CN110524543A - A kind of industrial robot control device and system based on manipulation one - Google Patents

A kind of industrial robot control device and system based on manipulation one Download PDF

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Publication number
CN110524543A
CN110524543A CN201910934510.9A CN201910934510A CN110524543A CN 110524543 A CN110524543 A CN 110524543A CN 201910934510 A CN201910934510 A CN 201910934510A CN 110524543 A CN110524543 A CN 110524543A
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China
Prior art keywords
control
module
teaching
manipulation
real
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CN201910934510.9A
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Chinese (zh)
Inventor
周向东
宋宝
唐小琦
刘洋洋
陈天航
郭艺璇
梁子财
李含嫣
叶亚红
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Huazhong University of Science and Technology
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Huazhong University of Science and Technology
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Priority to CN201910934510.9A priority Critical patent/CN110524543A/en
Publication of CN110524543A publication Critical patent/CN110524543A/en
Pending legal-status Critical Current

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1602Programme controls characterised by the control system, structure, architecture
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/16Programme controls
    • B25J9/1656Programme controls characterised by programming, planning systems for manipulators
    • B25J9/1664Programme controls characterised by programming, planning systems for manipulators characterised by motion, path, trajectory planning

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)

Abstract

The invention belongs to technical field of robot control, discloses a kind of industrial robot control device based on manipulation one and system, teaching control integration module are connect with drive module, for real-time control machine human body and carry out human-computer interaction;Drive module is for driving robot body.The present invention sends control command to robot body by key or touch screen;Control command is received, robot hand, automatic relevant operation control are completed;Feedback states data, and robotary is shown using touch screen.The present invention provides a kind of low cost, high-performance, easy-operating the handheld robot control devices;The present invention increases Real Time Control Function in traditional teaching machine unit, and teaching machine is made to have the function of teaching and control, to reduce by an independent control, reduce controling box volume, to guarantee normal operating experience under the conditions of providing identical functional performance.

Description

A kind of industrial robot control device and system based on manipulation one
Technical field
The invention belongs to technical field of robot control more particularly to a kind of industrial robot controls based on manipulation one Apparatus and system.
Background technique
Currently, the prior art commonly used in the trade is such that
In manufacturing industry factory, industrial robot substitutes manpower, can repeat to do a large amount of shirtsleeve operations, save manpower at This while, also substantially increases production efficiency.Industrial robot system's logical function partition is divided into basic machine unit, driving Unit, control unit and teaching machine unit are constituted.Wherein basic machine unit is that execute structure, driving unit be power cell, For driving executing agency, control unit is according to demand, to generate control signal, teaching machine unit is human-machine operation unit.
From physics realization, typically there are following three kinds of implementations at present:
(1) controller and teaching machine respectively possess independent operating system, operation is not essentially as two independent parts Same control task.Controller completes core trajectory planning, the core missions such as movement, and controller needs are operated in have and be adjusted in real time It spends in the system of function, controller does not need the functions such as display, touch generally;Teaching machine provides human-computer interaction interface, for showing Show the movement state information of robot, and can be modified by key or touch screen to the status information of robot, Data information is sent to controller, to control robot motion;Additional communication bus is needed between teaching machine and controller The transmission of data is carried out, and the systemic software development of the two is all the transplanting of operating system and the exploitation of correlation function, exploitation During there are repetitive operations.
(2) teaching machine will only show that signal and input interface are drawn without independent processor, and be encapsulated in one solely In vertical operating case, display and input operation are provided.Tutorial function software and the operation of control function software are in a control unit.It should Mode needs 2 physical units, and volume advantage is unobvious.
(3) servo drive unit and control unit is integrated in a controller, it realizes the integration of control and driving, adopts Human-computer interaction is provided with independent teaching unit.Typically such as control integral product.The program is mainly used in driving power not The manipulation of big small light-load robot.
Currently, industry mechanical arm it is in the application of industrial circle increasingly wider in particular, especially 4 axis SCARA in recent years Demand rapid growth, whole market competition is very fierce, more and more severe to requirements such as cost, the volume of electric cabinet, development cycles It carves.
In conclusion problem of the existing technology is:
Existing industrial robot is at high cost, volume is big, development process is complicated and repetitive operation is more, complicated for operation.
In the prior art, in the robot product of Price Sensitive on set, there are the synthesis of cost, volume, function is excellent Gesture is unobvious.Controling integrated scheme is the product customized, and versatility is not strong.
Solve the difficulty of above-mentioned technical problem:
Solving cost, volume, the comprehensive advantage of function has certain difficulty.
Need the ability for integrating hardware, real time operating system, software and related process.
Solve the meaning of above-mentioned technical problem:
The present invention is by reducing component, improving integrated level, the reduction source of trouble.By reduce volume, be easier to space by It is disposed in the production line of limitation;High integration is conducive to improve machine assembly debugging efficiency;The present invention can reduce cost, into one Step improves the competitiveness of product.
Summary of the invention
In view of the problems of the existing technology, the present invention provides a kind of industrial robots based on manipulation one to control dress It sets and system.
The invention is realized in this way a kind of industrial robot control method of manipulation one, comprising:
Step 1 sends control command to robot body by key or touch screen;
Step 2 receives control command, completes robot hand, automatic relevant operation control;
Step 3, feedback states data, and robotary is shown using touch screen.
Further, step 2 is completed in relevant operation control, and the control including real-time operation specifically includes:
Real-time operation module uses linux operating system, and carries out xenomai real-time extension to linux, to control process Real-time task scheduling ability is provided;
The CPU compatibility of process is configured using the interface sched_setaffinity that linux is provided, and will be into Journey and some CPU are bound, and when operating system carries out process scheduling, process is only run on the CPU of binding;
The CPU compatibility of process is configured using the interface sched_setaffinity that linux is provided, and will be into Journey and some CPU are bound, and when operating system carries out process scheduling, process is only run on the CPU of binding;
Specific step is as follows:
1) CPU Mask is initialized;
2) CPU for calling CPU_SET setting to need to bind;
3) call sched_setaffinity interface that compatibility is set.
