CN101149608A - Hand-held robot movement monitoring and control platform based on embedded type system - Google Patents
Hand-held robot movement monitoring and control platform based on embedded type system Download PDFInfo
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- CN101149608A CN101149608A CNA2007101771868A CN200710177186A CN101149608A CN 101149608 A CN101149608 A CN 101149608A CN A2007101771868 A CNA2007101771868 A CN A2007101771868A CN 200710177186 A CN200710177186 A CN 200710177186A CN 101149608 A CN101149608 A CN 101149608A
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Abstract
This invention relates a kind of embedded type system-based hand-hold robot moving monitor plat and the integral frame concludes ARM9 structure-based central control module, sensor module, moving control module, moving control module, moving execute mechanism, and a touch screen- based monitor plat. And the central control module is consisted by the connection of third two bits central processor and external interface and the third two bits central processor receives the data sending by the external interface through the sensor and then sends the control signal to the moving execute mechanism. The sensor module concludes a presser-plate, accelerometer, relay, angle senor and they connect with the central control module by the pre-set sensor interface; the moving module adopts the miniature direct current engine and stepping electric engine which connects with the core control unit by the CAN bus and the moving control information inter does information mutual for the core control unit and the CAN bus; the software section concludes the embedded type Linux operate system, hardware driven program, and a apply program which is convenience to the secondary explore. This invention supports multiple hardware plats and has good compatibility and it can be used in the monitor system of all kinds of robots.
Description
Technical field
The present invention relates to a kind of movement monitoring platform, particularly about a kind of hand-held robot movement monitoring and control platform based on embedded system.
Background technology
Along with integrated technology is constantly progressive, robot develops to autonomous intelligence robot direction.The intelligent level of robot has become the important indicator of weighing a robot system.As one of most important part of robot holonomic system, the various parameters the during robot motion and in real time controllability by growing interest.Robot is except the bionic function that possesses levels such as vision, the sense of hearing, sense of touch, also to possess certain logical reasoning ability, but the decision-making capability of working as robot is limited, need artificial commander under some environment simultaneously, when perhaps site environment is not very definite, just need robot system focusing on people, emphasize machine person to person's cooperation, pay attention to people's wisdom and experience are added to the Guaranteed of machine.
Robot in the past mainly is based on the simplification design of particular hardware and software.The control system that obtains does not often possess compatibility and can expand on software and hardware, reconfigurability.Along with the expansion in robot manipulating task field and the raising of work complexity, add the increase and decrease of sensor assembly in addition, the variation of motor type, this type of robot control system is just no longer suitable.For new hardware (electronics, machinery) demand, system has to re-design, and cost and efficient will be had a greatly reduced quality.The robot control system that can be fit to " general " of multiple robot will have boundless application prospect.
From controlling object, the intelligent independent robot core control module need be finished control and the processing to motion and sensing data.In order to realize intelligent behavior and good mutual with external environment, modern machines people's physical construction and control circuit become increasingly sophisticated.Especially for multiarticulate mobile robot, a large amount of dissimilar motors make the general control system all be difficult to bear on stability and extendability.In order to address this problem, international newest research results often adopts multiprocessor to realize.But the hardware device of these robot systems often depends on concrete electronic circuit, does not possess good reconfigurability.
Embedded system has been widely used in every field, as national defence, Industry Control, communication, office automation and consumption electronic product etc.Wherein consumption electronic product mainly contains mobile phone, mobile device, switch, router, set-top box etc.So-called embedded system, exactly to have particular application as the center, based on computer technology, software and hardware can be reduced, and is fit to the computer system of application system to the special use of function, reliability, cost, volume and power consumption requirement.Any embedded system all comprises two aspects of hardware and software.Hardware comprises microprocessor, storer, I/O port and figure control etc.Software comprises operating system software and application software, and application software is being controlled the operation of embedded system, and operating system then provides necessary basic-level support for application program.Because embedded system is application-oriented object, thus particular hardware to as if need specifically to consider.
