CN110069029A - A kind of legged type robot control system and its control method based on bus steering engine - Google Patents
A kind of legged type robot control system and its control method based on bus steering engine Download PDFInfo
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- CN110069029A CN110069029A CN201910299925.3A CN201910299925A CN110069029A CN 110069029 A CN110069029 A CN 110069029A CN 201910299925 A CN201910299925 A CN 201910299925A CN 110069029 A CN110069029 A CN 110069029A
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- steering engine
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- joint
- control module
- bus steering
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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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- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of legged type robot control system and its control method based on bus steering engine, system includes main control module, bus steering engine and joint control module, and the main control module is connected with joint control module and bus steering engine respectively；The main control module is estimated and for analyzing data to joint control module sending control instruction；The joint control module, for being controlled according to control instruction bus steering engine；The bus steering engine is controlled for each joint to robot.The present invention is realized by bus steering engine in real time according to the feedback monitoring steering engine of steering engine, and by the way that main control module is carried out hierarchical design, so that robot is when increasing function, it only needs to be extended exploitation in upper application layer, it does not need to change bottom layer driving layer, to greatly facilitate the Function Extension of robot.It the composite can be widely applied in robot field.
Description
Technical field
The present invention relates to robotic technology field more particularly to a kind of legged type robot control systems based on bus steering engine
And its control method.
Background technique
In nature and human society, the place that can not be reached there are the mankind and the particular field that human life may be jeopardized
It closes, such as planetary surface building site, mine, Fire prevention and struggle against terror, these environment is constantly explored and studied, are sought
The feasible way solved the problems, such as is asked to become the needs of scientific technological advance and progress of human society.It is irregular and uneven
Landform is the common feature of these environment, is restricted the application of wheeled robot and caterpillar type robot.And sufficient formula machine
People is a kind of mode of discrete foothold, is adapted to landform complicated and changeable, and more limbs, multivariant design can be with
It is set to adjust body height according to job requirements " active ", to guarantee the stability of equilibrium of body.At the same time, when a limbs
Break down problem in operation, and legged type robot still can continue to operate, that is to say, that and it has one " fault-tolerance ",
An and characteristic at this moment wheeled, that caterpillar type robot is no.Therefore flexibility and environment of the legged type robot in movement
Wheeled, the caterpillar type robot of ratio possess significantly more advantage in adaptability.
Legged type robot is often used the joint executing agency that steering engine is used as at present.Steering engine is by shell, motor, reduction gearing
The servo-system that group, sensor, control circuit and interface cable form.Whether there are microprocessor and crystal oscillator by control circuit,
Steering engine can be divided into simulation steering engine and digital rudder controller again.Simulation steering engine and digital rudder controller are the impulse waves for receiving adjustable pulse width
Control the corner of steering engine, period 20ms, pulsewidth is 0.5ms~2.5ms, and pulsewidth is the middle position that 1.5ms corresponds to steering engine, be less than
The pulse steering engine of 1.5ms pulsewidth rotates forward, and the pulse steering engine greater than 1.5ms pulsewidth inverts.Traditional simulation is used in robot
Steering engine and digital rudder controller have following deficiency: (1) not having position feedback, can not detect steering engine and whether reach target position (2) and do not have
There is current feedback, in strikes obstacles, steering engine stall causes electric current excessive for robot, and fever is high, is easy to burn out steering engine
(3) steering engine revolving speed cannot be set, cannot achieve flexible control；(4) performance of noiseproof is poor, and when various disturbances occur, steering engine is inclined
Behind origin-location, system just starts to adjust, and leads to that system overshoot is big, shake is big.(5) when input signal variation is small,
There are low-responses or unresponsive problem (6) traditional analog steering engine and digital rudder controller, and the I/O pin of main control MCU to be needed to issue pulse
It controls, in the control system be made of multi-joint (steering engine), needs to occupy the too many hardware resource of MCU；(7) You Duotai steering engine is even
In more than ten conventional rudder machine complicated composition steering gear control systems, the connecting line of each steering engine is both needed to be directly connected to pair of master control borad
It answers in socket, the cabling of steering engine is wound in a jumble, and not only unsightly, and in robot kinematics, steering engine connecting line often occurs
It cuts off, interface loose phenomenon, steering engine (8) out of control is caused to use traditional steering engine as executing agency, the maximum of robot master control borad
Controllable steering engine quantity, a certain number of interfaces must be reserved in Design PCB plate, poor expandability (9) is formed in steering engine
In robot, mainboard plate occupied space is big.Such as typical legged type robot, hexapod robot are often used 18~24 steering engines, machine
18~24 steering engine sockets are needed on device people's control panel, 18~24 steering engine connecting lines are wound in a jumble, and occupied space is big, is unfavorable for
Installation and debugging, the miniaturization for being unfavorable for robot control system.
