CN108536052A - A kind of robot controller based on movable joint - Google Patents
A kind of robot controller based on movable joint Download PDFInfo
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- CN108536052A CN108536052A CN201810189885.2A CN201810189885A CN108536052A CN 108536052 A CN108536052 A CN 108536052A CN 201810189885 A CN201810189885 A CN 201810189885A CN 108536052 A CN108536052 A CN 108536052A
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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
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention discloses a kind of robot controllers based on movable joint, are formed by master controller and from controller, master controller and share out the work and help one another from controller, and master controller is connected with from controller by digital serial port；Master controller includes control module, and power management module, six axis gyroscopes, ROM memory, SD card memory module, bluetooth module, level conversion and communication module and steering engine signal latch output module are connected in control module；Wherein, bluetooth module is interacted by bluetooth equipment, and level conversion and communication module are interacted with the ends PC, and steering engine signal latch output module is interacted with steering engine；Include that bluetooth receives processor from controller, connection SD card memory module, EEPROM storage cards and power supply supplying module on processor are received in bluetooth.It is mainly used for the control of humanoid bio-robot and bionic 6-leg robot.
Description
Technical field
The present invention relates to a kind of controller of robot more particularly to a kind of robot controllers based on movable joint.
Background technology
The robot controller control function of early stage is single, and system is cumbersome, complicated for operation, the ununified standard of interface.
Into after the eighties in last century, robot controller is become one and is controlled by computer by past Simple control device
High performance controller, later with the development of computer technology and the raising of digital signal processor (DSP) performance and cost
Reduction, the appearance of the industrial robot controller based on DSP, the development of complex programmable logic controller (CPLD) so that
Open architecture robot controller based on DSP and CPLD becomes new research hotspot, but service robot is closed due to developing slowly
In service robot controller, this block is still insufficient.
The research of rapid development with computer technology and social progress, intelligent robot technology has become machine
The main direction of development in people field, the rapid emergence of industrial age intellectual technology so that robot is fast as emerged rapidly in large numbersBamboo shoots after a spring rain
Speed grows up, and the function of robot is also more and more, and to the performance of robot controller, higher requirements are also raised, and mesh
Preceding known robot is all formed in parallel using cumbersome multiple digital rudder controllers or movable joint mostly, the movement effects of robot
It is influenced by line and structure；Meanwhile a controller can only control a kind of robot of model, for example, humanoid bio-robot
Or bionic 6-leg robot can only be controlled by respectively proprietary controller, the two can not replace, and software systems are not also simultaneous
Hold, this just brings very big inconvenience to the use of user；In addition, that there are volumes is big for existing controller on the market, interface is few, work
The problems such as skill is poor, and compatibility is low, therefore after the advantage and disadvantage for comparing different controllers, designed, designed goes out to be well suited for bio-robot
The robot controller of motion control a so that controller can control the robot of different model, be that applicant studies
One of project.
Invention content
In view of the shortcomings of the prior art and the problem of afunction, the object of the present invention is to provide a kind of bases
In the robot controller of movable joint.
In order to realize that above-mentioned task, the present invention take following technical solution：
A kind of robot controller based on movable joint, forms by master controller and from controller, which is characterized in that main
Controller and share out the work and help one another from controller, is used for the control of humanoid bio-robot and bionic 6-leg robot；Master controller and
It is connected from controller by digital serial port, wherein：
Master controller includes：Control module is connected with power module, six axis gyroscopes, ROM storages in control module
Device, SD card memory module, bluetooth module, level conversion and communication module and steering engine signal latch output module；
The bluetooth module is interacted by bluetooth equipment, and the level conversion and communication module are handed over the ends PC
Mutually, the steering engine signal latch output module is interacted with steering engine；
Described from controller includes that bluetooth receives processor, bluetooth receive connection SD card memory module on processor,
EEPROM storage cards and power supply supplying module.
