CN104626165A - Demonstrator key reaction sensitivity optimization method - Google Patents
Demonstrator key reaction sensitivity optimization method Download PDFInfo
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- CN104626165A CN104626165A CN201410783289.9A CN201410783289A CN104626165A CN 104626165 A CN104626165 A CN 104626165A CN 201410783289 A CN201410783289 A CN 201410783289A CN 104626165 A CN104626165 A CN 104626165A
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Abstract
The invention discloses a demonstrator key reaction sensitivity optimization method which includes the steps that an array type keyboard is adopted as a demonstrator keyboard in a demonstrator system, an independent keyboard scanning management chip is selected to reduce keyboard refresh frequency, an I2C bus mode is adopted in the keyboard scanning management chip, and meanwhile, in order to quickly respond to key pressing events in time and automatically eliminate jitters, an interrupt mode is selected to serve as a work mode of the keyboard; a central processor in the demonstrator system is responsible for coordination and management between modules of the system and detection of external interrupt and interrupt processing, and finishes communication tasks with a controller, a CAN bus structure with high anti-interference performance is adopted between the modules, multi-node efficient control is achieved by means of rich message structures, and multi-point real-time communication is achieved through programs in the system. The method is easy, convenient and quick to operate, movement of robots is flexible and accurate, and timeliness is high.
Description
Technical field
The invention belongs to automation control area, be specifically related to a kind of robot demonstrator button reaction sensitivity optimization method.
Background technology
Along with the depth & wideth of industrial robot development and the raising of intelligent robot level, robot just progressively substitutes traditional manual labor at industry-by-industry.Robot system generally comprises robot controller, robot body, robot demonstrator, host computer PC.Robot demonstrator is vital assembly in robot system, and as the interactive terminal of user and robot, its receives the input instruction of user on the one hand by liquid crystal display or keyboard, control moves; On the other hand by the status information of output interface to user feedback robot.In the use of robot teach box, often run into various problem, comprise serious electromagnetic interference, smooth, the button of communication of control reacts insensitive design problem etc., thus cause robot delay of response, ageing poor and malfunction.
Summary of the invention
For the deficiencies in the prior art, the invention provides a kind of optimization method of robot demonstrator button reaction sensitivity, its manipulation means are with strong points, fast easy and simple to handle, being active in one's movements of robot is accurate and by force ageing, has good versatility and certain extensibility simultaneously.
The technical scheme that the present invention takes is: a kind of teaching machine button reaction sensitivity optimization method, comprise and teaching machine keyboard in teaching machine system is adopted matrix keyboard, and select independently keyboard scan managing chip to reduce keyboard refreshing frequency, keyboard scan managing chip adopts the bus mode of I2C, simultaneously in order to key-press event can be responded quickly and automatically can eliminate shake, select interrupt mode as the working method of keyboard; In teaching machine system, central processing unit is responsible for coordination between each module of system and management, be responsible for detecting external interrupt and doing interrupt processing, complete and carry out communication task with controller, have employed the CAN structure that anti-interference is very strong between modules, utilize abundant message structure to achieve multinode efficiently to control, the system Program of utilization realizes multiple spot real-time Communication for Power.
In the present invention, described teaching machine system Program performs 3 tasks: task 1 is control system CAN interface communication task, and task 2 is display and keyboard scan task, and task 3 is data algorithm Processing tasks.
In the present invention, described teaching machine system Program is directly in the face of microcontroller and ancillary equipment thereof, and program is divided into foreground program and background program; Described foreground program is a real-time interrupt service routine, bears real-time function, by interrupting processing event; Described background program grasps the scheduling of the distribution of the soft and hardware resource of whole teaching machine system, management and task.
Further, described background program checks whether each task possesses service condition, completes corresponding operation by certain dispatching algorithm, is responsible for button decoding simultaneously, and calling corresponding Data inputing function, the screen of writing of display operates and sends the task of data to robot controller; Described foreground program is responsible for judging whether user pushes button, and receives the work of CAN data, and in order to not affect the execution of backstage main task, the size of code of foreground program need design briefly.
In the present invention, described teaching machine system comprises embedded microcontroller, instruction keyboard, liquid crystal display, memory, power module, CAN and interface, USB interface, security module.
Further, instruction is sent to robot by the input module of described instruction keyboard or liquid crystal display, the information of reception can process by embedded microcontroller, by output interface, result is shown to user on the one hand, utilize communication interface that corresponding instruction is sent to robot controller on the other hand, then receive the data message from robot controller.
