CN110193831A - A kind of control ensuring equipment and control method servicing humanoid robot - Google Patents
A kind of control ensuring equipment and control method servicing humanoid robot Download PDFInfo
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- CN110193831A CN110193831A CN201910444145.3A CN201910444145A CN110193831A CN 110193831 A CN110193831 A CN 110193831A CN 201910444145 A CN201910444145 A CN 201910444145A CN 110193831 A CN110193831 A CN 110193831A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- Robotics (AREA)
- Mechanical Engineering (AREA)
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Abstract
The invention belongs to robots and field of artificial intelligence, more particularly to a kind of control ensuring equipment and control method for servicing humanoid robot.The present apparatus includes double-winding motor module, main encoder module, main drive module, secondary coder module, secondary drive module, kinetic control system and power module, power module is communicated with kinetic control system, main drive module and secondary drive module respectively, kinetic control system is communicated with main drive module and secondary drive module by CAN/EtherCAT, and main drive module and secondary drive module are communicated with double-winding motor module.The present apparatus and its control method can automatically switch on backup motor or backup driver in the case where encountering driving or electrical fault, to ensure that robot can work normally, and can shut down at steady state, avoid damage machine, hurt people.
Description
Technical field
The invention belongs to robots and field of artificial intelligence, protect more particularly to a kind of control for servicing humanoid robot
Fault device and control method.
Background technique
With the rapid development of robot technology, application field is growing, and especially services humanoid robot increasingly
It is welcome.Service humanoid robot can be divided into professional domain service robot and personal or home-services robot, service-delivery machine
People is widely used.Wheeled robot and legged type robot can be divided into from motion mode.Due to servicing the work of humanoid robot
Environment is complicated, and interacts, works with people, so the safety and stability of service humanoid robot is particularly important.Skill at present
Art multi-pass crosses software detection and artificial manual control mode goes to ensure the normal operation of robot.But human-like wheeled, the sufficient formula of class or
It in the robot that both persons combine, software detection and manually controls, is difficult to ensure that robot can protect in case of a fault
It holds not fall down and also or not hurts people or environment.
Either wheeled robot or legged type robot are most of is moved using motor driven robot body.And
Driving malfunction problem can be all encountered in movement or the course of work.On the one hand current technology passes through software and goes to judge whether event
Hinder, carries out shutdown operation after failure；On the one hand by artificially judge robot whether failure, pass through after failure emergent stopping or
Robot is shut down in power-off.Software judges failure, on the one hand there is limitation, and in hardware damage, software can not work；It is another
After aspect software is shut down, if robot is not at a stable state, can robot be fallen down, it is also possible to hurt
People.On the one hand plant-wide emergency shutdown robot will cause the damage of robot, be on the other hand easy to hurt people in scene with a person.
Summary of the invention
The purpose of the present invention is to provide a kind of control ensuring equipments and control method for servicing humanoid robot, drive encountering
In the case where dynamic or electrical fault, automatically switch on backup motor or backup driver, to ensure that robot can be just
Often work, and can shut down at steady state.The advantage of the control ensuring equipment and control method has: can be avoided robot
It plays pendulum and falls down, avoid damage machine, hurt people；Artificial emergent stopping is not needed, there is independence；For
The mechanical disorder of generality can play a protective role.
In order to achieve the above objectives, the present invention is achieved through the following technical solutions:
A kind of control ensuring equipment servicing humanoid robot, including double-winding motor module, main encoder module, main driving mould
Block, secondary coder module, secondary drive module, kinetic control system and power module, the power module are remaining described each mould
Block power supply, and communicated respectively with kinetic control system, main drive module and secondary drive module；The kinetic control system with
Main drive module and secondary drive module are communicated by CAN/EtherCAT；The main drive module and secondary drive module with
Double-winding motor module is communicated, and is controlled it；The main encoder module and secondary coder module are and double wrap
Group motor module is connected and distinguishes feedback signal to main drive module and secondary drive module；The double-winding motor module setting
Moving component corresponding position needed for robot, the power module are set to robot, position, chassis, the main encoder
Module, main drive module, secondary coder module and secondary drive module are respectively arranged at robot electric control element concentration zones corresponding positions
It sets.