According to the present invention, the control module obtains the posture information of robot by six axis gyroscopes, to accurately control
The limbs of robot processed；ROM data memory is for storing robot interior version information and relevant configuration；SD card stores mould
Block is for storing user profile；For being wirelessly transferred machine personal data and dependent instruction, it coordinates external bluetooth module
Bluetooth equipment establishes the communication with robot；Power module is for the supply of the voltage of joint of robot and master controller；Signal
Latch the joint control that processing module is used for robot.
Further, the external interface of the master controller includes：Main control module interface, simulative serial port, digital serial port,
Bluetooth module interface, six axis gyroscope interfaces, the left arm servos control line interface of humanoid bio-robot or bionic 6-leg machine
People's left front leg servos control line interface, the left leg servos control line interface of humanoid bio-robot or the left leg of bionic 6-leg robot
Servos control line interface, humanoid bionic machine head part steering engine interface or the left back leg servos control line of bionic 6-leg robot connect
Mouth, bionic 6-leg robot right rear leg servos control line interface, the right leg servos control line interface of humanoid bio-robot or six foots
The right arm servos control line interface of leg servos control line interface, humanoid bio-robot or bionic 6-leg machine in the bio-robot right side
Device people right front leg servos control line interface and power module interface；
It is described to include from controller external interface：It is digital serial port, battery interface, electric source line interface, charging external interface, total
Switch, indicator light, reseting module, SD card insert port and USB connectors.
It is mainly from the module in controller and user carries out human-computer interaction, provides a feedback information, more collection neutralizes
Information explicitly is linked up to user, forms a feedback mechanism.
The robot controller based on movable joint of the present invention is mainly used for controlling six sufficient or humanoid bio-robots.
Description of the drawings
Fig. 1 is from controller external structure schematic diagram；
Fig. 2 is master controller external structure schematic diagram；
Fig. 3 is power module electrical schematic diagram；
Fig. 4 is that 5V turns 3.3V circuit diagrams；
Fig. 5 is power supply master control block diagram；
Fig. 6 is that 8.4V turns 5V voltages conversion block diagram；
Fig. 7 is that 5V turns 3.3V voltages conversion block diagram；
Fig. 8 is analog-to-digital conversion block diagram；
Fig. 9 is level conversion and communication module internal circuit configuration figure；
Figure 10 is level conversion flow diagram；
Figure 11 is gyroaccelerometer MPU6050 circuit diagrams；
Figure 12 is gyroaccelerometer MPU6050 communication mode block diagrams；
Figure 13 is EEPROM memory module circuit diagrams；
Figure 14 is EEPROM memory module communication mode block diagrams；
Figure 15 is the circuit diagram of bluetooth module；
Figure 16 is the communication mode block diagram of bluetooth module；
Figure 17 is steering engine signal latch module circuit diagram；
Figure 18 is sn74ahclg04 chips and 74HC126D chip connection type block diagrams in Figure 17；
Figure 19 is SD card memory module physical circuit figure；
Figure 20 is SD card memory module connection type block diagram；
The circuit block diagram of Figure 21 master controllers；
Figure 22 is the internal structure block diagram from controller；
Label in figure indicates respectively：1, main control module interface, 2, simulative serial port, 3, digital serial port, 4, bluetooth module connects
Mouthful, 5, six axis gyroscope interfaces, 6.1, the left arm servos control line interface of humanoid bio-robot or bionic 6-leg robot are left
Foreleg servos control line interface, 6.2, the left leg servos control line interface of humanoid bio-robot or the left leg of bionic 6-leg robot
Servos control line interface, 6.3, humanoid bionic machine head part steering engine interface or the left back leg servos control line of bionic 6-leg robot
Interface, 6.4, bionic 6-leg robot right rear leg servos control line interface, 6.5, the right leg servos control line of humanoid bio-robot
Leg servos control line interface in interface or the bionic 6-leg robot right side, 6.6, the right arm servos control line of humanoid bio-robot connects
Mouthful or bionic 6-leg robot right front leg servos control line interface, 7, power module interface, 8.1, battery interface, 8.2, power cord
Interface, 9, charging external interface, 10, master switch, 11, indicator light, 12, reseting module, 13, SD card insert port, 14, USB connections
Mouthful.
Below in conjunction with drawings and examples, the present invention is described in further detail.
