CN105818145A - Distributed control system and method for humanoid robot - Google Patents
Distributed control system and method for humanoid robot Download PDFInfo
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- CN105818145A CN105818145A CN201610201630.4A CN201610201630A CN105818145A CN 105818145 A CN105818145 A CN 105818145A CN 201610201630 A CN201610201630 A CN 201610201630A CN 105818145 A CN105818145 A CN 105818145A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1633—Programme controls characterised by the control loop compliant, force, torque control, e.g. combined with position control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1628—Programme controls characterised by the control loop
- B25J9/1651—Programme controls characterised by the control loop acceleration, rate control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1658—Programme controls characterised by programming, planning systems for manipulators characterised by programming language
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
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- Engineering & Computer Science (AREA)
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Abstract
The invention discloses a distributed control system and method for a humanoid robot. The distributed control system comprises a sensor assembly, a master controller, secondary controllers and power units. The sensor assembly comprises at least one sensor, and the sensors are used for acquiring environment parameters. The master controller is used for calculating and acquiring a motion control instruction of the humanoid robot according to the environment parameters. The number of the secondary controllers is at least one, and the secondary controllers analyze the motion control instruction so as to acquire operation parameters of all the power units. The power units operate according to the operation parameters. According to the distributed control system for the humanoid robot, the master controller overall plans a task control instruction of the humanoid robot, the task control instruction is analyzed by the multiple secondary controllers, finally motion control of the robot is achieved, and therefore calculation tasks of the master controller are partially issued to the secondary controllers and third-level controllers, and the task load of the master controller is relieved accordingly.
Description
Technical field
The present invention relates to robotics, be specifically related to dcs and the method for a kind of anthropomorphic robot.
Background technology
The robot that anthropomorphic robot refers to apish form and behavior and manufactures and designs, the extremity of anthropomorphic robot are the most movable, and for concrete hand and leg, the most at least there are three movable parts, the shoulder joint of hand, elbow joint and carpal joint, the hip joint of leg, knee joint and ankle joint.In terms of the control of anthropomorphic robot, it includes a master controller, and master controller controls the electric machine controller of each movable part simultaneously.
It is in place of the deficiencies in the prior art, the all of electric machine controller of main controller controls, on the one hand the problem so caused is that the connectivity port of master controller is numerous, and on the other hand master controller needs to calculate the control instruction of all motors so that the calculating task of master controller is the hugest.
Summary of the invention
It is an object of the invention to provide a kind of dcs and the method for anthropomorphic robot, the problem huge to solve the calculating task of master controller in prior art.
To achieve these goals, the present invention provides following technical scheme:
The dcs of a kind of anthropomorphic robot, it is characterised in that including:
Sensor cluster, including at least one sensor, described sensor is used for obtaining ambient parameter；
Master controller, calculates the action directive obtaining described anthropomorphic robot according to described ambient parameter；
Two-level controller, described two-level controller at least, described two-level controller resolves described action directive to obtain the operational factor of each power unit.
Power unit, operates according to described operational factor.
Above-mentioned dcs, described sensor cluster includes one or more in photographic head, speaker, mike, infrared sensor, positioning component, touch sensor, light sensor, ultrasonic sensor, Temperature Humidity Sensor and PM2.5 sensor.
Above-mentioned dcs, described two-level controller is also associated with one or more in gyroscope, accelerometer and magnetic compass, and described two-level controller is fixed on described anthropomorphic robot on the moving component being controlled by.
Above-mentioned dcs, also includes torque sensor, and it electrically connects with described two-level controller, and it is for detecting the torsional moment of described power unit.
Above-mentioned dcs, described power unit includes motor driver, motor, encoder and electric machine rotation position sensor；
Described master controller also includes wireless module, and described wireless module is for carrying out both-way communication with cloud platform.
The distributed control method of a kind of anthropomorphic robot, comprises the following steps:
Obtain the ambient parameter residing for anthropomorphic robot；
Master controller calculates the action directive obtaining described anthropomorphic robot according to described ambient parameter；
Two-level controller resolves described action directive to obtain the operational factor of each power unit；
Power unit operates according to described operational factor.
