CN106737684A - A kind of control system for modular robot based on LAN - Google Patents
A kind of control system for modular robot based on LAN Download PDFInfo
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- CN106737684A CN106737684A CN201710022412.9A CN201710022412A CN106737684A CN 106737684 A CN106737684 A CN 106737684A CN 201710022412 A CN201710022412 A CN 201710022412A CN 106737684 A CN106737684 A CN 106737684A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
Abstract
The present invention is a kind of control system for modular robot based on LAN, belongs to and automatically controls and robot field.Control system of the present invention includes main control module, extended function module, LAN and remote control module.Router is installed on robot body, LAN is set up, main control module, each extended function module and remote control module are carried out data transmission by LAN.Remote control module sends instructions to main control module and extended function module by LAN, main control module parsing master control instruction, the division of teaching contents that executable master control is instructed is instructed into priority accordingly, receive at the same time under different executable master control instructions, the instruction of highest priority is only carried out, robotic movement is determined.The present invention is adapted to the robot system of existing sophisticated functions, and realization can arbitrarily change the functional module and sensor assembly of robot, without destroying original robot system, substantially increase the versatility and module replaceability of system.
Description
Technical field
The invention belongs to automatically control and robot field, and in particular to one kind can be based on ROS (Robot
Operating System, robot operating system) control system for modular robot that uses on computer.
Background technology
Robot be one integrate environment sensing, dynamic decision and planning, Behavior- Based control and perform etc. it is multi-functional
Simulation, can automatically or semi-automatically perform task.The functional requirement of current robot constantly expands, single controller
Controlling the operation of whole robot becomes all the more difficult, and multiple module cooperativeization control robots can greatly improve the control of robot
Performance processed.The wireless network module of current most control system focuses on that multirobot control rather than individual machine people's is each
Use between individual function, the involved ROS systems for using, more is wireless communication, controls motion of multi-robots.It is existing
There is the modular control system of most of list robot to be typically found at a kind of wired bus communication in form, for example CAN is total
Line, causes module to can be only installed on robot body；Secondly, if it is desired to robot remote control, modules data
By a wireless module, and modules data must be unified to send, greatly reduce the use of modules data
Efficiency and real-time.
The content of the invention
It is an object of the invention to provide a kind of control system for modular robot based on LAN, realize any amount
The controller based on ROS operating systems a kind of overall robot be created as by wired or wireless local net mode control
System, under this systems, can also form the modularity control of various local area network structures.The present invention can be used for wheeled robot,
The common multi-function robot such as legged type robot.
Control system for modular robot based on LAN of the present invention include main control module, extended function module,
LAN and remote control module.Router is installed on robot body, its LAN is set up, data in LAN are realized
Transmission.Main control module, each extended function module and remote control module are carried out data transmission by LAN.
Main control module is installed on robot body, is connected with router by way of wired netting twine.Installed in robot
Extended function module on body, is connected by way of wired netting twine with router.The expansion on robot body is not resided at
Exhibition functional module, is connected in LAN by wireless network.Remote control module crosses wireless network and is connected to LAN.
The remote control module sends master control and instructs to main control module by LAN, sends control instruction and gives extension work(
Can module；The extended function module parsing control instruction simultaneously carries out corresponding expanded function computing, produces real-time master control to refer to
Order is sent to main control module, or produces real-time control instruction to be sent to other extended function modules；The main control module parsing
Master control is instructed, and the instruction that cannot currently perform is given up and error code is returned, the division of teaching contents that executable master control is instructed
Corresponding instruction priority, receives under different executable master control instructions at the same time, only carries out the instruction of highest priority, so that
Give up other instructions.
Relative to prior art, advantages and positive effects of the present invention are：
(1) thought of the present invention based on LAN, changes relatively simple floor-washing robot system, is adapted to existing sophisticated functions
Robot system.Under basic boom based on LAN, can arbitrarily change the functional module and sensor assembly of robot,
Without destroying original robot system, the versatility and module replaceability of system are substantially increased.
(2) thought of the present invention based on LAN, the connected mode of cable network has been used in modules, is greatly improved
Communication efficiency and stability between modules.Due to the router for using, it is ensured that remote control terminal wireless network
The ability of stability and more telecommunication.