Further, step 2 is completed in relevant operation control, further comprises the control of robot process, comprising:
Control process receives the control command of teaching process transmission, completes robot hand, is automatically brought into operation control, while is anti- Feedback status data gives teaching process, to show robotary.
Further, the method for the control process specifically includes:
The first step listens to the order of communication command port, if effective instruction, then handles it, and is sent to control mould In the instruction queue of block;
Second step, check the instruction in instruction queue whether have manually, return to zero or auto-programming enabled instruction;If there is track Relevant instruction is moved, then different track generation modules is called to be handled, generates motion profile;Crawl is instructed, is adjusted Interpreter program and patching plug program are then successively executed, to automatic orbit for automatic enabled instruction with crawl track generation module It is handled, generates exercise data;
Third step carries out kinematics to motion profile using different kinematic calculation formula to the robot of different structure It calculates, Cartesian trajectory coordinates is transformed into joint command coordinate;
4th step, by shutdown coordinate transform at motor coordinate;
5th step, will be in the motor coordinate write-in shared drive of acquisition;
6th step, the starting of EtherCAT master station module, configuration successful, is switched to bus OP state, starts real-time periodic tasks, Then the case where periodic duty is according to configuration is updated into servo-driver from shared drive access evidence in real time.
Further, in the 4th step, the calculation formula of the motor coordinate are as follows:
Motor coordinate=joint coordinates × reduction ratio × every turns umber of pulse/360;
In 5th step, in the motor coordinate write-in shared drive by acquisition further include:
The mapping relations of shared drive and EtherCAT period PDO data are established when main website starts and configures, it is each more New period, EtherCAT main website, according to data frame is subsequently filled, are updated into servo-driver from shared drive access.
Another object of the present invention is to provide a kind of industrial robot control systems based on manipulation one, comprising:
Teaching control integration module: connecting with drive module, for real-time control machine human body and carries out human-computer interaction;
Drive module: for driving robot body.
Further, the teaching control integration module specifically includes:
The teaching control integration module includes: teaching unit and control unit;
Teaching unit: for realizing human-computer interaction;
Control unit: for controlling robot body;It is total by EtherCAT including an EtherCAT bus subelement Line subelement drives EtherCAT servo, drives robot body movement;
The teaching unit realizes data exchange by process communication with control unit.
Another object of the present invention is to provide the industrial robot control methods based on manipulation one described in a kind of application Based on manipulation one industrial robot control device, it is described based on manipulation one industrial robot control device include: Multi-processor core core module, key module, LCD module, Ethernet interface, USB interface;
Multi-processor core core module: it is connect with key module, LCD module, Ethernet interface, USB interface;For with more The hardware platform of CPU, at least support 2 CPU cores, be have storage, calculating, functional interface basic computer system;
Key module: it is connect with multi-processor core core module;Crawl, operation control relevant operation key are provided, for using Family prompt operation robot;
LCD module: it is connect with multi-processor core core module;For providing operation interface display function;
Ethernet interface: it is connect with multi-processor core core module;For the transmitting-receiving of EtherCAT bus data, with The connection of EtherCAT servo-drive;
USB interface: it is connect with multi-processor core core module;Access for USB flash disk and other usb peripheral hardwares.
Further, the multi-core processor nucleus module specifically includes:
The multi-core processor nucleus module includes real-time operation module, control scheduler module, teaching scheduler module;
Real-time operation module: for providing the scheduling of real-time task and task on CPU;
Control scheduler module: control process operates in one independent core of processor, for the process with real-time task, uses In real-time control machine people;
Teaching scheduler module: teaching process operates in other cores (CORE2~CORE4), is non-real-time process, for providing User interface;
The teaching scheduler module specifically includes:
Programming module, automatic control module, manual operation module, monitoring module and communication module;
Programming module: for completing teaching programming and program management;It is also used to newly-built tutorial program simultaneously, edits existing journey Existing program is deleted in sequence and duplication;
Automatic control module: for loading, checking routine, forwards/reverse operation control, pause, stop control;
Be manually operated module: for manually controlling machine people in cartesian space and joint space, and carry out coordinate switching, Axis/joint increment returns to zero, crawl relevant control;
Monitoring module: it is used for display system state;The system mode includes but is not limited to current joint and flute Karr coordinate, Current Program Status, input/output state;
Communication module: for sending control command to control process, and system mode is read from control process.
Another object of the present invention is to provide a kind of computer readable storage medium, including instruction, when its on computers When operation, so that computer executes the industrial robot control method based on manipulation one.
In conclusion advantages of the present invention and good effect are as follows:
The present invention integrates teaching operation function and control function, and the exchange of data is more unobstructed, and bandwidth is higher.
Teaching of the present invention and control are by reducing the coupling of software, increasing maintainability, and energy in process communication Enough stand-alone developments;
Teaching and control are deployed in different CPU, so that task schedule is not influenced each other, obtain better reliability.
Low cost provided by the invention, high-performance, easy-operating the handheld robot control device;The present invention passes through software Mode, increase Real Time Control Function in traditional teaching machine unit, so that teaching machine is had the function of teaching and control, to subtract A few independent control reduces controling box volume, to guarantee normal operation under the conditions of providing identical functional performance Experience.Product promotes competitiveness while the present invention reduces the cost, and can apply in costs such as SCARA than more sensitive mechanical hand The control of product.
Tutorial function and control function are integrated in multi-core processor hardware simultaneously and have real-time operation by the present invention On the platform of system, teaching finishing man-machine interaction, control complete robot control, and two modules realize data by process communication Exchange.Control module includes an EtherCAT bus module, by module drive EtherCAT servo, and with mobile robot Ontology movement.The present invention realizes the integrated of robot manipulation and control, guarantees under the conditions of identical functional performance Operating experience reduces independent control, reduces controling box volume, reduce cost, improves product competitiveness.
Detailed description of the invention
Fig. 1 is the industrial robot control system structural schematic diagram provided in an embodiment of the present invention based on manipulation one.
In figure: 1, teaching control integration module;2, drive module;3, robot body;4, teaching unit;5 control units.
Fig. 2 is the robot control system schematic diagram of manipulation integral structure provided in an embodiment of the present invention.
