CN101251756A - All fours type bionic robot control device - Google Patents
All fours type bionic robot control device Download PDFInfo
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- CN101251756A CN101251756A CNA2007103007197A CN200710300719A CN101251756A CN 101251756 A CN101251756 A CN 101251756A CN A2007103007197 A CNA2007103007197 A CN A2007103007197A CN 200710300719 A CN200710300719 A CN 200710300719A CN 101251756 A CN101251756 A CN 101251756A
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Abstract
The present invention discloses a four-foot type bionic robot control device, wherein an upper control layer and a lower control layer are established; sensors provide environment information for the robot control layers; an upper layer calculator and a lower layer calculator process acquired information and transmit a decision instruction to a servo motor; after the motor rotates to drive a robot body to move, the state of the robot is changed, and then the sensors survey new environment data. An upper layer control layer determines the orientation adjustment and conversion of the robot; a lower layer control layer utilizes a dynamic neural network algorithm to be integrated with the data of the sensors, and simultaneously transmits joint control signals to a motor controller so as to drive the servo motor. As the present invention establishes a four-foot type bionic robot control device capable of realizing self-perception, self-adaptation and self-regulation actions, the robot can have abundant information sources and intelligently regulate poses so as to adapt to complex environment.
Description
Technical field
The present invention relates to a kind of all fours type bionic robot control device of motion under the control of dynamic neuron network schemer, belong to robot motion's control technology field.
Background technology
All fours type bionic robot is all being developed in countries in the world at present, but conventional control method can only guarantee that robot moves under pre-set model, and environmental change is bigger to its motion effects.So, for can self-perception environment, self-control pose, to be subjected to the four-leg bionic robot of environmental constraints minimum be the forward position of this technical field now.
The all fours type robot of the Brooks of U.S. MIT (Brooks) research team research and development is with the main foundation that exists some local condition's reflector elements as its robot motion's control in the biological basic act, this method lays particular emphasis on carries out local control to lower floor of robot, not having perception, management and the regulation and control of the overall situation to external world of upper strata dynamic neuron system, is a kind of simple biological allocinesis.Although this method can realize the motion of robot, the restriction of controlled system architecture and control method, the motion independence reduces, and is perfect not enough on dirigibility, stability and the adaptation external environment condition.The all fours type bionic robot (patent No. 03157386.X) of the realization animal rhythmic movement of the high team of the Zheng Hao of Tsing-Hua University research and development uses the rhythmic movement mechanism similar to animal to come control robot, though this method makes the robot motion more flexible, the robot body does not still accomplish autonomous perception external environment condition and can the self-control motion state.And this robot controller major part is external in robot, makes the robot motion limited.
Summary of the invention
Can't be in order to overcome existing all fours type robot by the problem of self-perception external environment condition from the main regulation displacement, the present invention proposes a kind of all fours type bionic robot control device and system that moves down based on the dynamic neuron network schemer, make the robot can be, and regulate the autokinetic movement that control robot can be flexible, quick by the dynamic neuron network schemer by self-sensor device perception external environment.
The technical solution adopted for the present invention to solve the technical problems is: comprise the infrared sensor group, array of ultrasonic sensors, flame sensor, laser range sensor, binocular vision sensor, digital compass, Inertial Measurement Unit, force transducer, lead limit switch, three groups of data acquisition units, three groups of data fusion modules, two possess the counter of carrying out the dynamic neural network algorithm function, a pair of ethernet communication module, a data storer, the servomotor of several electric machine controllers and corresponding amount controller, entire machine people's control system that above-mentioned original paper constitutes is a big closed loop transmittance process, specifically is divided into two key-courses up and down, the upper strata is used for the perception external environment condition and the direction of motion of making a strategic decision just as the brain of biosome, and lower floor is used for the controlled motion gait and regulates oneself state just as the nervous centralis of biosome.
