CN105354166B - Robot and the data transmission method being applicable in - Google Patents
Robot and the data transmission method being applicable in Download PDFInfo
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- CN105354166B CN105354166B CN201510650970.0A CN201510650970A CN105354166B CN 105354166 B CN105354166 B CN 105354166B CN 201510650970 A CN201510650970 A CN 201510650970A CN 105354166 B CN105354166 B CN 105354166B
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- interface
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F2213/00—Indexing scheme relating to interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F2213/0002—Serial port, e.g. RS232C
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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Theoretical Computer Science (AREA)
- Automation & Control Theory (AREA)
- General Engineering & Computer Science (AREA)
- Manipulator (AREA)
Abstract
The data transmission method that the present invention provides a kind of robot and is applicable in.The robot includes：Control device and at least one from equipment；Wherein, the control device includes：First processing units and the first interface converting unit being connect with the first processing units serial ports；Include from equipment described in each：The second interface converting unit being connected with the first interface converting unit, the second processing unit being connected with the second interface converting unit serial ports, the storage unit being connected with the second processing unit, and at least one controlled hardware unit for being connected with the second processing unit.The present invention can solve the problems such as control device configuration work redundancy in jitter and robot caused by existing teaching robot's serial line interface connection.
Description
Technical field
The present invention relates to control field more particularly to a kind of robot and the data transmission methods being applicable in.
Background technology
With the development of electron controls technology, Robot Control Technology is carried out in each universities, middle and primary schools all different levels.
Control device in current teaching robot and between equipment, enough controls are equipped with for each student due to cannot be satisfied
Control equipment and from equipment, it is then desired to which rotation uses.In this way, result in each rotation, control device is reconfigured and from setting
It is standby, be required for student according to respectively from equipment it is specific execution reconfigure control device.It reduces student and carries out robot learning
Interest.Meanwhile control device in the prior art and between equipment use serial ports connect, extend the length of serial port data line
Degree, can lead to the unstable of signal transmission.Therefore, it is necessary to be improved to the prior art.
Invention content
The data transmission method that the embodiment of the present invention provides a kind of robot and is applicable in, for solving machine in the prior art
The problems such as control device configuration work redundancy in device people.
Based on above-mentioned purpose, the present invention provides one kind from equipment, including：At least one controlled hardware unit；
Storage unit, the driving instruction for storing each controlled hardware unit；With the storage unit and each described
Controlled hardware unit is connected and the second processing unit with third serial line interface, for based on the control signal received
Read and write the storage unit or the corresponding controlled hardware unit of driving；Wherein, the control signal includes：Believe from device address
At least one of breath, control information, reading information, write information；Wherein, include at least one drive in the control information
Dynamic instruction；Include the second interface converting unit of the 4th serial line interface and the second external interface, wherein the 4th serial line interface
It is connected with third serial line interface, the control signal for that will be received by second external interface carries out interface conversion, and leads to
It crosses the 4th serial line interface and transports to the second processing unit；And the sound for receiving the 4th serial line interface
Induction signal carries out interface conversion, and is exported by second external interface.
Preferably, the second interface converting unit includes differential converter.
Preferably, the second processing unit is connect with each controlled hardware unit by addressing system.
Preferably, the controlled hardware unit includes following at least one：Controlled engine, image processing unit, ultrasound
Execution unit.
Preferably, at least described storage unit and second processing unit are mounted on microcontroller.
Based on above-mentioned purpose, the present invention also provides a kind of robots, including：Control device, including：First processing units and
First interface converting unit；The first processing units include the first serial line interface, for being sent out by first serial line interface
Control signal is sent, and for receiving response signal by first serial line interface；Wherein, the control signal includes：From
At least one of device address information, control information, reading information, write information；Comprising for driving in the control information
At least one driving instruction from equipment；The first interface converting unit includes to be connect outside the second serial line interface and first
Mouthful, wherein first serial line interface and the second serial line interface are connected, the control for receiving second serial line interface
Signal processed carries out interface conversion, and is exported by first external interface；And for will be by outside described first
The response signal of interface carries out interface conversion, and transports to the first processing units by second serial line interface；
And it is as above any described at least one from equipment；Wherein, each second external interface from the device
It is connected with the first external interface in the control device.
