CN109834713A - Apery brain robot control axis and apery brain walking robot control axis - Google Patents
Apery brain robot control axis and apery brain walking robot control axis Download PDFInfo
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- CN109834713A CN109834713A CN201910189769.5A CN201910189769A CN109834713A CN 109834713 A CN109834713 A CN 109834713A CN 201910189769 A CN201910189769 A CN 201910189769A CN 109834713 A CN109834713 A CN 109834713A
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Abstract
The present invention provides apery brain robot control axis and apery brain walking robot control axis, functional areas are not distinguished on hardware and software for solving robot control system in the prior art, it is unclear to calculating task, computational resource allocation cause operation slowly, be easy error, each function upgrading update it is difficult, be difficult to the technical issues of adding new function, apery brain robot control axis includes: imitative brain module, imitative cerebellum module, imitative brain stem module；Imitative brain module is divided into multiple functional areas by function；Imitative cerebellum module includes movement instruction generation area；Apery brain walking robot control axis includes: imitative brain module, imitates brain stem module, imitates cerebellum module；Wherein, it imitates brain module and is divided into main operational area, intelligent vision area and path planning anticollision area by function；Implement technical solution of the present invention, effective use robot computing resource, feedback time is short, maintenance upgrade is at low cost, unconditional reflex function can be achieved.
Description
Technical field
The invention belongs to automation control areas, are related to apery brain robot control axis and apery brain walking robot control
Maincenter processed.
Background technique
Although various advanced technologies emerge one after another in control technology development process, human brain is so far
It is still generally acknowledged classic control system.The construction of human brain is explored, the always technical field that is allowed to bring benefit to the mankind is diligent
In the hope of target.From ancient times to the present, although each human individual is multifarious, there is no too big differences for human brain construction.
In fact, with hundred million count everyone, it is big although the mode of their temper nature and processing problem may be far from each other
The construction of brain is almost the same, and the bodily fuctions that different function region controls in brain are also almost the same.Current most control
System design starting point is still from angle is applied, to design the controller satisfied the use demand, therefore different control fields
Controller is also varied, it is difficult within unification a to frame.
Therefore it needs a kind of to be applicable in that scene light, feedback speed be fast, the class human brain robot control axis more than function.
Summary of the invention
In order to solve the above-mentioned technical problem, apery brain robot control axis and apery brain vehicle with walking machine are disclosed in the present invention
Device people's control axis, the technical scheme is that be implemented:
A kind of apery brain robot control axis, comprising: imitative brain module, imitative cerebellum module and imitative brain stem module；Wherein,
The imitative brain module is divided into multiple functional areas by function, and each functional areas include one or more sheet body cores, the multiple function
Concurrent working between energy area, it is interactively with each other；The imitative cerebellum module includes movement instruction generation area, the movement instruction generation area
Including one or more sheet body cores, the imitative cerebellum module reads letter from the imitative brain module and/or the imitative brain stem module
Number, and movement instruction is sent to the imitative brain stem module；The imitative brain stem module includes interactive areas and control bus, the interaction
Area connect and carries out data interaction with the imitative brain module, the imitative cerebellum module, and the control bus connects the interaction
Area and external robots equipment.
Preferably, the sheet body core is selected from CPU core, GPU core, ASIC core, DSP core, ARM core, LAN core, LEX core, MSC
One or more of core, SAF core.
Preferably, the functional areas include multiple sheet body cores, and the combination of the multiple sheet body core includes: that scene can compile
One or more of the combination of journey gate array FPGA, system on chip SoC combination and network-on-chip NoC combination.
Preferably, the functional areas include visual analysis area, and the visual analysis area includes GPU core.
Preferably, the interactive areas includes memory, and the functional areas are not provided with memory.
A kind of apery brain walking robot control axis, comprising: imitative brain module, the imitative brain module are divided by function
Main operational area, intelligent vision area and path planning anticollision area；The main operational area, intelligent vision area and path planning are anti-
Impact zone concurrent working, it is interactively with each other；The main operational area includes CPU core；The intelligent vision area includes GPU core；It is described
Path planning anticollision area includes CPU core；Imitative cerebellum module, including walking area, the walking area includes MSC core；Imitative brain stem mould
Block, including interactive areas and control bus, the interactive areas and the main operational area, the intelligent vision area, the path are advised
Partition connects with the walking area and carries out data interaction；The control bus connects the interactive areas and robot motion's mould
Block, robot vision module.
Preferably, the interactive areas includes memory；The main operational area, the intelligent vision area, path rule
It draws anticollision area and the walking area does not include memory.
Preferably, the imitative brain module further includes iterative learning module, and the iterative learning module includes artificial intelligence
Algorithm core.
