CN105824292A - Robot distributed controller and control method - Google Patents
Robot distributed controller and control method Download PDFInfo
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- CN105824292A CN105824292A CN201610345398.1A CN201610345398A CN105824292A CN 105824292 A CN105824292 A CN 105824292A CN 201610345398 A CN201610345398 A CN 201610345398A CN 105824292 A CN105824292 A CN 105824292A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4148—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by using several processors for different functions, distributed (real-time) systems
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
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- G05B2219/33338—DNC distributed, decentralised nc, concurrent, multiprocessing
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Abstract
The invention provides a robot distributed controller and a control method. The controller comprises a network transceiver, an environment detection sensor group, a position detection sensor group, a posture detection sensor group, and a parallel control unit composed of a first processor and a second processor. The network transceiver is connected with the second processor, and receives and/or transmits network signals for data communication with other robots. The environment detection sensor group, the position detection sensor group and the posture detection sensor group are connected with the first processor, and send detection data to the first processor to enable the first processor to control robots according to the data. The second processor generates a control command according to the result of communication with other robots, and sends the control command to the first processor to enable the first processor to control robots according to the control command. A cluster controller for controlling multiple robots is realized, and multiple robots can better run in a coordinated way.
Description
Technical field
The present invention relates to technical field of robot control, particularly relate to a kind of robot distributed controller and control method.
Background technology
The research of intelligent robot technology has become the main development direction of robot field, such as various precision assembly robots, power/Position Hybrid Control robot, the research etc. of the robot in many limbs coordinated control system and Advanced Manufacturing System.Controller is the core of robot system, accordingly, the performance of robot controller be it is also proposed higher requirement.Along with computer, the development of Theory of Automatic Control and industrial needs and the progress of correlation technique, machine man-based development had been subjected to for 3 generations: (1) programmable teaching-playback robot；(2) control based on sensory has the robot of certain capacity of will；(3) intelligent robot.As the core of robot, robot controller is one of key component affecting robot performance.
From the point of view of the processing mode of robot control algorithm, serial, parallel two kinds of structure types can be divided into.Wherein, serial process structure refers to that the control algolithm of robot is to be processed by serial computer.For such controller, divide from computer configuation, control mode, can be divided into following several:
Single CPU structure, centralized control: the computer realization stronger by function all controls function.Robot in early days just uses this structure, but needs many calculating (such as coordinate transform) during controlling, and the most this control structure speed is slower.
Two grades of CPU structures, master slave control modes: one-level CPU is main frame, take on system administration, robot language compiling and human interface function, also utilize its operational capability to complete coordinate transform, locus interpolation simultaneously, and periodically operation result is delivered to common memory as the increment of joint motions, read for two grades of CPU；It is digital control that two grades of CPU complete whole joint position.Substantially it is not in contact with between two cpu bus of this kind of system, only exchanges data by common memory, be the relation of a loose coupling.It is highly difficult to using the further divergent function of more CPU.
Multi-CPU structure, distributed control mode: at present, commonly used two grades of distributed frames of this upper and lower machine, host computer is responsible for whole system management and kinematic calculation, trajectory planning etc..Slave computer is made up of multi-CPU, and it is the close coupling by bus form that each CPU controls joint motions, these CPU and main control computer contact.The controller operating rate of this structure and control performance significantly improve.But the function distributed frame that the feature that these multi-CPU systems have is both for particular problem and uses, the most each processor undertakes pinned task.The most most of commercialization robot controllers are all this structures at present.
Robot controller is to control robot according to instruction and heat transfer agent to complete the device of certain action or job task, and it is machine human heart, determines the quality of robot performance.Robot is since being born, the controller that particularly industrial robot is used is essentially all what developer's absolute construction based on oneself was developed, and it has a lot of defect: (1) is confined to the enclosed construction of " special-purpose computer, special purpose robot's language, special microprocessor ".The controller architecture closed makes it have specific function, is adapted to specific environment, is not easy to be extended system and improve.(2) software configuration and logical structure thereof depend on processor hardware, it is difficult to transplant between different systems.(3) poor fault tolerance, due to the inherent feature such as the data dependence in parallel computation, communication and synchronization, the fault freedom of controller is deteriorated, and one of them processor is out of order and may cause the paralysis of whole system.(4) autgmentability is poor, and at present, the research of robot controller focuses on that this one-level is to improve the performance of system from joint.Closure due to structure, it is difficult to as required system is extended.
