CN113119084A - IIC bus-based modular robot and control method - Google Patents
IIC bus-based modular robot and control method Download PDFInfo
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- CN113119084A CN113119084A CN202110307361.0A CN202110307361A CN113119084A CN 113119084 A CN113119084 A CN 113119084A CN 202110307361 A CN202110307361 A CN 202110307361A CN 113119084 A CN113119084 A CN 113119084A
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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
- B25J9/08—Programme-controlled manipulators characterised by modular constructions
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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
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
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- Chemical & Material Sciences (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention relates to a modularized robot based on an IIC bus, which is formed by assembling a plurality of basic unit robots end to end, wherein the basic unit robots are in communication connection through the IIC bus, each basic unit robot comprises a connecting part and a walking part, a single basic unit robot is mutually connected with the other two basic unit robots through the connecting parts, and the walking part is movably connected to the side surfaces of the connecting parts and is powered and controlled by the connecting parts. Compared with the prior art, the modular robot has the advantages of improving the instruction response speed among modules, improving the environmental adaptability of the modular robot, having higher flexibility and the like.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a modularized robot based on an IIC bus and a control method.
Background
Conventional robots are developed according to a specific application range, but the increase of modern demands requires more diversification of tasks and working environments of the robots, and the configuration of the conventional robots can process only limited tasks in a limited space. One solution is to develop modular robotic systems that consist of standard, mutually independent manufacturing modules that utilize connectivity and interchangeability between modules to change the overall configuration, and thus can be assembled into a variety of configurations, both two-dimensional and three-dimensional, to perform various types of work in different environments.
Since the relative positions and connection relationships between modules are not fixed, the most proposed modular robot is a "self-assembly machine" that uses infrared optics for communication, each module has a three-layer structure, and a transmitter and a receiver for communication are embedded to realize communication between modules, and a serial asynchronous protocol is used as a communication protocol. Existing furniture robot among the prior art can realize self-assembling and the furniture function of self-moving through the consecutive self-reconfiguration of module at present, and every module can be independently supplied power by inside battery, realizes the communication between module and PC through bluetooth wireless link, but bluetooth signal receives environmental factor to influence greatly, and the action coherence of robot is not high. The modular robot can be assembled and spliced individually according to different requirements, but the robot needs to be connected to a computer main board through a cable for power supply and overall control, so that the robot can only receive instructions of a computer and works after being spliced into a certain whole, and the working range of the robot is limited to a great extent.
In various modular robot systems at the present stage, each module always has a fixed bus address, which is not favorable for realizing replaceability among modules, and reduces the flexibility of the whole modular robot system.
Disclosure of Invention
The invention aims to overcome the defects of poor environmental applicability and large limited working range in the prior art and provide the IIC bus-based modular robot and the control method.
The purpose of the invention can be realized by the following technical scheme:
the utility model provides a modularization robot based on IIC bus, is formed by the equipment of a plurality of basic unit robots end to end, carries out the communication through the IIC bus between the basic unit robot and connects, and every basic unit robot includes connecting portion and walking portion, singly basic unit robot carries out interconnect through connecting portion and two other basic unit robots, walking portion swing joint receives the power supply and the control of connecting portion in the side of connecting portion.
The number of the basic unit robots is 3 or more than 3.
The connecting portion are equipped with main part steering wheel, control circuit board, bluetooth communication module and power, control circuit board is connected with steering wheel, bluetooth communication module and power respectively.
Furthermore, the walking part comprises a plurality of walking sections which are connected in sequence, and each walking section is provided with a motion steering engine, so that the walking part has multiple degrees of freedom.
Furthermore, the motion steering engines on the walking sections are connected with each other, and the motion steering engines of the walking sections positioned at the end parts close to the connecting parts are respectively connected with the control circuit board and the power supply of the connecting parts.
Furthermore, a supporting part is arranged on a walking joint at the tail end in the walking part.
The two ends of the connecting part are respectively provided with a clamping part and a clamping matching part, and the connecting part is movably connected with the clamping matching part of the other basic unit robot through the clamping part and is movably connected with the clamping part of the other basic unit robot through the clamping matching part.
Further, the main body steering engine is arranged in the clamping part or the clamping matching part.