A kind of control ensuring equipment of service humanoid robot, the double-winding motor module have stepped construction,
There are two windings in motor.
A kind of control ensuring equipment of service humanoid robot, two windings of the double-winding motor inside modules
Control signal and hall signal it is completely separable, be independent of each other, under main winding fault condition, auxiliary winding work can be switched to immediately
Make.
A kind of control ensuring equipment of service humanoid robot, the main drive module and secondary drive module all connect
In a CAN bus, but is individually powered and driven.
A kind of control ensuring equipment of the service humanoid robot, the communication information and state of the main drive module,
Pair driving energy real-time detection arrives.
A kind of control ensuring equipment of the service humanoid robot, under the main drive module fault condition, pair driving
Module is working properly, and can instant switching control.
A kind of control ensuring equipment of service humanoid robot, the main encoder module and secondary coder module point
Main drive module and secondary drive module are not accessed, are not interfere with each other, under main drive module or main winding fault condition, are not influenced to compile
Code device data ensure that encoder position is accurate.
A kind of control ensuring equipment of service humanoid robot, the kinetic control system can obtain each drive in real time
The state of dynamic model block distinguishes control, and ensures robot body stability.
A kind of control method of the control ensuring equipment of service humanoid robot, steps are as follows:
(1) power module is powered to kinetic control system and main drive module and secondary drive module；
(2) detect whether main power supply is normal, and if normal, main drive module transmits itself encoder to main encoder module for power supply
Data give main drive module；Secondary drive module is powered to secondary coder module if abnormal, transmits itself encoder data to pair
Drive module；
(3) while step (2) described detection process, whether detection principal communication is normal, if normal and receives main encoder biography
After defeated data, main drive module work；If data that are abnormal and receiving secondary encoder transmission, secondary drive module work, and
The work of driving motor auxiliary winding；
(4) detect whether main drive module work is normal, and if normal, then motor main winding works；Feedback signal is given if abnormal,
Kinetic control system and detect again it is main communication it is whether normal.
The control method of the control ensuring equipment of a kind of service humanoid robot, in the double-winding motor module
After auxiliary winding work, secondary coder module will have data and be transferred to secondary drive module, carry out position monitoring.
In conclusion a kind of control ensuring equipment of service humanoid robot of the invention is encountering driving or electrical fault
In the case of, it automatically switches on backup motor or backup driver, to ensure that robot can work normally, and can be steady
Determine to shut down under state.The device of the invention and control method have three aspect advantages: one, can be avoided robot and be in unstable shape
State and fall down, avoid damage machine, hurt people；Two, artificial emergent stopping is not needed, there is independence；Three, for generality
Mechanical disorder can play a protective role.
The mentioned-above general introduction for the application, therefore necessarily have the case where simplified, summary and omissions of detail；This field
Technical staff is it should be appreciated that overview section is only the explanation to the application, and is not to be taken as any restriction to the application.
Device described in this specification and/or method and/or other aspects, features and advantages of other themes will be due to this explanations
The elaboration of book and be apparent from.Overview section be for imported in a manner of a kind of simplification it is multiple will be in following specific embodiments
The concept that part further describes.This overview section is neither for determining the key feature of claimed subject or necessary special
Sign, nor be used as determining the supplementary means of the range of claimed subject.
Detailed description of the invention
By following description and appended claims and in conjunction with attached drawing, it will more fully be clearly understood that this
The above and other feature of application.It should be appreciated that these attached drawings are only the descriptions to several embodiments of the application, it is not considered that
It is the restriction to the application range, by attached drawing, teachings herein will be obtained definitely and be explained in detail.
