CN110842924A - Single-core heterogeneous control system for collaborative robot - Google Patents
Single-core heterogeneous control system for collaborative robot Download PDFInfo
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- CN110842924A CN110842924A CN201911161054.5A CN201911161054A CN110842924A CN 110842924 A CN110842924 A CN 110842924A CN 201911161054 A CN201911161054 A CN 201911161054A CN 110842924 A CN110842924 A CN 110842924A
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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
- B25J9/1679—Programme controls characterised by the tasks executed
- B25J9/1682—Dual arm manipulator; Coordination of several manipulators
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- 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
- G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
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- 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
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Abstract
A single-core heterogeneous control system for a cooperative robot comprises a server, a wireless network transmission module and a cooperative robot group; the server is connected with all groups of collaborative robots in a unified mode through a wireless network, a main control module and a database in the same server are shared, meanwhile, an independent computing module is arranged in each group of collaborative robots and used for carrying out data computing on sensing modules of the corresponding collaborative robots and transmitting the sensing modules to the server for unified storage and computing, corresponding control instructions are generated to control all groups of collaborative robots correspondingly, the problem that each robot in a traditional heterogeneous robot control system needs independent server control is solved, the independent server is connected with the main control server for cooperative control, the construction cost of the whole control system is high, and the control delay is high.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to a single-core heterogeneous control system for a collaborative robot.
Background
Robots are the common name for automatic control machines (Robot), which include all machines that simulate human behavior or thought and other creatures. There are many taxonomies and controversy to define robots in a narrow sense, and some computer programs are even referred to as robots. In the modern industry, robots refer to artificial machines that automatically perform tasks to replace or assist human work. The ideal high-simulation robot is a product of advanced integrated control theory, mechano-electronics, computer and artificial intelligence, materials science and bionics, and the scientific community is researching and developing in the direction.
The heterogeneous robot control system is relatively loaded due to the fact that linkage control of a plurality of robots is involved, each robot in the traditional heterogeneous robot control system needs to be controlled by an independent server, the independent server is connected with the main control server, cooperative control is conducted, the whole control system is high in construction cost, and control delay is relatively high.
Disclosure of Invention
The invention provides a single-core heterogeneous control system for a collaborative robot, and aims to solve the problems that in a traditional heterogeneous robot control system, each robot needs to be controlled by an independent server, the independent server is connected with a master control server to carry out cooperative control, so that the whole control system is high in construction cost, and the control delay is high.
The invention is realized in such a way that a single-core heterogeneous control system for a cooperative robot comprises a server, a wireless network transmission module and a cooperative robot group;
the server is electrically connected with the wireless network transmission module and comprises a human-computer interaction module, a storage module, a main calculation module and a main control module;
the cooperative robot group comprises a plurality of groups of cooperative robots, and the wireless network transmission module is electrically connected with the cooperative robots.
Preferably, the human-computer interaction module comprises a voice recognition module, an image recognition module, a gesture recognition module and a target recognition module.
Preferably, the storage module is a database, and the database comprises a human data storage unit, an environment data storage unit and a robot data storage unit.
Preferably, the main computing module comprises a data analysis module and an algorithm training module.
Preferably, the main control module comprises a human-computer interaction interface, a graphical interaction interface and a remote control operation interface.
Preferably, the cooperative robot comprises a sensing module, a driving module, a calculating module and a control module.
Preferably, the sensing module includes a position sensor, a microphone, a speaker, a visual sensor, a pressure sensor, an ultrasonic radar, a tactile sensor, an impact sensor, and an infrared sensor.
Preferably, the vision sensor is a Kinect depth camera.
Preferably, the wireless network transmission module is a wireless router.
Compared with the prior art, the invention has the beneficial effects that: the single-core heterogeneous control system for the cooperative robots is characterized in that a server is uniformly connected with each group of cooperative robots through a wireless network, a main control module and a database in the same server are shared, meanwhile, an independent computing module is arranged in each group of cooperative robots and used for carrying out data computation on a sensing module of the corresponding cooperative robot and transmitting the data computation to the server for uniform storage and computation, corresponding control instructions are generated to correspondingly control each group of cooperative robots, the problem that each robot in a traditional heterogeneous robot control system needs independent server control is solved, the independent server is connected with the main control server for carrying out cooperative control, and the problems that the construction cost of the whole control system is high and the control delay is high are solved.
Drawings
FIG. 1 is a schematic diagram of a control system of the present invention;
FIG. 2 is a diagram illustrating a database structure according to the present invention;
FIG. 3 is a schematic diagram of the system architecture of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.
Referring to fig. 1-3, the present invention provides a technical solution: a single-core heterogeneous control system for a cooperative robot comprises a server, a wireless network transmission module and a cooperative robot group;
the server is electrically connected with the wireless network transmission module and comprises a human-computer interaction module, a storage module, a main calculation module and a main control module;
the cooperative robot group comprises a plurality of groups of cooperative robots, and the wireless network transmission module is electrically connected with the cooperative robots.