The commercial operation system that uses on the embedded system mainly contains VxWorks, WinCE, VRTX, pSOS, PalmOS and DeltaOS etc. at present, and these systems have advantage in reliability and technical support; But, because system belongs to commercial product, cost an arm and a leg, and because its core source code underground, make that application software and the other system in each system can't compatibility, allow software transplanting become very difficult.Built-in Linux is compared with these commercial operation systems, has many advantages: at first its kernel is stable, powerful, supports the multiple hardwares platform, and application software is many and compatible good; Secondly the kernel of Linux can be reduced arbitrarily as required; In addition, because Linux belongs to the system of increasing income, use cost is low, has obtained the favor of commercial company day by day, and development potentiality is huge.Embedded system is introduced robot control field, just becoming the research focus at present.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can support the multiple hardwares platform, but the many and compatible good hand-held robot movement monitoring and control platforms of application software based on embedded system.
For achieving the above object, the present invention takes following technical scheme: a kind of hand-held robot movement monitoring and control platform based on embedded system, comprise hardware components and software section, it is characterized in that: general frame comprises the central control module based on the ARM9 framework, sensor assembly, motion-control module, movement executing mechanism and based on the monitor supervision platform of touch-screen, described central control module is connected with external interface by 32 central processing units and forms, 32 data that central processing unit acceptance is transmitted by external interface by sensor, transmit control signal to movement executing mechanism by external interface more after treatment, described sensor assembly comprises the pressure compass, accelerometer, relay, angular transducer, they are connected by the sensor interface that presets with central control module; Described motion-control module adopts dc micro-motor and stepper motor to control, and connects key control unit by CAN bus transfer module, and motion control information is carried out information interaction by CAN bus and key control unit; Software section comprises built-in Linux operating system, hardware drive program and makes things convenient for the application program of secondary development.
Described 32 central processing units adopt the s3c2440 processor, and dominant frequency 400MHz, external interface comprise peripheral flash memory, random access memory, external memory card, USB (universal serial bus), Ethernet interface, radio network interface and serial ports.
External interface in the described central control module comprises the common interface of IIC, USB.
Described software section is used can reduce embedded as its operating system.
Described built-in Linux operating system software architecture comprises figure level of abstraction and input level of abstraction, MiniGUI core layer and application programming interfaces API.
For the real-time requirement of individual task, adopt in real time and two kinds of processing modes of non real-time.
The present invention is owing to take above technical scheme, it has the following advantages: 1, because the present invention adopts embedded system, so control system can be fit to multiple formalness, and the specific aim of system and good reliability, can satisfy the multiple hardwares demand, reduce system development costs greatly.2, because the present invention adopts the microprocessor of ARM9 framework, so module performance height, low in energy consumption, peripherals standardization.3, because the present invention uses built-in Linux as its operating system, so kernel is stable, powerful, can support the multiple hardwares platform, application software is many and compatible good, and Linux in endorse as required and reduce arbitrarily, use cost is low.4, because upper application software of the present invention adopts the graphical development based on MiniGUI, and MiniGUI can independent operating on a plurality of embedded platforms, for the real-time requirement of individual task, adopts in real time and two kinds of processing modes of non real-time.So bring great convenience for the exploitation and the transplanting of supervisory system.5, because core controller program of the present invention is the multithread application based on Linux, realize that multi-sensor data merges, motion control commands sends, task detects information processing etc., institute thinks that the upper strata Control Software provides good interface, program in application layer can directly be called, clear layer makes things convenient for secondary development.6, motion-control module adopts CAN bus and key control unit to carry out alternately among the present invention, so the complexity when having avoided many Electric Machine Control connects up, and has improved transfer efficiency and accuracy.The present invention can support the multiple hardwares platform, but application software is many and compatible good, can be widely used in the supervisory system of various robots.
Description of drawings
Fig. 1 is an entire system framework synoptic diagram of the present invention
Fig. 2 is a monitor system software configuration diagram of the present invention
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in detail.
