CN101879720B - Control system of reconfigurable modular robot - Google Patents
Control system of reconfigurable modular robot Download PDFInfo
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- CN101879720B CN101879720B CN2010102203106A CN201010220310A CN101879720B CN 101879720 B CN101879720 B CN 101879720B CN 2010102203106 A CN2010102203106 A CN 2010102203106A CN 201010220310 A CN201010220310 A CN 201010220310A CN 101879720 B CN101879720 B CN 101879720B
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Abstract
The invention discloses a control system of a reconfigurable modular robot, belonging to the technical field of robots. The control system comprises a mode selection module, an initialized setting module, a puppet action control module, a script action control module, a synchronization action control module, a synchronous debugging module, a real-time monitoring module, a script generating module and an interface module, wherein the initialized setting module is connected with the script action control module, the real-time monitoring module is connected with the script action control module which is connected with the script generating module, the synchronization action control module is connected with the synchronous debugging module, the puppet action control module is connected with the mode selection module and is connected with the script action control module, the script generating module and the synchronous debugging module are respectively connected with the mode selection module, and the mode selection module is connected with the interface module. The invention can realize the control by three modes of synchronization, script and puppet, has short development period and high control precision and ensures the instantaneity of data communication.
Description
Technical field
What the present invention relates to is the system in a kind of Robotics field, specifically is a kind of control system of reconfigurable modular robot.
Background technology
Along with the continuous development of robot application on breadth and depth; People hope when simplifying the robot design, reduce structure member and reducing the robot cost; Strengthen the robot system performance; Increase robot function and diversity structure, so reconstruction robot occurred in the robotics research field.Reconfigurable modular robot is made up of various interchangeable joint module and the link blocks that independently have identical or different structure and performance characteristic, can be assembled into different robot configurations according to the needs of operation.This combination is not simple machinery reorganization, also comprises the reorganization of control system, because module itself is exactly that a kind of to collect transmission, control, communication be the unit of one.The outstanding advantage of reconfigurable modular robot system is: reconfigurability is good, easy to assembly, flexibility is good, diverse in function, adaptability strong and be convenient to safeguard.Yet, at reconfigurable modular robot constantly under the prerequisite of development, a restructural that can be suitable for, modular control system are arranged seldom but.
Literature search through to prior art is found; U.S. Patent number is: 5523662 technology discloses a kind of modularization, can expand and reconfigurable robot system; This robot system comprises 2 manipulators of being made up of the cradle head of some compacts at least, and each manipulator can be disassembled to lay equal stress on dresses up various collocation form.U.S. Patent number US 2008/0046121A1; A kind of development system of reconfigurable modular robot is disclosed; This system comprises: a single-chip microcomputer that comprises communication interface; A master controller that connects man-machine interface is ordered and signal transmission module for one, and exectorial slave controller and a functional module.Yet, more than two kinds of technology all stress in robot, do not consider robot control aspect, so the robot that is difficult to make wherein and is mentioned promotes the use of and popularizes.
Find through retrieval again; The Chinese patent publication number is: CN101398687A, open day on April 1st, 2009, patent name: a kind of information processing platform of minitype biped robot; This platform comprises: robot controller hardware, communication protocol and control systems soft ware; This platform can be used as the general-purpose platform of steering wheel control, but it has related generally to biped robot's slave computer control, and is difficult to be applied on the reconfigurable modularization robot; And neither one friendly, open, configurable graphical control system, control accuracy is low.
Summary of the invention
The present invention is directed to the above-mentioned deficiency that prior art exists; A kind of control system of reconfigurable modular robot is provided; The present invention for reconfigurable modularization robot provide an opening, flexibly, patterned control system; Have the advantage that the construction cycle is short, control accuracy is high, and can carry out synchronously, the control of drama and three kinds of patterns of puppet.
The present invention realizes through following technical scheme:
The present invention includes: mode selection module, initialization are provided with module, puppet action control module, drama action control module, synchronization action control module, synchronous debugging module, real-time monitoring module, generation drama module and interface module; Wherein: initialization is provided with the module initialization information that transmission is provided with that links to each other with the drama action control module; Real-time monitoring module links to each other with the drama action control module and transmits the information of monitoring in real time; The drama action control module links to each other with generation drama module and transmits the drama action message; The synchronization action control module transmitting synchronous action message that links to each other with the synchronous debugging module; Link to each other with the mode selection module action data information of transferring robot of puppet action control module; Link to each other with the drama action control module action data information of transferring robot of puppet action control module; Generation drama module links to each other with mode selection module respectively with the synchronous debugging module and transmits the action control information; Mode selection module links to each other with interface module and transmits the action control information of the pattern of selecting; Link to each other with the interface module information of electric current, temperature, center of gravity and motor angle of transferring robot of interface module link to each other with reconfigurable modular robot the action control information and the action data information of robot of the pattern that transmission selects, real-time monitoring module, initialization are provided with module and link to each other with interface module and transmit the initial information of setting.