In this embodiment, the server is used to provide all data storage functions generated during the operation of the system and provide data processing capability, and is similar to a general computer architecture, the server structure mainly includes a high-performance processor, a large-capacity operating memory, a hard disk with high-speed access and a very large storage space, and a system bus, but in contrast, the server needs to provide efficient and reliable services for each module in the system, and in terms of its computing processing capability, there are high requirements on the security and stability of data access, the reliability of continuous services, the manageability and extensibility of hardware devices, and the server has a file server providing file management service, a web server providing web access service, an application server providing application programs, a data server providing data access service, a data processing system, and a computer system bus, The mail server for providing mail receiving and sending service has specific processor structure of 64 bits, 6 kernel 12 threads and main frequency 2.4GHz in the Intel Xeon E5-2620 v3 series; the bus type is QPI bus, the transmission rate is as high as 8GT/s, the memory controller adopts DDR 41600/1800 MHz technology to operate the memory 8G; the storage space of the hard disk is 1T, and in order to facilitate the application of the robot operating system, the operating system of the server adopts an Ubuntu16.04 operating system; the storage module is used as a data center of the whole robot control system in a man-machine co-existence environment, bears important storage tasks and mainly stores data acquired by various sensors deployed in the environment, data acquired by a sensor system equipped on the robot and control instructions of the robot; the sensing module is positioned on the robot and is responsible for collecting surrounding environment information to analyze the positioning of the sensing module and whether barriers exist around the sensing module or track a target object and the like, the sensing module comprises a laser ranging sensor and a Kinect depth camera, the laser ranging sensor is mainly used for measuring the distance of the barriers around the sensing module, and the Kinect can be used for dynamic capture and visual tracking; a part of the specific calculation module is located in the robot controller and is used for simply processing the data collected by the sensing module to complete the basic functions of the robot, such as calculating the distance and the size of surrounding obstacles. The other part is positioned in the server and is used for fusing data acquired by various sensors and completing a more complex operation task when the other part is cooperatively operated with the heterogeneous robot; one part of the control module is positioned in a cache of a robot controller, in order to meet the control requirements of basic functions of the robot, such as automatic obstacle avoidance of the robot, the other part is positioned in a server and used for carrying out complex control when an upper layer human-computer interaction or heterogeneous robot works in a cooperative mode, the control system specifically comprises an operating system layer based on Linux, a middle layer which encapsulates a bottom layer communication protocol to realize an ROS core communication mechanism and an application layer which realizes the functions of the robot under a node manager, tasks such as distribution management of computing resources, management of a hard disk storage space, unified management of peripheral equipment, organization and management of files and the like are all finished by the operating system of a first layer, so that the time of each program occupying a processor, the storage positions of program codes and relevant data thereof, and the calling and the input and the output of various external devices can be automatically managed by the system when a multi-process task is executed, the ROS middleware of the second layer mainly integrates various client libraries such as a packaged TCPROS communication protocol, a roscpp for C + + programming, a rospy for python programming, std _ msgs packaged with various standard communication data formats and the like, and the application layer of the uppermost layer is responsible for realizing specific tasks managed based on the node manager based on the resources and the base libraries provided by the first two layers, such as the motion control of a mobile robot, the motion control of a humanoid robot and the like; the server is connected with all groups of collaborative robots in a unified mode through a wireless network, a main control module and a database in the same server are shared, meanwhile, an independent computing module is arranged in each group of collaborative robots and used for carrying out data computing on sensing modules of the corresponding collaborative robots and transmitting the sensing modules to the server for unified storage and computing, corresponding control instructions are generated to control all groups of collaborative robots correspondingly, the situation that each robot in a traditional heterogeneous robot control system needs independent server control is avoided, the independent server is connected with the main control server for cooperative control, the construction cost of the whole control system is high, and the control delay is high.
Furthermore, the human-computer interaction module comprises a voice recognition module, an image recognition module, a gesture recognition module and a target recognition module.
In this embodiment, the voice recognition module may be configured to recognize a voice control command of a user, the image recognition module may be configured to recognize a corresponding input image, and the gesture recognition module is configured to recognize a motion gesture of the robot.
Further, the storage module is a database, and the database comprises a human data storage unit, an environment data storage unit and a robot data storage unit.
In the embodiment, the database is divided into a person data storage unit, an environment data storage unit and a robot data storage unit, the person data storage unit is used for storing data such as control instructions input by control personnel, the environment data storage unit is used for storing relevant data of the surrounding environment of the robot, specifically comprising a map, obstacle coordinates, dimensions and the like, and the robot data storage unit is used for storing relevant data of the robot, specifically comprising a movement direction, a movement speed and the like, so that the data are stored in a classified manner, the database capacity occupied by the data storage is saved conveniently, and the utilization efficiency of the database is improved.
Further, the main computing module comprises a data analysis module and an algorithm training module.