(3) thought of the present invention based on LAN, can set up between different modules according to the demand of robot manipulating task
Structural framing, it is adaptable to a greater variety of robots, to can preferably coordinate between the modules of multi-function robot
Operation.
(4) bottom used in the present invention is all the existing ROS systems increased income, and transplantability is good.
(5) for different robots, as long as its system goes design according to framework of the present invention, even if implementing not
Together, corresponding configuration need to only be created, you can control, therefore the present invention are gone to realize robot control system using same client
There is provided a solution.
Brief description of the drawings
Fig. 1 is an instance graph of the hardware connection of control system for modular robot of the present invention based on LAN；
Fig. 2 is the software function module communication scheme of control system for modular robot of the present invention based on LAN；
Fig. 3 is the control flow schematic diagram of each module that the embodiment of the present invention is provided；
Fig. 4 is the layering host-guest architecture schematic diagram of each module that the embodiment of the present invention is provided；
Fig. 5 is the hub-and-spoke configuration schematic diagram of each module that the embodiment of the present invention is provided；
Fig. 6 is the compound hierarchy schematic diagram of each module that the embodiment of the present invention is provided；
Fig. 7 is the main program block schematic illustration for being particularly applicable in Hexapod Robot that institute's embodiment of the present invention is provided.
Specific embodiment
Illustrate the realization of technical solution of the present invention with reference to the accompanying drawings and examples.
In a kind of control system for modular robot based on LAN that the embodiment of the present invention is realized, all of control panel
The operating system for using is Ubuntu12.04 versions, and system is the ROS versions based on Hydro, IDE used
It is QT4.The described control system for modular robot based on LAN includes main control module, extended function module, LAN
And remote control module.If extended function module has N number of, N is positive integer.
As shown in figure 1, being provided with router on robot body, for setting up LAN, number in LAN is realized
According to transmission.As shown in Fig. 2 main control module, N number of extended function module and remote control module are communicated by LAN.
Main control module is located at robot body, and the circuit board of main control module is connected by wired netting twine with router.Master control
Module runs ROS system kernels and master control program.When extended function module is located at robot body, the electricity of extended function module
Road plate is connected by wired netting twine with router.Router is communicated by wireless network with remote control module.Positioned at robot
The extended function module of body, it is possible to achieve be a kind of specific task, such as be navigation positioning module, gesture identification mould
Block, human-computer interaction function etc..Extended function module do not reside at robot it is local when, LAN is connected to by wireless network
It is interior.Extended function module can be a kind of algorithm for realizing certain function or computing, e.g. robot stabilized nargin computing
Module, the high in the clouds computing of big data, optimized control module etc., robot work can carry out different extensions according to functional requirement
The use of functional module, realizes the control campaign of robot.
In main control module, the gateway for running ROS kernels and LAN is main control module, it is ensured that whole LAN
ROS systems and communication mechanism normally run.Main control module parsing master control instruction, coordinates each extended function module finally to determine
The actual motion of robot, controlled motor or steering wheel are moved, and are fulfiled assignment.Main control module mainly has order analysis mould
Block, main program performing module and state release module.Order analysis module is parsed just for master control instruction in LAN, is sentenced
It is disconnected whether to perform, and implementing result is returned, order analysis module is the receiving instruction of interrupt in main program.Main journey
The computing of the main positive and negative solution of kinematics that robot is carried out according to master control instruction of sequence performing module, robot fuselage mass motion
Controlling planning, sends the control instruction of motor or steering wheel, judges the basic functions such as robotary.State release module mainly will
Each state of robot is sent by way of broadcast, data parameters and robot of each state including robot
Error state data, shares robotary data in LAN.Robot body obtains robot by institute's set sensor
Body and environmental information.Main program performing module and state release module are real time execution.Robot can carry camera, Mike
Wind, barometer, altimeter, thermometer etc. gather environmental information, carry GPS, IMU (inertial navigation unit), accelerometer etc. and obtain
Take robot body each status information.Main control module parsing master control instruction, the instruction that cannot currently perform is given up and returned
Error code is returned, the division of teaching contents that executable master control is instructed is instructed into priority accordingly, receive what difference can perform at the same time
Under master control instruction, the instruction of highest priority is only carried out, so as to give up other instructions.
