CN102436200B - Modularized multifunctional robot controller - Google Patents
Modularized multifunctional robot controller Download PDFInfo
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- CN102436200B CN102436200B CN 201110395750 CN201110395750A CN102436200B CN 102436200 B CN102436200 B CN 102436200B CN 201110395750 CN201110395750 CN 201110395750 CN 201110395750 A CN201110395750 A CN 201110395750A CN 102436200 B CN102436200 B CN 102436200B
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Abstract
The invention relates to a modularized multifunctional robot controller which comprises a main control module and an interface part, wherein the interface part comprises an extensible digital sensor interface module, an extensible simulation sensor interface module, an extensible simulation steering engine interface module, an extensible digital steering engine interface module, a downloading and simulation interface module, an external extensible serial communication module, an extensible encoder fast interface module, an extensible motor-driven interface module and a system power centralized management interface module, each module of the interface part is provided with a data interface and a power interface, the system power centralized management interface module is internally provided with a microcontroller, the microcontroller receives the working current and voltage state information in power areas, and controls the states of the protection circuits in the detection modules, and the working current and voltage state information is acquired by the detection modules. With the modularized multifunctional robot controller disclosed by the invention, modularized fast switching can be realized, the structure is simple, module extension replacement is simple, programming and base layer development are easy, and corresponding configuration of functional modules can be carried out according to the needs of users.
Description
Technical field
The present invention relates to a kind of robot controller, specifically the multi-function robot controller of a kind of modularization, extensive interface.
Background technology
Robot has been widely used in numerous areas at present, comprise Aero-Space, industrial manufacturing, rescue and relief work, robot match and fields such as scientific research and education and instruction, it is a comprehensive sci-tech product that relates to subjects such as mechanical, electrical, control, measurement, information, communication, energy and material.Robot is of a great variety, the function complexity, and as a kind of equipment and comprehensive research platform that replaces the manpower work, it is accepted extensively by the fan of each field, each level, learner and researcher.
Controller is the ROBOT CONTROL core, and it passes through to gather the state value of peripheral various sensors, and calculates and handle according to user's written program and algorithm, makes robot produce corresponding expection and operates, thereby reach certain actual functional capability.Adopt more robot controller all to possess strong specific function at present, but its shortcoming is its function singleness, can not make robot and control system possess stronger flexibility, this just requires robot controller to possess more function and stronger extended capability.
In recent years, each major company of the world develops high-performance machine people in succession, anthropomorphic robot with the artificial representative of France's " NAO " machine has developed into higher level, but its controller is strongly professional, the control method complexity can only be difficult to carry out other complex tasks as research platform and performance robot, this understands that on the other hand its controller lacks certain flexibility, has therefore also limited the expansion of its range of application.
Simultaneously, the star robot external member of the intention that more domestic companies of robot such as Beijing company of robot release, though its robot possesses the certain module characteristic, as have download debugging module, steering wheel module, motor drive module etc., these modules are free on outside the controller, do not form organic whole with controller, and its control unit interface is fixed, and does not possess extendability, and intermodule connects with data line, poor stability has limited the range of application of controller.Therefore, its controller module degree and extensibility are difficult to satisfy the requirement of flexible robot's controller.
In addition, existing robot controller programmed environment generally all depends on the software that corresponding research and development company develops, can only carry out secondary development or top layer exploitation to code, limit the reconstruct of user to the controller bottom code, obviously be difficult to satisfy the flexible robot to the demand of controller.
Therefore, at from now on one period intelligent robot and the growth requirement of intelligence control system thereof, but developing the high flexibility robot controller of the universal programming environment of a kind of high modularization, abundant extendable functions module, stable modular structure and programming on bottom layer, is to be badly in need of one of urgent technical barrier that solves at present.
Summary of the invention
The purpose of this invention is to provide and a kind ofly can realize multi-functional control, can realize that again modularization switches fast, and simple in structure, that the module expansion is changed is easy, be easy to programme and the modular multi-functional device people controller of low level development.