And the control system of legged type robot generally uses centralized control system at present, i.e. and the institute of robot is functional all
It concentrates in a master control borad realizing, such advantage is to take full advantage of the resource of master control borad, and information collection is convenient.But with
The function of robot become increasingly complex, the processing capacity of master control borad can become the bottleneck of function upgrading, and the upgrading of function often need
Entire control system is redesigned, the system update time is long, heavy workload.
Summary of the invention
In order to solve the above-mentioned technical problem, the object of the present invention is to provide a kind of legged type robot controls based on bus steering engine
System and its control method processed.
The technical solution used in the present invention is:
A kind of legged type robot control system based on bus steering engine, including main control module and bus steering engine, the bus
Steering engine includes joint control module, and the main control module is connected with the joint control module in bus steering engine；
The main control module is estimated and for analyzing data to joint control module sending control instruction；
The joint control module, for being controlled according to each joint of the control instruction to robot.
As a kind of further improvement of legged type robot control system based on bus steering engine, the master control mould
Block includes upper application layer and bottom layer driving layer, and the upper application layer is connect with bottom layer driving layer, the bottom layer driving layer with
Joint control module is connected.
As a kind of further improvement of legged type robot control system based on bus steering engine, the upper layer is answered
It include application layer control module, camera, voice module and self-navigation module with layer；
The application layer control module is connected with camera, voice module, self-navigation module and bottom layer driving layer respectively
It connects.
As a kind of further improvement of legged type robot control system based on bus steering engine, the bottom is driven
Dynamic layer includes first microprocessor, wireless communication module, key module, the first logical communication circuit, FLASH module, ultrasonic wave
Module, serial interface and IMU sensor；
The first microprocessor respectively with wireless communication module, key module, the first logical communication circuit, FLASH mould
Block, ultrasonic wave module, serial interface are connected with IMU sensor, and the serial interface is connected with application layer control module, institute
The first logical communication circuit is stated to be connected with joint control module.
As a kind of further improvement of legged type robot control system based on bus steering engine, the bottom is driven
Dynamic layer further includes having light modules, and the output end of the first microprocessor and the input terminal of light modules connect.
As a kind of further improvement of legged type robot control system based on bus steering engine, the channel radio
Believe that module includes handle communication module and bluetooth module；
The handle communication module and bluetooth module are connected with first microprocessor.
As a kind of further improvement of legged type robot control system based on bus steering engine, the joint control
Molding block includes the second microprocessor, the second logical communication circuit and driving condition feedback module；
The second logical communication circuit is connected second microprocessor with driving condition feedback module respectively, and described second
Logical communication circuit is connected with main control module；
The driving condition feedback module, for feeding back the status information of joint of robot.
Another technical solution of the present invention is:
A kind of legged type robot control method based on bus steering engine, comprising the following steps:
Unique ID number is configured to each joint of robot；
According to the ID number in each joint, the zero drift value in corresponding each joint is read；
Steering engine position command is received, and by the zero drift value of steering engine position command combination corresponding joint, obtains position and refers to
It enables；
Corresponding bus steering engine is sent by bus according to the communications protocol format of bus steering engine by position command, thus
Joint is controlled.
