to realize the optimal utilization to channel.
The present invention carries out signal wiring according to the connected mode in accompanying drawing 1 to each device in the self-driven sampling system of teleoperation robot.For ease of the video image of the sample data such as teleoperation robot movement velocity, direction, manipulator joint angle and robot periphery, sensor and the first-class device of shooting are arranged on teleoperation robot; Meanwhile, in order to obtain more comprehensively manipulator joint angle-data and video image, multiple sensor and camera can be installed.Topworks is a zero-order holder, and its function is before receiving new control inputs, and the control signal received recently acts on teleoperation robot by this device always.
Sensing mechanism, data buffer, data processing module, signal generator and clock module connect by the mode in accompanying drawing 1, and clock module meeting feedback signal is to sensing mechanism.The data that data buffer sends recently for storing sensing mechanism; Suppose that the threshold value of 2 norms of the difference of double sampling data is a (0<a<0.5).The function of data processing module determines that sampled data is the need of being sent to CPU module, when sensing mechanism samples new data, data processing module calculates the difference of the data stored in the data and data buffer of newly sampling, when 2 norms of this difference are more than a, illustrate that the state of teleoperation robot within this sampling period there occurs larger change, this sampled data needs to be sent to CPU module, now signal generator sends a signal to sensing mechanism, the data of sampling are recently sent to CPU module, simultaneously, sensing mechanism adjusts the sampling period according to the instruction of clock module or keeps the sampling period constant, if 2 norms of this difference are not more than a, then sensing mechanism does not send the data of sampling recently, and adjusts the sampling period according to the instruction of clock module or keep the sampling period constant.
Clock module is connected with sensing mechanism, and the signal transfer direction between them is two-way.Clock module has timing, memory and comparing function, and the object of introducing clock module is the size for determining the sensing mechanism sampling period.If current sample period length is h, counter n, i assignment initial value is zero.Sensing mechanism often sampling should be carried out data, n assignment is n+1; Sensing mechanism often sends a secondary data, and n assignment is 0, i assignment is i+1; If sensing mechanism is once sampled and is not sent out, i assignment is 0.Sensing mechanism is often sampled and is sent a secondary data, and clock module all can according to the value of above criterion computing counter n, i and the magnitude relationship compared between n and m+1, and the magnitude relationship between i and m.As n=m+1, illustrate that the data of nearest m the sampling of sensing mechanism are not all sent out, illustrate that the state change in teleoperation robot nearly a period of time is less simultaneously, then clock module sends drive singal to sensing mechanism, sample period lengths is changed to h+ Δ, to reduce the possibility of offered load and generation network congestion while the length strengthening the sampling period, unison counter n assignment is zero; As i=m, illustrate that the data of nearest m the sampling of sensing mechanism are all sent out, illustrate that the state in teleoperation robot nearly a period of time changes greatly simultaneously, then clock module sends drive singal to sensing mechanism, sample period lengths is changed to h-Δ, to improve the operating performance of teleoperation robot while sending more sampled datas, unison counter i assignment is 0.Self-driven sampling work process flow diagram of the present invention is shown in Fig. 2.
The two ends of CPU module are connected with topworks with sensing mechanism respectively, and connecting media is wired or wireless communication network.CPU module both can send a control signal to teleoperation robot according to user instruction in real time, also can when receiving sensing data according to pre-designed programming automatic generation control inputs, to control the speed, direction, manipulator joint angle, orientation etc. that teleoperation robot runs.Information display module comprises information receiver and display, and this module is connected with CPU module, and its function is the information such as speed, direction, manipulator joint angle, orientation of the current operation of display teleoperation robot.
In the present invention, the feature of the self-driven sampling system of a kind of teleoperation robot and method automatically can adjust the sampling period according to the situation of change of teleoperation robot state, to reduce the possibility of offered load and generation network congestion, improve the operating performance of teleoperation robot simultaneously.The present invention is effective and rapid, hardware cost is lower and annexation simple, is convenient to realize the self-driven sampling of teleoperation robot, has practical application and promotional value.