The present invention solves the problems of the technologies described above the technical scheme that adopts to be: a kind of modular multi-functional device people controller, controller comprises main control module and interface section, but the interface section comprises the expanding digital sensor interface module, can expand the simulation sensor interface module, can expand simulation steering wheel interface module, but expanding digital steering wheel interface module, download and simulation interface module, extend out the serial communication module, scalable coding device fast interface module, can expand motor-driven interface module and system power supply centralized management interface module, each module of interface section is provided with data-interface and power interface, is provided with electrostatic screening and electromagnetic interference shield between data-interface and power interface; Main control module is isolated by photoelectricity and is connected with the data-interface of each module of interface section, receives the data that each module is gathered, and sends instruction to each module, finishes corresponding programmed instruction task; Be provided with in the described system power supply centralized management interface module that sensor power supply detection module, power of motor power supply detect detection module, motor-driven and scrambler power supply detection module, steering wheel power supply detection module, the communication interface machine is downloaded power supply detection module and main control module for power supply and detection module; in system power supply centralized management interface module, be provided with microcontroller; microcontroller receives working current and the voltage status information of each power supply area of each detection module collection, and controls the state of holding circuit in each detection module.
Be integrated with photoisolator respectively in each module of described interface section.
Described scalable coding device fast interface module is provided with the encoder interfaces with expansion module interface unified standard, and each module of described interface section is equipped with the fast interface unified with the expansion module interface standard.
The described serial communication module that extends out can be expanded a plurality ofly from machine equipment, and supports the standard agreement communication.
The described serial communication module that extends out is also expanded wireless communication module is arranged, and the remote online monitor module communication of wireless communication module and peripheral hardware to remote online monitor module communication transmission control unit (TCU) running status value, and is shown in visual device.
Each module of described interface section is fixed on the controller body by the grafting latch mechanism.
The present invention adopts mega128 as the control core, it is main control module, auxiliary circuit around optimizing, pin is divided each functional areas according to functions of modules, and carry out unified addressing according to function, adopt photoelectricity to isolate and arrange with each module is corresponding, according to unified standard peripheral interface is set, electromagnetic interference shield is set simultaneously.Finally, but but the controller main body comprises 16 expanding digital sensor interfaces, 8 can expand simulation sensor interface, 8 and can expand serial communication interface and JTAG and the ISP emulation download interface that simulation steering wheel interface, 1 road expanding digital steering wheel interface, 4 road digital encoder fast interfaces, 1 tunnel are used for wireless transmission.Data-signal transmission between module and controller is isolated by data fast interface and photoelectricity, has reduced the interference of module by signal to the control core, and power supply links to each other with module by the power supply fast interface, and separates with the data fast interface, can effectively reduce signal and disturb.On any interface module, expansion interface all can be expanded the identical function module fast.Described module interface possesses powerful load capacity; the system power supply centralized management interface module of controller is provided with independently service area at each module; and can gather the work state information such as electric current, voltage of each service area in real time; by the microcontroller that carries; according to disparate modules voltage range, load characteristic etc.; the running parameter and relevant operating index of described power module are set, regulate power supply state and the guard mode of each module.
Described control unit interface module comprises: but the expanding digital sensor interface module, can expand the simulation sensor interface module, can expand RC steering wheel interface module, digital steering wheel interface module, download and emulation module, extend out the serial communication module, the special-purpose fast interface module of scalable coding device, can expand motor-driven interface module and system power supply centralized management interface module, be equipped with and the monolithic fast interface of expansion connection module standard, be connected fast with the corresponding function module by fast interface.
The quick interface of the standardization of described interface module comprises data-interface and power interface, data-interface mainly transmits information, docking port number data port few, that contain much information adopts USB interface, SPI interface or serial communication interface, adopts standardization agreement, and transfer rate is fast, accuracy is high; The employing one line expansion technique that the docking port number is more, quantity of information is little adopts D type multicore splicing interface, and screw is fastening, is convenient to wiring, more is conducive to change fast and the expansion corresponding module.Power interface is mainly each module electric energy is provided, and adopts the double-layer wiring post, and the back of pegging graft is fastening with screw, has characteristics such as through-put power is big, volume is little, reliability height.Two kinds of interfaces are used, can can carry out the load capacity test processes to the power supply fast interface according to the load of expansion module, the data fast interface separates with the power supply fast interface simultaneously, plays quick connection, reliably transmission and electrostatic screening and electromagnetic interference shielding action.