Fig. 1 is a kind of control ensuring equipment system block diagram of service humanoid robot of the invention.
Fig. 2 is a kind of control ensuring equipment control method flow chart of service humanoid robot of the invention.
Specific embodiment
In following specific embodiment part, the attached drawing for being combined as specification a part is illustrated.In attached drawing
In, identical/similar label usually indicates identical/similar component, unless being otherwise noted in specification.Specific embodiment,
The embodiment for being used to illustrate described in drawings and claims is not considered as the restriction to the application.Not inclined
In the case where the spirit or scope of theme from the application statement, the other embodiments of the application can be used, and can be with
Other variations are made to the application.It is easily understood that can to description general in this specification, diagram is said in attached drawing
The various aspects of bright the application carry out various differently composed configurations, replacement, combination, design, and all these changes are all aobvious
So in the contemplation, it and constitutes part of this application.
Referring to Fig.1, a kind of control ensuring equipment servicing humanoid robot, including double-winding motor module, main encoder mould
Block, main drive module, secondary coder module, secondary drive module, kinetic control system and power module, power module are that remaining is each
Module for power supply, and communicated respectively with kinetic control system, main drive module and secondary drive module；Kinetic control system and master
Drive module and secondary drive module are communicated by CAN/EtherCAT；Main drive module and secondary drive module are and double winding
Motor module is communicated, and is controlled it；Main encoder module and secondary coder module with double-winding motor module
It is connected and distinguishes feedback signal to main drive module and secondary drive module；The double-winding motor module is set to institute, robot
The moving component corresponding position needed, the power module are set to robot, position, chassis, the main encoder module, main driving
Module, secondary coder module and secondary drive module are respectively arranged at robot electric control element concentration zones corresponding position.
Double-winding motor module has stepped construction, and there are two windings in motor.Double-winding motor inside modules
The control signal and hall signal of two windings are completely separable, are independent of each other, under main winding fault condition, can switch to immediately
Auxiliary winding work.Main drive module and secondary drive module are all connected in a CAN bus, but are individually powered and driven.
The communication information and state of main drive module, pair driving energy real-time detection arrive.
Under main drive module fault condition, secondary drive module is working properly, and can instant switching control.Main encoder module
It is respectively connected to main drive module and secondary drive module with secondary coder module, is not interfere with each other, when main drive module or main winding event
In the case of barrier, encoder data is not influenced, ensures that encoder position is accurate.Kinetic control system can obtain each driving mould in real time
The state of block distinguishes control, and ensures robot body stability.
With reference to Fig. 2, a kind of control method of the control ensuring equipment of service humanoid robot, power module is to motion control system
System and main drive module and secondary drive module power supply.Detect whether main power supply is normal, and if normal, main drive module is to main coding
Device module for power supply transmits itself encoder data to main drive module；Secondary drive module is supplied to secondary coder module if abnormal,
Electricity transmits itself encoder data to secondary drive module.While step (2) described detection process, whether detection principal communication
Normally, if normal and after receiving the data of main encoder transmission, main drive module work；If abnormal and receive secondary encoder and pass
Defeated data, secondary drive module work, and driving motor auxiliary winding works.Whether normal main drive module work is detected, if just
Often, then motor main winding works；Whether normal feedback signal detects main communication to kinetic control system and again if abnormal,.
After auxiliary winding work in double-winding motor module, secondary coder module will have data and be transferred to secondary drive module, carry out position
Set monitoring.
Embodiment
Simulated experiment: when a kind of service humanoid robot of the present invention encounters electrical fault, ensuring equipment is controlled
The protection control monitoring process carried out is as follows:
1) when there is electrical fault in robot operational process, there is short-circuit conditions, main driving mould in the main winding in motor
The communication disruption of block；
2) secondary drive module and kinetic control system have been immediately detected failure；
3) kinetic control system starts secondary drive module, and the auxiliary winding in driving motor takes over main winding work；
4) after auxiliary winding work, secondary coder module has data to be transferred to secondary drive module, carries out position monitoring；
5) secondary drive module takes over main drive module and carries out reset work, that is, is returned to robot stabilized position, and inform machine
People's master control system motor has broken down, and need to be safeguarded.