Claims (3)
1. the self-driven sampling system of teleoperation robot, is characterized in that: described system is made up of teleoperation robot, sensing mechanism, data buffer, data processing module, signal generator, clock module, CPU module, topworks, information display module and communication module; Sensing mechanism and topworks are arranged on teleoperation robot; Be connected with sensing mechanism after data buffer, data processing module, signal generator, clock module connect successively, data transfer direction is sensing mechanism → data buffer → data processing module, and the signal transfer direction between clock module and sensing mechanism is two-way; Sensing mechanism realizes sampling, the transmission to data and counts; The data that data buffer sends recently for storing sensing mechanism; Data processing module calculates the difference of the data stored in the data and data buffer of newly sampling, and whether exceed default threshold value a according to 2 norms of this difference and determine that sampled data is the need of being sent to CPU module, if when 2 norms of the difference of the data stored in the data of new sampling and data buffer are more than a, signal generator sends a signal to sensing mechanism, and informs that sensing mechanism needs the data of sampling to be recently sent to CPU module; Clock module has timing, memory and comparing function, and adjusts the sampling period according to the counting of sampled data with the counting sending data; Sensing mechanism and data buffer, data processing module, signal generator, clock module collaborative work; Sensing mechanism comprises sensor and camera, the data of sensing mechanism sampling through communication network transmission to CPU module, the control command of CPU module through communication network transmission to topworks; Topworks is a zero-order holder, and its function is before receiving new control inputs, and the control signal received recently acts on teleoperation robot by this device always.
2., based on the self-driven sampling system of a kind of teleoperation robot according to claim 1, it is characterized in that: communication module comprises signal receiving/transmission device and switch, also comprises communication network; Information display module is connected with CPU module, and its function is the speed of display teleoperation robot current operation, direction, manipulator joint angle and teleoperation robot periphery video image information.
3., based on a method of sampling for the self-driven sampling system of a kind of teleoperation robot according to claim 1, it is characterized in that:
1) sensing mechanism realizes sampling, the transmission to data and counts; Sensing mechanism sampled data with send the counting of data and realized by counter n, the i be arranged in clock module, when sensing mechanism sampling should be carried out data, n assignment is n+1; If sensing mechanism is just sampled and do not send data, i assignment is 0; When sensing mechanism sends a secondary data, n assignment is 0, i assignment is i+1;
2) data that send recently for storing sensing mechanism of data buffer; Data processing module calculates the difference of the data stored in the data and data buffer of newly sampling, when 2 norms of this difference exceed given threshold value a, and wherein 0<a<0.5, sensing mechanism sends data;
3) clock module adjusts the sampling period according to the counting of sampled data and the counting sending data, and its step is as follows:
after each sensing mechanism transmission or sampled data, clock module reads n, i value;
n, i value and built-in m value compare by clock module, wherein 0<m<5, as n=m+1, sampling period h assignment is h+ Δ by clock module, n assignment is 0 by wherein 0< Δ <0.5h simultaneously; As i=m, sampling period h assignment is h-Δ by clock module, is 0 by i assignment simultaneously.
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| CN110114019B (en) * | 2016-12-08 | 2022-04-12 | 安托踏实公司 | Surgical system for cutting an anatomical structure according to at least one target plane |
| US11607229B2 (en) | 2016-12-08 | 2023-03-21 | Orthotaxy S.A.S. | Surgical system for cutting an anatomical structure according to at least one target plane |
| EP3551098B1 (en) | 2016-12-08 | 2024-03-20 | Orthotaxy | Surgical system for cutting an anatomical structure according to at least one target cutting plane |
| CN110226966A (en) * | 2018-05-14 | 2019-09-13 | 安托踏实公司 | For cutting the surgery system of anatomical structure according at least one objective plane |
| CN108680489B (en) * | 2018-07-10 | 2020-08-04 | 苏州赛维新机电检测技术服务有限公司 | Corrosion resistance detection system for metal fittings |
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| CN101774170A (en) * | 2010-01-29 | 2010-07-14 | 华北电力大学 | Nuclear power plant working robot and control system thereof |
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