Described initialization is provided with module and comprises: the joint zero-bit is provided with submodule, submodule is set the joint title and sound is provided with submodule; Wherein: the joint zero-bit be provided with submodule respectively with the interface module joint zero message that transmission is provided with that links to each other with the drama action control module; The joint title be provided with submodule respectively with the interface module joint name information that transmission is provided with that links to each other with the drama action control module, sound is provided with submodule and links to each other with the drama action control module with interface module respectively and transmit the acoustic information of setting.
Described real-time monitoring module comprises: virtual sensing submodule, acceleration detection submodule, collision detection submodule, center of gravity are extracted submodule, angle monitoring submodule, current monitoring submodule and monitoring temperature submodule; Wherein: link to each other with the drama action control module external environment information of transfer of virtual of virtual sensing submodule; The acceleration detection submodule links to each other with the drama action control module and transmits the acceleration information that detects; The collision detection submodule links to each other with the drama action control module and transmits the robot collision information that detects; Center of gravity is extracted link to each other with the drama action control module real-time center of gravity information of transferring robot of submodule; Link to each other with the drama action control module real-time angle information of each motor of transferring robot of angle monitoring submodule; Link to each other with the drama action control module real time temperature information of transferring robot of link to each other with the drama action control module real-time current information of transferring robot of current monitoring submodule, monitoring temperature submodule.
Described interface module is the wire communication mode, or communication.
Described mode selection module comprises: synchronous mode submodule, drama pattern submodule and puppet pattern submodule; Wherein: link to each other with the puppet pattern submodule action data information of transferring robot of puppet action control module; The transmitting synchronous action control information that links to each other with the synchronous mode submodule of synchronous debugging module; Generation drama module links to each other with drama pattern submodule and transmits drama action control information, and synchronous mode submodule, drama pattern submodule and puppet pattern submodule link to each other with interface module respectively and transmit the action data information of action control information and robot.
Compared with prior art; Beneficial effect of the present invention is: can carry out synchronously, the control of drama and three kinds of patterns of puppet; For reconfigurable modular robot provide an opening, flexibly, graphical, modular control system, can carry out rapid and reliable debugging and control to reconfigurable modularization robot, shortened product development cycle; The control accuracy of Synchronization Control pattern and puppet control model has guaranteed the real-time of data communication in 10ms.
The specific embodiment
Elaborate in the face of embodiments of the invention down, present embodiment provided detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment being to implement under the prerequisite with technical scheme of the present invention.
Embodiment
Present embodiment comprises: mode selection module, initialization are provided with module, puppet action control module, drama action control module, synchronization action control module, synchronous debugging module, real-time monitoring module, generation drama module and interface module; Wherein: initialization is provided with the module initialization information that transmission is provided with that links to each other with the drama action control module; Real-time monitoring module links to each other with the drama action control module and transmits the information of monitoring in real time; The drama action control module links to each other with generation drama module and transmits the drama action message; The synchronization action control module transmitting synchronous action message that links to each other with the synchronous debugging module; Link to each other with the mode selection module action data information of transferring robot of puppet action control module; Link to each other with the drama action control module action data information of transferring robot of puppet action control module; Generation drama module links to each other with mode selection module respectively with the synchronous debugging module and transmits the action control information; Mode selection module links to each other with interface module and transmits the action control information of the pattern of selecting; Link to each other with the interface module information of electric current, temperature, center of gravity and motor angle of transferring robot of interface module link to each other with reconfigurable modular robot the action control information and the action data information of robot of the pattern that transmission selects, real-time monitoring module, initialization are provided with module and link to each other with interface module and transmit the initial information of setting.
Described initialization is provided with module and comprises: the joint zero-bit is provided with submodule, submodule is set the joint title and sound is provided with submodule; Wherein: the joint zero-bit be provided with submodule respectively with the interface module joint zero message that transmission is provided with that links to each other with the drama action control module; The joint title be provided with submodule respectively with the interface module joint name information that transmission is provided with that links to each other with the drama action control module, sound is provided with submodule and links to each other with the drama action control module with interface module respectively and transmit the acoustic information of setting.
Initialization is provided with module and realizes setting through the image conversion interface in the present embodiment.