As shown in Figure 1, general frame of the present invention comprises central control module 1 based on Chip Microcomputer A RM9 framework, sensor assembly 2, motion-control module 3, movement executing mechanism 4 and based on the monitor supervision platform 5 of touch-screen.Each hardware components of the present invention adopts the slotting formula of layer to connect, and makes things convenient for hardware system to reduce or expansion.Hardware components mainly comprises central controller, peripheral interface device, interactive touch screen, sensor component (optional).Whole hardware components divides three layers: ground floor is a critical piece with central processing unit and external flash, and the second layer comprises all kinds of peripheral interface devices, and the 3rd layer comprises sensor and movement executing mechanism.Central processing unit acceptance, is transmitted control signal to movement executing mechanism by external interface by the data that external interface transmits after treatment by sensor again.Central control module 1 comprises 32 core controllers and external interface, in the present embodiment, central controller 1 adopts the s3c2440 processor, dominant frequency 400MHz, external interface comprise peripheral flash memory, random access memory, external memory card, USB (universal serial bus), Ethernet interface, radio network interface and serial ports.Sensor assembly 2 comprises presses compass, accelerometer, relay, angular transducer etc., and they are connected by the various sensor interfaces that preset with central controller 1.Motion-control module 3 adopts dc micro-motor and stepper motor to control, and it connects key control unit by CAN bus transfer module, and motion control information is carried out information interaction by CAN bus and key control unit.In addition, the present invention has expanded multiple common interfaces such as IIC, USB, is used to increase various kinds of sensors.
Software section of the present invention comprises embedded RT-Linux operating system, the hardware drive program that can reduce and the application program that makes things convenient for secondary development.The RT-Linux kernel portion is responsible for the system-level Task Distribution scheduling of whole operation etc., and driver is in order to drive relevant hardware, by the data and the stored record of external interface read sensor, and can load operation system and types of applications software after the compiling.For the real-time requirement of individual task, adopt in real time and two kinds of processing modes of non real-time.
As shown in Figure 2, the software architecture in the RT-Linux operating system comprises figure level of abstraction (GAL) and input level of abstraction (IAL), MiniGUL core layer and application programming interfaces API.
The present invention is based upon on the built-in Linux basis, possesses stronger versatility and portability in order to make it, has added figure level of abstraction (GAL) and input level of abstraction (IAL) at bottom.The figure level of abstraction is realized the operation of system to concrete viewing hardware equipment (adopting liquid crystal display in the present embodiment), and provides unified graphical programming interface for program design; The input level of abstraction has been realized the control operation for all kinds of input equipments, and the unified interface that calls is provided.The core layer of MiniGUI has taken most of resource of MiniGUI, comprises the various modules of window system indispensability, as input method virtual console, various control dialog box, window and message etc.
Api layer is mainly used in writing of application program, based on the program of MiniGUI generally possess lightly, easy characteristics such as mutual, api layer can provide call function very easily to the user, realizes the mutual of information.Generally adopt the mechanism of message circulation based on the application program of MiniGUI: non real-time information sends by PostMessage, and message is returned after sending to message queue immediately, if the mailing message buffer in the message queue is full, then this function returns improper value; Real-time information sends by PostSyncMessage, and PostSyncMessage is to different thread message queue's mailing message of calling PostSyncMessage, and have only this message processed after, PostSyncMessage just can return.
Present embodiment with robot autonomous information obtain with Electric Machine Control be example, the implementation method of this robot motion monitor supervision platform under complex environment has been described.The common perception information of intelligent independent robot self comprises: image vision information, auditory information, tactile data and positional information etc.According to different perceived content, these information can just be divided into real-time task and un-real time job according to real-time again.The present invention utilizes the basic multitask kernel of Linux to add the Real-Time Scheduling strategy according to these characteristics, and the common perception task of robot according to task urgency level classification processing, has been improved treatment effeciency, has increased the range of application of system.
Implementation system dummy robot and environmental interaction information, and produce decision information in real time, concrete example such as supervisory system are installed on the embedded handhold equipment based on core controller, by wireless device and object interaction information to be monitored.This routine object to be controlled is the intelligent robot that wireless device is housed, and robot cruises in circumstances not known, and picture information and movable information are sent to robot by the CAN bus and handle kernel, and send it back supervisory system by wireless device.Supervisory system merges picture information and movable information, draws the measure that current needs are taked, and sends to robot by wireless device again.Robot then according to the current motion planning of instruction calibration, finishes the task that instruction is provided with.