The upper strata key-course comprises infrared sensor group, array of ultrasonic sensors, flame sensor, laser range sensor, binocular vision sensor, digital compass, upper strata counter and upper strata ethernet communication module, and described infrared sensor is used to measure closely that the distance of small-sized barrier and guides the robot obstacle detouring; Array of ultrasonic sensors is used to measure the large-scale obstacle distance in the place ahead and and guides robot obstacle-avoiding; Flame sensor is used to judge whether the place ahead has flame and inform that robot dodges; Laser sensor is used for accurate range finding; Binocular vision sensor is used to catch the place ahead barrier profile; Digital compass is used for precisely determining geographic direction and the robot luffing angle that rolls, and is that reference orientation and definite robot real-time pose are demarcated in the motion of robot; This wherein the infrared sensor group collect one group of data by the infrared data ' s acquisition device after infrared sensor group data fusion module carries out passing to the upper strata counter after the data fusion; Array of ultrasonic sensors collects one group of data by the ultrasonic data acquisition device after the ultrasonic array data fusion module carries out passing to the upper strata counter after the data fusion; Binocular vision sensor collects the data that picture signal obtains needing and passes to the upper strata counter after the visual signal processor processing, flame sensor, laser sensor and digital compass are directly passed to data the upper strata counter, described upper strata counter obtains the director data that lower floor's key-course needs after collecting the data of six sensors and carrying out computing, carries out real-time Communication for Power by lower floor's ethernet communication module of upper strata ethernet communication module and lower floor's key-course.
Lower floor's key-course comprises Inertial Measurement Unit, force transducer, lead limit switch, lower floor's counter, the dynamic pose parameter when the described Inertial Measurement Unit of servomotor of lower floor's ethernet communication module, data collector and data storer and several electric machine controllers and corresponding amount controller is used for the robot measurement motion; Force transducer is used for the robot measurement vola stressed situation in back of contacting to earth; Lead limit switch is used for limit of sports record position spacing of each turning joint; Described lower floor ethernet communication module is sent to the preservation of director data reception memorizer after receiving upper layer data, and wait is called; Described director data Fusion Module be used for merging these three sensors of measuring unit, force transducer and lead limit switch after data acquisition unit is collected data and leave the upper layer data of data-carrier store in after send lower floor's counter to; Described lower floor counter gathers and obtains after all data are calculated by the dynamic neuron network algorithm currently being fit to robot motion's gait to the next instruction time period, and the servomotor that instruction is conveyed under electric machine controller and the control separately rotates.
The invention has the beneficial effects as follows: the present invention has set up a kind of all fours type bionic robot control device that can realize self-perception, self-adaptation, self-control campaign; Robot controller adopts two key-courses, and is corresponding with the BIOLOGICAL CONTROL pattern of biosome brain and central nervous system; Adopt Multi-sensor Fusion to survey external environment condition in the system, make robot can keep away barrier, obstacle detouring, inflammable light, climbing or the like flexibly, easily; Can also judge direction and real-time judge self pose state by the digital compass robot, self-adaptation navigation intellectuality strengthens greatly; Robot can have abundant information source and regulate pose intelligently to adapt to complex environment.
The present invention is further described below in conjunction with drawings and Examples.
Description of drawings
Fig. 1 is the schematic block diagram of robot controller of the present invention.
Fig. 2 is the schematic block diagram of robot of robot of the present invention upper strata control device.
Fig. 3 is the schematic block diagram of lower floor of robot of robot of the present invention control device.
Embodiment
Device embodiment: be illustrated in figure 1 as robot controller scheme of the present invention, most of biosomes comprise that human neural control system all takes place under a kind of biological pattern, it is divided into Decision Control layer and the lower floor's nervous centralis that the upper strata brain is a core is the coordination execution level of core.Its deutocerebrum is used for the environmental data that each organ of calculation process collects and judges, promptly asks for useful information, information is generated instruction convey to nervous centralis.Nervous centralis is used to send execution command, control four limbs (comprising bone, muscle etc.) motion, and this pattern is exactly the dynamic neuron network schemer of two key-courses up and down of using of the present invention.