Specific implementation mode
The present embodiment provides a kind of robot controller based on movable joint, mainly by master controller and from controller
Simultaneous forms, and master controller and shares out the work and help one another from controller, is used for the control of humanoid bio-robot and bionic 6-leg robot.
Referring to Fig. 1, master controller external interface includes：Main control module interface 1, simulative serial port 2, digital serial port 3, bluetooth mould
Block interface 4, six axis gyroscope interfaces 5, the left arm servos control line interface of humanoid bio-robot or bionic 6-leg robot are left
The left leg servos control line interface of foreleg servos control line interface 6.1, humanoid bio-robot or the left leg of bionic 6-leg robot
Servos control line interface 6.2, humanoid bionic machine head part steering engine interface or the left back leg servos control line of bionic 6-leg robot
Interface 6.3, bionic 6-leg robot right rear leg servos control line interface 6.4, the right leg servos control line of humanoid bio-robot connect
Leg servos control line interface 6.5, the right arm servos control line interface of humanoid bio-robot in mouth or the bionic 6-leg robot right side
Or bionic 6-leg robot right front leg servos control line interface 6.6 and power module interface 7；
Referring to Fig. 2, include from controller external interface：Digital serial port 3, battery interface 8.1, electric source line interface 8.2, charging
External interface 9, master switch 10, indicator light 11, reseting module 12, SD card insert port 13 and USB connectors 14；
Master controller is connected with from controller by digital serial port 3.
Power module interface 7 therein has overcurrent protection for powering, overvoltage protection, short-circuit protection, overload
A variety of protections such as protection, to extend the service life of battery.Battery capacity therein is 3000Ma.
The specific set-up mode of master controller external interface is：At 1 top of main control module interface, 2 sum number of simulative serial port is set
According to serial ports 3, digital serial port 3 is master controller and the connection tie from controller, for sending and receiving data.
The left side of main control module interface 1 there are two interface, i.e., the left arm servos control line interface of humanoid bio-robot or
Bionic 6-leg robot left front leg servos control line interface 6.1 and the left leg servos control line interface of humanoid bio-robot or six foots
The left leg servos control line interface 6.2 of bio-robot, and in the left arm servos control line interface of humanoid bio-robot or six
The top of sufficient bio-robot left front leg servos control line interface 6.1 is equipped with bluetooth module interface 4, for connecting external equipment such as
The lower section of mobile phone or other displays, main control module interface 1 is equipped with six axis gyroscope interfaces 5, with difference and traditional robot
Controller, the six axis gyroscope use high-precision gyroaccelerometer MPU6050, MPU6050 is read by control module
Measurement data then exported by serial ports, eliminate user oneself go exploitation MPU6050 complexity I2C agreements, while finely
Industrialization PCB layout and technique ensure that MPU6050 receives that external interference is small, the precision of measurement is high.Accelerate added with gyro
The robot of degree meter MPU6050 can calibrate the action for reaching more stable automatically.By gyroaccelerometer MPU6050, establish
One space coordinates, examinations robot pose are calibrated for pose.
The lower section of six axis gyroscope interfaces 5 is equipped with humanoid bionic machine head part steering engine interface or bionic 6-leg robot is left
Back leg servos control line interface 6.3 and bionic 6-leg robot right rear leg servos control line interface 6.4, the two steering engine interfaces are more
It is the use for biasing toward bionic 6-leg robot in big degree, because the quantity of the steering engine used in bionic 6-leg robot will be more than
The quantity of humanoid bio-robot.The right side of main control module interface 1 is set there are two interface, i.e., the humanoid right leg steering engine of bio-robot
Control line interface or bionic 6-leg robot right rear leg servos control line interface 6.5 and the right arm steering engine control of humanoid bio-robot
Line interface or bionic 6-leg robot right front leg servos control line interface 6.6 processed, in the right arm steering engine control of humanoid bio-robot
The top of line interface or bionic 6-leg robot right front leg servos control line interface 6.6 processed, is additionally provided with power module interface 7, electricity
Source module interface 7 is powered to master controller and from controller simultaneously, that is, connects the power interface 8.2 from controller.Power interface
8.2 lower sections are equipped with battery interface 8.1.The right side of power interface 8.2 is equipped with charging interface 9, which is located next to master switch
10, the right side of master switch 10 is indicator light 11, and the indicator light 11 is for showing whether robot works normally.