Although disclose specific embodiments of the invention and accompanying drawing for the purpose of illustration, its purpose is to help to understand content of the present invention and implement according to this, but it will be appreciated by those skilled in the art that: without departing from the spirit and scope of the invention and the appended claims, various replacements, variation and modification all are possible.Therefore, the present invention should not be limited to most preferred embodiment and the disclosed content of accompanying drawing, and the scope of protection of present invention is as the criterion with the scope that claims define.
Claims (9)
1. hand-held robot movement monitoring and control platform based on embedded system, comprise hardware components and software section, it is characterized in that: general frame comprises the central control module based on the ARM9 framework, sensor assembly, motion-control module, movement executing mechanism and based on the monitor supervision platform of touch-screen, described central control module is connected with external interface by 32 central processing units and forms, 32 data that central processing unit acceptance is transmitted by external interface by sensor, transmit control signal to movement executing mechanism by external interface more after treatment, described sensor assembly comprises the pressure compass, accelerometer, relay, angular transducer, they are connected by the sensor interface that presets with central control module; Described motion-control module adopts dc micro-motor and stepper motor to control, and connects key control unit by CAN bus transfer module, and motion control information is carried out information interaction by CAN bus and key control unit; Software section comprises built-in Linux operating system, hardware drive program and makes things convenient for the application program of secondary development.
2. a kind of according to claim 1 hand-held robot movement monitoring and control platform based on embedded system, it is characterized in that: described 32 central processing units adopt the s3c2440 processor, dominant frequency 400MHz, external interface comprise peripheral flash memory, random access memory, external memory card, USB (universal serial bus), Ethernet interface, radio network interface and serial ports.
3. a kind of according to claim 1 hand-held robot movement monitoring and control platform based on embedded system is characterized in that: the external interface in the described central control module comprises the common interface of IIC, USB.
4. as a kind of hand-held robot movement monitoring and control platform based on embedded system as described in the claim 2, it is characterized in that: the external interface in the described central control module comprises the common interface of IIC, USB.
5. as a kind of hand-held robot movement monitoring and control platform based on embedded system as described in claim 1 or 2 or 3 or 4, it is characterized in that: described software section is used can reduce embedded as its operating system.
6. as a kind of hand-held robot movement monitoring and control platform based on embedded system as described in claim 1 or 2 or 3 or 4, it is characterized in that: described built-in Linux operating system software architecture comprises figure level of abstraction and input level of abstraction, MiniGUI core layer and application programming interfaces API.
7. as a kind of hand-held robot movement monitoring and control platform based on embedded system as described in the claim 5, it is characterized in that: described built-in Linux operating system software architecture comprises figure level of abstraction and input level of abstraction, MiniGUI core layer and application programming interfaces API.
8. as a kind of hand-held robot movement monitoring and control platform as described in the claim 6, it is characterized in that:, adopt in real time and two kinds of processing modes of non real-time for the real-time requirement of individual task based on embedded system.