From the point of view of above-mentioned robot controller, its function singleness, and computing capability is poor, it is difficult to ensure that the requirement of control in real time, at present, due to the rapid progress of artificial intelligence, computer science, sensor technology and other related discipline, such robot controller can not meet research and development and the demand of application of current high level robot.Being additionally, since the complexity of robot control algorithm and the in urgent need to be improved of robot control performance, many scholars are from many-sided effort having carried out reducing amount of calculation such as modeling, algorithm, but still are difficult on serial structure controller meet the requirement calculated in real time.
Summary of the invention
In view of the above problems, the present invention proposes a kind of robot distributed controller and control method.
According to the first aspect of the invention, providing a kind of robot distributed controller, this controller includes network transceivers, environmental detection sensor group, position-detection sensor group, attitude detecting sensor group and the concurrency control unit being made up of first processor and the second processor；
Network transceivers, is connected to receive and/or launch the network signal for carrying out data communication with other robot with described second processor, and is sent to described second processor；
Environmental detection sensor group, is connected with described first processor, for the environmental information of measuring robots position, and is sent to described first processor；
Position-detection sensor group, is connected with described first processor, for the positional information that measuring robots is current, and is sent to described first processor；
Attitude detecting sensor group, is connected with described first processor, for the attitude information that measuring robots is current, and is sent to described first processor；
Described first processor, robot is controlled by the data uploaded for receiving described position-detection sensor group, environmental detection sensor group and/or attitude detecting sensor group；
Described second processor, is connected with described first processor, for carrying out data communication by described network transceivers and other robot, generates control command according to result of communication, and the control command of generation is sent to described first processor；
Described first processor, is additionally operable to the control command according to receiving and is controlled robot.
Wherein, described controller also includes: asynchronism transceiver, and described first processor is communicatively coupled by described asynchronism transceiver with described second processor.
Wherein, described environmental detection sensor group, including:
Baroceptor, for the air pressure of measuring robots local environment and be uploaded to described first processor；
Temperature Humidity Sensor, for the temperature of measuring robots local environment and/or humidity and be uploaded to described first processor；
Airspeed sensor, air velocity for measuring robots present position is also uploaded to described first processor；
Light intensity sensor, intensity of illumination for measuring robots present position is also uploaded to described first processor.
Wherein, described attitude detecting sensor group, including:
Angular-rate sensor, the angular velocity moved around X, Y and Z axis under the coordinate system that predeterminable area is corresponding for robot measurement is also uploaded to described first processor；
Acceleration transducer, for robot measurement under the coordinate system that described predeterminable area is corresponding, in the absolute acceleration of tri-coordinate axess of X, Y and Z and be uploaded to described first processor.
Wherein, described controller also includes: analog-digital converter, the input of described analog-digital converter is connected with described angular-rate sensor, outfan is connected with described first processor, for the analogue signal that described angular-rate sensor exports being converted to digital signal, and the digital signal obtained is uploaded to described first processor.
Wherein, described position-detection sensor group, including:
Gps receiver, for receiving the coordinate information of robot position relative to the earth, and uploads to described first processor；
Electronic compass, for robot measurement under the coordinate system that described predeterminable area is corresponding relative to the angle of geographical north orientation and be uploaded to described first processor.
Wherein, described controller also includes: the memorizer being connected with described first processor.
Wherein, described controller also includes: the extension I/O interface being connected with described first processor.
According to the second aspect of the invention, it is provided that a kind of robot distributed control method, the method includes:
Receive the control instruction that user sends；
Carry out path planning according to described control instruction, obtain operating path；
Determine position control amount and attitude control quantity that described operating path is corresponding；
Generate control command according to described position control amount and attitude control quantity, and according to described control command, the actuator of described robot is controlled, so that described robot runs according to according to described operating path.