Fig. 3 is manipulation integrated system configuration diagram provided in an embodiment of the present invention.
In figure: 6, multi-processor core core module;7, key module;8, LCD module;9, Ethernet interface;10, USB interface; 11, real time operating system;12, process is controlled;13, teaching process.
Fig. 4 is control process functional relationship figure provided in an embodiment of the present invention.
Fig. 5 is control course control method flow chart provided in an embodiment of the present invention.
Fig. 6 is control process data process flow diagram provided in an embodiment of the present invention.
Fig. 7 is shared drive data mapping schematic diagram provided in an embodiment of the present invention.
Fig. 8 is EtherCAT bus starting flow chart provided in an embodiment of the present invention.
Fig. 9 is EtherCAT bus cycles data update flow chart provided in an embodiment of the present invention.
Figure 10 is teaching process functional block diagram provided in an embodiment of the present invention.
Figure 11 is process communication pattern diagram provided in an embodiment of the present invention.
Figure 12 is the industrial robot control method flow chart of manipulation one provided in an embodiment of the present invention.
Figure 13 is present invention demonstrates that the display screen driver framework schematic diagram that part provides.
Figure 14 is present invention demonstrates that the LVDS device tree nodal information schematic diagram that part provides.
Figure 15 is present invention demonstrates that the touch screen driving exploitation schematic diagram that part provides.
Figure 16 is present invention demonstrates that the TSC2007 equipment tree node schematic diagram that part provides.
Figure 17 is present invention demonstrates that the touch screen calibration schematic diagram that part provides.
Figure 18 is present invention demonstrates that the Xenomai structure chart that part provides.
Figure 19 is present invention demonstrates that the Xenomai+Linux dual core schematic diagram that part provides.
Figure 20 is present invention demonstrates that the Xenomai real-time kernel building flow chart that part provides.
Figure 21 is the Xenomai component diagram present invention demonstrates that in the kernel that part provides.
Figure 22 is present invention demonstrates that the real-time Ethercat main website trawl performance schematic diagram that part provides.
Figure 23 is present invention demonstrates that the disabling network interface card that part provides interrupts schematic diagram.
Figure 24 is present invention demonstrates that the recycling socket_buffer schematic diagram that part provides.
Figure 25 is present invention demonstrates that the data truncation flow chart that part provides.
Figure 26 is present invention demonstrates that the display screen parameter schematic diagram that part provides.
Figure 27 is present invention demonstrates that 5 points of calibration schematic diagrames that part provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to embodiments, to the present invention It is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not used to Limit the present invention.
It elaborates with reference to the accompanying drawing to technical solution of the present invention and technical effect.
As shown in Figure 1, the industrial robot control system provided in an embodiment of the present invention based on manipulation one includes:
Teaching control integration module 1, drive module 2, robot body 3.
Teaching control integration module 1: connecting with drive module 2, for real-time control machine human body 3 go forward side by side pedestrian's machine hand over Mutually.
Drive module 2: for driving robot body 3.
Teaching control integration module 1 provided in an embodiment of the present invention specifically includes:
The teaching control integration module 1 includes: teaching unit 4 and control unit 5.
Teaching unit 4: for realizing human-computer interaction.
Control unit 5: for controlling robot body 3;Including an EtherCAT bus subelement, pass through EtherCAT Bus subelement drives EtherCAT servo, drives robot body movement.
The teaching unit 4 realizes data exchange by process communication with control unit 5.
As shown in Fig. 2, the robot control system principle of manipulation integral structure provided in an embodiment of the present invention.
As shown in figure 3, the industrial robot control device provided in an embodiment of the present invention based on manipulation one includes: many places Manage device nucleus module 6, key module 7, LCD module 8, Ethernet interface 9, usb 10.
Multi-processor core core module 6: 10 are connect with key module 7, LCD module 8, Ethernet interface 9, USB interface;For tool Have a hardware platform of multi -CPU, at least support 2 CPU cores, be have storage, calculating, functional interface basic computer system.
Key module 7: it is connect with multi-processor core core module 6;Crawl, operation control relevant operation key are provided, are used for User prompt operation robot.
LCD module 8: it is connect with multi-processor core core module 6;For providing operation interface display function.
Ethernet interface 9: it is connect with multi-processor core core module 6;For the transmitting-receiving of EtherCAT bus data, with The connection of EtherCAT servo-drive.
Usb 10: it is connect with multi-processor core core module 6;Access for USB flash disk and other usb peripheral hardwares.
Multi-core processor nucleus module 6 provided in an embodiment of the present invention specifically includes:
The multi-core processor nucleus module includes real time operating system 11, control process 12, teaching process 13.
Real time operating system 11: for providing the scheduling of real-time task and task on CPU.
Control process 12: control process 12 operates in processor one independent core (CORE1), for real-time task Process is used for real-time control machine people.
Teaching process 13: teaching process 13 operates in other cores (CORE2~CORE4), is non-real-time process, for providing User interface.
Real time operating system 11 provided in an embodiment of the present invention specifically includes:
The real time operating system 11 uses linux operating system, and carries out xenomai real-time extension to linux, for control Process processed provides real-time task scheduling ability.
The CPU compatibility of process is configured using the interface sched_setaffinity that linux is provided, and will be into Journey and some CPU are bound, and when operating system carries out process scheduling, process is only run on the CPU of binding.
Specific step is as follows:
1) CPU Mask is initialized.
2) CPU for calling CPU_SET setting to need to bind.
3) call sched_setaffinity interface that compatibility is set.
As shown in figure 4, control process 12 provided in an embodiment of the present invention specifically includes:
The control process 12 specifically include communication module, control module, kinematics module, driving interface module and EtherCAT master station module.
Control process receives the control command of teaching process transmission, completes the operations control such as robot hand, automatic, simultaneously Feedback states data give teaching process, to show robotary.
As shown in figure 5,12 control method of control process provided in an embodiment of the present invention specifically includes:
S501 listens to the order of communication command port, if effective instruction, then handles it, and be sent to control module Instruction queue in.
