CN101751038B - Navigation control device of mobile robot - Google Patents

Navigation control device of mobile robot Download PDF

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Publication number
CN101751038B
CN101751038B CN2008102293209A CN200810229320A CN101751038B CN 101751038 B CN101751038 B CN 101751038B CN 2008102293209 A CN2008102293209 A CN 2008102293209A CN 200810229320 A CN200810229320 A CN 200810229320A CN 101751038 B CN101751038 B CN 101751038B
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China
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processing unit
arm9
arm7
interface
robot
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CN2008102293209A
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Chinese (zh)
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CN101751038A (en
Inventor
杜振军
郑春辉
徐方
贾凯
李学威
王长龙
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沈阳新松机器人自动化股份有限公司
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Abstract

The invention relates to a navigation control device of a mobile robot, which is based on the distributed structure of a CAN (Controller Area Network) bus, and comprises an ARM9 (Advanced Reduced instruction-set computer Machine9) processing unit, an ARM7 processing unit and a DSP (Digital Signal Processor) processing unit, wherein the ARM9 processing unit is used for carrying out the communication connection with the ARM7 processing unit and the DSP processing unit via the CAN bus, so as to complete the information fusion and navigation planning of various sensors; the ARM7 processing unit is used for acquiring the information of the sensors and sending the information thereof to the ARM9 processing unit; and the DSP processing unit is used for receiving the motion control instruction of the ARM9 processing unit, so as to achieve the servo control of the motion executing mechanism of the robot. By achieving the distributed connection of the embedded micro-processor via the CAN bus, the device of the invention can effectively reduce the computational burden of each processing unit and guarantee the real-time performance of the system; by arranging a plurality of interfaces, the invention improves the flexibility in expanding and updating the navigation control device; and by using the embedded micro-processors, the invention has the advantages of low consumption, thereby meeting the requirements for the running time of the robot in families and public environment.