Based on above-mentioned purpose, the present invention also provides a kind of data transmission methods for robot as described above, including：Institute
It states first processing units and control signal is sent by first serial line interface；The first interface converting unit is by single ended serial
The control signal be converted into the control signal of another transmission mode and exported；Connect with the first interface converting unit
The second interface converting unit connect receives the control signal of the another transmission mode and converts thereof into the control of single ended serial
Signal；The second processing unit parses the control signal that the second interface converting unit is transmitted, and is based on
Driving instruction in the control signal controls each controlled hardware unit, or based on the reading information controlled in signal or writes
Information carries out data read-write operation with the storage unit being connect.
Preferably, the second processing unit is based on the reading information or write information in the control signal, and is connect
Storage unit carries out data read-write operation：The second processing unit is based on the reading driving instruction letter in the reading information
Breath, reads all driving instruction from the storage unit connected, and by the side of the response signal comprising each driving instruction
Formula feeds back to the first processing units by the second interface converting unit and first interface converting unit, for described
One processing unit calls when executing.
Preferably, when the second processing unit does not read driving instruction, the data transmission method further includes：Institute
Second processing unit is stated to feed back to empty response signal by the second interface converting unit and first interface converting unit
The first processing units；The first processing units obtain described in each controlled hardware unit from the device driving instruction, and
Control signal comprising write information is sent to described by the first interface converting unit and second interface converting unit
Two processing units；Wherein, the write information includes all acquired driving instruction and writes flag；The second processing unit
All driving instruction in the write information are saved in connected storage unit.
As described above, the robot of the present invention and the data transmission method being applicable in, have the advantages that：By
Control device and respectively between equipment, using the external interface of long distance transmission form is easier to, existing teaching machine can be solved
Caused by the connection of people's serial line interface the problem of jitter；Meanwhile it being used from equipment and preserving driving using storage unit
The mode of instruction can be convenient for robot replacement during teaching to refer to from equipment without carrying out driving to the slave equipment after replacement again
The configuration of order, the weary mood for effectively avoiding cumbersome configuration work from being brought to student；In addition, being controlled using differential serial
Equipment and from the Long-range Data Transmission between equipment, can effectively enhance the vulnerability to jamming of signal；In addition, may include from the device
Multiple controlled hardware units, each controlled hardware unit also use addressing system to share a data-interface, effectively reduce controlled
Hardware cell is to the excessive occupancy from equipment internal interface.
Description of the drawings
To describe the technical solutions in the embodiments of the present invention more clearly, institute in being described below to the embodiment of the present invention
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example without creative efforts, can also be implemented for those of ordinary skill in the art according to the present invention
The content of example and these attached drawings obtain other attached drawings.
Fig. 1 is the block diagram of one embodiment of the robot of the present invention.
Fig. 2 is the method flow diagram of one embodiment of the data transmission method of the present invention.
Specific implementation mode
For make present invention solves the technical problem that, the technical solution that uses and the technique effect that reaches it is clearer, below
The technical solution of the embodiment of the present invention will be described in further detail in conjunction with attached drawing, it is clear that described embodiment is only
It is a part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those skilled in the art exist
The every other embodiment obtained under the premise of creative work is not made, shall fall within the protection scope of the present invention.
As shown in Figure 1, the present invention provides a kind of robot.The robot is used for teaching experiment, to excite the palm of student
Hold the interest of actual robot technology.The robot includes control device and at least one from equipment.Wherein, the control
Equipment is the electronic equipment comprising CPU.The control device can be self-control embedded device, can also be computer, mobile phone etc.