9. as a kind of hand-held robot movement monitoring and control platform as described in the claim 7, it is characterized in that:, adopt in real time and two kinds of processing modes of non real-time for the real-time requirement of individual task based on embedded system.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833884A (en) * | 2010-05-17 | 2010-09-15 | 博雅创世(北京)智能科技有限公司 | Robot teaching platform |
| CN102637036A (en) * | 2012-05-08 | 2012-08-15 | 北京理工大学 | Combined type bionic quadruped robot controller |
| CN103009393A (en) * | 2012-12-14 | 2013-04-03 | 安徽蓝德三元智能系统集成有限公司 | Control device of network embedded robot |
| CN103092174A (en) * | 2013-01-18 | 2013-05-08 | 沧州得丰机械设备有限公司 | Industrial robot wireless teaching controller |
| CN103200195A (en) * | 2013-03-29 | 2013-07-10 | 核工业理化工程研究院 | Transformation device and transformation method for transferring multiple serial protocols to Ethernet communication |
| CN103914035A (en) * | 2013-01-09 | 2014-07-09 | 库卡实验仪器有限公司 | Configurable Security Monitoring For A Robot Assembly |
| CN105500371A (en) * | 2016-01-06 | 2016-04-20 | 山东优宝特智能机器人有限公司 | Service robot controller and control method thereof |
| CN105867479A (en) * | 2016-04-13 | 2016-08-17 | 铁力山（北京）控制技术有限公司 | Console control method and console control system based on intelligent mobile terminal, and console thereof |
| CN107727048A (en) * | 2016-08-11 | 2018-02-23 | 杭州顺源科教仪器设备有限公司 | Intelligent angular transducer with input and output control function |
| CN105278940B (en) * | 2014-07-08 | 2018-09-25 | 北京航空航天大学 | A kind of robot hybrid system application framework based on multi-core processor framework |
| CN109313453A (en) * | 2016-06-14 | 2019-02-05 | 深圳市大疆创新科技有限公司 | Support the loose impediment application and development independently of agreement |
| CN109507369A (en) * | 2018-12-07 | 2019-03-22 | 中山大学南方学院 | Air quality detection system and method in a kind of building |
| CN112834024A (en) * | 2021-01-08 | 2021-05-25 | 北京大学 | Wearable multidimensional force feedback device and method based on vibration array |
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2007
- 2007-11-12 CN CNA2007101771868A patent/CN101149608A/en active Pending
Cited By (17)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101833884B (en) * | 2010-05-17 | 2011-12-07 | 博雅创世(北京)智能科技有限公司 | Robot teaching platform |
| CN101833884A (en) * | 2010-05-17 | 2010-09-15 | 博雅创世(北京)智能科技有限公司 | Robot teaching platform |
| CN102637036A (en) * | 2012-05-08 | 2012-08-15 | 北京理工大学 | Combined type bionic quadruped robot controller |
| CN103009393A (en) * | 2012-12-14 | 2013-04-03 | 安徽蓝德三元智能系统集成有限公司 | Control device of network embedded robot |
| US9746843B2 (en) | 2013-01-09 | 2017-08-29 | Kuka Roboter Gmbh | Configurable security monitoring for a robot assembly |
| CN103914035A (en) * | 2013-01-09 | 2014-07-09 | 库卡实验仪器有限公司 | Configurable Security Monitoring For A Robot Assembly |
| CN103092174A (en) * | 2013-01-18 | 2013-05-08 | 沧州得丰机械设备有限公司 | Industrial robot wireless teaching controller |
| CN103200195A (en) * | 2013-03-29 | 2013-07-10 | 核工业理化工程研究院 | Transformation device and transformation method for transferring multiple serial protocols to Ethernet communication |
| CN103200195B (en) * | 2013-03-29 | 2018-01-19 | 核工业理化工程研究院 | A kind of more serial protocols turn the conversion method of the conversion equipment of ethernet communication |
| CN105278940B (en) * | 2014-07-08 | 2018-09-25 | 北京航空航天大学 | A kind of robot hybrid system application framework based on multi-core processor framework |
| CN105500371A (en) * | 2016-01-06 | 2016-04-20 | 山东优宝特智能机器人有限公司 | Service robot controller and control method thereof |
| CN105867479A (en) * | 2016-04-13 | 2016-08-17 | 铁力山（北京）控制技术有限公司 | Console control method and console control system based on intelligent mobile terminal, and console thereof |
| CN105867479B (en) * | 2016-04-13 | 2018-10-09 | 铁力山（北京）控制技术有限公司 | Console control method and control system based on intelligent mobile terminal and console |
| CN109313453A (en) * | 2016-06-14 | 2019-02-05 | 深圳市大疆创新科技有限公司 | Support the loose impediment application and development independently of agreement |
| CN107727048A (en) * | 2016-08-11 | 2018-02-23 | 杭州顺源科教仪器设备有限公司 | Intelligent angular transducer with input and output control function |
| CN109507369A (en) * | 2018-12-07 | 2019-03-22 | 中山大学南方学院 | Air quality detection system and method in a kind of building |
| CN112834024A (en) * | 2021-01-08 | 2021-05-25 | 北京大学 | Wearable multidimensional force feedback device and method based on vibration array |
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