Implement technical solution of the present invention can solve in the prior art robot control system in the area hardware and software Shang Bu
Point functional areas, it is unclear to calculating task, computational resource allocation cause operation slowly, be easy error, each function upgrading update it is difficult,
It is difficult to the technical issues of adding new function；Implement technical solution of the present invention, imitative brain module is set, and autonomous working is arranged
Different function area, and be distinguish on Hardware & software system according to functional areas, the computing resource of robot is efficiently used, letter
Change the complexity of each functional areas program, realize the independent efficient operation of each functional areas, shortens the feedback time of robot；Each function
Energy area is independently programmable, convenient for upgrading and maintenance；Each functional areas include one or more all kinds of sheet body cores, and sheet body core takes difference
Topological framework increases compatibility；Apery brain module, imitative cerebellum module and imitative brain stem module can interact with each other, and have robot
There is unconditional reflex function.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
A kind of embodiment of invention without any creative labor, may be used also for those of ordinary skill in the art
To obtain other drawings based on these drawings.
Fig. 1 is the system structure diagram of the embodiment of the present invention 1；
Fig. 2 is the functional areas structural schematic diagram of the embodiment of the present invention 1 and embodiment 4；
Fig. 3 is the functional areas structural schematic diagram of the embodiment of the present invention 2；
Fig. 4 is the functional areas structural schematic diagram of the embodiment of the present invention 3；
Fig. 5 is the system structure diagram of the embodiment of the present invention 4.
In above-mentioned attached drawing, each figure number label is respectively indicated:
1- imitates brain module；2- sheet body core；3- imitates cerebellum module；The interactive areas 4-；5- control bus；The functional areas 6-；7- view
Feel analysis area；8- memory；9- main operational area；10- intelligent vision area；11- path planning anticollision area；12- walking area；
13- iterative learning module；14- external robots equipment；15- imitates brain stem module；16- movement instruction generation area；17- robot fortune
Dynamic model block；18- robot vision module.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
A kind of apery brain robot control axis, as depicted in figs. 1 and 2, comprising: imitative brain module 1, imitative cerebellum module 3
With imitative brain stem module 15；Wherein, it imitates brain module 1 and is divided into multiple functional areas 6 by function, each functional areas 6 include one or more
A sheet body core 2, concurrent working between multiple functional areas 6 are interactively with each other；Imitative cerebellum module 3 includes movement instruction generation area 16, fortune
Dynamic instruction generation area 16 includes one or more sheet body cores 2, imitates cerebellum module 3 from imitative brain module 1 and/or imitative brain stem module 15
Signal is read, and sends movement instruction to imitative brain stem module 15；Imitative brain stem module 15 includes interactive areas 4 and control bus 5, interaction
Area 4 connect and carries out data interaction with imitative brain module 1, imitative cerebellum module 3, and control bus 5 connects interactive areas 4 and external mechanical
People's equipment 14.
User can according to need the function that this is imitative brain module 1, including but not limited to the sense of hearing of robot, vision,
One of functions such as tactile, motion planning are a variety of, and the brain of similar people carries out main data processing work.From hardware
Each functional areas are distinguished, accurate distribution of the control axis to calculating task is realized, efficiently uses computing resource.Multiple functional areas 6 it
Between can carry out intercore communication, improve the working efficiency of control axis entirety.User can set according to the applicable scene of robot
Suitable 6 quantity of functional areas is set, and according to factors such as function type, the implementation of function, cost control in each functional areas 6
Different 2 quantity of sheet body core is set, to realize optimal control effect.The quantity of sheet body core 2 can make redundancy setting, normal
The sheet body core 2 that redundancy is arranged when work can be with auxiliary operation to accelerate arithmetic speed, or independent operation to improve control effect
Accuracy；When sheet body core 2 overloads, the sheet body core 2 of redundancy setting can improve machine human reriability to avoid system crash；Piece
When body core 2 damages, the sheet body core 2 of redundancy setting can make the functional areas 6 keep operating normally, and improve the reliability of device.It is imitative
The external robots equipment 14 such as movement instruction generation area 16 and servo motor, stepper motor, hydraulic system in cerebellum module 3 are handed over
Mutually, robot motion is realized, imitative cerebellum module 3 can start to work after the instruction for receiving imitative brain module 1, can also basis
The data fast reactions such as the sensor signal that the imitative transmission of brain stem module 15 comes, realize the anthropoid unconditioned reflex of class.
Concurrent working between multiple functional areas 6, can be with complete independently calculating task, and each functional areas 6 can be individually
Programming simplifies the programming difficulty of each functional areas 6, modifies or upgrade convenient for control program of the user to functional areas 6.This
Outside, since each functional areas 6 are operationally independent of each other, user can need to increase or decrease functional areas according to the function of robot
6, it is conducive to control axis future extension new function, user, which also can according to need, reduces useless robot functional areas 6, reduces energy
Consumption.