Wherein, described method also includes:
Receive the control command that host computer sends, and the sensor information that position-detection sensor group and attitude detecting sensor group are uploaded；
Described operating path is adjusted according to described control command and/or sensor information；
Determine second position controlled quentity controlled variable and the second attitude control quantity that the operating path after adjustment is corresponding, generate the second control command according to described second position controlled quentity controlled variable and the second attitude control quantity, and according to described second control command, the actuator of described robot is controlled.
The invention have the benefit that
The robot distributed controller of present invention offer and control method, reduce the computation burden of processor by parallel mechanism and ensure the requirement controlled in real time, the interference free performance in robot running and the control accuracy of robot high-speed motion is improved by Fusion, realize a controller that multiple robots are carried out clustered control, certainly it not only possesses the function accurately controlled of individual machine people, can also realize surrounding, and the perception to " companion ", that is in the range of controller MANET, enable the preferably synthetic operation of multiple robot.It is not interference free performance and the control accuracy that only improve individual machine people.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit those of ordinary skill in the art be will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as limitation of the present invention.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Fig. 1 is the structured flowchart of the robot distributed controller that the embodiment of the present invention proposes；
Fig. 2 is the structured flowchart of the robot distributed controller that another embodiment of the present invention proposes；
Fig. 3 is the structured flowchart of the robot distributed controller that another embodiment of the present invention proposes；
Fig. 4 is the hardware structure diagram of the robot distributed controller that the embodiment of the present invention proposes；
Fig. 5 is the flow chart of the robot distributed control method that the embodiment of the present invention proposes.
Detailed description of the invention
Embodiments of the invention are described below in detail, and the example of described embodiment is shown in the drawings, and the most same or similar label represents same or similar element or has the element of same or like function.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Fig. 1 is the structured flowchart of the robot distributed controller that the embodiment of the present invention proposes, see Fig. 1, the robot distributed controller that the embodiment of the present invention provides, including network transceivers 1, environmental detection sensor group 2, position-detection sensor group 3, attitude detecting sensor group 4 and the concurrency control unit being made up of first processor 5 and the second processor 6；Network transceivers 1, is connected to receive and/or launch the network signal for carrying out data communication with other robot with described second processor 6, and is sent to described second processor 6；Environmental detection sensor group 2, is connected with described first processor 5, for the environmental information of measuring robots position, and is sent to described first processor 5；Position-detection sensor group 3, is connected with described first processor 5, for the positional information that measuring robots is current, and is sent to described first processor 5；Attitude detecting sensor group 4, is connected with described first processor 5, for the attitude information that measuring robots is current, and is sent to described first processor 5；Described first processor 5, robot is controlled by the data uploaded for receiving described position-detection sensor group 2, environmental detection sensor group 3 and/or attitude detecting sensor group 4；Described second processor 6, is connected with described first processor, for carrying out data communication by described network transceivers and other robot, generates control command according to result of communication, and the control command of generation is sent to described first processor 5；Described first processor 5, is additionally operable to the control command according to receiving and is controlled robot.
Concurrency control unit in the present embodiment possesses two processors, and two processors are based respectively on ARMCortex-A9 and ARMCortex-M4 core architecture, and two processors are separately operable two different operating systems.First processor runs NUTTX real time operating system on 32 8-digit microcontrollers based on ARMCortex-M4 core architecture, to meet the strict requirement controlled in real time of robot bottom hardware.Second processor is at SOC(system on a chip) (SOC based on ARMCortex-A9 core architecture, SystemonChip) linux system is run on, build robot operating system (ROS on this basis, RobotOperatingSystem) framework, data sharing between each node (each controller) is provided, realize controlling the mutual perception of information between node two-by-two, and be responsible for processing the data message higher to computing capability requirement, these information include being not limited to image procossing, three-dimensional reconstruction, instant location and map structuring (SLAM, SimultaneousLocalizationandMapping).Robot operating system: a kind of robot software's platform, it is provided that hardware abstraction, underlying device controls, and common function realizes, the standard operation system service such as inter-process messages and packet management.Support polyglot is developed, and supports that polyglot is used in mixed way, simplifies the work of developer with this.Based on linux system, reliability is high.It addition, ROS is a kind of distributed treatment framework, developer can be with individually designed executable file.The process of different nodes can accept, issue various information (such as, sensor information, control information, status information, planning information).