In this embodiment, the data analysis module is configured to calculate and analyze input control data, and the algorithm training module may generate a corresponding control command according to the data calculated and analyzed by the data analysis module.
Furthermore, the main control module comprises a human-computer interaction interface, a graphical interaction interface and a remote control operation interface.
In the embodiment, a human-computer interaction interface and a graphical interaction interface are used for an operator to interact with the server, and a remote operation interface is used for operating and controlling the robot.
Further, the cooperative robot comprises a sensing module, a driving module, a calculating module and a control module, wherein the sensing module comprises a position sensor, a microphone, a loudspeaker, a vision sensor, a pressure sensor, an ultrasonic radar, a touch sensor, a collision sensor and an infrared sensor.
In this embodiment, the position sensor, the microphone, the speaker, the visual sensor, the pressure sensor, the ultrasonic radar, the touch sensor, the collision sensor, and the infrared sensor can acquire environmental information around the robot in an azimuth manner, and the driving module is specifically each set of servo motors for driving the robot to move.
Further, the vision sensor is a Kinect depth camera.
In the embodiment, a Kinect depth camera is used as a visual sensor, and Kinect can acquire two-dimensional image information of a target object and can acquire real-time depth information. Based on the capability of extracting depth information of a human body and an environment by the Kinect, the robot can acquire human body skeleton point data by analyzing the depth information, and then the joint included angle is calculated by utilizing the skeleton point coordinates to understand the human body actions, so that the robot can be controlled to execute tasks by recognizing human body postures and then generating a control command.
Further, the wireless network transmission module is a wireless router.
In this embodiment, the wireless router is a wireless router of a model of Tenda N300 v2, and the technical parameters are as follows: the transmission rate is 300 Mbps: the network standard adopts IEEE802.11n, IEEE802.11g, IEEE802.11b, IEEE802.3 and IEEE802.3u; 1 10/100M adaptive WAN port, 3 10/100M adaptive LAN port; 2, an antenna; the size is 133mm 87mm 24.76mm, a network cable is inserted into a LAN port of the wireless router in the using process, the other end of the network cable is inserted into a network port of the server, the DHCP function of the wireless router is started, the server is opened to automatically acquire an IP address, and the wireless router automatically allocates the IP address of the local area network for the server. And then, the function of automatically acquiring the IP address of the heterogeneous robot is opened and the heterogeneous robot is accessed to the wireless network, and the router automatically allocates the IP addresses of the same network segment for all the devices accessed to the wireless local area network, so that the devices can communicate freely.
The working principle and the using process of the invention are as follows: after the robot is installed, an operator inputs corresponding control data (voice, images, actions, manual input instructions and the like) from the main control module, the control data are stored by the storage module, then the control data are calculated by the main calculation module to generate control instructions, and the control instructions are transmitted to the corresponding control module in the collaborative robot by the wireless network transmission module, so that the drive module is controlled to control the actions of the robot.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (9)
1. A heterogeneous control system of single core for collaborative robot which characterized in that: the system comprises a server, a wireless network transmission module and a cooperative robot group;
the server is electrically connected with the wireless network transmission module and comprises a human-computer interaction module, a storage module, a main calculation module and a main control module;
the cooperative robot group comprises a plurality of groups of cooperative robots, and the wireless network transmission module is electrically connected with the cooperative robots.
2. A single core heterogeneous control system for a collaborative robot according to claim 1 wherein: the man-machine interaction module comprises a voice recognition module, an image recognition module, a gesture recognition module and a target recognition module.
3. A single core heterogeneous control system for a collaborative robot according to claim 1 wherein: the storage module is a database, and the database comprises a human data storage unit, an environment data storage unit and a robot data storage unit.
4. A single core heterogeneous control system for a collaborative robot according to claim 1 wherein: the main computing module comprises a data analysis module and an algorithm training module.
5. A single core heterogeneous control system for a collaborative robot according to claim 1 wherein: the main control module comprises a human-computer interaction interface, a graphic interaction interface and a remote control operation interface.
6. A single core heterogeneous control system for a collaborative robot according to claim 1 wherein: the cooperative robot comprises a sensing module, a driving module, a calculating module and a control module.
7. The single core heterogeneous control system for the collaborative robot according to claim 6, wherein: the sensing module comprises a position sensor, a microphone, a loudspeaker, a visual sensor, a pressure sensor, an ultrasonic radar, a touch sensor, a collision sensor and an infrared sensor.
8. The single core heterogeneous control system for the collaborative robot according to claim 7, wherein: the vision sensor is a Kinect depth camera.
9. A single core heterogeneous control system for a collaborative robot according to claim 1 wherein: the wireless network transmission module is a wireless router.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111464422A (en) * | 2020-03-27 | 2020-07-28 | 北京海益同展信息科技有限公司 | Interaction method, interaction device, electronic equipment and storage medium |
| CN112873206A (en) * | 2021-01-22 | 2021-06-01 | 中国铁建重工集团股份有限公司 | Multi-task automatic distribution mechanical arm control system and operation trolley |
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