It further include following as a kind of further improvement of legged type robot control method based on bus steering engine
Step:
Broadcasting command is sent, the status information of each bus steering engine is read；
According to the status information that feedback comes, the operating status and instruction operating status of each bus steering engine are monitored.
It is described to machine as a kind of further improvement of legged type robot control method based on bus steering engine
Each joint of device people configures unique ID number, the step for after further include:
Detect the connection status of each bus steering engine.
The beneficial effects of the present invention are:
A kind of legged type robot control system and its control method based on bus steering engine of the present invention is real by bus steering engine
According to the feedback monitoring steering engine of steering engine when real, and by the way that main control module is carried out hierarchical design, so that robot is increasing
When function, it is only necessary to be extended exploitation in upper application layer, not need to change bottom layer driving layer, to significantly facilitate
The Function Extension of robot.
Detailed description of the invention
Fig. 1 is a kind of schematic illustration of the legged type robot control system based on bus steering engine of the present invention；
Fig. 2 is a kind of step flow chart of the legged type robot control method based on bus steering engine of the present invention.
Specific embodiment
Specific embodiments of the present invention will be further explained with reference to the accompanying drawing:
With reference to Fig. 1, a kind of legged type robot control system based on bus steering engine of the present invention, including main control module and bus
Steering engine, the bus steering engine include joint control module, the main control module and the joint control module phase in bus steering engine
Connection；
The main control module is estimated and for analyzing data to joint control module sending control instruction；
The joint control module, for being controlled according to each joint of the control instruction to robot.
The present invention uses bus steering engine as the executing agency of legged type robot, wherein the joint in the single leg of robot
Between be connected in series；It is connected between leg and main control module by steering engine interface (physical interface), forms star-like connection.The connection side
Formula scalability is strong, and wiring is succinct, and stability is good.
It is further used as preferred embodiment, the main control module includes upper application layer and bottom layer driving layer, described
Upper application layer is connect with bottom layer driving layer, and the bottom layer driving layer is connected with joint control module.
It is further used as preferred embodiment, the upper application layer includes application layer control module, camera, voice
Module and self-navigation module；
The application layer control module is connected with camera, voice module, self-navigation module and bottom layer driving layer respectively
It connects.
In the present embodiment, the application layer control module is realized using Raspberry Pi raspberry pie, operates above Linux
System+ROS, the node communication being mainly used between camera, voice module and self-navigation module；The voice module is used for
The functions such as language identification, language control, voice dialogue；The camera module is responsible for acquiring environmental view locating for robot
Picture is simultaneously sent to Terminal Server Client by wifi module；The self-navigation locating module is realized using SLAM module, for not
Know map structuring, automatic positioning and the navigation feature under environment.
Be further used as preferred embodiment, the bottom layer driving layer include first microprocessor, wireless communication module,
Key module, the first logical communication circuit, FLASH module, ultrasonic wave module, serial interface and IMU sensor；
The first microprocessor respectively with wireless communication module, key module, the first logical communication circuit, FLASH mould
Block, ultrasonic wave module, serial interface are connected with IMU sensor, and the serial interface is connected with application layer control module, institute
The first logical communication circuit is stated to be connected with joint control module.
In the present embodiment, the first microprocessor is used to control the light on and off and color, processing ultrasonic wave mould of light modules
Block number according to, processing radio communication mold block command, by the first logical communication circuit joint control module controlled, handle the
Joint control module status information, storage and reading outside flash data, the processing IMU that one logical communication circuit receives are passed
The data that sense data, processing upper application layer are sended over by serial interface.
The first logical communication circuit is used to two signal wires of serial interface RX and TX passing through the first logical communication electricity
Piece signal wire S switching connection of road and steering engine, synchronization can only one-way transmission, can only send or receive.The ultrasonic wave mould
Block is for detecting outer barrie object distance；The serial interface is used for the communication of additional upper application layer and bottom layer driving layer；Institute
Storage and joint of robot zero drift of the FLASH module for robot motion group data is stated to store.