Microcontroller provides hardware resource to have: 5 universal asynchronous receiving-transmitting transmitter (UART, UniversalAsynchronousReceiver/Transmitter), 2 road Serial Peripheral Interface (SPI) (SPI, SerialPeripheralInterface), 1 road IC bus (IIC or I2C, Inter-IntegratedCircuit).It is responsible for the collection of various sensing datas, supports accelerometer, gyroscope, GPS, barometer, the sensor such as pitot meter, it is provided that 8 pulse width modulation (PWM, PulseWidthModulation) passages, in order to control the electrical movement unit such as brushless electric machine, motor, steering wheel.
Network transceivers 1 in the present embodiment includes local area network transceiver and 4G network transceivers.Wherein, local area network transceiver, receive and launch the LAN signal carrying out data communication in order to each control node；4G network transceivers, receive and launch the 4G network signal carrying out data communication in order to each control node, above-mentioned two network transceivers network consisting communication interface, so that support WLAN and 4G mechanics of communication between multiple robot controller nodes, a piece of small-sized LAN or large-scale 4G network can be constituted, in order to build commander unmanned plane antenna array control, clustered control, the communication network of distributed AC servo system with selectivity.
Wherein, described environmental detection sensor group 2, as in figure 2 it is shown, include: baroceptor 21, for the air pressure of measuring robots local environment and be uploaded to described first processor；Humidity sensor 22, for the temperature of measuring robots local environment and/or humidity and be uploaded to described first processor；Airspeed sensor 23, air velocity for measuring robots present position is also uploaded to described first processor；Light intensity sensor 24, intensity of illumination for measuring robots present position is also uploaded to described first processor.
In the present embodiment, baroceptor, the air pressure of measuring robots local environment, robot controller place height value is obtained by existing mathematic(al) manipulation, by two parameters by earth station's software feedback to user's reference, and export measurement result to microcontroller, make according to this result and corresponding self-defined control operation.Temperature Humidity Sensor, the temperature and humidity of measuring robots local environment, by earth station's software feedback to user's reference, and export measurement result to microcontroller, make according to this result and corresponding self-defined control operation.Airspeed sensor, measuring robots surrounding air flow velocity, by earth station's software feedback to user's reference, make corresponding self-defined control according to this result and operate.Light intensity sensor, the light intensity of measuring robots local environment, by earth station's software feedback to user's reference, make corresponding self-defined control according to this result and operate.
Wherein, described attitude detecting sensor group 4, as it is shown on figure 3, include: angular-rate sensor 41, the angular velocity that moves around X, Y and Z axis under the coordinate system that predeterminable area is corresponding for robot measurement is also uploaded to described first processor；Acceleration transducer 42, for robot measurement under the coordinate system that described predeterminable area is corresponding, in the absolute acceleration of tri-coordinate axess of X, Y and Z and be uploaded to described first processor.
In the present embodiment, use gyroscope as angular-rate sensor, robot measurement under the coordinate system that controller specifies around the angular velocity of X, Y, Z axis, in order to the flight attitude of perception robot.Acceleration transducer, robot measurement is tri-axle absolute accelerations of X, Y, Z under the coordinate system that controller specifies, carry out data fusion with the measurement result of gyroscope and draw the accurate flight attitude of robot.
Further, described controller also includes: analog-digital converter 7, the input of described analog-digital converter is connected with described angular-rate sensor, outfan is connected with described first processor, for the analogue signal that described angular-rate sensor exports being converted to digital signal, and the digital signal obtained is uploaded to described first processor.When angular-rate sensor uses gyroscope to realize, analog-digital converter is for being converted to digital voltage signal by the analog voltage signal that gyroscope exports, and output is to microcontroller.