Preferably, described teaching machine system is used (SuSE) Linux OS to write friendly interface and is realized multiple spot real-time Communication for Power.
Preferably, the number of keys of described keyboard is 55.
The invention has the beneficial effects as follows: this optimization method makes system have good man-machine interaction, there is the features such as traffic rate is high, antijamming capability is strong, the requirement of system to communication distance, traffic rate and stability etc. can be met very well, utilize abundant message structure to achieve multinode and efficiently control.Independently Data inputing chip is selected to refresh to reduce keyboard the resource taking CPU; Keyboard scan managing chip adopts the bus mode of I2C.In order to key-press event can be responded quickly and automatically can eliminate shake, select interrupt mode as the working method of keyboard.It is with strong points, easy and simple to handle, quick that this optimization method makes robot demonstrator manipulate means, and being active in one's movements of robot is accurate and ageing stronger.
Accompanying drawing explanation
Fig. 1 is robot demonstrator hardware structure diagram.
Fig. 2 is software systems overall structure figure.
Detailed description of the invention
Below in conjunction with drawings and Examples, the invention will be further described.
As depicted in figs. 1 and 2, based on 6 axle welding robot teaching machines of teaching machine button reaction sensitivity optimization method, its hardware configuration comprises embedded microcontroller, instruction keyboard, liquid crystal display, memory, power module, CAN and interface, USB interface, security module.Adopt one piece of IMX6 cake core as the main control chip of teach box, it has in-cell touch panel interface, has button concurrently and touch screen operation makes the operability of teach box stronger.In teaching machine system, between each module, have employed the very strong CAN bus structures of anti-interference, achieve efficient high-speed traffic under the welding surroundings of electromagnetic conditions complexity.Master control borad has concurrently while CAN transceiver achieves CAN bus transmission-receiving function and carries out.CAN interface module is processor and the CAN transceiver of connection or embedded CAN controller, and the embedded control system of the real-time multi-task of relevant interface module composition.CAN communication interface is integrated with physical layer and the data link layer functions of CAN protocol, can complete framing processing and the priority discrimination of communication data.When communicating, CAN uses the transmission of non-preemptive formula.In CAN communication process, the transmission that the Frame with higher priority can be real-time.Make full use of the message structure that it is abundant, realize multinode and efficiently control.Use (SuSE) Linux OS to write friendly interface and achieve multi-point, make teach box more convenient operation, reaction speed is faster.
Robot demonstrator number of keys is 55, quantity is taken in order to save system port, teaching machine keyboard adopts matrix form method for designing, teaching machine CPU is except keeping communicating with controller, also to carrying out real-time refresh operation to liquid crystal display simultaneously, in order to reduce keyboard grabbing cpu resource, selecting independently keyboard scan managing chip, nearly 64 buttons can be managed, automatically eliminate shake.Chip adopts I2C bus mode, saves I/O resource.
Select the working time taking CPU that the operation that will guarantee to respond quickly button during keyboard work mode is exceeded again.Teaching machine is all the keyboard input waiting for user in the most of the time of work, then judges whether according to the current state of system the operation performing and perform which kind of type.Because number of keys more and time of user key-press is random, in order to key-press event can be responded fast in time, adopt interrupt mode as the working method of keyboard here.
Coordination between each module of teaching machine central processing unit primary responsibility system and management, be responsible for detecting external interrupt and doing interrupt processing, complete and carry out communication task with controller.Have employed the CAN structure that anti-interference is very strong between modules, realize the efficient high-speed traffic under complicated electromagnetic conditions and complicated welding surroundings, utilize abundant message structure to achieve multinode and efficiently control.
Teaching machine system has 3 tasks: task 1 is general control system CAN interface communication task, and task 2 is display and keyboard scan task, and task 3 is data algorithm Processing tasks.The program developed is directly in the face of microcontroller and ancillary equipment thereof, and program is divided into two parts: foreground program and background program.Foreground program is a real-time interrupt service routine, bear nearly all real-time function, it is by interrupting processing event, the operation that primary responsibility process is relatively harsh to time requirement, background program has then grasped the scheduling etc. of the distribution of the soft and hardware resource of whole embedded system, management and task.In program operation process, background program checks whether each task possesses service condition, completes corresponding operation by certain dispatching algorithm, and this subprogram is called task level program.In native system, foreground interrupt routine primary responsibility judges whether user pushes button, and receives the work of CAN data, and in order to not affect the execution of backstage main task, the size of code of interrupt routine all designs very brief.Background program is responsible for button decoding, and calls corresponding Data inputing function, and the screen of writing of display operates and sends the tasks such as data to robot controller.