All pins of described master controller are according to functions of modules partition functionality district, and carry out unified addressing according to function, adopt photoelectricity to isolate and arrange with each module is corresponding, according to unified standard peripheral interface are set, and electromagnetic interference shield is set simultaneously.
Described system power supply centralized management interface module is provided with independently service area at each module; and can gather the work state information such as electric current, voltage of each service area in real time; by the microcontroller that carries; using and expand according to disparate modules; its running parameter and relevant operating index are set, regulate power supply state and the guard mode of each module.
The described serial communication module that extends out, a plurality of from machine equipment and the communication of support standard agreement except expanding, this module is mainly used in extended wireless module and the communication of remote online monitor module.
The outer remote in-service monitoring module that described controller support is additional, this module by with the controller wireless telecommunications, obtain the important running status value of controller, and be shown in visual device.
The invention has the beneficial effects as follows: can realize that modularization switches fast, and simple in structure, that the module expansion is changed is easy, be easy to programming and low level development.Adopt modular design method, can functional module be disposed accordingly according to user's needs, each intermodule is connected compact and does not disturb mutually, it is convenient, flexible to programme, can give full play to the Flexible Control characteristic of controller, controller is strong to adaptive capacity to environment, can be competent at the request for utilization under the various complex environments.
Description of drawings
Fig. 1 is general frame circular chart of the present invention;
Fig. 2 is power management distribution diagram of the present invention;
Fig. 3 is data transmission flow graph of the present invention.
Mark among the figure: 1, main control module, 2, but expanding digital sensor interface module, 3, can expand the simulation sensor interface module, 4, but expanding digital steering wheel interface module, 5, can expand simulation steering wheel interface module, 6, download and simulation interface module, 7, extend out the serial communication module, 8, scalable coding device fast interface module, 9, can expand the motor-driven interface module, 10, system power supply centralized management interface module, 11, the remote online monitor module, 12, sensor power supply detection module, 13, the power of motor power supply detects detection module, 14, motor-driven and scrambler power supply detection module, 15, steering wheel power supply detection module, 16, the communication interface machine is downloaded power supply detection module, 17, main control module for power supply and detection module, 18, motor.
Embodiment
As shown in Figure 1, a kind of modular multi-functional device people controller comprises main control module 1 and interface section.In the controller function fully independently each submodule each interface by the interface section connect.But but the interface section comprises expanding digital sensor interface module 2, can expand simulation sensor interface module 3, can expand simulation steering wheel interface module 5 expanding digital steering wheel interface modules 4, download and simulation interface module 6, extend out serial communication module 7, scalable coding device fast interface module 8, can expand motor-driven interface module 9 and system power supply centralized management interface module 10.But but main control module 1 be responsible for according to input programmed acquisition and processing expanding digital sensor interface module 2, can expand simulation sensor interface module 3 expanding digital steering wheel interface modules 4, can expand simulation steering wheel interface module 5, download and simulation interface module 6, extend out serial communication module 7, scalable coding device fast interface module 8, can expand the data message of motor-driven interface module 9 and system power supply centralized management interface module 10, then, send instruction to each module, finish corresponding programmed instruction task.Each module of interface section is provided with data-interface and power interface, is provided with electrostatic screening and electromagnetic interference shield between data-interface and power interface; Main control module 1 is isolated by photoelectricity and is connected with the data-interface of each module of interface section, receives the data that each module is gathered, and sends instruction to each module.
As shown in Figure 2, be the power distribution figure of controller.Described system power supply centralized management interface module 10 is provided with independently service area at each module, is provided with in the system power supply centralized management interface module 10 that sensor power supply detection module 12, power of motor power supply detect detection module 13, motor-driven and scrambler power supply detection module 14, steering wheel power supply detection module 15, the communication interface machine is downloaded power supply detection module 16 and main control module for power supply and detection module 17.Each detection module all is provided with testing circuit and holding circuit, in system power supply centralized management interface module 10, be provided with microcontroller, microcontroller receives the information of each detection module, gather working current and the voltage status information of each power supply area in real time, in case be short-circuited, improper phenomenon such as overcurrent, under-voltage, overvoltage, then start the holding circuit of this workspace, automatically perform and cut off the electricity supply, and give the alarm by light harmony, remind the user; Treat that service restoration is normal, above-mentioned power work district connects power up work.Especially; in the current supply circuit that can expand motor-driven interface module 9; owing to relate to transient high-current and continue big electric current; therefore 10 pairs of interface modules of system power supply centralized management should have been carried out strict monitoring and protection by the zone electric current; adopt short period scanning sample, outage to carry out retrocession from recovery insurance and fusing protective tube respectively, guarantee system works stability.