Extended function module can realize the autgmentability functional requirement of robot, can be mounted directly by wired mode
On robot body, it is also possible to wirelessly remote control computing, for multi-function robot, it can be navigation
The functions such as positioning function, human-computer interaction function, optimization algorithm function, adaptive algorithm.Its main stateful receiver module, life
Make analysis module, main program performing module, command issue module, and state release module.State receiver module primary recipient
Robot body and the state of other extended function module computings, in order to the computing of this extended function module；Order analysis mould
As long as block is parsed for LAN is interior to this module control instruction, and analyses whether to perform；Main program performs mould
The main function computing being extended to robot according to instruction of block, and produce real-time master control to instruct or other expanded modes
The control instruction of block；Control instruction of the command issue module mainly by the real-time generation for producing is sent by LAN；Shape
State release module is mainly sent the function operation result and state of robot by way of broadcast.
The main stateful receiver module of remote control module, analog simulation module, main program performing module, order issue mould
Block, human-computer interaction module.State receiver module primary recipient machine human body and the state of each extended function module, including it
Wrong status information, in order to show；Analog simulation module passes through the data for receiving, can be imitative by the RVIZ of ROS
True module carries out real simulation or virtual emulation, can have to the 3D states of robot in remote port and more clearly indicate；
The number order and display that main program performing module is mainly received to human-computer interaction module are processed, and produce real-time master control to refer to
Order or the control instruction of expanded function；The behavior command of human-computer interaction module primary recipient people, relatively simple ground mode is exactly
Common button control interface；Command issue module mainly sends out the real-time master control instruction for producing or control instruction
Go.
As shown in figure 3, order analysis module, shape involved by main control module, extended function module and remote control module
Flow in state receiver module, main program performing module, command issue module, state release module.Wherein main control module, extension
Order analysis module in functional module and remote control module is single interrupt routine, is divided for all of instruction
Analysis parsing finally draws an executable instruction.State receiver module in extended function module and remote control module is
Single interrupt routine, is stored in global variable for all of state that receives, and prepares to be used to main program performing module.Extension
Main program performing module, command issue module and state release module in functional module are order execution, most right in such as Fig. 3
Side figure, after the operation of main program performing module calculates result, order and state is issued for other modules.The master of main control module
Program execution module and state release module are order execution, and flow is respective modules in the rightmost side figure in Fig. 3.Remote control
The main program performing module and command issue module of module are performed for order, and flow is respective modules in the rightmost side figure in Fig. 3.
LAN can be set up using main control module and router two ways.LAN is being set up using main control module
Under the mode of module, it is possible to use the wireless network card of main control module sets up focus and main control module wired network interface foundation office in itself
Domain net.The LAN that this mode is set up by the influence such as main control module power and interface due to that can only be had an extended function module
Using wired connection, and need not increase LAN module foundation equipment, simple possible, be adapted in this way it is small-sized simultaneously
And the simple robot of function.For the mode using wireless network card, it is necessary to the LAN of wired connection is created as into wireless network
Block the subnet of the wireless network for being formed, and need for the Searching I P address of network to include two IP address of network, be embodied
Scheme needs that the DNS of wired network is set up to the IP address of wireless network card, and wireless network card and cable network on master control borad
IP must be differed.Under the mode for setting up LAN module using router, main control module can be connected in route and built
Vertical LAN, due to the power and the ability of interface that route, the wireless connection of remote control terminal is more stable in this manner,
The functional module that can be accessed can be with more, therefore this method is more suitable for large-scale and complicated robot.In LAN
Modules there is unique IP address, the instruction that can be specified using IP address in communication process is sent.In tool
, it is necessary to the DNS of route to be established as the IP address of the ROS of master control operation when body is implemented.
The characteristics of present invention is based on function of local area network module, can according to the actual requirements form various physical topological structures.
For example with layering host-guest architecture, hub-and-spoke configuration, compound hierarchy etc..