S502, check the instruction in instruction queue whether have manually, return to zero or auto-programming enabled instruction;If there is track fortune Relevant instruction is moved, then different track generation modules is called to be handled, generates motion profile;Crawl is instructed, is called Crawl track generation module then successively executes interpreter program and patching plug program for automatic enabled instruction, to automatic orbit into Row processing, generates exercise data.
S503 carries out kinematics meter to motion profile using different kinematic calculation formula to the robot of different structure It calculates, Cartesian trajectory coordinates is transformed into joint command coordinate.
S504, by shutdown coordinate transform at motor coordinate.
S505, will be in the motor coordinate write-in shared drive of acquisition.
The starting of S506, EtherCAT master station module, configuration successful, are switched to bus OP state, start real-time periodic tasks, week Then the case where phase task is according to configuration is updated into servo-driver from shared drive access evidence in real time.
In step S504, the calculation formula of motor coordinate provided in an embodiment of the present invention are as follows:
Motor coordinate=joint coordinates × reduction ratio × every turns umber of pulse/360.
As shown in fig. 6, being control process data process flow provided in an embodiment of the present invention.
As shown in Figure 7 to 9, in step S505, the motor coordinate provided in an embodiment of the present invention by acquisition is written shared In memory further include:
The mapping relations of shared drive and EtherCAT period PDO data are established when main website starts and configures, it is each more New period, EtherCAT main website, according to data frame is subsequently filled, are updated into servo-driver from shared drive access.
As shown in Figure 10, teaching process 13 provided in an embodiment of the present invention specifically includes:
The teaching process specifically includes: programming module, automatic control module, manual operation module, monitoring module And communication module.
Programming module: for completing teaching programming and program management;It is also used to newly-built tutorial program simultaneously, edits existing journey Existing program is deleted in sequence and duplication.
Automatic control module: for loading, checking routine, forwards/reverse operation control, pause, stop control.
Be manually operated module: for manually controlling machine people in cartesian space and joint space, and carry out coordinate switching, Axis/joint increment returns to zero, crawl relevant control.
Monitoring module: it is used for display system state;The system mode includes but is not limited to current joint and flute Karr coordinate, Current Program Status, input/output state.
Communication module: for sending control command to control process, and system mode is read from control process.
As shown in figure 11, control process provided in an embodiment of the present invention includes: with teaching process communication method
The communication mode of the control process and teaching process includes order-response " and " subscription/publication " mode.
The command instruction of teaching process includes but is not limited to that crawl, process control are real by " order-response " communication mode It is existing.
After teaching process issues order, controller is waited to return to determining answer code, if not returning before the deadline It returns, then prompt command fails.
Teaching process and control state of a process data are by subscribing to release model.
In teaching process initiation, the data of needs are proposed to subscribe to control process, control process will subscribe to when operation Data real-time release gives teaching process.
As shown in figure 12, the industrial robot control method of manipulation one provided in an embodiment of the present invention includes:
S1201 sends control command to robot body by key or touch screen.
S1202 receives control command, completes robot hand, automatic relevant operation control.
S1203, feedback states data, and robotary is shown using touch screen.
Technical solution of the present invention and technical effect are described further combined with specific embodiments below.
Embodiment 1:
The present invention provides a kind of industrial robot control devices and system based on manipulation one.In the system, teaching Process and control process are operated in simultaneously on multi-core processor and real time operating system, teaching process finishing man-machine interaction function It can, control process and complete robot control function, two processes pass through the exchange that process communication realizes data.Control process includes One EtherCAT bus module can be driven and be controlled EtherCAT servo-drive by the module, and with mobile robot sheet Body movement.The present invention is explained in detail with reference to the accompanying drawing.
Multi-core processor: for multi-core processor nucleus module.Specifically, its core processor uses Freescale company MCIMX6Q6AVT10AC, possess 4 CortexTM- A9, the basic frequency of each kernel are 1GHz.With independent The L2 of the Flash and 1M of the RAM and 8GB of 2GB are cached, and there is 2x LVDS, 1x HDMI to show output interface and a 4 lines electricity Resistance screen and 5 line capacitance screen interfaces, while the board provides a USB controller, an otg controller makes for USB device It is downloaded with the programming with manipulation integrated system.Network interface is as Ethercat bus transceiver interface.
Real time operating system and process scheduling: for real time operating system and dispatch interface.Specifically, being operated using linux System, and xenomai real-time extension is carried out to linux, real-time task scheduling ability is provided for control process.It is mentioned using linux The interface sched_setaffinity of confession is configured the CPU compatibility of process, can be by process and some CPU after setting Binding when operating system carries out process scheduling, only can run the process on the CPU of binding.
Specific step is as follows:
1) CPU Mask is initialized
2) CPU for calling CPU_SET setting to need to bind
3) call sched_setaffinity interface that compatibility is set.
Teaching process specifically includes: programming module, automatic control module, manual operation module, monitoring module and logical Interrogate module.Programming module completes the functions such as teaching programming and program management.With newly-built tutorial program, editor's existing program and answer System deletes the functions such as existing program;There is automatic control module load, checking routine, forwards/reverse operation to control, suspend, stop The only functions such as control;Manual operation module, which has, manually controls the function of machine people in cartesian space and joint space, has The control functions such as coordinate switches, axis/joint increment, returns to zero, crawl;Monitoring module major function is display system shape State, such as current joint and cartesian coordinate, Current Program Status, input/output state etc.;Communication module to control process Control command is sent, and reads system mode from control process.Specific communication mode uses " order-response " and " subscription/hair Cloth " mode.
Control process specifically includes communication module, control module, kinematics module, driving interface module and EtherCAT master It stands module.Control process receives the control command of teaching process transmission, completes the operations control such as robot hand, automatic, simultaneously Feedback states data give teaching process, to show robotary.Fig. 6 describes control process and receives order to motor position The specific process flow of the entire data flow of output, is described in detail below:
(1) command frame is listened.Communication command port is listened to, if there is effective instruction, is handled it, and is sent to control mould In the instruction queue of block.