In above-mentioned steps, described ambient parameter includes one or more in IR parameters, positional parameter, image parameter, audio parameter, light parameter, humiture parameter.
Above-mentioned distributed control method, described two-level controller resolves described action directive and farther includes with the step obtaining the operational factor of each power unit:
Obtain the attitude parameter of the moving component controlled by two-level controller；
Two-level controller resolves described action directive to obtain the position of rotation parameter in each joint of described anthropomorphic robot；
In above-mentioned steps, described attitude parameter includes one or more in the three-dimensional acceleration parameter of described moving component, angular velocity parameter and three-dimensional position parameter.
Above-mentioned distributed control method, described two-level controller resolves described action directive and farther includes with the step obtaining the operational factor of each power unit:
Obtain the torsional moment of the both legs of described anthropomorphic robot；
Described torsional moment is converted to power and the moment of three-dimensional；
Two-level controller resolves described action directive and obtains the operational factor of each power unit according to described power and Calculating Torque during Rotary, and judges the poised state of robot according to described power and moment.If described anthropomorphic robot is in unbalanced state, two-level controller regulates described anthropomorphic robot to poised state；
Power unit operates according to described operational factor.
Above-mentioned distributed control method, in the step of the ambient parameter residing for described acquisition anthropomorphic robot, if described ambient parameter has two or more, merges described ambient parameter.
Above-mentioned distributed control method, described master controller calculates in the step of the action directive obtaining described anthropomorphic robot according to described ambient parameter:
Described ambient parameter is contrasted with history environment parameter, if comparing result is identical, then output historical action control instruction；If comparing result is different, then calculate the action directive obtaining described anthropomorphic robot.
In technique scheme, the present invention provides the dcs of anthropomorphic robot, the action directive of anthropomorphic robot planned as a whole by master controller, but action directive is resolved by multiple two-level controllers and completes the final control of power unit, so the calculating task portion of master controller is issued to two-level controller, thus alleviates the task amount of master controller.
Owing to above-mentioned dcs has above-mentioned technique effect, the using method of this dcs also should have corresponding technique effect.
Accompanying drawing explanation
In order to be illustrated more clearly that the embodiment of the present application or technical scheme of the prior art, the accompanying drawing used required in embodiment will be briefly described below, apparently, accompanying drawing in describing below is only some embodiments described in the present invention, for those of ordinary skill in the art, it is also possible to obtain other accompanying drawing according to these accompanying drawings.
The structured flowchart of the dcs that Fig. 1 provides for one embodiment of the invention；
The structured flowchart of the dcs that Fig. 2 provides for another embodiment of the present invention；
The flow chart of the distributed control method that Fig. 3 provides for one embodiment of the invention；
The flow chart of the distributed control method that Fig. 4 provides for another embodiment of the present invention；
Fig. 5 is the structured flowchart of power unit of the present invention.
Description of reference numerals:
1, sensor cluster；2, master controller；3, two-level controller；4, electric machine controller；5, motor；6, gyroscope；7, torque sensor.
Detailed description of the invention
In order to make those skilled in the art be more fully understood that technical scheme, below in conjunction with accompanying drawing, the present invention is further detailed.
As shown in Figure 1-2, the dcs of a kind of anthropomorphic robot that the embodiment of the present invention provides, including sensor cluster 1, master controller 2, two-level controller 3 and power unit 4, sensor cluster 1 includes at least one sensor, and sensor is used for obtaining ambient parameter；Master controller 2 calculates the action directive obtaining anthropomorphic robot according to ambient parameter；Two-level controller 3 at least one, two-level controller 3 resolves action directive to obtain the operational factor of each power unit；Power unit 4 includes third level motor driver, motor, encoder and electric machine rotation position sensor.