A plurality of types of topological structures can be taken between multiple sheet body cores 2, in this specific embodiment, multiple sheet body cores
2 are set as bus-type topology framework.External interface can be set to USB, RS-485 communication interface and other common interfaces, function
Can equipment may include the sensors such as range sensor, temperature sensor, pressure sensor, industrial camera, microphone,
The output equipments and manipulator, servo motor, stepper motor etc. such as the common input equipment such as button, keyboard, display, sound equipment are set
It is one or more of standby.
In a preferred embodiment, as depicted in figs. 1 and 2, sheet body core 2 is selected from CPU core, GPU core, ASIC
One or more of core, DSP core, ARM core, LAN core, LEX core, MSC core, SAF core.User can need reality according to robot
Existing function selects suitable 2 type of sheet body core and quantity, to realize the different function of robot, including but not limited to voice
One of functions such as identification, interactive voice, robot motion planning, robot motion, gesture stability and image recognition or
It is a variety of.
In a preferred embodiment, as depicted in figs. 1 and 2, functional areas 6 include multiple sheet body cores 2, multiple sheet bodies
The combination of core 2 includes: in on-site programmable gate array FPGA combination, system on chip SoC combination and network-on-chip NoC combination
One or more.FPGA is field programmable gate array, belongs to semi-custom circuit, powerful, and user can make
It is programmed as needed with preceding, compatibility is strong；It is combined using system on chip SoC, each functional areas 6 include multiple sheet bodies
2 hardware of core and all systems are completely embedded in, can directly used, simplify setting of the user to sheet body core 2, and is conducive to use
Family is protected by software section；NoC combination carries out communication mode change on the basis of SoC combination, uses the overall situation in design
Asynchronous, the clock mechanisms of local synchronization, information is transmitted more reliable.
In a preferred embodiment, as depicted in figs. 1 and 2, functional areas 6 include visual analysis area 7, visual analysis
Area 7 includes GPU core.Camera can be set in robot, and to acquire the image information of environment, target, image information is transmitted to view
Feel analysis area 7, the image that the GPU in visual analysis area 7 can acquire robot is handled in real time, passes through color, shape etc.
Parameter analysis image, and then robot is made to have the function of recognition of face, road Identification, obstacle recognition, object identification etc., with reality
Existing robotic vision function.
In a preferred embodiment, as depicted in figs. 1 and 2, interactive areas 4 includes memory 8, and functional areas 6 are not set
There is memory 8.Memory 8 is arranged in interactive areas 4, shares the same storage convenient for imitating multiple functional areas 6 in brain module 1
Device 8 simplifies 6 structure of functional areas, reduces the difficulty and cost of control axis production, and is easily changed new memory 8, thus into
Row maintenance and upgrade.
Embodiment 2
A kind of apery brain robot control axis, unlike the first embodiment, as shown in figure 3, each sheet body in functional areas 6
Core 2 is set as crossbar switch type topological structure.Information exchange is carried out between sheet body core 2, each sheet body core 2 distributes the functional areas 6
Difference calculates, and improves 6 arithmetic speed of functional areas, reduces the feedback time of robot, promotes user experience.
Embodiment 3
A kind of apery brain robot control axis, unlike previous embodiment, as shown in figure 4, each in functional areas 6
Body core 2 is set as network-type, and main leaf body core 2 is arranged, and multiple sheet body cores 2 are interacted with a main leaf body core 2.Main leaf body core 2 is to work
It is allocated as task, freely dispatches multiple sheet body cores 2, realize that the performance of functional areas 6 maximizes.
Embodiment 4
A kind of apery brain walking robot control axis, unlike the first embodiment, as shown in Figure 2 and Figure 5, comprising: imitative
Brain module 1, imitative brain module 1 are divided into main operational area 9, intelligent vision area 10 and path planning anticollision area 11 by function；
11 concurrent working of main operational area 9, intelligent vision area 10 and path planning anticollision area, it is interactively with each other；Main operational area 9 includes
CPU core；Intelligent vision area 10 includes GPU core；Path planning anticollision area 11 includes CPU core；Imitative cerebellum module 3, including walking
Area 12, walking area 12 include MSC core；Imitative brain stem module 15, including interactive areas 4 and control bus 5, interactive areas 4 and main operational
Area 9, intelligent vision area 10, path planning anticollision area 11 and walking area 12 connect and carry out data interaction；Control bus 5 connects
Interactive areas 4 and robot motion's module 17, robot vision module 18.