User equipment.It is described from equipment be controlled plant, hardware include but not limited to electronic drive unit steering engine, camera shooting
Machine, ultrasonic recover etc..
The control device 11 includes：First processing units 111, first interface converting unit 112.
The first processing units 111 have the first serial line interface, for sending control by first serial line interface
Signal, and for receiving response signal by first serial line interface.
Specifically, the first processing units 111 are the processing chip comprising CPU or are fpga chip etc..Described
One processing unit 111 is by external operational order or by executing internal processes excitation and at least one data from equipment 12
Interaction.
In interactive process, the first processing units 111 send out control signal by first serial line interface.
This, the control signal can include for control the control information run from equipment 12 or comprising data and write flag
Write information.Wherein, the control information includes for driving at least one driving instruction from equipment 12.For example, institute
First processing units 111 are stated according to the operational order input by user for including configuration information, send comprising the configuration information and
Write the write information of flag.
The control signal can also include for from accordingly from the reading information of the reading data of equipment 12.For example, described
One processing unit 111 is sent according to the operational order input by user for reading memory comprising the reading information for reading flag.
When the control device 11 with it is multiple be connected from equipment 12 when, the first processing units 111 are sent out described
It also include 12 address information of slave equipment that need to be sent out at first in control signal.So as to from equipment 12 according to described from 12 address of equipment
Information determines whether to handle corresponding information.
When from equipment 12 according to the various information feedback response data controlled in signal, the first processing units
111 receive the response signal for including the response data by first serial line interface, and are carried out to response data therein
Processing.Wherein, described will be follow-up according to the mode of various information feedback response data in the control signal from equipment 12
Description.
Here, first serial line interface includes but not limited to：USB interface, SPI interface, I2C interface, RS232 interface
Deng.
The first interface converting unit 112 includes the second serial line interface and the first external interface.Wherein, first string
Line interface and the second serial line interface are connected, and the control signal for receiving second serial line interface turns into line interface
It changes, and is exported by first external interface；And the response for that will be received by first external interface is believed
Number interface conversion is carried out, and the first processing units 111 is transported to by second serial line interface.
Here, the first interface converting unit 112 is mainly used for changing the biography of the control signal and response signal of dealing
Defeated mode.Preferably, the first interface converting unit 112 is differential converter.For example, first converter is comprising anti-
Present amplifier and the cascade circuit of difference amplifier.Using control signal or response signal, Neng Gouyou described in differential signal transmission
Effect extends the length of signal transmission, and reduces the external interference of transmission process.
Include from equipment 12 described in corresponding：At least one controlled hardware unit 124, storage unit 123, second processing list
Member 122, second interface converting unit 121.Wherein, the storage unit 123 and second processing unit 122 in addition it is each it is described by
Controlling hardware cell 124 and second interface converting unit 121 can be mounted on microcontroller.
Wherein, the storage unit 123 is used to store the driving instruction of each controlled hardware unit 124.Wherein, described
Driving instruction can be to be made of number, character or its combination with one another.Further include each drive in the storage unit 123
Dynamic instruction and activation bit (information for being used to describe the action that corresponding controlled hardware unit 124 can execute).The storage
Unit 123 is preserved each driving instruction, even activation bit with tabular form.
The second interface converting unit 121 includes the 4th serial line interface and the second external interface.Wherein, outside described second
Connection interface is connected with the first external interface in the first interface converting unit 112, with the serial signal of reception/transmission difference
(the i.e. described control signal and response signal).It is corresponding with the first interface converting unit 112, if the first interface is converted
Unit 112 is differential converter, then the second interface converting unit 121 is also differential converter.
The second processing unit 122 includes：The third serial line interface that is connected with the 4th serial line interface is deposited with described
Each data-interface storage unit 123 connected special purpose interface and be connected with each controlled hardware unit 124.Wherein, the number
Can be multiple according to interface, each controlled hardware unit 124 connects a data-interface.At this point, the data-interface can be
Electric level interface etc..