Similar with the biosome kinetic control system, the dynamic neuron network schemer of the present invention four-leg bionic robot of motion is down set up two key-courses up and down, adopts the control of full cut-off ring with environment.Sensor (group) A1～A9 that wherein is contained in each key position of robot is used for gathering environmental information comprehensively and offers the robot key-course, up and down the core calculations device of two key-courses to the information that collects handle, computing, decision instruction is assigned to servo electrical machinery system M1～Mn, after motor rotating band motivation device human body moves, robotary changes, sensor is measured new environmental data again, has so just finished the circulation of a control procedure.The direction of motion of upper strata key-course decision robot, gait, speed etc. realize the orientation adjustment and the conversion of robot, are realized by the upper strata counter; Lower floor's key-course utilizes the dynamic neuron network algorithm to merge sensing data, sends the joint control signal to electric machine controller simultaneously, is realized by lower floor's counter; At last, drive to carry out and finished by servo electrical machinery system, similar biosome musculoskeletal system makes robot produce motion.
Figure 2 shows that robot of the present invention upper strata control device.What infrared sensor group A1 adopted among the figure is the GP2D12 infrared sensor group of Shenzhen Shang Sida company, be installed on four shank front ends, sensor is passed to infrared data ' s acquisition device B1 with the data of sensing (analog quantity) through analog to digital conversion when there is barrier in the place ahead, infrared data ' s acquisition device B1 with all infrared sensor information gatherings after, pass to infrared data Fusion Module C1 and handle and be sent to upper strata counter O1; Array of ultrasonic sensors A2 adopts the prosperous promise in Beijing MINI-A616010 of King Company type array of ultrasonic sensors, be installed on robot health dead ahead, sensor is passed to ultrasonic data acquisition device B2 with the data of sensing (analog quantity) through analog to digital conversion when there is barrier in the place ahead, ultrasonic data acquisition device B2 with all ultrasonic sensor information gatherings after, pass to and be sent to upper strata counter O1 after ultrasound wave group data fusion module C2 handles; Flame sensor A3 adopts the C3704 type flame sensor of HAMAMATSU company, is installed on robot the place ahead, is used to judge whether the place ahead has flame, and the data that collect are switching values, is directly passed to upper strata sensor O1; Laser sensor A4 adopts the URG-04LX type laser sensor of HOKUYO company, is used for precision ranging, and the signal that collects passes to upper strata counter O1 by serial ports; Binocular vision sensor A5 adopts Beijing MVDC360SAC-GE60ST of Microvision Inc. type binocular vision sensor, sends the information that collects to visual signal processor B 5 by vision signal and changes into digital signal transfers to upper strata counter O1; Digital compass A6 gathers geographic direction, and its data pass to O1 by serial ports; Upper strata counter O1 is the PC104 machine, industrial products are reserved with the various interface of each sensor signal transmission usefulness on its mainboard, its at the middle and upper levels ethernet communication module D1 be integrated on the PC104 machine, its effect is to communicate by letter with lower floor, gives lower floor with the data transfer after the computing of upper strata.
Figure 3 shows that lower floor of robot of the present invention control device.The A7 of Inertial Measurement Unit shown in the figure adopts the CS-IMU-01 type Inertial Measurement Unit of culminant star observing and controlling, be installed on robot interior robot measurement pose state parameter (angular acceleration and the linear acceleration that comprise three directions), give data acquisition unit B4 with data transfer by serial ports; Force transducer A8 adopts the Jiangsu connection can CL-YD-331 type force transducer, is installed at the bottom of the robot foot, and when the robot foot termination contacts ground or other object, force transducer A8 can pass to data acquisition unit B4 by analog to digital conversion with the contact force data; Lead limit switch A9 adopts the Shanghai prosperous J5M-D0.8PK of the company type lead limit switch that shakes, and is installed on the front and back extreme position of each swinging joint and the initial position before the swing, and the data of measurement are switching values, pass to data acquisition unit B4; The ethernet communication module D2 of lower floor is used for upper layer communication and receives upper layer data, and data storing is received reservoir E1 in director data; Director data receives the data of reservoir E1 and data acquisition unit B4 after director data Fusion Module C3 data fusion, is sent to the counter O2 of lower floor that possesses dynamic neuron network calculations function; The same industrial products PC104 machine that also uses of the counter O2 of lower floor with the upper strata.