The part that the present invention does not relate to prior art that maybe can adopt same as the prior art is realized.
In a word; although the present invention lists above-mentioned preferred embodiment, should illustrate, those skilled in the art can carry out various change and remodeling; unless such change and remodeling deviate from scope of the present invention, otherwise all should be included in protection scope of the present invention.
Claims (8)
1. a teaching machine button reaction sensitivity optimization method, it is characterized in that: comprise and teaching machine keyboard in teaching machine system is adopted matrix keyboard, and select independently keyboard scan managing chip to reduce keyboard refreshing frequency, keyboard scan managing chip adopts the bus mode of I2C, simultaneously in order to key-press event can be responded quickly and automatically can eliminate shake, select interrupt mode as the working method of keyboard; In teaching machine system, central processing unit is responsible for coordination between each module of system and management, be responsible for detecting external interrupt and doing interrupt processing, complete and carry out communication task with controller, have employed the CAN structure that anti-interference is very strong between modules, utilize abundant message structure to achieve multinode efficiently to control, the system Program of utilization realizes multiple spot real-time Communication for Power.
2. teaching machine button reaction sensitivity optimization method according to claim 1, it is characterized in that: described teaching machine system Program performs 3 tasks: task 1 is control system CAN interface communication task, task 2 is display and keyboard scan task, and task 3 is data algorithm Processing tasks.
3. teaching machine button reaction sensitivity optimization method according to claim 1 and 2, is characterized in that: described teaching machine system Program is directly in the face of microcontroller and ancillary equipment thereof, and program is divided into foreground program and background program; Described foreground program is a real-time interrupt service routine, bears real-time function, by interrupting processing event; Described background program grasps the scheduling of the distribution of the soft and hardware resource of whole teaching machine system, management and task.
4. teaching machine button reaction sensitivity optimization method according to claim 3, it is characterized in that: described background program checks whether each task possesses service condition, corresponding operation is completed by certain dispatching algorithm, be responsible for button decoding simultaneously, and calling corresponding Data inputing function, the screen of writing of display operates and sends the task of data to robot controller; Described foreground program is responsible for judging whether user pushes button, and receives the work of CAN data, and in order to not affect the execution of backstage main task, the size of code of foreground program need design briefly.
5. teaching machine button reaction sensitivity optimization method according to claim 1, it is characterized in that: described teaching machine system comprises embedded microcontroller, instruction keyboard, liquid crystal display, memory, power module, CAN and interface, USB interface, security module.
6. teaching machine button reaction sensitivity optimization method according to claim 5, it is characterized in that: send instruction by the input module of described instruction keyboard or liquid crystal display to robot, the information of reception can process by embedded microcontroller, by output interface, result is shown to user on the one hand, utilize communication interface that corresponding instruction is sent to robot controller on the other hand, then receive the data message from robot controller.
7. teaching machine button reaction sensitivity optimization method according to claim 1, is characterized in that: described teaching machine system is used (SuSE) Linux OS to write friendly interface and realized multiple spot real-time Communication for Power.
8. teaching machine button reaction sensitivity optimization method according to claim 1, is characterized in that: the number of keys of described keyboard is 55.
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| CN105345817A (en) * | 2015-12-10 | 2016-02-24 | 南京熊猫电子股份有限公司 | Processing method for internal warning signal of robot |
| CN106597929A (en) * | 2016-12-01 | 2017-04-26 | 南京熊猫电子股份有限公司 | Modular demonstrator |
| CN107957790A (en) * | 2017-12-11 | 2018-04-24 | 广东虹勤通讯技术有限公司 | A kind of PC keyboards dynamic response control method, device, equipment and storage medium |
| CN109918179A (en) * | 2017-12-13 | 2019-06-21 | 合肥欣奕华智能机器有限公司 | A kind of button processing method, equipment and system |
| CN112799521A (en) * | 2021-03-29 | 2021-05-14 | 上海捷勃特机器人有限公司 | Electronic device and method for operating electronic device |
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| CN106597929A (en) * | 2016-12-01 | 2017-04-26 | 南京熊猫电子股份有限公司 | Modular demonstrator |
| CN107957790A (en) * | 2017-12-11 | 2018-04-24 | 广东虹勤通讯技术有限公司 | A kind of PC keyboards dynamic response control method, device, equipment and storage medium |
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Application publication date: 20150520 |