A control method of the modular robot based on the IIC bus specifically comprises the following steps:
s1, setting a bus address by the control circuit board of each basic unit robot, taking the corresponding basic unit robot as a master control module according to the set bus address, and taking the rest basic unit robots as slave control modules;
s2, the Bluetooth communication module of the main control module receives the instruction signal sent by the application program and transmits the instruction signal to the control circuit board of the main control module through the serial port;
s3, the control circuit board of the master control module calculates the master control instruction of the master control module and the slave control instructions of all the slave control modules according to the data information in the instruction signal, and sends the slave control instructions to the control circuit board of the corresponding slave control module through the IIC bus;
s4, calculating steering engine angles of a main steering engine and a motion steering engine according to the main control instruction and the slave control instruction respectively by the control circuit board of the main control module and the control circuit board of the slave control module;
s5, a control circuit board of the master control module and the slave control module calculates corresponding steering engine control signals according to the steering engine angles, and the main steering engine and the motion steering engine control the walking joints to move according to the steering engine control signals.
PWM generators are arranged in control circuit boards of the master control module and the slave control module.
Further, in step S5, the steering engine control signal is specifically a PWM wave with a corresponding duty ratio generated by the PWM generator according to the steering engine angle.
In step S1, the control circuit board sets a bus address through the dial switch.
Compared with the prior art, the invention has the following beneficial effects:
1. the invention receives the instruction signal sent by the application program through the Bluetooth communication module, and then transmits information between the master control module and the slave control module through the IIC bus, thereby improving the instruction response speed between the modules and reducing the influence of environmental factors on instruction transmission.
2. The master control module and the slave control module are freely set. The control circuit boards on the master control module and the slave control module set the bus addresses of the master control module and the slave control module through the dial switches, and the basic unit robot serving as the master control module can be changed at any time when complex road conditions are met, so that the environmental adaptability of the modular robot is improved, and smooth and coherent gait actions can be completed under the complex road conditions.
3. The invention changes the role of the basic unit robot as the master control module or the slave control module through the dial switch, does not need to rewrite the control program corresponding to the new role for the basic unit robot with the changed role, and simplifies the module replacement process and improves the feedback efficiency of robot control compared with the traditional scheme that the code needs to be rewritten for the modules when the roles of the modules are changed in order to respectively control the modules.
4. The master control module and the slave control module have high replaceability. Because the basic unit robot can set the bus address of the module circuit board through the dial switch, all the modules can be replaced mutually, and the modules can be replaced at any time when the modules have faults.
5. The module consistency of the invention. Because the physical structures of the master control module and the slave control module are completely the same, the addresses of the control circuit boards can be properly changed, so that the robot can complete new actions without reprogramming, for example, after the addresses of the four modules are rotated clockwise or counterclockwise, the robot can complete the function of moving left or right.
6. The modular robot is formed by assembling and connecting basic unit robots, the number of the basic unit robots can be increased according to power requirements, meanwhile, the walking part of the basic unit robot comprises a plurality of walking sections which are sequentially connected, and each walking section is provided with a motion steering engine, so that the walking part has multiple degrees of freedom and higher flexibility.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a flow chart illustrating a control method according to the present invention.
Reference numerals:
1-a connecting part; 2-a walking section; 3-a clamping part; 4-a snap-fit portion; 5-a support part.
Detailed Description
The invention is described in detail below with reference to the figures and specific embodiments. The present embodiment is implemented on the premise of the technical solution of the present invention, and a detailed implementation manner and a specific operation process are given, but the scope of the present invention is not limited to the following embodiments.
Examples
As shown in figure 1, the modularized robot based on the IIC bus is formed by assembling a plurality of basic unit robots in an end-to-end mode, the basic unit robots are in communication connection through the IIC bus, each basic unit robot comprises a connecting portion 1 and a walking portion, a single basic unit robot is connected with the other two basic unit robots through the connecting portions 1, and the walking portions are movably connected to the side faces of the connecting portions 1 and are powered and controlled by the connecting portions 1.
The number of the basic unit robots is 3 or more than 3, and in the embodiment, the number of the basic unit robots is 4, and the basic unit robots are respectively a left front leg, a right front leg, a left rear leg and a right rear leg of the modular robot main body.