As shown in figure 4, be layering host-guest architecture, according to functional requirement, can be from the remote control module on upper strata through undue
Each extended function module of layer finally controls main control module.In this structure, the extended function module of the superiors is by wireless
Remote control module is connected to, undermost extended function module is connected by cable network with main control module, adjacent levels
Extended function module connected by wired netting twine.Each extended function module definite functions, every layer of extended function module can
By the state of the extended function module of lower floor, to carry out wrong identification, multilayer error detection mechanism is formed, can effectively carried
The success rate that height is performed.Because each extended function module of robot body is to be wiredly connected to LAN, so transmission is held
Error rate bottom, it is adaptable in more important robot security's operation.
As shown in figure 5, being hub-and-spoke configuration, each extended function module and main control module are all connected by wireless network respectively
To remote control module, can simultaneously be run using multiple extended function modules simultaneously, substantially increase operational efficiency, Neng Gougeng
Coordinate the work of modules well, realize the running of maximizing the benefits, and an extended function module breaks down not
The work of whole robot can be influenceed.In such a mode, the complicated algorithm of robot can use multiple chips computings simultaneously,
Operation efficiency can be greatly improved, this structure is suitable for high efficiency demand or the complicated robot of algorithm.
As shown in fig. 6, being compound hierarchy, extended function module uses hierarchy, the expanded function mould of the superiors
Block is connected by cable network by being wirelessly connected to remote control module, undermost extended function module with main control module,
Extended function module positioned at the adjacent levels of robot body is connected by wired netting twine, simultaneously for require efficiently fortune
Capable extended function module, remote control module is connected to by wireless network.This structure had both remained the steady of hierarchy
It is qualitative, modules can be cooperateed with to realize relatively efficiently running again, in compound hierarchy, each extended function module
Algorithm writes complex, but communication module need not change, and error checking is more rigorous, and this structure is more suitable for be had
Complex function and with the robot for needing high efficiency.
In control system for modular robot based on LAN of the present invention, due to each extended function module and
Main control module is all wired or is wirelessly directly accessed LAN, it is possible to realize modular group of robot system
Close and split, it is only necessary to programmed logic is modified and just can add or eliminate under the system for not changing original robot
Some functional modules, the substitutability of the functional module of the robot for greatly improving.Because the status data of modules is also
The mode of broadcast is sent in LAN, so improve the sharing of information, it is ensured that modules can be obtained mutually to be needed
The information asked, without increasing excessive communication protocol.
In control system for modular robot based on LAN of the present invention, the operating system that main control module is used
It is the ROS operating systems under Ubuntu, because the increasing income property and portability of ROS are good, underlay communication uses network interface to communicate,
The service of the ROS that communication layers are used and message function, it is possible to achieve the communication requirement required for various, without carrying out communication bottom again
The design and programming of layer.Communication mode both can be the data flow of the forms of broadcasting, such as issue the shape in each joint of robot
State, it is not necessary to specifically communicated again between specific module, shares a broadcast message, substantially increases making for information
Use efficiency；Can also be it is one-to-one between specific communications, than the certain operations function if desired for robot, it is ensured that data
Security.Can be using page programmed environments such as QT under ROS systems, remote control module can be designed according to demand, complete
Required function can be customized entirely.
By control system of the present invention in Hexapod Robot, according to system framework of the present invention, establish multiple
Close physical topological structure of the hierarchy as Hexapod Robot.In system with Hexapod Robot as example, mainly there are three pieces
Single board computer composition, respectively main control module, navigation positioning module and remote control module.Main control module and navigation positioning module are pacified
Loaded in robot, by being connected through a wired connection, remote control terminal is by wireless and local for navigation positioning module and main control module
Net is connected.Navigation positioning module also passes through wireless connection such as LAN.The framework of whole control system is as shown in Figure 7.
In system with Hexapod Robot as example, the status message of main control module is defined as MainState, its content bag
Include main control state parameter, gait parameter, arm control parameter, joint angle and body parameters.Main control module by control instruction
MainControl is defined as, its content includes control instruction, gait instruction, arm instruction.The status message of navigation positioning module
SlamState is defined as, its content includes the elements of a fix of Hexapod Robot and the map maps of surrounding；Navigator fix it is controlled
Instruction definition processed is SlamControl, and its content includes the parameter of the target location of Camera calibration and arm operation.