As shown in Figure 3, be the data message flow graph of controller.Be the influence of avoiding main control loop is caused, the data of sensor, motor driver are transmitted by photoelectrical coupler, module is switched and expansion owing to relate to, therefore photoisolator is not arranged in controller inside according to present method therefor, but integrated with each module of interface section, so just avoided the problem of photoelectricity channel isolation quantity restriction module extended capability.
But described expanding digital sensor interface module 2, can expand simulation sensor interface module 3, can expand simulation steering wheel interface module 5 and other and can expand and follow the module of changing, integrated with photoisolator and power interface respectively, and be fixed in the controller body with the grafting latch mechanism, only need unclamp this latch mechanism when changing this module, reinstall module latch and get final product.Data distribution adopts the sampling of 8 passages wheel, and according to the requirement of distinct interface number, the expansion interface quantity of module differs.
Described scalable coding device fast interface module 8 is provided with the encoder interfaces with expansion module interface unified standard, and each module of described interface section is equipped with the fast interface unified with the expansion module interface standard.The described serial communication module 7 that extends out can be expanded a plurality ofly from machine equipment, and supports the standard agreement communication.Extend out serial communication module 7 and also expand wireless communication module is arranged, remote online monitor module 11 communications of wireless communication module and peripheral hardware to remote online monitor module 11 communication transmission control unit (TCU) running status values, and are shown in visual device.
But described expanding digital steering wheel interface module 4, be integrated with RS232 protocol chip and RS485 protocol chip, satisfy short distance and digital remote steering wheel demand for control, selected expansion module has: the two protocol extension modules of single RS232 expansion connection module, single RS485 expansion connection module and RS232 and RS485, above-mentioned module interface is sought unity of standard according to controller, and the user can change disparate modules according to different needs.
Described download and simulation interface module 6, simultaneously integrated general ISP and JTAG download module, only need to be connected to computer and install driver by the USB connecting line, and cooperating general download and programming simulation software can finish download and emulation, these softwares have: AVR_fighter, AVR_stdio etc.
The described serial communication module 7 that extends out, by the extended wireless communication module, realize the communication with remote online monitor module 11, and then in the controller operational process on-line monitoring controller running status, display device by monitor can obtain important parameters value in the controller operational process, running status with this accurate judgment controller makes things convenient for on-line debugging.
Described scalable coding device fast interface module 8, it is the scalable coding device interface that is integrated in controller, it is supported No. 4 scramblers to insert and can expand, can satisfy Electric Machine Control needs such as wheeled robot especially, can effectively improve kinematic accuracy and the control accuracy of robot, and then improve the overall performance of robot.
The described motor-driven interface module 9 of expanding is supported 4 road high power DC electric machines output, and output power is according to module and different, minimum single channel 25W, and maximum single channel 150W, voltage scope of application 6V ~ 36V adopts full-bridge Driving technique, safety and stability.The present invention has designed safeguard measures such as strict overcurrent, overvoltage, the stability and the security that have improved power driving circuit especially.
Described controller can use the programmed environment of any a support AVR single-chip microcomputer to programme, and provide the rich functions module, can directly call by program and participate in compiling, support compilation and C Programming with Pascal Language simultaneously, the user can be according to port address and the expansion module address of controller, set up program engineering targetedly, and carry out autonomous bottom code exploitation.
The present invention adopts modular design, can expand different functional modules as required, adopts the power supply situation of each interface module of management by methods of centralized management, guarantees stability and the security of operation.Testing circuit and holding circuit in the system power supply centralized management interface module 10, and the interface circuit in each interface module all can be according to the prior art setting.
Described controller possesses higher flexibility, shows: adopt the modular design method of height, have abundant available functional module, powerful module extended capability, the ability to communicate of controller and on-line debugging ability.Modular multi-functional device people controller can dispose functional module accordingly according to user's needs, each intermodule is connected compact and does not disturb mutually, it is convenient, flexible to programme, can give full play to the Flexible Control characteristic of controller, therefore, modular multi-functional device people controller is strong to adaptive capacity to environment, can be competent at the request for utilization under the various complex environments, the robot that can be used for competing, disaster relief robot, danger removal robot, service robot, teaching experiment platform and various field of intelligent control; Only needing to change fast functional module when applied environment changes makes controller reach needs to get final product.