In this experiment, due to the power supply and the power supply of secondary drive module and auxiliary winding of main drive module and main winding
It is to discriminate between and comes in system power supply module, so main module summarizes appearance short circuit or open circuit does not interfere with other portions
The power supply divided.Since major-minor drive module and kinetic control system are all hung in the same bus, secondary drive module and movement control
System processed can be immediately detected the failure of main winding.
In conclusion a kind of service humanoid robot of the invention control ensuring equipment and control method encounter driving or
It in the case where electrical fault, automatically switches on backup motor or backup driver, to ensure that robot being capable of normal work
Make, and can shut down at steady state；It can be avoided robot to play pendulum and fall down, avoid damage machine, injury
To people；Artificial emergent stopping is not needed, there is independence；It can play a protective role for the mechanical disorder of generality.
It is aforementioned to be described in detail by block diagram, flow chart and/or examples of implementation, illustrate the application device and/
Or the different embodiments of method.When these block diagrams, flow chart and/or embodiment include one or more functions and/or operation
When, it will be readily apparent to those skilled in the art that each function and/or operation in these block diagrams, flow chart and/or embodiment can lead to
Cross various hardware, software, firmware or substantially they any combination and individually and/or jointly implement.The skill of this field
Then art personnel carry out engineering practice with by institute, it will be recognized that describe device and/or method in a manner of illustrating in this specification
The device and/or method integration of description are very common in this field into data processing system.That is, this explanation
At least part in device and/or method described in book can be integrated into data processing system by the experiment of fair amount
In.It can will be plural for substantially any plural number and/or singular references, those skilled in the art used in this specification
It is construed to odd number and/or odd number is construed to plural number, be suitable so long as doing from context and/or application.
For the sake of clarity, in the present specification various singular/plurals may be combined clearly statement to come out.
The many aspects and embodiment of the application disclosed herein, it will be understood by those skilled in the art that the application
Other aspects and embodiment.Many aspects and embodiment disclosed herein are only intended to for example, being not
Restriction to the application, the real protection scope of the application and spirit should be subject to following claims.
Claims (10)
1. a kind of control ensuring equipment for servicing humanoid robot, it is characterised in that including double-winding motor module, main encoder mould
Block, main drive module, secondary coder module, secondary drive module, kinetic control system and power module,
The power module is remaining described each module for power supply, and drives respectively with kinetic control system, main drive module and pair
Module is communicated；
The kinetic control system is communicated with main drive module and secondary drive module by CAN/EtherCAT；
The main drive module and secondary drive module are communicated with double-winding motor module, and are controlled it；
The main encoder module and secondary coder module are connected with double-winding motor module and distinguish feedback signal to master
Drive module and secondary drive module；
Moving component corresponding position needed for the double-winding motor module is set to robot, the power module are set to machine
Device people chassis position, the main encoder module, main drive module, secondary coder module and secondary drive module are respectively arranged at machine
Device people's electric control element concentration zones corresponding position.
2. a kind of control ensuring equipment for servicing humanoid robot as described in claim 1, which is characterized in that the double winding electricity
Machine module has stepped construction, and there are two windings in motor.
3. a kind of control ensuring equipment for servicing humanoid robot as claimed in claim 2, which is characterized in that the double winding electricity
The control signal and hall signal of two windings of machine inside modules are completely separable, are independent of each other, under main winding fault condition,
Auxiliary winding work can be switched to immediately.
4. a kind of control ensuring equipment for servicing humanoid robot as described in claim 1, which is characterized in that the main driving mould
Block and secondary drive module are all connected in a CAN bus, but are individually powered and driven.