Concrete, sensor cluster 1 is for obtaining the ambient parameter in space residing for anthropomorphic robot and the corresponding ambient parameter of robot itself, sensor cluster 1 includes photographic head, speaker, mike, infrared sensor, positioning component, touch sensor, light sensor, ultrasonic sensor, one or more in Temperature Humidity Sensor and PM2.5 sensor, accordingly, ambient parameter is the parameter that each sensor measures, such as video information, audio-frequency information, infrared information, location information etc., sensor cluster 1 can be found in the various kinds of sensors of robot in prior art.Master controller 2 is the central processing unit of anthropomorphic robot, it obtains ambient parameter by sensor cluster 1, and the action directive of acquisition anthropomorphic robot is calculated according to ambient parameter and goal task, if the target of robot is for go to B point from A point, if being got by sensor cluster 1 and there is no any obstacle between A point and B point, then master controller 2 sends action directive, and order robot is along the going straight ahead between A point and B point；If being got by sensor cluster 1 and having a wall between A point and B point, then master controller 2 sends action directive, and order robot first turns left or turns right, and after walking around this wall, then turns right or the wraparound B point that turns left.Master controller can also be by the wireless module that carries, it is achieved the two-way communication of robot and long-distance cloud platform, as realize remote transmission video, remotely control, that distribution portion calculates task is first-class to cloud platform；Two-level controller 3 is for controlling the several concrete power unit of robot, as each power unit on anthropomorphic robot both legs is controlled by a two-level controller 3, each power unit of both hands is then controlled by another two-level controller 3, on the one hand it receive the action directive of master controller 2, on the other hand action directive is converted into the carrying out practically parameter of power unit, if above-mentioned master controller 2 is along the movement instruction of the going straight ahead between A point and B point, this instruction is resolved to by two-level controller 3, each power unit of both hands both feet respectively needs more than activity significantly, as when power unit is motor 5 place moving cell, motor 5 needs according to what rule to rotate in how long.
In the present embodiment, master controller 2 receives the ambient parameter of sensor cluster 1, and provide, according to ambient parameter, the task control instruction that anthropomorphic robot is overall, and for the operational factor of the concrete power unit of anthropomorphic robot, then resolved motion control instruction by two-level controller 3 to be completed, and master controller 2 is different due to the arithmetic type being substantially carried out with two-level controller 3, both also can be chosen with the chip of corresponding computing advantage in configuration, so not only reduce the operand of master controller 2, also the specific aim making controller is higher, integral operation efficiency is greatly improved.Third level motor drive controller, is responsible for the concrete control instruction performing two-level controller transmission, makes motor make accurately response on electric current loop, speed ring and position ring.
The present embodiment provides the dcs of anthropomorphic robot, the action directive of anthropomorphic robot planned as a whole by master controller 2, but action directive is resolved by multiple two-level controller 3 and completes the final control of power unit, so the calculating task portion of master controller 2 is issued to two-level controller 3, thus alleviates the task amount of master controller 2.
In the present embodiment, further, gyroscope 6 is also carried on two-level controller 3, one or more in accelerometer and magnetic compass, two-level controller 3 is fixed on the moving component being controlled by anthropomorphic robot, gyroscope 6, accelerometer and magnetic compass are for obtaining the motion morphology of concrete moving component, such as waist, trunk etc., gyroscope 6, accelerometer and magnetic compass combine the inclination value that can obtain corresponding sports parts, acceleration parameter, angular velocity parameter and three-dimensional position parameter etc. attitude parameter, two-level controller 3 calculate each power unit operational factor time by gyroscope 6, the attitude parameter of accelerometer and magnetic compass measuring and calculating is as initial parameter, owing to attitude parameter is the parameter measured in real time, can get, for initial parameter, result of taking action the most accurately with real-time parameter.
In the present embodiment, further, also include torque sensor 7, it electrically connects with two-level controller 3, it is for detecting the three-dimensional pressure of anthropomorphic robot both legs, three-dimensional torsional moment, and torque sensor 7 can be six-dimensional force torque sensor 7, i.e. its power calculating three directions of x, y, z and moment, monitoring the force-bearing situation of each power unit the most in real time, on the other hand the calculating for all kinds of parameters provides the most accurate numerical basis.