The right side of indicator light 11 is reset key 12, is restPosed under free position to robot, it is only necessary to press
Reset key 12,12 right side of reset key is SD card slot 13, and SD card slot 13 can be used for playing music for filling SD card memory module
Or the audio files such as voice, usb 14 is set from the rightmost side of controller, usb 14 is the ends connection PC, is used for down
It carries data or transmits data to robot.
Master controller includes：Control module is connected with power module, six axis gyroscopes, ROM storages in control module
Device, SD card memory module, bluetooth module, level conversion and communication module and steering engine signal latch output module；
The bluetooth module is interacted by bluetooth equipment, and the level conversion and communication module are handed over the ends PC
Mutually, the steering engine signal latch output module is interacted with steering engine；
Described from controller includes that bluetooth receives processor, bluetooth receive connection SD card memory module on processor,
EEPROM storage cards and power supply supplying module.
Control module obtains the posture information of robot by six axis gyroscopes, to accurately control the limbs of robot；
ROM data memory is for storing robot interior version information and relevant configuration；SD card memory module is for storing user
Configuration file；For bluetooth module for being wirelessly transferred machine personal data and dependent instruction, it coordinates external bluetooth equipment, establish with
The communication of robot；Power module is for the supply of the voltage of joint of robot and master controller；Signal latch processing module is used
In the joint control of robot.
The control module of master controller selects STM32F103VET6 microcontrollers well known in the art, the STM32F103VET6
Microcontroller has 100 railway digital I/O ports (wherein 16 tunnels can be used as PWM outputs), and 16 tunnel simulation inputs, 5 road UART connect
Mouth, a 8MHz crystal oscillator, a USB port, a power outlet, a SWD header and a reset button.It is interior
Portion also has USB to turn TTL conversion circuits, and all signals all will convert into the signal control for low and high level, realize microcontroller and
The conversion at the ends PC.
STM32F103VET6 microcontrollers are compatible with the embedded system of 3.3V, easy to connect.The I2C for remaining MPU6050 connects
Mouthful, to meet the needs of advanced level user desires access to bottom measurement data.Using digital filtering technique, it can effectively reduce measurement and make an uproar
Sound improves measurement accuracy.It has been internally integrated attitude algorithm device, has coordinated Dynamic Kalman Filtering algorithm, it can be in a dynamic environment
The current pose of accurate output module, 0.01 degree of attitude measurement accuracy, stability is high, and performance is even better than the inclination angle of certain professions
Instrument.Using stamp hole craft of gilding, quality guarantee can be embedded in the pcb board of user.
Power module (referring to Fig. 3 and Fig. 4) in master controller, the chip in power module is using AMS1117-
3.3, AMS1117-3.3 be a kind of positive low dropout voltage regulator, is suitable for high-efficient linear regulator switch power regulator electricity
The equipment of pond charging.Due to being 8.4V from the voltage of External Access Equipment, and some chip required voltages are 5V in controller,
The voltage for the 3.3V that some chips need, at this moment just needs 8V voltages being converted to 5V voltages (referring to Fig. 6), 5V voltages are converted into
3.3V voltages (referring to Fig. 7).Filter circuit must be added while converting voltage so that voltage becomes linear voltage, otherwise presents
What is gone out is ripple.In addition contain digital signal and analog signal in chip power, so needing digital signal by converting electricity
Road becomes analog signal (as shown in Figure 8).
Referring to Fig. 9, Fig. 9 be the level conversion of master controller and communication module internal circuit configuration figure, main control module are TTL
Level, and the output of the ends PC is 5V level, therefore serial ports is needed to transfer (its flow diagram is referring to Figure 10).Chip used in it is
CH340G (U3), CH340G (U3) are the usb bus switching chips of double 16 foot, it can be achieved that USB turns serial ports, USB turns
IrDA is infrared or USB turns printing port.Under serial mode, CH340G (U3) provides common MODEM contact signals, for for
Computer extends asynchronous serial port, or common serial equipment is directly upgraded to usb bus.