Preferably, the second processing unit 122 is connect with each controlled hardware unit 124 by addressing system.Example
Such as, each controlled hardware unit 124 shares a data-interface of the second processing unit 122.Each controlled hardware unit 124
Unique hardware address information is set.Then the first processing units 111 are also needed when sending control signal comprising corresponding hard
Part address information and driving instruction etc..
The controlled hardware unit 124 according to received driving instruction drive corresponding mechanical structure moved or
Person executes corresponding data processing.Its hardware includes following at least one：Controlled engine, image processing unit, ultrasound execute
Unit.
For example, the controlled hardware unit 124 is controlled engine, when the controlled hardware unit 124 receives advance
Driving instruction when, electric current that output driving wheel rotates forward.
As shown in Fig. 2, according to the structure of above-mentioned robot, the data transmission procedure of the robot is as follows：
In step s 11, the first processing units send control signal by first serial line interface.
In step s 12, the control signal of single ended serial is converted into another biography by the first interface converting unit
The control signal of defeated mode is simultaneously exported.
In the step s 21, the second interface converting unit being connect with the first interface converting unit receives described another
The control signal of transmission mode and the control signal for converting thereof into single ended serial.
In step S22, the control signal that the second processing unit transmits the second interface converting unit
It is parsed, and each controlled hardware unit is controlled based on the driving instruction in the control signal, or believed based on the control
Reading information in number or write information carry out data read-write operation with the storage unit being connect.
Wherein, the second processing unit is deposited based on reading information or write information in the control signal with what is connect
Storage unit carries out data read-write operation：Based on the reading driving instruction information in the reading information, from the storage connected
All driving instruction are read in unit, if reading the driving instruction, then follow the steps S23, conversely, executing step S24.
(being unillustrated)
In step S23, the second processing unit passes through the mode of the response signal comprising each driving instruction
The second interface converting unit and first interface converting unit feed back to the first processing units, for first processing
Unit calls when executing.
In step s 24, the second processing unit by empty response signal by the second interface converting unit and
First interface converting unit feeds back to the first processing units.
Here, the first processing units can provide configuration circle to the user based on the empty response signal received
Face, so that user will be from the driving instruction of equipment, driving instruction description information, the hardware address information etc. of each controlled hardware unit
The first processing units are supplied to by the configuration interface, then the first processing units are based on this execution step S13.
In step s 13, the first processing units obtain described in each controlled hardware unit from the device driving instruction,
And the control signal comprising write information is sent to by the first interface converting unit and second interface converting unit described
Second processing unit, to execute step S25 by the second processing unit；Wherein, the write information includes all acquired
Driving instruction and write flag.
In step s 25, all driving instruction in the write information are saved in by the second processing unit is connected
In storage unit.
Here, the another transmission mode includes but not limited to differential serial mode.
It should be noted that it should be appreciated by those skilled in the art that when the control device configures multiple drives from equipment
When dynamic instruction, can add in the control signal accordingly from device address information by way of select to obtain each from equipment
Driving instruction.Acquired each driving instruction is recycled, includes driving instruction to respectively being sent from equipment according to preset program
Control information, then executed accordingly from equipment, realize the operation of robot.
Now illustrate control device in the robot and the transmission process from signal between equipment with following examples：
The first processing units are according to the hardware input by user for each controlled hardware unit in HRP-configured slave device C1
The configuration information of address information, driving instruction and driving instruction description information, generate comprising from equipment C1 address informations, described match
Confidence ceases and writes the control signal B1 of flag, and it is defeated by first serial line interface to be sent to first interface converting unit
Go out the serial signal of difference form, and is sent to each second interface converting unit from equipment C1, C2 ... Cn connected, and by
Each second interface converting unit is converted into single-ended serial signal and is sent to connected second processing unit.Wherein, n is from setting
Standby number.
Respectively determine whether to belong to itself institute from equipment by parsing the slave equipment C1 address informations in the control signal B1
The instruction to be executed, if it is not, then being abandoned.