Wherein, described position-detection sensor group 3, as it is shown on figure 3, include: gps receiver 31, for receiving the coordinate information of robot position relative to the earth, and upload to described first processor；Electronic compass 32, for robot measurement under the coordinate system that described predeterminable area is corresponding relative to the angle of geographical north orientation and be uploaded to described first processor.
In the present embodiment, electronic compass, robot measurement relative to the angle of geographic north, is used for indicating the direction of motion of current robot under the coordinate system that controller specifies.Global positioning system (GPS) receptor, in order to receive the coordinate information of controller position relative to the earth, it is provided that process to parallel control center and feed back.
Wherein, described controller also includes: the memorizer being connected with described first processor.
In the present embodiment, memorizer includes on-chip memory and extended menory, in order to store robot controller work desired data and the data produced in real time.
Wherein, described controller also includes: the extension I/O interface being connected with described first processor.Wherein, extension I/O interface provides the microcontroller pin that 40 root users can contact, it is simple to user is this controller expanded function.
In an alternate embodiment of the present invention where, described controller also includes: asynchronism transceiver 7, and described first processor 5 is communicatively coupled by described asynchronism transceiver 7 with described second processor 6.
Above-mentioned SOC(system on a chip) is electrically connected by UART Universal Asynchronous Receiver Transmitter with microprocessor by its internal expansible communication node, follow MAVLink (MicroAirVehicleLink, a kind of communication protocol for miniature self-service carrier) agreement, it is achieved sharing of controller internal control information.
In the present embodiment, above-mentioned analog-digital converter uses 16 ADS8341 of successive approximation, above-mentioned gyroscope is divided into gyroscope 1 and gyroscope 2, gyroscope 1 uses IDG-500, gyroscope 2 uses IZX-500, and above-mentioned acceleration transducer uses SCA3100, and above-mentioned electronic compass uses HMC5843, above-mentioned baroceptor uses BPM085, and the sensor is all not limited to specify model.
Additionally, the embodiment of the present invention also includes: aiding sensors, including one group of safety switch, in order to fault detects such as robot pose detection out of control, the detection of information transmission fault, robot security's state-detection.Common development interface: the electrical connection interface that supply developer develops, in order to be burnt to the engineering project write in development environment on controller board.
Fig. 4 is the hardware structure diagram of the robot distributed controller that the embodiment of the present invention proposes.With reference to Fig. 4, the robot distributed controller that the present embodiment provides, including concurrency control unit, analog-digital converter, gyroscope, acceleration transducer, electronic compass, environmental detection sensor, aiding sensors group, network transceivers, global positioning system (GPS) receptor, on-chip memory, extended menory, extension I/O port and common development interface.Wherein, parallel control center includes microprocessor and the SOC(system on a chip) of ARMCortex-A9 core architecture of ARMCortex-M4 core architecture, NUTTX real-time embedded operating system is run on microprocessor, SOC(system on a chip) runs Linux real time operating system, and builds system environments for robot operating system framework.Ambient condition sensor includes baroceptor, Temperature Humidity Sensor, airspeed sensor, light intensity sensor.Network transceivers includes local area network transceiver, 4G network transceivers.Analog-digital converter, gyroscope, acceleration transducer, electronic compass, environmental detection sensor, aiding sensors group and extension I/O port are directly electrically connected with microprocessor electrical connection, network transceivers, global positioning system (GPS) receptor, on-chip memory, extended menory interface and common development interface and SOC(system on a chip).SOC(system on a chip) is electrically connected by the UART Universal Asynchronous Receiver Transmitter of its internal expansible communication node with microprocessor, follow MAVLink (MicroAirVehicleLink, a kind of communication protocol for miniature self-service carrier) agreement, it is achieved sharing of controller internal control information.This robot controller has modularity, standardized Open architecture and network communication function, reduce the computation burden of processor by parallel mechanism and ensure the requirement controlled in real time, improving the interference free performance in robot running and the control accuracy of robot high-speed motion by Fusion.