(2) check the instruction in instruction queue whether have manually, return to zero or auto-programming enabled instruction.If there is track is transported Relevant instruction is moved, then different track generation modules is called to be handled, generates motion profile.Crawl is instructed, is called Crawl track generation module then successively executes interpreter program and patching plug program for automatic enabled instruction, to automatic orbit into Row processing, generates exercise data.
(3) kinematic calculation is carried out to motion profile, Cartesian trajectory coordinates is transformed into joint command coordinate.Specifically Structure robot have different kinematic calculation formula.
(4) coordinate transform will be shut down into motor coordinate.Specific calculate is calculated by formula 1.Motor coordinate is umber of pulse.
Motor coordinate=joint coordinates × reduction ratio × every turns umber of pulse/360 formulas (1)
(5) after obtaining motor coordinate, motor coordinate is written in shared drive.Shared drive and EtherCAT period PDO The mapping relations of data are established when main website starts and configures, and in each update cycle, EtherCAT master station module can be shared from this Interior access data are subsequently filled data frame, and update into servo-driver.
(6) starting of EtherCAT master station module, configuration successful will start real-time periodic tasks after being switched to bus OP state, Then the case where periodic duty is according to configuration is updated into servo-driver from shared drive access evidence in real time.
The invention will be further described combined with specific embodiments below.
Embodiment
Manipulate the industrial robot control device and system design description of one
1, system software platform master-plan
Manipulation integrated system software structure design scheme is given based on hardware platform and software platform, realizes manipulation one System function module, and propose manipulation integrated system software whole development frame.
1.1 manipulation integrated control device demand analyses
Manipulation is integrally the combination of controller and teaching machine, belongs to core control system part, such as Fig. 3 in industry spot The function that shown manipulation one needs to realize in industry spot.
The function of user oriented part belongs to the function of teaching machine, including basic operation interface, teaching programming by demonstration etc.. Control core partly belongs to the function of controller, mainly needs real-time task scheduling function.One is manipulated simultaneously also to need and servo Drive system connection, needs the support of industrial field bus.According to the required function of manipulation one.Task schedule real-time module In, real-time kernel and real-time database are to guarantee the basis of manipulation integrated system real-time and reliability.
1.2 manipulation integrated control device hardware platform type selectings
According to manipulation integrated system software platform primary demand analysis, the present invention manipulates integrated hardware platform and uses such as Fig. 3 Shown in framework.
Manipulation integrated system software at least needs the smooth stable operation of the dominant frequency of 1GB memory and 1GHz ability, needs 4GB Above amount of physical memory manipulates the file storage requirements of integrated system software to meet.Hardware platform also needs simultaneously Common peripheral equipment, such as touch, display interface, USB controller, network interface etc..The present invention, which uses, is based on I.MX6 core processing The Embedded Hardware Platform of device realizes above-mentioned Fig. 3 hardware platform architecture.
Its core processor uses the MCIMX6Q6AVT10AC of Freescale company, possesses 4 CortexTM- A9, the basic frequency of each kernel are 1GHz.Integrated level is high, and the L2 of the Flash and 1M of RAM and 8GB with independent 2GB are slow It deposits, smooth can run various mainstream operation systems.With 2x LVDS, 1x HDMI shows output interface, with 4 line resistances Screen and 5 line capacitance screen interfaces, it is possible to provide display and output function, concrete configuration are as shown in table 1.The board provides one simultaneously USB controller, an otg controller are downloaded for the use of USB device and the programming of manipulation integrated system.Network interface connects as communication Mouthful, standard ethernet communication protocol or Ethercat bus protocol can be used as communication protocol.Camera, Power are defeated Out, LED, SATA, audio, button and other extended resources etc. can be used as the module that manipulation integrated system expanding function uses.
The concrete configuration of 1 I.MX6Q board of table
1.3 manipulation integrated control device general designs of software
In conjunction with functional analysis above, the function of system software is divided into two main modulars: teaching module and real-time control Module.As shown in Figure 10, teaching module include programming module, automatic control module, manual operation module, monitoring module and Communication module.
Core of the real-time control module part as manipulation integrated system relates generally to the expansion of linux kernel real-time Exhibition is designed with the driving of real-time Ethercat bus master.Linux is expanded in real time using the method that Xenomai dual core extends Exhibition, and Xenomai real-time testing program is integrated into Linux file system, it can internally core real-time be tested. Ethercat is to manipulate the communications protocol integrally used, and Linux bottom trawl performance is transformed based on Ethercat frame, makes its branch Ethercat bus protocol is held, data are directly submitted to the processing of upper-layer user's task, so that improve data transfer is real-time Property.
2, integrated device key drive module is manipulated
The driving exploitation of 2.1 display screens
For LCD display driver, then a frame buffer need to be developed on the basis of being based on character type driver framework Driving.It can realize that the corresponding video card of different video drivers is unified by frame buffer.The application of design code standard in frame buffer Programmed logic programming interface enhances the driver transplantability of display screen, substantially reduces the difficulty of exploitation.Figure 13 is that exploitation is aobvious The frame of display screen driving.
Exploitation display screen driving is related to three files, and mxc_ipuv3_fb.c file is frame buffer drive code set, and being used for will Fb_info structural body is registered to frame buffer core layer, and mxc_dispdrv.c is responsible for managing display interface program, ldb.c be for The specific drive code set of different hardware.Character drives core to provide primary and secondary device number for file system interface, and LVDS display screen drives Dynamic major device number is 29.Application program passes through the content inside the functions reading/dev/graph/fbx such as read, write, into And it is interacted with character device core.Character device core calls Framebuffer core, to call specific driving, enters Entrance probe function, operates particular hardware by respective function.
After LVDS Driver Development is complete, the hardware parameter information of screen need to be added under device tree file root node.This Its hardware parameter is added to device tree file imx6qdl- using 8 cun of odd U.S. display screen HJ080IA-01E by invention In sabresd.dtsi, shield hardware parameter information as shown in table 2 to be particularly shown.
2 display screen hardware parameter of table
Above-mentioned parameter is packaged into a LVDS display screen child node and a backlight PWM under equipment root vertex Child node is adjusted for brightness of display screen, is as shown in figure 14 to be added to LVDS child node content in the device tree of partial parameters.