Wherein, the 7th pin of CH340G (U3) connects crystal oscillator, two capacitances (C22 and C21) of crystal oscillator both ends parallel connection, the 3rd pipe
Foot is connect by capacitance C19 with the first pin；13rd pin is connected to the base stage of triode Q2 (s8050) by resistance R12, and three
The emitter of pole pipe Q2 is connected to the base stage of triode Q1 (s8550) by resistance R13, and the collector of triode Q2 connects two poles
Pipe D6 (1N4148) and resistance R11, resistance R11 connect 3.3V voltages.The collector of triode Q1 (s8550) connects 3.3V voltages,
The emitter connection resistance R14 of triode Q1 (s8550).
Figure 11 is gyroaccelerometer MPU6050 circuit diagrams, and gyroaccelerometer MPU6050 is whole world the first conformability six
Axis motion process component eliminates the problem of the difference of combination gyroscope and accelerator time shaft compared to multicompartment scheme, reduces
A large amount of encapsulated space.The posture information of robot can be obtained by gyroaccelerometer MPU6050, communication mode is such as
Shown in Figure 12.
Figure 13 is eeprom memory module circuit diagram, and AT24C256 chips are the serial electrically erasables of atmel corp 256kbit
Programmable read-write memory, the double inline package of 8 pins has the characteristics that compact-sized, memory capacity is big, can be 2
In line bus and 4 AT24C256 chips are connect, especially suitable for the data collecting system with high capacity data storage request.
It can not using the initial position message and maneuver library and version information etc. that store robot using eeprom memory module
The information of change, is transferred only for user, and communication mode is as shown in figure 14.
Figure 15 is bluetooth module circuit diagram, and bluetooth module selects 4.0 module of bluetooth in the present embodiment, and 4.0 module of bluetooth can
Cell phone application, a series of equipment with bluetooth controller such as remote controler, specific communication mode such as Figure 16 institutes are accessed by serial ports
Show.
Figure 17 is the circuit diagram of steering engine signal latch module, mainly by sn74ahclg04 chips and 74HC126D chipsets
At sn74ahclg04 chips and 74HC126D chip connection types are as shown in figure 18.
Figure 19 is SD card memory module electrical schematic diagram.This module is used for storing the information of user, and user passes through proprietary
Information needed for oneself is uploaded or is downloaded by SD card pin, and the information of this part is the information that can voluntarily change.Its connection side
Formula is as shown in figure 20.
Figure 21 is the circuit block diagram of master controller, including control module, and control module is led to by IIC1 connection MPU6050
Cross IIC2 connection EEPROM modules；Pass through the upload of SDIO connection SD card memory modules or download information；Rudder is connected by UART1
Machine signal latch module, is connected to steering engine；By UART2 connection level conversions and communication module, the ends PC are then connected；Pass through
UART3 is connected to bluetooth module, is connected to the various equipment with bluetooth controller；It is exactly finally that power module gives control mould
Block provides power supply.
Figure 22 is to receive processor from the internal structure block diagram of controller, including bluetooth, receives in bluetooth and connects on processor
Connect SD card memory module, EEPROM storage cards and power supply supplying module.
Undertake that comparison is light, its undertaken task is exactly human-computer interaction part from the task of controller, particularly as being
Required position is larger, needs the interface for accessing external equipment, or needs again robot appearance that can be immediately seen and touch
Function.
The robot controller based on movable joint that the present embodiment provides, master controller be enclosed in robot interior entirely and from
Controller is then partly enclosed in robot.
Master controller controls the steering engine movable joint of two control systems respectively, and total can control six control systems,
There are enough interfaces for the joint control of humanoid bio-robot and bionic 6-leg robot.Turn from controller equipped with USB
The external interface of connection module is used for the data transmission of robot and the ends PC, the instruction at the ends PC is uploaded to robot, makes robot
Make corresponding reaction；In addition it is additionally provided with SD card from controller, for storage action or music etc.；Set battery capacity is
3000Ma, to provide enough electricity；Power interface connects master controller and from controller, is supplied to master controller and from controller
Electricity；After set reset key pressing, robot can restore initial position under free position；Set indicator light illustrative user machine
Whether whether normal and power supply is normal after device people booting；Set master switch is that the power button of robot and charging interface are used for
It charges to robot.