It is further used as preferred embodiment, the bottom layer driving layer further includes there are light modules, first micro- place
The input terminal of the output end and light modules of managing device connects.The light modules for giving camera light filling in a dark environment
It is further used as preferred embodiment, the wireless communication module includes handle communication module and bluetooth module；
The handle communication module and bluetooth module are connected with first microprocessor.
The handle communication module is used to receive the control signal of PS2 handle；The bluetooth module is used for soft with cell phone application
Part communication.
It is further used as preferred embodiment, the joint control module is logical including the second microprocessor, the second logic
Interrogate circuit and driving condition feedback module；
The second logical communication circuit is connected second microprocessor with driving condition feedback module respectively, and described second
Logical communication circuit is connected with main control module；
The driving condition feedback module, for feeding back the status information of joint of robot.
State of second microprocessor by the second logical communication circuit to bottom layer driving layer module feedback joint is believed
The control instruction for the bottom layer driving layer that breath, the second logical communication circuit of processing receive.
With reference to Fig. 2, a kind of legged type robot control method based on bus steering engine of the present invention, comprising the following steps:
S1, unique ID number is configured to each joint of robot；
S2, according to the ID number in each joint, read the zero drift value in corresponding each joint；
S3, steering engine position command is received, and by the zero drift value of steering engine position command combination corresponding joint, obtains position
Instruction；
S4, corresponding bus steering engine is sent by bus according to the communications protocol format of bus steering engine by position command,
To control joint.
It is further used as preferred embodiment, further comprising the steps of:
S5, broadcasting command is sent, reads the status information of each bus steering engine；
S6, the status information to be come according to feedback monitor the operating status and instruction operating status of each bus steering engine.
It is further used as preferred embodiment, each joint to robot configures unique ID number, this
After step further include:
The connection status of S0, each bus steering engine of detection.
From the foregoing it can be that the present invention is realized by bus steering engine in real time according to the feedback monitoring steering engine of steering engine, and
By the way that main control module is carried out hierarchical design, so that robot is when increasing function, it is only necessary to be extended in upper application layer
Exploitation, does not need to change bottom layer driving layer, to greatly facilitate the Function Extension of robot.
It is to be illustrated to preferable implementation of the invention, but the invention is not limited to the implementation above
Example, those skilled in the art can also make various equivalent variations on the premise of without prejudice to spirit of the invention or replace
It changes, these equivalent deformations or replacement are all included in the scope defined by the claims of the present application.
Claims (10)
1. a kind of legged type robot control system based on bus steering engine, it is characterised in that: including main control module and bus steering engine,
The bus steering engine includes joint control module, and the main control module is connected with the joint control module in bus steering engine；
The main control module is estimated and for analyzing data to joint control module sending control instruction；
The joint control module, for being controlled according to each joint of the control instruction to robot.
2. a kind of legged type robot control system based on bus steering engine according to claim 1, it is characterised in that: described
Main control module includes upper application layer and bottom layer driving layer, and the upper application layer is connect with bottom layer driving layer, and the bottom drives
Dynamic layer is connected with joint control module.
3. a kind of legged type robot control system based on bus steering engine according to claim 2, it is characterised in that: described
Upper application layer includes application layer control module, camera, voice module and self-navigation module；
The application layer control module is connected with camera, voice module, self-navigation module and bottom layer driving layer respectively.
4. a kind of legged type robot control system based on bus steering engine according to claim 3, it is characterised in that: described
Bottom layer driving layer include first microprocessor, wireless communication module, key module, the first logical communication circuit, FLASH module,
Ultrasonic wave module, serial interface and IMU sensor；
The first microprocessor respectively with wireless communication module, key module, the first logical communication circuit, FLASH module, super
Sound wave module, serial interface are connected with IMU sensor, and the serial interface is connected with application layer control module, and described
One logical communication circuit is connected with joint control module.
5. a kind of legged type robot control system based on bus steering engine according to claim 4, it is characterised in that: described
Bottom layer driving layer further includes having light modules, and the output end of the first microprocessor and the input terminal of light modules connect.