Connecting portion 1 is equipped with the main part steering wheel, control circuit board, bluetooth communication module and power, control circuit board respectively with the steering wheel, bluetooth communication module and power are connected, in this embodiment, the power specifically is the power supply battery, control circuit board chooses for use singlechip STM32F103C8T6, including 2 independent IIC interfaces, 3 serial ports interfaces and 4 timers, bluetooth communication module adopts the ESP32-PICO-KIT development board that supports BLE, the bluetooth version is 4.2.
The walking part includes a plurality of walking sections 2 that connect gradually, all is equipped with the motion steering wheel on every walking section 2, makes the walking part have multi freedom, and in this embodiment, the quantity of walking section 2 is 3 in every walking part, and the walking part has 3 degrees of freedom.
The motion steering engines on the walking sections 2 are connected with each other, and the motion steering engines of the walking sections 2 positioned at the end parts close to the connecting parts 1 are respectively connected with the control circuit board and the power supply of the connecting parts 1.
The walking section 2 at the end of the walking section is provided with a support part 5.
The two ends of the connecting part 1 are respectively provided with an engaging part 3 and an engaging matching part 4, and the connecting part is movably connected with the engaging matching part 4 of another basic unit robot through the engaging part 3 and movably connected with the engaging part 3 of another basic unit robot through the engaging matching part 4.
The main body steering engine is arranged in the clamping part 3 or the clamping matching part 4.
As shown in fig. 2, a method for controlling a modular robot based on an IIC bus specifically includes the following steps:
s1, the control circuit board of each basic unit robot sets a bus address, and uses the corresponding basic unit robot as a master control module and the other basic unit robots as slave control modules according to the set bus address, in this embodiment, 0x02 is a dial address of the control circuit board on the master control module, and since the IIC bus address is seven bits, in the actual communication, a four-bit dial switch is used, the dial switch is shifted by one bit to the left when the address is designated, and when the IIC address is used, an offset of 0x20 is added for use, which is specifically shown in table 1:
TABLE 1 Dial Address Table
| Dial address | Dial offset address | Actual IIC address | Character |
| 0x00 | 0x00 | 0x20 | Testing |
| 0x01 | 0x02 | 0x22 | Left front leg (slave control) |
| 0x02 | 0x04 | 0x24 | Right front leg (Master control) |
| 0x03 | 0x06 | 0x26 | Left rear leg (slave control) |
| 0x04 | 0x08 | 0x28 | Right rear leg (slave control) |
| 0x05～0x0f | 0x0a～0x1e | 0x2a～0x3e | Reservation undefined |
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S2, a user logs in a webpage APP at the equipment end and sends an instruction signal, and a Bluetooth communication module of the main control module receives the instruction signal and transmits the instruction signal to a control circuit board of the main control module through a serial port;
s3, the control circuit board of the master control module calculates the master control instruction of the master control module and the slave control instructions of all the slave control modules according to the data information in the instruction signal, and sends the slave control instructions to the control circuit board of the corresponding slave control module through the IIC bus;
s4, calculating steering engine angles of a main steering engine and a motion steering engine by an inverse kinematics method according to the main control instruction and the slave control instruction respectively through the control circuit board of the main control module and the control circuit board of the slave control module;
s5, a control circuit board of the master control module and the slave control module calculates corresponding steering engine control signals according to the steering engine angles, and the main steering engine and the motion steering engine control the walking joint 2 to move according to the steering engine control signals so as to achieve the expected gait input by the user.
PWM generators are arranged in control circuit boards of the master control module and the slave control module.
In step S5, the steering engine control signal is specifically a PWM wave with a corresponding duty ratio generated by the PWM generator according to the steering engine angle.
The control circuit board sets a bus address by the dial switch in step S1.
In step S2, the command content is the robot gait class selected by the user, and other command signals received from the bluetooth module of the control module are ignored.
The master control instruction in step S3 is specifically a drop point coordinate that the supporting portion 5 of the traveling portion of the master control module needs to reach, the slave control instruction is specifically a bus address of the slave control module and a drop point coordinate that the supporting portion 5 of the corresponding traveling portion needs to reach, and the slave control module respectively acquires the drop point coordinate sent to itself by using an interrupt triggering manner.