Claims (6)
1. modular multi-functional device people controller, it is characterized in that: controller comprises main control module (1) and interface section, but the interface section comprises expanding digital sensor interface module (2), can expand simulation sensor interface module (3), can expand simulation steering wheel interface module (5), but expanding digital steering wheel interface module (4), download and simulation interface module (6), extend out serial communication module (7), scalable coding device fast interface module (8), can expand motor-driven interface module (9) and system power supply centralized management interface module (10), each module of interface section is provided with data-interface and power interface, is provided with electrostatic screening and electromagnetic interference shield between data-interface and power interface; Main control module (1) is isolated by photoelectricity and is connected with the data-interface of each module of interface section, receives the data that each module is gathered, and sends instruction to each module, finishes corresponding programmed instruction task; Be provided with sensor power supply detection module (12) in the described system power supply centralized management interface module (10); the power of motor power supply detects detection module (13); motor-driven and scrambler power supply detection module (14); steering wheel power supply detection module (15); the communication interface machine is downloaded power supply detection module (16) and main control module for power supply and detection module (17); in system power supply centralized management interface module (10), be provided with microcontroller; microcontroller receives working current and the voltage status information of each power supply area of each detection module collection, and controls the state of holding circuit in each detection module.
2. a kind of modular multi-functional device people controller as claimed in claim 1 is characterized in that: be integrated with photoisolator respectively in each module of described interface section.
3. a kind of modular multi-functional device people controller as claimed in claim 1, it is characterized in that: described scalable coding device fast interface module (8) is provided with the encoder interfaces with expansion module interface unified standard, and each module of described interface section is equipped with the fast interface unified with the expansion module interface standard.
4. a kind of modular multi-functional device people controller as claimed in claim 1 is characterized in that: the described serial communication module (7) that extends out, can expand a plurality ofly from machine equipment, and and support the standard agreement communication.
5. a kind of modular multi-functional device people controller as claimed in claim 4, it is characterized in that: the described serial communication module (7) that extends out is also expanded wireless communication module is arranged, remote online monitor module (11) communication of wireless communication module and peripheral hardware, to remote online monitor module (11) communication transmission control unit (TCU) running status value, and be shown in visual device.
6. a kind of modular multi-functional device people controller as claimed in claim 1, it is characterized in that: each module of described interface section is fixed on the controller body by the grafting latch mechanism.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN103235877B (en) * | 2013-04-12 | 2016-04-06 | 北京工业大学 | Robot control software's module partition method |
| CN105205026B (en) * | 2015-08-26 | 2018-06-15 | 长沙奥托自动化技术有限公司 | For the multi-functional input method and system of frequency converter of driving a vehicle |
| CN108762128B (en) * | 2018-04-13 | 2021-09-07 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN110989629B (en) * | 2019-12-28 | 2022-08-12 | 天津大学 | Special integrated controller for ship model |
| CN113305867B (en) * | 2021-05-20 | 2023-03-14 | 上海纳深机器人有限公司 | Robot control circuit and control system supporting various AI (Artificial Intelligence) programming |
| CN113848793A (en) * | 2021-10-12 | 2021-12-28 | 广州市优普科技有限公司 | Control system for multi-legged robot and multi-legged robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101222568A (en) * | 2007-12-11 | 2008-07-16 | 江苏科技大学 | Image gathering device based on multi-component information embedding and multi-component information gathering method |
| CN202331089U (en) * | 2011-12-04 | 2012-07-11 | 河南科技大学 | Modularized multi-functional robot controller |
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| TW201123667A (en) * | 2009-12-30 | 2011-07-01 | Chung Hsin Elec & Mach Mfg | Random controlled fuel cell power module |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101222568A (en) * | 2007-12-11 | 2008-07-16 | 江苏科技大学 | Image gathering device based on multi-component information embedding and multi-component information gathering method |
| CN202331089U (en) * | 2011-12-04 | 2012-07-11 | 河南科技大学 | Modularized multi-functional robot controller |
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