Description

A kind of navigation control device of mobile robot
Technical field
The present invention relates to a kind of Mobile Robotics Navigation technology, specifically a kind of navigation control device of mobile robot.
Background technology
Along with continuous progress in science and technology, robot develops to the direction of autonomous intelligence robot, and application progressively is penetrated into industries such as military, family expenses, medical treatment, building from industry.But the independent navigation of robot and the present situation of location technology have limited the application of intelligent mobile robot at above-mentioned numerous areas.
The Mobile Robotics Navigation device does not have the general hardware structure at present.Robot navigation's part in the past mainly is based on the single design of particular hardware, and navigational system does not often possess compatibility and extensibility, reconfigurability on soft, hardware.Along with the increase and decrease of sensor assembly and the variation of drive unit, this type of robot navigation's control device does not just have versatility.For new hsrdware requirements, system has to make again, and cost and efficient will be had a greatly reduced quality.On controlling object, the guider of intelligent mobile robot need finish collection to sensor information, to fusion and environmental modeling, location and the path planning function of multi-sensor information.In order to address the above problem, most of research institutions and company adopt multiprocessor to realize that this method not only increases volume, power consumption and the cost of system, and have reduced the versatility of system.
The mobile robot does not have special-purpose operating system at present, and in order to reduce development difficulty, part producer and research institution directly adopt the operating system of Windows operating system as robot control system on the X86 platform.Though based on the operating system friendly interface of Windows, exploitation easily, this concerning the control system that real-time is had relatively high expectations for Mobile Robotics Navigation, Windows operating system is difficult to satisfy its requirement, has also just reduced the reliability of system.Simultaneously, also higher based on the robot of Windows operating system to hardware requirement, objectively also increased the cost that robot makes.
Summary of the invention
At above shortcomings part in the prior art, it is the navigation control device of mobile robot of core processing unit with the flush bonding processor that the technical problem to be solved in the present invention provides a kind of.
For solving the problems of the technologies described above, the technical solution used in the present invention is:
Navigation control device of mobile robot of the present invention comprises based on the distributed frame of CAN bus:
The ARM9 processing unit adopts the CAN bus to carry out communication with ARM7 processing unit and DSP processing unit and is connected, and finishes various kinds of sensors information fusion and navigation programming; The ARM7 processing unit, pick-up transducers information is sent to the ARM9 processing unit; The DSP processing unit, the motion control instruction of reception ARM9 processing unit realizes the servocontrol of robot motion topworks.
It is the ARM9 processing module of control core that described ARM9 processing unit inside has with the ARM9 processor, the operation embedded real-time operating system, the ARM9 processor links to each other with ARM7 processing unit, DSP processing unit by the CAN bus interface, receive the Navigation Control instruction that user mobile phone sends by gsm module, distribution of machine people's status information receives USB camera image transmitted data to user mobile phone by USB interface; Receive the user speech steering order by the audio frequency input/output module; Described ARM9 processing module also is connected to touch-screen by touch screen interface, receives the instruction that the user sends by touch-screen; It is the ARM7 processing module of control core that described ARM7 processing unit inside has with the ARM7 processor, the operation embedded real-time operating system, the ARM7 processor is connected to ultrasonic sensor by timer interface and universal input/output interface, is connected to infrared sensor by the AD interface; Be connected to the electronic compass sensor by serial interface, be connected to pyroelectric sensor and smoke transducer, link to each other with ARM9 processing unit, DSP processing unit and other equipment with CAN bus interface by the CAN bus interface by universal input/output interface; Described ARM9 processing unit also has wireless network module, links to each other with remote computer by wireless network, and the Environmental Map Information of receiving remote computing machine transmission feeds back to remote computer with the positional information of robot.
The present invention has following technique effect and advantage:
1. apparatus of the present invention adopt the distributed connection that realizes embedded microprocessor by the CAN bus, effectively reduce the computation burden of each processing unit, guarantee system real time;
2. apparatus of the present invention are provided with a plurality of interfaces, have improved the dirigibility of device expansion upgrading;
3. apparatus of the present invention adopt embedded microprocessor, and are low in energy consumption, can satisfy in family, the public environment for the robot requirement of working time;
4. system cost is low, helps the popularization of mobile robot's product.
Description of drawings
Fig. 1 is a whole hardware configuration synoptic diagram of the present invention;
Fig. 2 is an ARM9 processor unit hardware configuration synoptic diagram of the present invention;
Fig. 3 is an ARM7 processor unit hardware configuration synoptic diagram of the present invention;
The software configuration synoptic diagram that Fig. 4 adopts for the present invention.
Below in conjunction with accompanying drawing and embodiment the present invention is further elaborated.