6. a kind of legged type robot control system based on bus steering engine according to claim 4, it is characterised in that: described
Wireless communication module includes handle communication module and bluetooth module；
The handle communication module and bluetooth module are connected with first microprocessor.
7. a kind of legged type robot control system based on bus steering engine according to claim 1, it is characterised in that: described
Joint control module includes the second microprocessor, the second logical communication circuit and driving condition feedback module；
The second logical communication circuit is connected second microprocessor with driving condition feedback module respectively, second logic
Communicating circuit is connected with main control module；
The driving condition feedback module, for feeding back the status information of joint of robot.
8. a kind of legged type robot control method based on bus steering engine, which comprises the following steps:
Unique ID number is configured to each joint of robot；
According to the ID number in each joint, the zero drift value in corresponding each joint is read；
Steering engine position command is received, and by the zero drift value of steering engine position command combination corresponding joint, obtains position command；
Corresponding bus steering engine is sent by bus according to the communications protocol format of bus steering engine by position command, thus to pass
Section is controlled.
9. a kind of legged type robot control method based on bus steering engine according to claim 8, it is characterised in that: also wrap
Include following steps:
Broadcasting command is sent, the status information of each bus steering engine is read；
According to the status information that feedback comes, the operating status and instruction operating status of each bus steering engine are monitored.
10. a kind of legged type robot control method based on bus steering engine according to claim 8, it is characterised in that: institute
That states configures unique ID number to each joint of robot, the step for after further include:
Detect the connection status of each bus steering engine.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299925.3A CN110069029A (en) | 2019-04-15 | 2019-04-15 | A kind of legged type robot control system and its control method based on bus steering engine |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910299925.3A CN110069029A (en) | 2019-04-15 | 2019-04-15 | A kind of legged type robot control system and its control method based on bus steering engine |
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| CN110069029A true CN110069029A (en) | 2019-07-30 |
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| CN201910299925.3A Pending CN110069029A (en) | 2019-04-15 | 2019-04-15 | A kind of legged type robot control system and its control method based on bus steering engine |
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| CN103192390A (en) * | 2013-04-15 | 2013-07-10 | 青岛海艺自动化技术有限公司 | Control system of humanoid robot |
| CN204423154U (en) * | 2015-03-12 | 2015-06-24 | 北京宏鑫智能科技有限公司 | A kind of automatic charging toy robot based on independent navigation |
| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN108508927A (en) * | 2017-02-27 | 2018-09-07 | 北京格分维科技有限公司 | A kind of control system and control method of bus steering engine |
| KR20190005501A (en) * | 2017-07-07 | 2019-01-16 | 오현수 | Biped walking robot without using degree of freedom of roll direction and its biped walking method |
-
2019
- 2019-04-15 CN CN201910299925.3A patent/CN110069029A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101398687A (en) * | 2008-10-10 | 2009-04-01 | 北京科技大学 | Information treating platform of small-sized both feet robot |
| CN201871239U (en) * | 2010-10-15 | 2011-06-22 | 北京工业大学 | Steering engine driver of intelligent robot |
| CN103192390A (en) * | 2013-04-15 | 2013-07-10 | 青岛海艺自动化技术有限公司 | Control system of humanoid robot |
| CN204423154U (en) * | 2015-03-12 | 2015-06-24 | 北京宏鑫智能科技有限公司 | A kind of automatic charging toy robot based on independent navigation |
| CN106113041A (en) * | 2016-07-20 | 2016-11-16 | 徐州木牛流马机器人科技有限公司 | A kind of Study of Intelligent Robot Control system based on bus servos control |
| CN108508927A (en) * | 2017-02-27 | 2018-09-07 | 北京格分维科技有限公司 | A kind of control system and control method of bus steering engine |
| KR20190005501A (en) * | 2017-07-07 | 2019-01-16 | 오현수 | Biped walking robot without using degree of freedom of roll direction and its biped walking method |
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