Described real-time monitoring module comprises: virtual sensing submodule, acceleration detection submodule, collision detection submodule, center of gravity are extracted submodule, angle monitoring submodule, current monitoring submodule and monitoring temperature submodule; Wherein: link to each other with the drama action control module external environment information of transfer of virtual of virtual sensing submodule; The acceleration detection submodule links to each other with the drama action control module and transmits the acceleration information that detects; The collision detection submodule links to each other with the drama action control module and transmits the robot collision information that detects; Center of gravity is extracted link to each other with the drama action control module real-time center of gravity information of transferring robot of submodule; Link to each other with the drama action control module real-time angle information of each motor of transferring robot of angle monitoring submodule; Link to each other with the drama action control module real time temperature information of transferring robot of link to each other with the drama action control module real-time current information of transferring robot of current monitoring submodule, monitoring temperature submodule.
Described center of gravity is extracted submodule and is utilized robot dynamics's model, and the situation of change of its center of gravity in calculating in real time and the display device people motion process in the drama action control module prevents that the drama action from fall down robot.
Described mode selection module comprises: synchronous mode submodule, drama pattern submodule and puppet pattern submodule; Wherein: link to each other with the puppet pattern submodule action data information of transferring robot of puppet action control module; The transmitting synchronous action control information that links to each other with the synchronous mode submodule of synchronous debugging module; Generation drama module links to each other with drama pattern submodule and transmits drama action control information, and synchronous mode submodule, drama pattern submodule and puppet pattern submodule link to each other with interface module respectively and transmit the action data information of action control information and robot.
Described interface module is a communication.
Described synchronous debugging module utilizes the action control information of synchronization action control module that robot is carried out synchronous debugging, also can be in real time each motor of robot be carried out synchronous debugging.
Described generation drama module is compiled drama with the action control information of drama action control module, and robot is moved according to this drama.
Described puppet action control module is according to the agreement that pre-sets with robot; Read the angle value of each motor in the reconfigurable modular robot in real time; And in real time its action data is passed to the drama action control module; Conveniently do motion editing,, also increased the interactive and recreational of control for the drama action control module provides the approach of quick edits.
Present embodiment can be realized three kinds of control models of robot: Synchronization Control pattern, drama control model and puppet control model, specific as follows:
1) Synchronization Control pattern:
A, synchronization action control module edit action, and this action message is passed to the synchronous debugging module;
B, synchronous debugging module are set up communication through communication and modularization robot;
The movement instruction that the action that c, synchronous debugging module will edit is converted into each joint of robot is issued to each motor module of modularization robot;
Virtual robot in d, modularization robot and the synchronization action control module is synchronized with the movement.
2) drama control model:
E, joint title, each zero-bit position, joint and audio files are set, and joint zero-bit and sound fileinfo are saved to the module machine philtrum;
F, in drama action control module inediting action, consider the information of monitoring in real time simultaneously, with the motion file form action is sent to and generates the drama module;
G, generation drama module are carried out layout and arrangement to motion file, obtain docudrama, and specify each drama pairing successively button on keyboard or operating grip, then each drama are downloaded to the module machine philtrum through communication;
H, on modularization robot, demonstrate according to each drama.
3) puppet control model:
I, puppet action control module connect through the mode and the modularization robot of radio communication;
Each motor on j, the modularization robot feeds back the rotational angle in each joint of robot in real time to the puppet action control module;
K, puppet action control module obtain each joint angles information of robot, and transmit action data to the drama action control module;
The motion in l, each joint of action data real-time update virtual machine philtrum that the drama action control module is obtained, and make each action preserve.
Claims (6)
1. the control system of a reconfigurable modular robot; It is characterized in that; Comprise: mode selection module, initialization are provided with module, puppet action control module, drama action control module, synchronization action control module, synchronous debugging module, real-time monitoring module, generation drama module and interface module; Wherein: initialization is provided with the module initialization information that transmission is provided with that links to each other with the drama action control module; Real-time monitoring module links to each other with the drama action control module and transmits the information of monitoring in real time; The drama action control module links to each other with generation drama module and transmits the drama action message; Link to each other with the drama action control module action data information of transferring robot of link to each other with the mode selection module action data information of transferring robot of the synchronization action control module transmitting synchronous action message that links to each other with the synchronous debugging module, puppet action control module, puppet action control module; Generation drama module links to each other with mode selection module respectively with the synchronous debugging module and transmits the action control information; Link to each other with the interface module information of electric current, temperature, center of gravity and motor angle of transferring robot of link to each other with reconfigurable modular robot action control information and the action data information of robot of pattern of transmission selection of link to each other with the interface module action control information of the pattern that transmission selects of mode selection module, interface module, real-time monitoring module; Initialization is provided with the module initial information that transmission is provided with that links to each other with interface module
Wherein, said puppet action control module is according to the agreement that pre-sets with robot, the angle value of each motor of read machine philtrum in real time, and in real time action data information is passed to said drama action control module, so that it carries out motion editing;
The information of monitoring is in real time considered in the action of said drama action control module editor robot simultaneously, with the form of motion file the action of robot is sent to said generation drama module;
Said generation drama module is compiled drama with the action control information of said drama action control module, and robot is moved according to this drama;
The action control information of said synchronization action control module editor robot, and it is passed to said synchronous debugging module;
Said synchronous debugging module utilizes the action control information of said synchronization action control module that robot is carried out synchronous debugging, and in real time each motor of robot is carried out synchronous debugging.