Confirm after receiving and parsing through the control signal B1 from equipment C1 and be consistent with Self address information, then identifies according to writing
Hardware address information, driving instruction and the driving instruction that each controlled hardware unit of form is written into storage unit for position are retouched
Information is stated, and after the completion of write operation, generates the response signal for completing flag and Self address information comprising write operation, then pass through
The second interface converting unit and first interface converting unit of itself feed back to the first processing units.
The first processing units are based on the response signal and confirm completion configuration.In the first processing units according to pre-
If program execute during, sent out comprising described from equipment C1 address informations, 1 hardware of controlled hardware cells D according to program setting
Address information, to anticlockwise driving instruction and control flag control signal.It is corresponding, second in the C1 from equipment
Processing unit is hard by the controlled hardware cells D 1 in the control signal according to the data interface protocol with each controlled hardware unit
Part address information and driving instruction to anticlockwise are sent out.Correspondingly, the controlled hardware cells D 1 is by parsing wherein
Hardware address information, output make electric current of the engine to anticlockwise.So realize the mechanically actuated from equipment C1 to anticlockwise.
In conclusion the robot of the present invention and the data transmission method that is applicable in, by control device and respectively from setting
Using the external interface for being easier to long distance transmission form between standby, existing teaching robot's serial line interface connection institute can be solved
The problem of jitter brought；Meanwhile from equipment using by storage unit come in the way of preserving driving instruction, Neng Gou
It is replaced after equipment during teaching, effectively avoids cumbersome device configuration in order to control from the process of each driving instruction of equipment.Institute
With the present invention effectively overcomes various shortcoming in the prior art and has high industrial utilization.
The above-described embodiments merely illustrate the principles and effects of the present invention, and is not intended to limit the present invention.It is any ripe
The personage for knowing this technology can all carry out modifications and changes to above-described embodiment without violating the spirit and scope of the present invention.Cause
This, institute is complete without departing from the spirit and technical ideas disclosed in the present invention by those of ordinary skill in the art such as
At all equivalent modifications or change, should by the present invention claim be covered.
Claims (9)
1. a kind of from equipment, which is characterized in that including：
At least one controlled hardware unit；
Storage unit, the driving instruction for storing each controlled hardware unit, the driving instruction can controlled device readings
It takes, and the controlled hardware unit is driven according to the driving instruction by control device；
It is connected and has the second processing list of third serial line interface with the storage unit and each controlled hardware unit
Member, for reading and writing the storage unit or the corresponding controlled hardware unit of driving based on the control signal received；Wherein, institute
Stating control signal includes：From at least one of device address information, control information, reading information, write information；Wherein, described
Control in information includes at least one driving instruction；
Include the second interface converting unit of the 4th serial line interface and the second external interface, wherein the 4th serial line interface and
Third serial line interface is connected, and the control signal for that will be received by second external interface carries out interface conversion, and passes through
4th serial line interface transports to the second processing unit；And the response signal for receiving the 4th serial line interface
Interface conversion is carried out, and is exported by second external interface.
2. according to claim 1 from equipment, which is characterized in that the second interface converting unit includes differential conversion
Device.
3. according to claim 1 from equipment, which is characterized in that the second processing unit and each controlled hardware list
Member is connected by addressing system.
4. according to claim 1 from equipment, which is characterized in that the controlled hardware unit includes following at least one：
Controlled engine, image processing unit, ultrasonic execution unit.
5. according to claim 1 from equipment, which is characterized in that at least described storage unit and the installation of second processing unit
On microcontroller.