To sum up, the controller that the present embodiment provides is installed in specific robot and carries out playing a role after relevant external interface connects.Robot has broad sense herein, can be mobile robot, such as a frame unmanned plane, a floor truck, one family Work robot；Can also be irremovable robot, such as a frame welding robot, a frame assembly line robot.
Fig. 5 is the flow chart of the robot distributed control method that the embodiment of the present invention proposes.See Fig. 5, the robot distributed control method that the embodiment of the present invention provides, specifically include following steps:
The control instruction that S11, reception user send；
S12, carry out path planning according to described control instruction, obtain operating path；
S13, determine position control amount and attitude control quantity that described operating path is corresponding；
S14, generate control command according to described position control amount and attitude control quantity, and according to described control command, the actuator of described robot is controlled, so that described robot runs according to according to described operating path.
Wherein, described method also includes with the step not shown in figure below:
The control command that S15, reception host computer send, and the sensor information that position-detection sensor group and attitude detecting sensor group are uploaded；Described operating path is adjusted according to described control command and/or sensor information；Determine second position controlled quentity controlled variable and the second attitude control quantity that the operating path after adjustment is corresponding, generate the second control command according to described second position controlled quentity controlled variable and the second attitude control quantity, and according to described second control command, the actuator of described robot is controlled.
S16, reception are from external command controller or the control instruction of remote controller；
Run specified application, and send self-defined control instruction to microcontroller；
Receive the feedback information of described microcontroller to realize controlling information sharing.
Below by specific embodiment, the present invention is clearly illustrated.
1, robot bottom control flow process:
User sends instruction by instruction control unit or remote controller to robot controller.
Position estimator carries out process to the output information of GPS and electronic compass and obtains estimated position.
Path planner utilizes the result of instruction control unit or remote controller and position estimator to carry out path planning, and result is exported positioner.
Positioner utilizes the result of path planner and position estimator to calculate position control amount, and result exports attitude controller.
The output information of acceleration transducer and gyroscope is processed by attitude estimator and the result of binding site estimator obtains estimating attitude, and result exports attitude controller.
Attitude controller utilizes the result of positioner and attitude estimator to calculate attitude control quantity, and result exports mixture control.
Mixture control is the controlled quentity controlled variable that the attitude control quantity from attitude controller is converted to control User Defined actuator, is then output on motor driver drive actuator, thus realizes the characteristic of robot controller general controls.
It should be noted that in said process, path planner, position estimator, attitude estimator, positioner, attitude controller, mixture control are all implemented on described microcontroller with the form of program.In said process, instruction control unit can specifically be realized by earth station's software, and motor driver is then the part being controlled robot, is not incorporated herein in controller.
2, robot controller microcontroller running:
Receive the control command from SOC(system on a chip)；
Read sensor information；
Carry out Data Fusion of Sensor；
Robot is carried out gesture stability；
Aiding sensors measuring robots running status；
Robotary information feeds back to SOC(system on a chip)；
SOC(system on a chip) sends order.
It should be noted that in said process, microcontroller runs NUTTX real time operating system, each process realizes executed in parallel with the form of process.
3, robot controller SOC(system on a chip) running:
Receive from external command controller or the control instruction of remote controller
The application program that operation user develops under robot operating system realizes custom feature
Send self-defined control instruction to microcontroller
Receive the feedback information from microcontroller and control information sharing with realization.
In sum, the robot distributed controller of embodiment of the present invention offer and control method, reduce the computation burden of processor by parallel mechanism and ensure the requirement controlled in real time, the interference free performance in robot running and the control accuracy of robot high-speed motion is improved by Fusion, realize one and multiple robots are carried out clustered control, certainly it not only possesses the function accurately controlled of individual machine people, can also realize surrounding, and the perception to " companion ", that is in the range of controller MANET, enable the preferably synthetic operation of multiple robot.It is not interference free performance and the control accuracy that only improve individual machine people.
Embodiment of above is merely to illustrate the present invention; and not limitation of the present invention; those of ordinary skill about technical field; without departing from the spirit and scope of the present invention; can also make a variety of changes and modification; the technical scheme of the most all equivalents falls within scope of the invention, and the scope of patent protection of the present invention should be defined by the claims.