After the addition of device tree information, related driver programs are configured into imx_v7_defconfig file, in recompility Core and DTB, burning newly-generated file can be under the paths sys/bus/platform/drivers of path after activation system To whether having the presence of relevant kernel drive module.Relevant three drive modules of LVDS are already loaded into system kernel, LVDS The transplanting of display screen Driver Development is completed.
The driving exploitation of 2.2 touch screens
To input equipments such as similar touch screen, mouse, keyboards, Development of device driver process has certain general character, thus Linux system pulls out the general character of these equipment to come, and the operation of these general character is put into input input subsystem.
Wherein input core layer be responsible for input equipment general character operation realization, specific to different hardware then by different driving into Row control.When specific driving gets specific hardware information, event type caused by judgement gives event to input Core layer, input core layer pass to event handling layer event.c after handling the general character of event well, and user space program passes through Event handling layer functions are called to operate hardware.The present invention manipulates in integrated system, and touch screen driving belongs to input input Subsystem, input subsystem code are located at catalogue driver/input file.Touch screen is developed using input input subsystem Driver, Figure 15 are that touch screen driver specifically develops design procedure.
Since touch screen can generate pressure when pressing screen, pressure is converted to electric signal by ADC, and triggering is interrupted, Call interrupt processing function to pressure and X, Y-coordinate position is acquired and compares.When unclamping pressure by the way of poll It has checked whether interruption, has interrupted until generating pressing, just data are handled.Data processing passes through X, Y-coordinate and pressure value After crossing conversion, it is packaged into the unified format that input input subsystem is capable of handling, thing is handed to by input input subsystem Part process layer.Event handling layer calls corresponding event handling function to the specific event of generation, generates corresponding device node text Part, application program manipulate hardware device by device node file.
After Driver Development, the child node of TSC2007 is added in device tree file, as shown in figure 16.Due to touching Screen data are transmitted through I2C bus, in the equipment child node of TSC2007, by the way that the facility information of TSC2007 to be added to Equipment identification is carried out under I2C bus node.
Kernel and device tree file are compiled, image file is burnt to development board, restarting systems, in corresponding catalogue In can view TSC2007 driver and be already loaded into kernel, the transplanting of touch screen Driver Development is completed.
2.3 touch screen calibration
The common calibration algorithm of touch screen has 3 calibration algorithms and 5 calibration algorithms, and the present invention is using the library Tslib 5 calibration algorithm programs realize touch screen calibration, and specific calibration is as shown in figure 17.
During calibration, the environmental variance of calibration is determined according to the specific event of generation.The present invention is touching Shield in calibration process, actual environment variable is as shown in table 3.
The environmental variance of 3 Tslib of table
3, manipulation integrated device real-timeization extension
The present invention is directed to linux system real-time defect, provides linux kernel real time implementation remodeling method, and use Xenomai real-time double kernel method extension manipulation integrated system real-time.Real-time Ethercat bus master driving is finally devised, Improve the real-time of manipulation integrated system data transmission.
3.1 Xenomai extend dual core real-time
The present invention selects the method for extension real-time double kernel to carry out real time implementation extension to manipulation integrated system.Wherein RTlinux does not increase income, and can not obtain its source code, is not suitable for the present invention.RTAI and Xenomai performance are similar, but Xenomai Maintainability it is stronger with portability, final choice using Xenomai real-time extension frame to Linux progress real time implementation expansion Exhibition.
Xenomai provides a technical grade real time operating system frame, different based on the basic principle in the domain Adeos Kernel is run in the same Adeos, and the two cores can share the same hardware resource.It is taken out on the domain Adeos Independent hardware abstraction layer HAL (Hardware Abstraction Layer), HAL is related to particular hardware architecture, main It is used to abstract hardware components in system hardware configuration supply Xenomai kernel to use.If Figure 18 is Xenomai structure Figure.
Realize function required for general real time operating system in real-time kernel, for example, spin lock schedulableization, in Disconnected Priority Inheritance Protocol, synchronous is supported and Memory Allocation, timer and Clock management etc. interrupt thread.On real-time kernel One layer of face refers to supported client API, including RTAI, POSIX, VxWorks, Psos etc..The effect of client API refers to It can be arrived with seamless interfacing using the program portable write under other real time operating systems, such as RTOS in Xenomai kernel It does not need completely to rewrite under Xenomai/Linux architecture, it ensure that the portability of application program is with Xenomai's Robustness.Kernel state application program call directly client API offer interface, user space application by system calling come Complete the interaction with real-time kernel.
According to the real-time frame structure of Xenomai, be combined together using by Xenomai and Linux, constitute one it is new Real-time Linux frame, as shown in figure 19.Xenomai framework and Linux core architecture itself are operated in simultaneously on the domain Adeos, will Xenomai real-time system, which is called, to be pulled out with modular system calling to be put into user's space for user's layer identification code and use.Work as user When routine call real-time system is called, which is dispatched by Xenomai real-time kernel, when user space program passes through modular system When calling, just it is scheduled by standard Linux kernel.
Finally need to throw Xenomai into linux kernel source code into a manner of patch.If Figure 20 is to beat Adeos patch It the step of into kernel, while the Test cases technology executable file that Xenomai is carried, is installed in Linux file system, For test macro real-time.
After throwing Xenomai into kernel in the form of patch, application program API can be generated in/usr/xenomai catalogue Interface.Since some configurations of Linux will affect the use of Xenomai frame, so needing to reuse make Menuconfig configures kernel.The option needed to configure is as shown in table 4.
Kernel setup under 4 Xenomai of table
According to table 4 with postponing, by new Linux+Xenomai dual core system programming to development board, in the serial ports of PC machine End printing kernel starting information is illustrated in fig. 21 shown below.It can be seen that Xenomai component has been added to linux kernel.
3.2 real-time Ethercat Cardbus NIC Cardbus Driver Designs
The present invention uses driving journey of the standard Linux kernel trawl performance as Ethercat bus master sending and receiving data Sequence transmits real-time performance defect analysis and Ethercat bus master frame by Linux network card data, and main website driving needs to meet Specialized hardware, that is, Ethercat equipment, without interrupt operation, fixed data memory storage space and hardware compatibility.