2. the control system of reconfigurable modular robot according to claim 1; It is characterized in that; Described initialization is provided with module and comprises: the joint zero-bit is provided with submodule, submodule is set the joint title and sound is provided with submodule; Wherein: the joint zero-bit be provided with submodule respectively with the interface module joint zero message that transmission is provided with that links to each other with the drama action control module; The joint title be provided with submodule respectively with the interface module joint name information that transmission is provided with that links to each other with the drama action control module, sound is provided with submodule and links to each other with the drama action control module with interface module respectively and transmit the acoustic information of setting.
3. the control system of reconfigurable modular robot according to claim 1; It is characterized in that; Described real-time monitoring module comprises: virtual sensing submodule, acceleration detection submodule, collision detection submodule, center of gravity are extracted submodule, angle monitoring submodule, current monitoring submodule and monitoring temperature submodule; Wherein: link to each other with the drama action control module external environment information of transfer of virtual of virtual sensing submodule; The acceleration detection submodule links to each other with the drama action control module and transmits the acceleration information that detects; The collision detection submodule links to each other with the drama action control module and transmits the robot collision information that detects; Center of gravity is extracted link to each other with the drama action control module real-time center of gravity information of transferring robot of submodule; Link to each other with the drama action control module real time temperature information of transferring robot of link to each other with the drama action control module real-time current information of transferring robot of link to each other with the drama action control module real-time angle information of each motor of transferring robot of angle monitoring submodule, current monitoring submodule, monitoring temperature submodule.
4. the control system of reconfigurable modular robot according to claim 1; It is characterized in that; Described mode selection module comprises: synchronous mode submodule, drama pattern submodule and puppet pattern submodule; Wherein: link to each other with the puppet pattern submodule action data information of transferring robot of puppet action control module; The transmitting synchronous action control information that links to each other with the synchronous mode submodule of synchronous debugging module; Generation drama module links to each other with drama pattern submodule and transmits drama action control information, and synchronous mode submodule, drama pattern submodule and puppet pattern submodule link to each other with interface module respectively and transmit the action data information of action control information and robot.
5. the control system of reconfigurable modular robot according to claim 1 is characterized in that, described interface module is the wire communication mode.
6. the control system of reconfigurable modular robot according to claim 1 is characterized in that, described interface module is a communication.
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| Application Number | Priority Date | Filing Date | Title |
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| CN2010102203106A CN101879720B (en) | 2010-07-09 | 2010-07-09 | Control system of reconfigurable modular robot |
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| CN101879720B true CN101879720B (en) | 2012-07-18 |
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| CN110065071B (en) * | 2019-05-11 | 2021-11-09 | 西安电子科技大学 | Group self-assembly robot configuration method based on three-element configuration description |
| CN110694286B (en) * | 2019-11-05 | 2020-11-10 | 厦门大学 | Method for simulating palm puppet performance by using mechanical arm |
| CN116372932B (en) * | 2023-04-24 | 2023-11-17 | 深圳墨影科技有限公司 | Modular design system applied to robot or robot system |
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| US6442451B1 (en) * | 2000-12-28 | 2002-08-27 | Robotic Workspace Technologies, Inc. | Versatile robot control system |
| CN1287241C (en) * | 2004-05-20 | 2006-11-29 | 上海交通大学 | Reconstituted digital control module |
| CN1743144A (en) * | 2005-09-29 | 2006-03-08 | 天津理工大学 | Internet-based robot long-distance control method |
| CN100489895C (en) * | 2007-12-06 | 2009-05-20 | 上海交通大学 | Vision system capable of reconstructing controller |
| CN100565395C (en) * | 2007-12-06 | 2009-12-02 | 上海交通大学 | The autonomy field system of reconfigurable digital controller |
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