The director data that obtains after being calculated by O2 needs to carry out immediately, and robot is equipped with some electric machine controllers, and (G1～Gn) is used to control the motor in each joint, and these electric machine controllers are exactly to be used for carrying out the execution command data that the counter O2 of lower floor sends; The servomotor that be installed on joint corresponding with controller rotated by the control of electric machine controller M, drives the robot motion.
Claims (1)
1, all fours type bionic robot control device, comprise the infrared sensor group, array of ultrasonic sensors, flame sensor, laser range sensor, binocular vision sensor, digital compass, Inertial Measurement Unit, force transducer, lead limit switch, three groups of data acquisition units, three groups of data fusion modules, two possess the counter of carrying out the dynamic neural network algorithm function, a pair of ethernet communication module, a data storer, the servomotor of several electric machine controllers and corresponding amount controller is characterized in that: described infrared sensor group collects one group of data by the infrared data ' s acquisition device after infrared sensor group data fusion module carries out passing to the upper strata counter after the data fusion; Array of ultrasonic sensors collects one group of data by the ultrasonic data acquisition device after the ultrasonic array data fusion module carries out passing to the upper strata counter after the data fusion; Binocular vision sensor collects the data that picture signal obtains needing and passes to the upper strata counter after the visual signal processor processing, flame sensor, laser sensor and digital compass are directly passed to data the upper strata counter, described upper strata counter obtains the director data that lower floor's key-course needs after collecting the data of six sensors and carrying out computing, carries out real-time Communication for Power by upper strata ethernet communication module and lower floor's ethernet communication module; Described lower floor ethernet communication module is sent to the preservation of director data reception memorizer after receiving upper layer data, and wait is called; Described director data Fusion Module be used for merging these three sensors of measuring unit, force transducer and lead limit switch after data acquisition unit is collected data and leave the upper layer data of data-carrier store in after send lower floor's counter to; Described lower floor counter combined data is rotated by after calculating instruction being conveyed to the affiliated separately servomotor of electric machine controller and control.
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| Application Number | Priority Date | Filing Date | Title |
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| CNB2007103007197A CN100573389C (en) | 2007-12-21 | 2007-12-21 | All fours type bionic robot control device |
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| CNB2007103007197A CN100573389C (en) | 2007-12-21 | 2007-12-21 | All fours type bionic robot control device |
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| CN101251756A true CN101251756A (en) | 2008-08-27 |
| CN100573389C CN100573389C (en) | 2009-12-23 |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102156054A (en) * | 2011-03-18 | 2011-08-17 | 西北工业大学 | Walking capacity tester of foot robot |
| CN103279113A (en) * | 2013-06-27 | 2013-09-04 | 山东大学 | Distributed type control system of hydraulic quadruped robot and control method |
| CN103345285A (en) * | 2013-06-27 | 2013-10-09 | 山东大学 | Quadruped robot remote control system and remote control method thereof |
| CN103744426A (en) * | 2014-01-02 | 2014-04-23 | 上海大学 | Bionic flexible body bending control system of quadruped robot |
| CN104913206A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Four-leg robot lamp |
| CN106525049A (en) * | 2016-11-08 | 2017-03-22 | 山东大学 | Quadruped robot body posture tracking method based on computer vision |