In conjunction with the interface that Linux standard network interface card driving model and Ethercat main website frame provide, design is real-time Ethercat main website NIC driver structure is as shown in figure 22.
Definition represents the structural body fep of the network equipment, and the finger of ec_device_t structural body type is added in the structural body For indicating originally to be driven to EtherCAT network device drives as ecdev, and add the variable ec_ of a long shaping Watchdog_jiffies is for recording poll time.Ecdev_offer () function is defined in probe function probe to be used for The Ethercat network equipment is registered, and is used to open Ethercat equipment in last definition the ecdev_open () function of detection. The interrupt mode that former network interface card is replaced by the way of poll, sends and receivees data frame using house dog, when data arrive, for it Apply for a reusable sk_buffer memory, and defining ecdev_receive () function will be in sk_buffer memory Data be directly submitted to Ethercat user program.When main website use finishes, defines and set in the revocation function of driver It is standby to close function ecdev_close () and equipment cancellation function ecdev_withdraw ().
In conjunction with the transmission real-time defect analysis of Linux standard network card data and real-time Ethercat main website driver knot Structure is transformed former NIC driver and relates generally to three parts, and disabling interrupts, reuses socket buffer and truncation Data.
(1) disabling is interrupted.Linux network interface card sending and receiving data by way of interruption, can generate the obstruction of data.In In Ethercat communication, Ethercat main website issue process data to slave station return main website only and experienced tens microseconds when Between, by the way of poll directly inquiry and processing returns to data, forbid the interruption in former NIC driver to register to use, Customized transceiver interface is provided.If Figure 23 is the interruption flow chart disabled in trawl performance.
Customized Ethercat main website ec_poll polling interface, Ethercat main website user program call ec_poll to connect Mouthful, the periodic polled network equipment of house dog is utilized in the interface.After trawl performance enters fec_interrupt (), Whether the equipment for judging current network interface card connection is ethercat equipment, and if it is ethercat equipment, Ethercat is directly inquired With processing returns to data, relevant task is finally served data to, for OS scheduler periodic scheduling.Otherwise trawl performance Registration is interrupted, and the transmitting-receiving of data is carried out by way of interruption.
(2) socket buffer is reused.In trawl performance, a sk_ can be distributed for it by receiving data every time Buffer caching will discharge the caching for temporarily storing after data transmission is complete.In Ethercat communication, discharge every time Caching is a time-consuming job with application caching again, so after the data transfer is complete, sk_buffer caching is not discharged, It is reused, for shortening the time of data transmission.Figure 24 is the flow chart of recycling caching.
After trawl performance enters fec_start_xmit, judge whether current network interface card connection is ethercat equipment, if It is ethercat equipment, the allocated caching that then be used directly carries out the transmission of data.If not ethercat equipment, then first Then caching before release redistributes the use that new memory is transmitted for data.
(3) data truncation.Data transmission final step, trawl performance will use netif_receive_skb and Its series interfaces handles data delivery to ICP/IP protocol stack.Corresponding netif* function is disabled, data are bypassed TCP/IP kernel network protocol stack is directly submitted to Ethercat primary application program.Such as the flow chart that Figure 25 is data truncation.
It designs and replaces netif_receive_skb interface directly to pass data using ecdev_receive interface function Give ethercat equipment.The interface of more netif beginning involved in trawl performance, these interfaces be for by data delivery to ICP/IP protocol stack does related preparation, needs to be adjusted to the ecdev interface of Ethercat.Involve a need to the part of modification Netif interface is as shown in table 5.
The part netif interface that table 5 disables
4, the industrial robot device test of manipulation one
The test of 4.1 display screens
LVDS display screen driver is loaded into after kernel, the parameter of lower Figure 26 need to be passed to Uboot.System starting Afterwards, QT interface program is run, checks whether QT interface display, display screen can normally can be shown the interface QT, it was demonstrated that LVDS is aobvious The function of display screen is normal.
4.2 testing touch screens and calibration
Touch screen carries out five point calibrations using the ts_calibrate of Tslib, if Figure 27 is 5 points of calibrations.Then it uses The point that the ts_test program of Tslib carries out touch screen touches test, it can be seen that point touching position is consistent with display position, is said Bright touch screen calibration success.
4.3 press key function testing
After activation system, the incoming event for inquiring key is event1, in the serial port terminal of PC machine, input order Hexdump/dev/input/event1 carries out pressing test to each key of manipulation one, can be in serial port terminal display button Hexadecimal value.
4.4 real-time performance testing
Xenomai provides test program latency dedicated for testing Xenomai real-time, and calculating task scheduling is prolonged When the time.For the test program under User space, the sampling period is 1000 μ s, tests minimum delay, maximum delay and average delay Data screenshot a part.It can be seen that the maximum delay time of task schedule is put down in 8.815 μ s or so under User space Delay is in 3.457 μ s or so, and minimum delay is in 2.896 μ s or so.Wherein maximum delay time fully meets Subject Design Industrial robot manipulates requirement of the integrated system to real-time.
Table 6 provides under Different sampling period, in the case of 30000 data of every group of test, the User space task schedule that obtains Minimum delay, average delay and maximum delay average value.It can be seen that under the different sampling periods, User space task tune The maximum value of delay is spent all within 10 μ s, meets the real-time performance of manipulation integrated system demand.
6 User space task schedule delay test (unit: μ s) of table
Table 7 and table 8 are set forth under Different sampling period in the case where 30000 groups of data of every group of test, kernel state The average value of minimum delay, average delay and maximum delay under task schedule and timer interruption.It can be seen that being adopted in difference Kernel state task schedule is delayed maximum value within 6.107 μ s under the sample period.The maximum value of timer interruption delay is in 2.401 μ s Within.The delay of kernel state task schedule and timer interruption delay are smaller than the delay of User space task, and all within 10 μ s, full The real-time of foot manipulation integrated system demand.
7 kernel state task schedule delay test (unit: μ s) of table
8 timer interruption delay test (unit: μ s) of table
4.5 complete machine on-the-spot test
Control program is operated in manipulation integrated system, robot control is carried out using manipulation one, can normally grasp Man-controlled mobile robot movement, and carry out On-line programming by demonstration.