As shown in Figure 3-4, the embodiment of the present invention also provides for the distributed control method of a kind of anthropomorphic robot, comprises the following steps:
101, the ambient parameter residing for anthropomorphic robot is obtained.
Concrete, ambient parameter includes one or more in IR parameters, positional parameter, image parameter, audio parameter, light parameter, humiture parameter, the ambient parameter in residing space is obtained by various kinds of sensors or interface, as photographic head detects image parameter, or receive, from network interface, the respective environment parameter that the transmission of other module comes.
102, master controller calculates the action directive obtaining anthropomorphic robot according to ambient parameter.
Concrete, master controller mainly has three effects, and one for receiving ambient parameter, and two is the task control instruction calculating according to ambient parameter and obtaining anthropomorphic robot, and task control instruction is for controlling the direction of motion of anthropomorphic robot, voice etc.；Three realize and remote terminal, the two-way communication of cloud platform for the wireless module by carrying.
103, two-level controller resolves action directive to obtain the operational factor of each power unit.
Concrete, on the one hand two-level controller receives the motion control instruction of master controller, on the other hand resolves action directive, and is sent to each moving cell.
104, third level motor driver specifically controls the running status of each motor.
Concrete, motor driver receives each joint position of rotation control instruction of robot that two-level controller is sent, read the electric machine rotation position signalling that the current signal of motor rotation, the motor velocity signal of encoder collection and motor position sensor detect, make motor rotation electric current, speed and position reach predetermined state, thus realize the accurate motion of joint of robot.
In the present embodiment, step 103 farther includes:
Obtain the attitude parameter of the moving component controlled by two-level controller.
Concrete, obtained the concrete attitude numerical value of moving component by corresponding sensor such as gyroscope, accelerometer and magnetic compass, such as tilt angles, acceleration parameter, angular velocity parameter and three-dimensional position parameter etc..
It is the parameter measured in real time due to attitude parameter that two-level controller resolves action directive, can get, for initial parameter, result of taking action the most accurately with real-time parameter.
In the present embodiment, further, one or more during attitude parameter includes the three-dimensional acceleration parameter of moving component, angular velocity parameter and three-dimensional position parameter.
In the present embodiment, further, step 103 farther includes:
Obtain three-dimensional pressure and the three-dimensional moment of anthropomorphic robot both legs；I.e. its power calculating three directions of x, y, z and moment.
Two-level controller resolves action directive and calculates the operational factor obtaining each power unit according to power and moment, robot pose information.Monitoring the force-bearing situation of each power unit the most in real time, on the other hand the calculating for all kinds of parameters provides the most accurate numerical basis.
In the present embodiment, it is preferred that in step 101, if ambient parameter has two or more, ambient parameter is merged, owing to sensor self exists certain error, cause sensor output signal inaccurate.By data fusion method, such as Kalman filtering, Quaternion method etc., the output of multiple sensors data is merged, the data after merging are detected correction value as sensor.
In the present embodiment, in step 102, it is preferred that
104, ambient parameter being contrasted with history environment parameter, i.e. in conventional history run, ambient parameter and action directive are all stored by anthropomorphic robot.
If 105 comparing results are identical, then output historical action control instruction；Now explanation anthropomorphic robot is repeating historic scenery, so exempts the calculating process of master controller, and the action directive directly invoking history is exported.For anthropomorphic robot, major part scene is same scene, and major part action is to repeat consistent action, is arranged such the single palikinesia for anthropomorphic robot, saves the amount of calculation of master controller.
Now comparing result is different, then perform above-mentioned step 103.
Owing to above-mentioned dcs has above-mentioned technique effect, the using method of this dcs also should have corresponding technique effect.
By the way of explanation, only describe some one exemplary embodiment of the present invention above, undoubtedly, for those of ordinary skill in the art, in the case of without departing from the spirit and scope of the present invention, by various different modes, described embodiment can be modified.Therefore, above-mentioned accompanying drawing and description are the most illustrative, should not be construed as the restriction to the claims in the present invention protection domain.