Claims (6)
1. a kind of robot controller based on movable joint, forms, which is characterized in that master control by master controller and from controller
Device processed and share out the work and help one another from controller, be used for the control of humanoid bio-robot and bionic 6-leg robot, master controller and from
Controller is connected by digital serial port, wherein：
Master controller includes：Control module is connected with power module, six axis gyroscopes, ROM memory, SD in control module
Card memory module, bluetooth module, level conversion and communication module and steering engine signal latch output module；
The bluetooth module is interacted by bluetooth equipment, and the level conversion and communication module are interacted with the ends PC, institute
Steering engine signal latch output module is stated to interact with steering engine；
Described from controller includes that bluetooth receives processor, and connection SD card memory module, EEPROM on processor are received in bluetooth
Storage card and power supply supplying module.
2. the robot controller based on movable joint as described in claim 1, which is characterized in that the control module passes through
Six axis gyroscopes obtain the posture information of robot, to accurately control the limbs of robot；ROM data memory is for storing
Robot interior version information and relevant configuration；SD card memory module is for storing user profile；Bluetooth module is used for
It is wirelessly transferred machine personal data and dependent instruction, it coordinates external bluetooth equipment, establishes the communication with robot；Power module
It is supplied for the voltage of joint of robot and master controller；Signal latch processing module is used for the joint control of robot.
3. the robot controller based on movable joint as described in claim 1, which is characterized in that the master controller
External interface includes：Main control module interface (1), simulative serial port (2), digital serial port (3), bluetooth module interface (4), six axis gyros
The left arm servos control line interface of instrument interface (5), humanoid bio-robot or bionic 6-leg robot left front leg servos control line
The left leg servos control line interface of interface (6.1), humanoid bio-robot or the left leg servos control line of bionic 6-leg robot connect
Mouth (6.2), humanoid bionic machine head part steering engine interface or the left back leg servos control line interface (6.3) of bionic 6-leg robot,
The right leg servos control line interface of bionic 6-leg robot right rear leg servos control line interface (6.4), humanoid bio-robot or six
The right arm servos control line interface of leg servos control line interface (6.5), humanoid bio-robot or six in the sufficient bio-robot right side
Sufficient bio-robot right front leg servos control line interface (6.6) and power module interface (7)；
It is described to include from controller external interface：Digital serial port (3), battery interface (8.1), electric source line interface (8.2), charging are outer
Connection interface (9), master switch (10), indicator light (11), reseting module (12), SD card insert port (13) and USB connectors
(14)。
4. the robot controller based on movable joint as described in claim 1, which is characterized in that the control module choosing
Select STM32F103VET6 microcontrollers.
5. the robot controller based on movable joint as described in claim 1, which is characterized in that the bluetooth module choosing
Select 4.0 module of bluetooth.
6. the robot controller based on movable joint as claimed in claim 2, which is characterized in that the user profile
For robot motion file or MP3 voice documents.
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| CN110691121A (en) * | 2019-09-20 | 2020-01-14 | 深圳海星机器人有限公司 | Programming downloading method for toy car Bluetooth and serial port coexisting |
| CN112223268A (en) * | 2020-09-29 | 2021-01-15 | 北京海益同展信息科技有限公司 | Robot control device and robot |
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Address after: 710068 Room 1502, Xi'an Innovation Design Center, 69 West Section of South Second Ring Road, Beilin District, Xi'an City, Shaanxi Province Applicant after: Xi'an founder robot Co., Ltd. Address before: 710061 Room 1726, Unit 2, Building 5, Dahua Nanmen, Yongning Road, Xi'an City, Shaanxi Province Applicant before: Xi'an founder robot Co., Ltd. |
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Application publication date: 20180914 |
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