In system with Hexapod Robot as example, the MainControl that main control module passes through to obtain is instructed and robot
Inertial navigation sensors, the gait and arm operating function of planning robot carry out the anti-solution computing of robot, draw machine
Each joint angles of people, the instruction for sending control steering wheel causes robot motion, afterwards each joint states of distribution of machine people
With the position and posture of robot body.Binocular vision and inertial navigation sensors that navigation positioning module passes through robot body,
Local map is set up, is planned by positioning and road strength and is calculated the discretization data that fuselage is moved, be sent to main control module, passed through
The state and main control module of main control module are interacted.Remote control terminal, by receiving MainState and SlamState realities
When monitor, and mixing control can be carried out according to remote control requirements.
For different robots, as long as its system goes design according to framework of the present invention, even if implementing difference,
Corresponding configuration need to only be created, you can control, therefore the present invention are gone to realize that robot control system is carried using same client
A solution is supplied.
Claims (6)
1. a kind of control system for modular robot based on LAN, it is characterised in that including main control module, expanded function mould
Block, LAN and remote control module；Router is installed on robot body, LAN is set up, data in LAN are realized
Transmission；Main control module is installed on robot body, is connected with router by wired netting twine；Expansion on robot body
Exhibition functional module, is connected by wired netting twine with router；The extended function module on robot body is not resided at, by nothing
Gauze network is connected to LAN；Remote control module crosses wireless network and is connected to LAN；
Described main control module operation ROS kernels, the gateway of LAN is main control module；The remote control module passes through local
Net sends master control and instructs to main control module, sends control instruction to extended function module；The extended function module parsing control
Corresponding expanded function computing is instructed and carried out, produces real-time master control instruction to be sent to main control module, or produce control in real time
Instruction processed is sent to other extended function modules；The main control module parsing master control instruction, the instruction house that cannot currently will be performed
Error code is abandoned and returned, the division of teaching contents that executable master control is instructed is instructed into priority accordingly, difference is received at the same time
Under executable master control instruction, the instruction of highest priority is only carried out.
2. control system for modular robot according to claim 1, it is characterised in that described main control module includes life
Make analysis module, main program performing module and state release module；Order analysis module is carried out for master control instruction in LAN
Parsing, judges whether to perform, and return to implementing result；Main program performing module carries out the fortune of robot according to master control instruction
The dynamic computing for learning positive and negative solution, the controlling planning of robot fuselage mass motion sends the control instruction of motor or steering wheel, judges machine
Device people's state；State release module sends the state of robot by way of broadcast.
3. control system for modular robot according to claim 1, it is characterised in that described extended function module bag
Include state receiver module, order analysis module, main program performing module, command issue module and state release module；State
Receiver module receives robot body and the state of other extended function module computings；Order analysis module is for right in LAN
The control instruction of this module is parsed, and analyses whether to perform；Main program performing module is according to control instruction to machine
The function computing that people is extended, and produce real-time master control instruction or the control instruction of other extended function modules；Life
Make release module that the master control instruction of generation or control instruction are sent by LAN；State release module is by robot
Function operation result and state broadcast by way of send.
4. control system for modular robot according to claim 1, it is characterised in that described remote control module bag
Include state receiver module, analog simulation module, main program performing module, command issue module and human-computer interaction module；State
Receiver module receives robot body and the state of each extended function module；Analog simulation module according to the data for receiving,
Real simulation or virtual emulation are carried out by the RVIZ emulation modules of ROS；Main program performing module connects to human-computer interaction module
The order and display of receipts are processed, and produce the control instruction of real-time master control instruction or expanded function；Human-computer interaction module
For the behavior command of recipient；Command issue module sends the real-time master control instruction for producing or control instruction.
5. control system for modular robot according to claim 1, it is characterised in that described LAN, can be with
Focus and main control module wired network interface in itself are set up using the wireless network card of main control module set up LAN；In this mode,
Only one of which extended function module uses wired connection, and the LAN of wired connection is created as the wireless network of wireless network card formation
Subnet.
6. control system for modular robot according to claim 1, it is characterised in that described modularization robot control
System processed uses compound hierarchy, and using compound hierarchy, extended function module uses hierarchy, the extension of the superiors
Functional module passes through cable network and main control module by being wirelessly connected to remote control module, undermost extended function module
Connection, the extended function module of adjacent levels is connected by wired netting twine, simultaneously for the expanded function for requiring Effec-tive Function
Module, remote control module is connected to by wireless network.
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