6. a kind of robot, which is characterized in that including：
Control device, including：First processing units and first interface converting unit；
The first processing units include the first serial line interface, for sending control signal by first serial line interface, with
And for receiving response signal by first serial line interface；Wherein, the control signal includes：From device address information,
At least one of control information, read information, write information；In the control information comprising for drive it is described from equipment to
A few driving instruction；
The first interface converting unit includes the second serial line interface and the first external interface, wherein first serial line interface
It is connected with the second serial line interface, the control signal for receiving second serial line interface carries out interface conversion, and leads to
First external interface is crossed to be exported；And for the response signal received by first external interface to be connect
Mouth conversion, and the first processing units are transported to by second serial line interface；
And it is at least one from equipment as described in any in claim 1-5；
Wherein, each second external interface from the device is connected with the first external interface in the control device.
7. a kind of data transmission method for robot as claimed in claim 6, which is characterized in that including：
The first processing units are obtained by the first interface and the second interface from the driving in equipment storage unit
Instruction；
The first processing units send control signal by first serial line interface, and the control signal carries the driving
Instruction；
The control signal of single ended serial is converted into the control signal of another transmission mode by the first interface converting unit
And it is exported；
The second interface converting unit being connect with the first interface converting unit receives the control letter of the another transmission mode
Number and convert thereof into the control signal of single ended serial；
The second processing unit parses the control signal that the second interface converting unit is transmitted, and is based on institute
It states the driving instruction in control signal and controls each controlled hardware unit, or based on the reading information controlled in signal or write letter
Breath carries out data read-write operation with the storage unit being connect.
8. according to the data transmission method described in claim 7, which is characterized in that the second processing unit is based on the control
Reading information in signal processed or write information, carrying out data read-write operation with the storage unit being connect includes：
The second processing unit is read based on the reading driving instruction information in the reading information from the storage unit connected
All driving instruction are taken, and the mode of the response signal comprising each driving instruction is passed through into the second interface converting unit
The first processing units are fed back to first interface converting unit, are called when being executed for the first processing units.
9. according to the data transmission method described in claim 8, which is characterized in that when the second processing unit is not read
When driving instruction, the data transmission method further includes：
Empty response signal is passed through the second interface converting unit and first interface converting unit by the second processing unit
Feed back to the first processing units；
The first processing units obtain described in each controlled hardware unit from the device driving instruction, and write information will be included
Control signal is sent to the second processing unit by the first interface converting unit and second interface converting unit；Its
In, the write information includes all acquired driving instruction and writes flag；
All driving instruction in the write information are saved in connected storage unit by the second processing unit.
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| CN201510650970.0A CN105354166B (en) | 2015-10-10 | 2015-10-10 | Robot and the data transmission method being applicable in |
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| CN201510650970.0A CN105354166B (en) | 2015-10-10 | 2015-10-10 | Robot and the data transmission method being applicable in |
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| CN105354166B true CN105354166B (en) | 2018-08-14 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107844437A (en) * | 2016-09-21 | 2018-03-27 | 珠海格力智能装备有限公司 | Control method, addressing method, robot controller and control system |
| CN109215328A (en) * | 2018-10-25 | 2019-01-15 | 成都戴瑞斯智控科技有限公司 | A method of line transmission system and realization system configuration for model cootrol |
| CN112445745B (en) * | 2021-01-29 | 2021-05-14 | 武汉精测电子集团股份有限公司 | Device and method for long-distance signal transmission |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201274482Y (en) * | 2008-09-28 | 2009-07-15 | 福建三元达通讯股份有限公司 | High speed data transmission interface system |
| CN101673107A (en) * | 2008-09-09 | 2010-03-17 | 上海轻工业研究所有限公司 | Multi-path serial communication converter and distributed control system applied by same |
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| US8832342B2 (en) * | 2011-10-28 | 2014-09-09 | Lg Cns Co., Ltd. | Traffic communication module and method of forming the same |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101673107A (en) * | 2008-09-09 | 2010-03-17 | 上海轻工业研究所有限公司 | Multi-path serial communication converter and distributed control system applied by same |
| CN201274482Y (en) * | 2008-09-28 | 2009-07-15 | 福建三元达通讯股份有限公司 | High speed data transmission interface system |
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