| CN108189003A (en) * | 2018-02-02 | 2018-06-22 | 北京华航唯实机器人科技股份有限公司 | A kind of Multifunctional mobile robot and a kind of method for optimizing maze path |
| WO2018113263A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳光启合众科技有限公司 | Method, system and apparatus for controlling robot, and robot |
| CN109434833A (en) * | 2018-11-19 | 2019-03-08 | 深圳市天博智科技有限公司 | Control system, method and the storage medium of AI intelligence programming bio-robot |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN111331603A (en) * | 2020-03-17 | 2020-06-26 | 北京理工大学 | Stress type motion posture conversion method and system for wheel-legged robot |
| CN112596534A (en) * | 2020-12-04 | 2021-04-02 | 杭州未名信科科技有限公司 | Gait training method and device for quadruped robot based on deep reinforcement learning, electronic equipment and medium |
| CN112970034A (en) * | 2018-10-30 | 2021-06-15 | 索尼集团公司 | Information processing apparatus, information processing method, and program |
| CN113427482A (en) * | 2021-03-18 | 2021-09-24 | 长安大学 | Method, system, equipment and storage medium for robot to pass obstacle |
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2007
- 2007-12-21 CN CNB2007103007197A patent/CN100573389C/en not_active Expired - Fee Related
Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102156054A (en) * | 2011-03-18 | 2011-08-17 | 西北工业大学 | Walking capacity tester of foot robot |
| CN103279113A (en) * | 2013-06-27 | 2013-09-04 | 山东大学 | Distributed type control system of hydraulic quadruped robot and control method |
| CN103345285A (en) * | 2013-06-27 | 2013-10-09 | 山东大学 | Quadruped robot remote control system and remote control method thereof |
| CN103345285B (en) * | 2013-06-27 | 2015-10-28 | 山东大学 | A kind of quadruped robot remote control thereof |
| CN103279113B (en) * | 2013-06-27 | 2015-11-11 | 山东大学 | A kind of distributed hydraulic pressure quadruped robot control system and control method |
| CN103744426A (en) * | 2014-01-02 | 2014-04-23 | 上海大学 | Bionic flexible body bending control system of quadruped robot |
| CN103744426B (en) * | 2014-01-02 | 2016-03-30 | 上海大学 | A kind of quadruped robot Bionic flexible body bends control system |
| CN104913206A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Four-leg robot lamp |
| CN106525049A (en) * | 2016-11-08 | 2017-03-22 | 山东大学 | Quadruped robot body posture tracking method based on computer vision |
| CN106525049B (en) * | 2016-11-08 | 2019-06-28 | 山东大学 | A kind of quadruped robot ontology posture tracking method based on computer vision |
| WO2018113263A1 (en) * | 2016-12-22 | 2018-06-28 | 深圳光启合众科技有限公司 | Method, system and apparatus for controlling robot, and robot |
| CN108189003A (en) * | 2018-02-02 | 2018-06-22 | 北京华航唯实机器人科技股份有限公司 | A kind of Multifunctional mobile robot and a kind of method for optimizing maze path |
| CN112970034A (en) * | 2018-10-30 | 2021-06-15 | 索尼集团公司 | Information processing apparatus, information processing method, and program |
| CN109434833A (en) * | 2018-11-19 | 2019-03-08 | 深圳市天博智科技有限公司 | Control system, method and the storage medium of AI intelligence programming bio-robot |
| WO2020103247A1 (en) * | 2018-11-19 | 2020-05-28 | 深圳市天博智科技有限公司 | Control system and method for ai intelligent programming bionic robot, and storage medium |
| CN110329384A (en) * | 2019-07-30 | 2019-10-15 | 佛山科学技术学院 | One kind is obstacleable to climb Web robot |
| CN110329384B (en) * | 2019-07-30 | 2024-04-30 | 佛山科学技术学院 | Can avoid barrier climb net robot |
| CN111331603A (en) * | 2020-03-17 | 2020-06-26 | 北京理工大学 | Stress type motion posture conversion method and system for wheel-legged robot |
| CN111331603B (en) * | 2020-03-17 | 2021-03-30 | 北京理工大学 | Stress type motion posture conversion method and system for wheel-legged robot |
| CN112596534A (en) * | 2020-12-04 | 2021-04-02 | 杭州未名信科科技有限公司 | Gait training method and device for quadruped robot based on deep reinforcement learning, electronic equipment and medium |
| CN113427482A (en) * | 2021-03-18 | 2021-09-24 | 长安大学 | Method, system, equipment and storage medium for robot to pass obstacle |
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