The invention adopts the method of setting the bus address of each module circuit board by the dial switch, so that the setting of the host and the slave is more flexible and free, and the timely replacement can be realized when the host or the slave breaks down without rewriting the corresponding control code to a new host or slave.
The specific operation steps of the replacement module are as follows:
s6, disassembling the main control module where the control panel with the fault is located and the connected leg module;
s7, connecting the new standby main control module to the main position of the robot and connecting the legs to the main position;
and S8, adjusting the dial switch of the control circuit board on the new main control module to the address of the fault module, and finishing the replacement.
In addition, it should be noted that the specific embodiments described in the present specification may have different names, and the above descriptions in the present specification are only illustrations of the structures of the present invention. All equivalent or simple changes in the structure, characteristics and principles of the invention are included in the protection scope of the invention. Various modifications or additions may be made to the described embodiments or methods may be similarly employed by those skilled in the art without departing from the scope of the invention as defined in the appending claims.
Claims (10)
1. The utility model provides a modularization robot based on IIC bus which characterized in that, is formed by the equipment of a plurality of basic unit robot end to end, carries out the communication through the IIC bus between the basic unit robot and connects, and every basic unit robot includes connecting portion (1) and walking portion, and is single basic unit robot carries out interconnect through connecting portion (1) and two other basic unit robots, walking portion swing joint is in the side of connecting portion (1), receives the power supply and the control of connecting portion (1).
2. The IIC bus-based modular robot as claimed in claim 1, wherein the connecting portion (1) is provided with a main body steering engine, a control circuit board, a Bluetooth communication module and a power supply, and the control circuit board is connected with the steering engine, the Bluetooth communication module and the power supply respectively.
3. The IIC bus-based modular robot as claimed in claim 2, wherein the walking part comprises a plurality of walking sections (2) which are connected in sequence, and each walking section (2) is provided with a motion steering engine.
4. The IIC bus-based modular robot as claimed in claim 3, wherein the motion steering engines on the walking sections (2) are connected with each other, and the motion steering engines of the walking sections (2) located at the end parts close to the connecting parts (1) are respectively connected with the control circuit board and the power supply of the connecting parts (1).
5. The IIC bus based modular robot as claimed in claim 3, wherein a support part (5) is provided on the walking section (2) at the end of the walking part.
6. The IIC bus based modular robot as claimed in claim 1, wherein the connecting part (1) is provided with a clamping part (3) and a clamping matching part (4) at two ends respectively, and is movably connected with the clamping matching part (4) of another basic unit robot through the clamping part (3) and is movably connected with the clamping part (3) of another basic unit robot through the clamping matching part (4).
7. The IIC bus-based modular robot control method as set forth in claim 4, specifically comprising the steps of:
s1, setting a bus address by the control circuit board of each basic unit robot, taking the corresponding basic unit robot as a master control module according to the set bus address, and taking the rest basic unit robots as slave control modules;
s2, the Bluetooth communication module of the main control module receives the instruction signal sent by the application program and transmits the instruction signal to the control circuit board of the main control module through the serial port;
s3, the control circuit board of the master control module calculates the master control instruction of the master control module and the slave control instructions of all the slave control modules according to the data information in the instruction signal, and sends the slave control instructions to the control circuit board of the corresponding slave control module through the IIC bus;
s4, calculating steering engine angles of a main steering engine and a motion steering engine according to the main control instruction and the slave control instruction respectively by the control circuit board of the main control module and the control circuit board of the slave control module;
s5, a control circuit board of the master control module and the slave control module calculates corresponding steering engine control signals according to the steering engine angles, and the main steering engine and the motion steering engine control the walking joint (2) to move according to the steering engine control signals.
8. The IIC bus based control method for the modular robot as claimed in claim 7, wherein the control circuit boards of the master control module and the slave control module are provided with PWM generators.
9. The IIC bus based modular robot control method as claimed in claim 8, wherein the steering engine control signal in step S5 is a PWM wave with a corresponding duty ratio generated by the PWM generator according to the steering engine angle.
10. The IIC bus-based modular robot controlling method as claimed in claim 7, wherein the control circuit board sets a bus address through a dial switch in step S1.
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