Claims (10)
1. the dcs of an anthropomorphic robot, it is characterised in that including:
Sensor cluster, including at least one sensor, described sensor is used for obtaining ambient parameter；
Master controller, calculates the action directive obtaining described anthropomorphic robot according to described ambient parameter；
Two-level controller, described two-level controller at least, described two-level controller resolves described action directive to obtain the operational factor of each power unit.
Power unit, operates according to described operational factor.
Dcs the most according to claim 1, it is characterized in that, described sensor cluster includes one or more in photographic head, speaker, mike, infrared sensor, positioning component, touch sensor, light sensor, ultrasonic sensor, Temperature Humidity Sensor and PM2.5 sensor.
Dcs the most according to claim 1, it is characterized in that, being also associated with one or more in gyroscope, accelerometer and magnetic compass on described two-level controller, described two-level controller is fixed on described anthropomorphic robot on the moving component being controlled by.
Dcs the most according to claim 1, it is characterised in that also include torque sensor, it electrically connects with described two-level controller, and it is for detecting the torsional moment of described power unit.
Dcs the most according to claim 1, it is characterised in that described power unit includes motor driver, motor, encoder and electric machine rotation position sensor；
Described master controller also includes wireless module, and described wireless module is for carrying out both-way communication with cloud platform.
6. the distributed control method of an anthropomorphic robot, it is characterised in that comprise the following steps:
Obtain the ambient parameter residing for anthropomorphic robot；
Master controller calculates the action directive obtaining described anthropomorphic robot according to described ambient parameter；
Two-level controller resolves described action directive to obtain the operational factor of each power unit；
Power unit operates according to described operational factor.
In above-mentioned steps, described ambient parameter includes one or more in IR parameters, positional parameter, image parameter, audio parameter, light parameter, humiture parameter.
Distributed control method the most according to claim 6, it is characterised in that described two-level controller resolves described action directive and farther includes with the step obtaining the operational factor of each power unit:
Obtain the attitude parameter of the moving component controlled by two-level controller；
Two-level controller resolves described action directive to obtain the position of rotation parameter in each joint of described anthropomorphic robot；
In above-mentioned steps, described attitude parameter includes one or more in the three-dimensional acceleration parameter of described moving component, angular velocity parameter and three-dimensional position parameter.
Distributed control method the most according to claim 6, it is characterised in that described two-level controller resolves described action directive and farther includes with the step obtaining the operational factor of each power unit:
Obtain the torsional moment of the both legs of described anthropomorphic robot；
Described torsional moment is converted to power and the moment of three-dimensional；
Two-level controller resolves described action directive and obtains the operational factor of each power unit according to described power and Calculating Torque during Rotary, and judges the poised state of described anthropomorphic robot according to described power and moment；
If described anthropomorphic robot is in unbalanced state, two-level controller regulates described anthropomorphic robot to poised state；
Power unit operates according to described operational factor.
Distributed control method the most according to claim 6, it is characterised in that in the step of the ambient parameter residing for described acquisition anthropomorphic robot, if described ambient parameter has two or more, merges described ambient parameter.
Distributed control method the most according to claim 6, it is characterised in that described master controller calculates in the step of the action directive obtaining described anthropomorphic robot according to described ambient parameter:
Described ambient parameter is contrasted with history environment parameter, if comparing result is identical, then output historical action control instruction；If comparing result is different, then calculate the action directive obtaining described anthropomorphic robot.
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| CN108956003A (en) * | 2018-07-17 | 2018-12-07 | 杭州崧智智能科技有限公司 | A kind of method, apparatus and terminal device of real-time calibration 6 DOF sensor attitude |
| CN109262608A (en) * | 2018-08-22 | 2019-01-25 | 南京阿凡达机器人科技有限公司 | A kind of method and system that remote-controlled robot is grappled |
| CN109596110A (en) * | 2018-11-22 | 2019-04-09 | 九江职业技术学院 | A kind of mechanical equipment position detecting device |
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