As shown in Figure 1, be whole hardware configuration synoptic diagram of the present invention.Apparatus of the present invention comprise: ARM9 processing unit, ARM7 processing unit and DSP processing unit, the three is contained the CAN bus interface, realizes distributed connection by the CAN bus.Wherein the ARM9 processing unit links to each other with remote computer by wireless network module, adopts the CAN bus to carry out communication with ARM7 processing unit and DSP processing unit and is connected, and finishes the information fusion and the navigation programming of various kinds of sensors; The ARM7 processing unit is used to gather various kinds of sensors information and is sent to the ARM9 processing unit; The DSP processing unit receives the motion control instruction of ARM9 processing unit, realizes the servocontrol of robot motion topworks.
As shown in Figure 2, be ARM9 processing unit hardware configuration synoptic diagram of the present invention.ARM9 processing unit inside has the ARM9 processing module that adopts embedded real-time operating system, the ARM9 processing module serves as the control core with the ARM9 processor, by the Environmental Map Information of wireless network module receiving remote computing machine transmission, the positional information of robot is fed back to remote computer; The ARM9 processor links to each other with ARM7 processing unit, DSP processing unit and other equipment with CAN interface by the CAN bus interface; Receive the Navigation Control instruction that user mobile phone sends by gsm module, and the status information of transmission robot is to user mobile phone; Receive USB camera image transmitted data by USB interface; Receive the user speech steering order by the audio frequency input/output module; Be connected to touch-screen by touch screen interface, be used to receive the instruction that the user sends by touch-screen, can also connect necessary external device as CF card and serial ports, as Compact Flash, debug terminal etc. by other external interfaces of ARM9 processing module.
As shown in Figure 3, be ARM7 processor unit hardware configuration synoptic diagram of the present invention, comprise: ARM7 processing unit inside has the ARM7 processing module that adopts embedded real-time operating system, the ARM7 processor is connected to array of ultrasonic sensors by timer interface and universal input/output interface, present embodiment adopts one group 6, be connected to infrared array sensor by the AD interface, present embodiment adopts 3, and above-mentioned two class sensors are used for the detection machine people distance range information of object on every side; Be connected to the electronic compass sensor by serial interface, be used for detection machine people azimuth information; Be connected to pyroelectric sensor and smoke transducer by universal input/output interface, be respectively applied for human detection and ETS concentration information and detect; Link to each other with ARM9 processing unit, DSP processing unit and other equipment by the CAN bus interface with CAN interface; The IIC interface is used for linking to each other with Temperature Humidity Sensor; Also have the SPI interface, be used for extension sensor equipment.
The DSP processing unit is the performance element of navigation control device of mobile robot of the present invention, and the motion control instruction of the ARM9 processing unit of its reception adopts S/T speed planning method, and left and right turbin generator is carried out servocontrol.
The software configuration synoptic diagram that Fig. 4 adopts for the present invention, ARM9 processing unit, ARM7 processing unit and DSP processing unit are for constituting the hardware components of navigation control device of mobile robot, and the three carries out physical connection and data communication by the CAN bus.Operation Monta Vista embedded real-time operating system on the ARM9 processing module, operation UCOS-II embedded real-time operating system on the ARM7 processing module, under the Linux running environment on the ARM9 processing module, adopt multi-threading, each thread relevant with Navigation Control is divided into: interactive voice thread, CAN communication thread, network communication thread, path planning thread, environmental modeling thread, location thread; Under the UCOS-II running environment on the ARM7 processing module, adopt multi-tasking method, each task relevant with Navigation Control is divided into: Ultrasonic Sensor Data acquisition tasks, infrared sensor data acquisition task, electronic compass data acquisition task, pyroelectric sensor data acquisition task, robot motion's control task and other sensor data acquisition tasks, as Temperature Humidity Sensor acquisition tasks etc.The data that each required by task is wanted can be carried out data communication and data sharing by the CAN bus.
The course of work of apparatus of the present invention is as follows:
When device started operation, under the scheduling of UCOS-II operability system, the ARM7 processing unit began periodically to gather ultrasound wave, various kinds of sensors data such as infrared, and becomes these packing data Frame to pass to the ARM9 processing unit by the CAN bus.During the robot motion, the DSP processing unit can be gathered robot left and right turbin generator code-disc feedback data, and all becomes Frame to pass to the ARM9 processing unit these packing data in each cycle.When the ARM9 processing unit receives data, the CAN communication thread is resolved the CAN Frame: (1) is if the Frame that the ARM7 processing unit sends, then send event message to the environmental modeling thread, by the system call of Linux, the environmental modeling thread receives the Frame that the ARM7 processing unit sends and upgrades the current environment model with up-to-date sensing data; (2) if the Frame that the DSP processing unit sends, then send the given bit thread of event message, by the system call of Linux, the location thread receives the Frame that the DSP processing unit sends and upgrades the current robot posture information with up-to-date code-disc information; The path planning thread regularly triggers execution by the high-resolution timer of Monta Vista, when the path planning thread obtains the event message of timer, the current environment information that provides by the environmental modeling thread is provided and locatees the robot posture information that thread provides, calculate robot at the running orbit of following one-period and send motion control instruction, finish servocontrol the left and right turbin generator of robot by the DSP processing unit to the DSP processing unit.