Claims (10)
1. a robot distributed controller, it is characterized in that, described controller includes network transceivers, environmental detection sensor group, position-detection sensor group, attitude detecting sensor group and the concurrency control unit being made up of first processor and the second processor；
Network transceivers, is connected to receive and/or launch the network signal for carrying out data communication with other robot with described second processor, and is sent to described second processor；
Environmental detection sensor group, is connected with described first processor, for the environmental information of measuring robots position, and is sent to described first processor；
Position-detection sensor group, is connected with described first processor, for the positional information that measuring robots is current, and is sent to described first processor；
Attitude detecting sensor group, is connected with described first processor, for the attitude information that measuring robots is current, and is sent to described first processor；
Described first processor, robot is controlled by the data uploaded for receiving described position-detection sensor group, environmental detection sensor group and/or attitude detecting sensor group；
Described second processor, is connected with described first processor, for carrying out data communication by described network transceivers and other robot, generates control command according to result of communication, and the control command of generation is sent to described first processor；
Described first processor, is additionally operable to the control command according to receiving and is controlled robot.
Controller the most according to claim 1, it is characterised in that described controller also includes: asynchronism transceiver, described first processor is communicatively coupled by described asynchronism transceiver with described second processor.
Controller the most according to claim 1, it is characterised in that described environmental detection sensor group, including:
Baroceptor, for the air pressure of measuring robots local environment and be uploaded to described first processor；
Temperature Humidity Sensor, for the temperature of measuring robots local environment and/or humidity and be uploaded to described first processor；
Airspeed sensor, air velocity for measuring robots present position is also uploaded to described first processor；
Light intensity sensor, intensity of illumination for measuring robots present position is also uploaded to described first processor.
Controller the most according to claim 1, it is characterised in that described attitude detecting sensor group, including:
Angular-rate sensor, the angular velocity moved around X, Y and Z axis under the coordinate system that predeterminable area is corresponding for robot measurement is also uploaded to described first processor；
Acceleration transducer, for robot measurement under the coordinate system that described predeterminable area is corresponding, in the absolute acceleration of tri-coordinate axess of X, Y and Z and be uploaded to described first processor.
Controller the most according to claim 4, it is characterized in that, described controller also includes: analog-digital converter, the input of described analog-digital converter is connected with described angular-rate sensor, outfan is connected with described first processor, for the analogue signal that described angular-rate sensor exports being converted to digital signal, and the digital signal obtained is uploaded to described first processor.
Controller the most according to claim 1, it is characterised in that described position-detection sensor group, including:
Gps receiver, for receiving the coordinate information of robot position relative to the earth, and uploads to described first processor；
Electronic compass, for robot measurement under the coordinate system that described predeterminable area is corresponding relative to the angle of geographical north orientation and be uploaded to described first processor.
7. according to the controller described in any one of claim 1-6, it is characterised in that described controller also includes: the memorizer being connected with described first processor.
8. according to the controller described in any one of claim 1-6, it is characterised in that described controller also includes: the extension I/O interface being connected with described first processor.
9. a control method based on the arbitrary robot distributed controller of claim 1-8, it is characterised in that described method includes:
Receive the control instruction that user sends；
Carry out path planning according to described control instruction, obtain operating path；
Determine position control amount and attitude control quantity that described operating path is corresponding；
Generate control command according to described position control amount and attitude control quantity, and according to described control command, the actuator of described robot is controlled, so that described robot runs according to according to described operating path.
Method the most according to claim 9, it is characterised in that described method also includes:
Receive the control command that host computer sends, and the sensor information that position-detection sensor group and attitude detecting sensor group are uploaded；
Described operating path is adjusted according to described control command and/or sensor information；
Determine second position controlled quentity controlled variable and the second attitude control quantity that the operating path after adjustment is corresponding, generate the second control command according to described second position controlled quentity controlled variable and the second attitude control quantity, and according to described second control command, the actuator of described robot is controlled.
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