Robot motion's state is adjusted using manipulation one, shoots robot motion state, it was demonstrated that manipulation one Function can normal use.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.

Claims (10)

1. a kind of industrial robot control method of manipulation one, which is characterized in that the industrial robot control of the manipulation one Method processed includes:
Step 1 sends control command to robot body by key or touch screen;
Step 2 receives control command, completes robot hand, automatic relevant operation control;
Step 3, feedback states data, and robotary is shown using touch screen.
2. the industrial robot control method of manipulation one as described in claim 1, which is characterized in that step 2 is completed related In operation control, the control including real-time operation is specifically included:
The CPU compatibility of process is configured using the interface sched_setaffinity that linux is provided, and by process and Some CPU binding, when operating system carries out process scheduling, process is only run on the CPU of binding;
Specific step is as follows:
1) CPU Mask is initialized;
2) CPU for calling CPU_SET setting to need to bind;
3) call sched_setaffinity interface that compatibility is set.
3. the industrial robot control method of manipulation one as described in claim 1, which is characterized in that step 2 is completed related It further comprise the control of robot process in operation control, comprising:
Control process receives the control command of teaching process transmission, completes robot hand, is automatically brought into operation control, while feeding back shape State data give teaching process, to show robotary.
4. the industrial robot control method of manipulation one as claimed in claim 3, which is characterized in that the control process Method specifically includes:
The first step listens to the order of communication command port, if effective instruction, then handles it, and be sent to control module In instruction queue;
Second step, check the instruction in instruction queue whether have manually, return to zero or auto-programming enabled instruction;If there is track movement Relevant instruction then calls different track generation modules to be handled, and generates motion profile;Crawl is instructed, point of invocation Dynamic rail mark generation module then successively executes interpreter program and patching plug program for automatic enabled instruction, carries out to automatic orbit Processing generates exercise data;
Third step carries out kinematics meter to motion profile using different kinematic calculation formula to the robot of different structure It calculates, Cartesian trajectory coordinates is transformed into joint command coordinate;
4th step, by shutdown coordinate transform at motor coordinate;
5th step, will be in the motor coordinate write-in shared drive of acquisition;
6th step, the starting of EtherCAT master station module, configuration successful, is switched to bus OP state, starts real-time periodic tasks, period Then the case where task is according to configuration is updated into servo-driver from shared drive access evidence in real time.
5. the industrial robot control method of manipulation one as claimed in claim 4, which is characterized in that
In 4th step, the calculation formula of the motor coordinate are as follows:
Motor coordinate=joint coordinates × reduction ratio × every turns umber of pulse/360;
In 5th step, in the motor coordinate write-in shared drive by acquisition further include:
The mapping relations that shared drive and EtherCAT period PDO data are established when main website starts and configures, in each update week Phase, EtherCAT main website, according to data frame is subsequently filled, are updated into servo-driver from shared drive access.
6. a kind of industrial robot control system based on manipulation one, which is characterized in that the industry based on manipulation one Robot control system includes:
Teaching control integration module: connecting with drive module, for real-time control machine human body and carries out human-computer interaction;
Drive module: for driving robot body.
7. the industrial robot control system as claimed in claim 6 based on manipulation one, which is characterized in that the teaching control Integration module specifically includes:
The teaching control integration module includes: teaching unit and control unit;
Teaching unit: for realizing human-computer interaction;
Control unit: for controlling robot body;Including an EtherCAT bus subelement, pass through EtherCAT bus Unit drives EtherCAT servo, drives robot body movement;
The teaching unit realizes data exchange by process communication with control unit.
8. a kind of work based on manipulation one using the industrial robot control method based on manipulation one described in claim 1 Industry robot controller, which is characterized in that the industrial robot control device based on manipulation one includes: multiprocessor Nucleus module, key module, LCD module, Ethernet interface, USB interface;
Multi-processor core core module: it is connect with key module, LCD module, Ethernet interface, USB interface;For with multi -CPU Hardware platform, at least support 2 CPU cores, be have storage, calculating, functional interface basic computer system;
Key module: it is connect with multi-processor core core module;Crawl, operation control relevant operation key are provided, it is fast for user Victory operation robot;
LCD module: it is connect with multi-processor core core module;For providing operation interface display function;
Ethernet interface: it is connect with multi-processor core core module;For the transmitting-receiving of EtherCAT bus data, watched with EtherCAT Clothes are drivingly connected;
USB interface: it is connect with multi-processor core core module;Access for USB flash disk and other usb peripheral hardwares.
9. the industrial robot control device as claimed in claim 8 based on manipulation one, which is characterized in that at the multi-core Reason device nucleus module specifically includes:
The multi-core processor nucleus module includes real-time operation module, control scheduler module, teaching scheduler module;
Real-time operation module: for providing the scheduling of real-time task and task on CPU;
Control scheduler module: control process operates in one independent core of processor, for the process with real-time task, is used for real When control robot;
Teaching scheduler module: teaching process operates in other cores (CORE2~CORE4), is non-real-time process, for providing user Operation interface;
The teaching scheduler module specifically includes:
Programming module, automatic control module, manual operation module, monitoring module and communication module;
Programming module: for completing teaching programming and program management;Be also used to simultaneously newly-built tutorial program, editor's existing program and Existing program is deleted in duplication;
Automatic control module: for loading, checking routine, forwards/reverse operation control, pause, stop control;
Be manually operated module: for manually controlling machine people in cartesian space and joint space, and carry out coordinate switching, axis/ The increment in joint returns to zero, crawl relevant control;
Monitoring module: it is used for display system state;The system mode includes but is not limited to current joint and Descartes Coordinate, Current Program Status, input/output state;
Communication module: for sending control command to control process, and system mode is read from control process.
10. a kind of computer readable storage medium, including instruction, when run on a computer, so that computer executes such as Industrial robot control method based on manipulation one described in claim 1-5 any one.
CN201910934510.9A 2019-09-29 2019-09-29 A kind of industrial robot control device and system based on manipulation one Pending CN110524543A (en)

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Application publication date: 20191203