Claims (5)

1. navigation control device of mobile robot, it is characterized in that: the distributed frame based on the CAN bus comprises:
The ARM9 processing unit adopts the CAN bus to carry out communication with ARM7 processing unit and DSP processing unit and is connected, and finishes various kinds of sensors information fusion and navigation programming;
The ARM7 processing unit, pick-up transducers information is sent to the ARM9 processing unit;
The DSP processing unit, the motion control instruction of reception ARM9 processing unit realizes the servocontrol of robot motion topworks.
2. by the described navigation control device of mobile robot of claim 1, it is characterized in that: it is the ARM9 processing module of control core that described ARM9 processing unit inside has with the ARM9 processor, the operation embedded real-time operating system, the ARM9 processor is by CAN bus interface and ARM7 processing unit, the DSP processing unit links to each other, receive the Navigation Control instruction that user mobile phone sends by gsm module, distribution of machine people's status information is to user mobile phone, receive USB camera image transmitted data by USB interface, receive the user speech steering order by the audio frequency input/output module.
3. by the described navigation control device of mobile robot of claim 2, it is characterized in that: described ARM9 processing module also is connected to touch-screen by touch screen interface, receives the instruction that the user sends by touch-screen.
4. by the described navigation control device of mobile robot of claim 1, it is characterized in that: it is the ARM7 processing module of control core that described ARM7 processing unit inside has with the ARM7 processor, the operation embedded real-time operating system, the ARM7 processor is connected to ultrasonic sensor by timer interface and universal input/output interface, is connected to infrared sensor by the AD interface; Be connected to the electronic compass sensor by serial interface, be connected to pyroelectric sensor and smoke transducer, link to each other by CAN bus interface and ARM9 processing unit, DSP processing unit and equipment with CAN bus interface by universal input/output interface.
5. by the described navigation control device of mobile robot of claim 1, it is characterized in that: described ARM9 processing unit also has wireless network module, link to each other with remote computer by wireless network, the Environmental Map Information of receiving remote computing machine transmission feeds back to remote computer with the positional information of robot.
CN2008102293209A 2008-12-05 2008-12-05 Navigation control device of mobile robot CN101751038B (en)

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CN101916112B (en) * 2010-08-25 2014-04-23 颜小洋 Positioning and controlling system and method of intelligent vehicle model in indoor scene
CN102248536B (en) * 2011-06-14 2013-07-24 武汉科技大学 Mobile mechanical arm control system used for extendable modularization
CN102637036A (en) * 2012-05-08 2012-08-15 北京理工大学 Combined type bionic quadruped robot controller
CN103914066B (en) * 2012-12-28 2016-12-28 中国科学院沈阳自动化研究所 Agricultural machinery self-navigation controller and control method thereof
CN104057458B (en) * 2014-06-16 2015-12-02 浙江大学 A kind of Multi-shaft mechanical arm visual control system and method based on body sense and touch
CN104111655B (en) * 2014-08-06 2017-12-05 深圳乐智机器人有限公司 A kind of smart home service robot system based on remote control
CN104605793B (en) * 2014-09-23 2017-09-01 缔奇智能(河南)股份有限公司 Robot for cleaning floor system and intelligent appliance system
CN105487538A (en) * 2015-11-21 2016-04-13 广西南宁至简至凡科技咨询有限公司 Mobile robot navigation system based on GPS positioning
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
CN107553486A (en) * 2017-08-10 2018-01-09 南京昱晟机器人科技有限公司 The robot of mobile phone control
CN108053605A (en) * 2017-12-25 2018-05-18 南京南邮信息产业技术研究院有限公司 A kind of intelligent video analysis system and method based on wireless internet of things
CN110017859A (en) * 2018-01-08 2019-07-16 北京航空航天大学 Control of Wheeled Mobile Robots system
CN109085839A (en) * 2018-09-12 2018-12-25 苏州华兴源创科技股份有限公司 Automated guided vehicle and its control method and transportation system is guided automatically

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