5. a kind of control ensuring equipment for servicing humanoid robot as claimed in claim 4, which is characterized in that the main driving mould
The communication information and state of block, pair driving energy real-time detection arrive.
6. a kind of control ensuring equipment for servicing humanoid robot as claimed in claim 4, which is characterized in that the main driving mould
Under block fault condition, secondary drive module is working properly, and can instant switching control.
7. a kind of control ensuring equipment for servicing humanoid robot as described in claim 1, which is characterized in that the main encoder
Module and secondary coder module are respectively connected to main drive module and secondary drive module, do not interfere with each other, when main drive module or lead around
Under group fault condition, encoder data is not influenced, ensures that encoder position is accurate.
8. a kind of control ensuring equipment for servicing humanoid robot as described in claim 1, which is characterized in that the motion control
System can obtain the state of each drive module in real time, distinguish control, and ensure robot body stability.
9. a kind of control method of the control ensuring equipment of service humanoid robot, which is characterized in that steps are as follows: (1) power supply mould
Block is powered to kinetic control system and main drive module and secondary drive module；
(2) detect whether main power supply is normal, and if normal, main drive module transmits itself encoder to main encoder module for power supply
Data give main drive module；Secondary drive module is powered to secondary coder module if abnormal, transmits itself encoder data to pair
Drive module；
(3) while step (2) described detection process, whether detection principal communication is normal, if normal and receives main encoder biography
After defeated data, main drive module work；If data that are abnormal and receiving secondary encoder transmission, secondary drive module work, and
The work of driving motor auxiliary winding；
(4) detect whether main drive module work is normal, and if normal, then motor main winding works；Feedback signal is given if abnormal,
Kinetic control system and detect again it is main communication it is whether normal.
10. a kind of control method of the control ensuring equipment of service humanoid robot as claimed in claim 9, which is characterized in that
After auxiliary winding work in the double-winding motor module, secondary coder module will have data and be transferred to secondary drive module, into
Row position monitoring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910444145.3A CN110193831A (en) | 2019-05-27 | 2019-05-27 | A kind of control ensuring equipment and control method servicing humanoid robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201910444145.3A CN110193831A (en) | 2019-05-27 | 2019-05-27 | A kind of control ensuring equipment and control method servicing humanoid robot |
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| CN110193831A true CN110193831A (en) | 2019-09-03 |
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| CN201910444145.3A Pending CN110193831A (en) | 2019-05-27 | 2019-05-27 | A kind of control ensuring equipment and control method servicing humanoid robot |
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| CN102001094A (en) * | 2010-10-21 | 2011-04-06 | 北京航空航天大学 | Reliable joint control-driven component and control method thereof |
| CN102073284A (en) * | 2010-12-21 | 2011-05-25 | 北京航空航天大学 | Dual-computer redundant embedded control system suitable for nuclear industrial robot |
| CN107901036A (en) * | 2017-10-25 | 2018-04-13 | 深圳市朗驰欣创科技股份有限公司 | A kind of redundancy control system and control method for robot |
| CN108202325A (en) * | 2016-12-19 | 2018-06-26 | 黄石市禾呈林业有限公司 | Autonomous operation forestry robot intelligent control system |
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2019
- 2019-05-27 CN CN201910444145.3A patent/CN110193831A/en active Pending
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|---|---|---|---|---|
| EP1935577A1 (en) * | 2006-12-21 | 2008-06-25 | Abb Ab | A control system for controlling an industrial robot |
| CN102001094A (en) * | 2010-10-21 | 2011-04-06 | 北京航空航天大学 | Reliable joint control-driven component and control method thereof |
| CN102073284A (en) * | 2010-12-21 | 2011-05-25 | 北京航空航天大学 | Dual-computer redundant embedded control system suitable for nuclear industrial robot |
| CN108202325A (en) * | 2016-12-19 | 2018-06-26 | 黄石市禾呈林业有限公司 | Autonomous operation forestry robot intelligent control system |
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Application publication date: 20190903 |