In this specific embodiment, robot vision module 18 can be set to include ordinary camera, infrared camera,
Light compensating lamp uses GPU core by intelligent vision area 10 for shooting image and being transmitted to intelligent vision area 10 by control bus 5
Image is handled, the image identification function of robot may be implemented.After 10 environment-identification image of intelligent vision area, by result
It is transmitted to path planning anticollision area 11；Path planning anticollision area 11 judges road according to ambient image, plans machine with this
The walking path of people, and the path of planning is directly transferred to imitative cerebellum module 3 or be transmitted to by imitative brain stem module 15 imitate it is small
Brain module 3 is realized the movement of robot by robot motion's module 17 that walking area 12 controls robot.If path planning anti-collision
It hits area 11 and finds that image is unqualified, can not make rational planning for road, then the underproof information of image is transmitted into intelligent vision area 10, by
Intelligent vision area 10 controls robot vision module 18 and re-shoots photo；Main operational area 9 can be used to handle user's input
Control instruction, and to other function area 6 issue control instruction.
In a preferred embodiment, as shown in Figure 2 and Figure 5, interactive areas 4 includes memory 8；Main operational area 9,
Intelligent vision area 10, path planning anticollision area 11 and walking area 12 do not include memory 8.Memory 8 setting interactive areas 4 just
Multiple functional areas 6 in imitative brain module 1 share the same memory 8, simplify 6 structure of functional areas, and it is raw to reduce control axis
The difficulty and cost of production, and it is easily changed new memory 8, reduce the maintenance and upgrade cost of device.
In a preferred embodiment, as shown in Figure 2 and Figure 5, imitating brain module 1 further includes iterative learning module
13, iterative learning module 13 includes intelligent algorithm core.Iterative learning module 13 can constantly be become by reading in memory 8
Dynamic storing data, and analyze it, according to image road conditions, the path of planning, robot ambulation, whether mistake collision hinders
Hinder the information such as object, judge the resonable degree of path planning, and storage result, the work as each functional areas 6 of future robot is joined
It examines.
It should be pointed out that the foregoing is merely illustrative of the preferred embodiments of the present invention, it is not intended to limit the invention, it is all
Within the spirit and principles in the present invention, any modification, equivalent replacement, improvement and so on should be included in guarantor of the invention
Within the scope of shield.
Claims (8)
1. a kind of apery brain robot control axis characterized by comprising imitative brain module, imitative cerebellum module and imitative brain stem
Module；Wherein,
The imitative brain module is divided into multiple functional areas by function, and each functional areas include one or more sheet body cores, described more
Concurrent working between a functional areas, it is interactively with each other；
The imitative cerebellum module includes movement instruction generation area, and the movement instruction generation area includes one or more sheet body cores,
The imitative cerebellum module reads signal from the imitative brain module and/or the imitative brain stem module, and sends movement instruction to institute
State imitative brain stem module；
The imitative brain stem module includes interactive areas and control bus, the interactive areas and the imitative brain module, the imitative cerebellum
Module connects and carries out data interaction, and the control bus connects the interactive areas and external robots equipment.
2. a kind of apery brain robot according to claim 1 control axis, which is characterized in that the sheet body core be selected from
One or more of CPU core, GPU core, ASIC core, DSP core, ARM core, LAN core, LEX core, MSC core, SAF core.
3. a kind of apery brain robot according to claim 2 control axis, which is characterized in that the functional areas include more
A sheet body core, the combination of the multiple sheet body core include: on-site programmable gate array FPGA combination, system on chip SoC group
One or more of conjunction and network-on-chip NoC combination.
4. a kind of apery brain robot according to claim 3 control axis, which is characterized in that the functional areas include view
Feel analysis area, the visual analysis area includes GPU core.
5. a kind of apery brain robot according to claim 4 control axis, which is characterized in that the interactive areas includes depositing
Reservoir, the functional areas are not provided with memory.
6. a kind of apery brain walking robot control axis characterized by comprising
Imitative brain module, the imitative brain module are divided into main operational area, intelligent vision area and path planning anticollision by function
Area；The main operational area, intelligent vision area and the area's concurrent working of path planning anticollision, it is interactively with each other；The main operational
Area includes CPU core；The intelligent vision area includes GPU core；Path planning anticollision area includes CPU core；
Imitative cerebellum module, including walking area, the walking area includes MSC core；
Imitative brain stem module, including interactive areas and control bus, the interactive areas and the main operational area, the intelligent vision
Area, the path planning area connect with the walking area and carry out data interaction；The control bus connect the interactive areas and
Robot motion's module, robot vision module.
7. a kind of apery brain walking robot control axis according to claim 6, which is characterized in that the interactive areas packet
Include memory；The main operational area, the intelligent vision area, path planning anticollision area and the walking area do not include
Memory.
8. a kind of apery brain walking robot control axis according to claim 7, which is characterized in that the imitative brain mould
Block further includes iterative learning module, and the iterative learning module includes intelligent algorithm core.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112060082A (en) * | 2020-08-19 | 2020-12-11 | 大连理工大学 | Online stable control humanoid robot based on bionic reinforcement learning type cerebellum model |
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