CN111273612A - Mobile robot motion controller - Google Patents
Mobile robot motion controller Download PDFInfo
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- CN111273612A CN111273612A CN201811476128.XA CN201811476128A CN111273612A CN 111273612 A CN111273612 A CN 111273612A CN 201811476128 A CN201811476128 A CN 201811476128A CN 111273612 A CN111273612 A CN 111273612A
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/414—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller
- G05B19/4142—Structure of the control system, e.g. common controller or multiprocessor systems, interface to servo, programmable interface controller characterised by the use of a microprocessor
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
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- G05B2219/34013—Servocontroller
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Abstract
The invention discloses a mobile robot motion controller which adopts a microprocessor (ARM + DSP) framework, wherein the external interfaces mainly comprise 8 selectable RS232 and RS485 interfaces (COM 1-COM 8), 2 CAN bus interfaces (CAN1 and CAN2), 1 EtherCAT interface, 8 PWM output interfaces, 6 incremental encoder interfaces, 16 switching value input interfaces, 16 switching value output interfaces, 6 analog signal input interfaces, 2 analog value output interfaces, 6 controllable power supply outputs and the like. The invention can complete more complex algorithm and meet the interface requirements of a plurality of peripheral equipment. The invention combines the situation that the mobile robot needs the peripheral equipment interface, designs a plurality of peripheral equipment communication interfaces for matching, and has strong applicability and good expandability.
Description
Technical Field
The invention relates to the technical field of motion control of mobile robots, in particular to a motion controller of a mobile robot.
Background
The mobile robot technology is a product of a plurality of high and new technologies, and is rapidly going to be put to practical use in various industries, such as logistics transportation, automatic warehouse, unmanned driving, patrol and the like. The motion controller is a core component of the mobile robot and is a platform for completing various algorithms. At present, motion controllers in the field of mobile robots can be divided into three categories: PLC, industrial computer and singlechip. The former two kinds of devices have good stability and simple programming, but have higher cost and few peripheral interfaces; the single chip microcomputer has low cost and strong expandability, but the programming is relatively complex, and the stability and the anti-interference capability are inferior to those of the former two. However, the existing single chip microcomputer is very reliable and very low in price, so that the development cost of the robot can be effectively reduced, and the product competitiveness is improved.
In the field of mobile robots, most of the current motion controllers of single-chip microcomputers are based on ARM processors or DSP processors, and belong to a single processor architecture. When the robot needs to complete a plurality of functions and scheduling management, the motion controller needs a plurality of peripheral function module interfaces, so the controller generally adopts an ARM processor. When the robot completes some complex motion algorithms, the motion controller needs to have strong computing power, so the controller generally adopts a DSP processor. The ARM processor has a plurality of peripheral interfaces and strong expandability, but has poor computing power and is difficult to process some complex algorithms; the DSP has strong computing power and can process more complex algorithms, but has few peripheral interfaces and poor expandability. A single processor architecture typically only accommodates certain types of robots and is difficult to accommodate for a wide variety of mobile robots.
It can be seen that the prior art mainly has the following disadvantages:
1) most of the singlechip-type motion controllers are developed by adopting a single microprocessor, a DSP is selected for ensuring the computing capability, and an ARM is selected for ensuring the number of peripheral interfaces, so that the singlechip-type motion controllers can only adapt to a few specific types of robots, and the transportability is poor;
2) in the market, the number of peripheral equipment interfaces of the motion controller of the existing mobile robot is not large. When the robot needs to realize a plurality of functions, one motion controller may need to be externally connected with a plurality of functional modules and sensors, and under the condition that the number of interfaces is limited, the design requirements are difficult to meet.
Disclosure of Invention
In view of the above, in order to solve the above problems in the prior art, the present invention provides a mobile robot motion controller, which can guarantee both the requirement of computing capability and the requirement of peripheral device interface. The motion controller has a plurality of peripheral equipment interfaces and better computing resources, has strong expandability, and can meet the motion control requirements of various mobile robots, such as an AGV platform, a Delta parallel robot, a six-degree-of-freedom parallel VR seat, a high-precision alignment platform and the like.
The invention solves the problems through the following technical means:
a mobile robot motion controller comprises a microprocessor, 8 paths of selectable RS232 and RS485 interfaces, 2 CAN bus interfaces, 1 EtherCAT interface, 8 PWM output interfaces, 6 incremental encoder interfaces, 16 paths of switching value input interfaces, 16 paths of switching value output interfaces, 6 paths of analog signal input interfaces, 2 paths of analog value output interfaces and 6 paths of controllable power supply output interfaces; the microprocessor is respectively connected with 8 paths of selectable RS232 and RS485 interfaces, 2 CAN bus interfaces, 1 EtherCAT interface, 8 PWM output interfaces, 6 incremental encoder interfaces, 16 paths of switching value input interfaces, 16 paths of switching value output interfaces, 6 paths of analog signal input interfaces, 2 paths of analog value output interfaces and 6 paths of controllable power supply output interfaces; the microprocessor adopts an ARM + DSP dual-processor architecture; the 8 selectable RS232 and RS485 interfaces are COM 1-COM 8 respectively; the 2 CAN bus interfaces are CAN1 and CAN2, respectively.
Further, the ARM processor adopts a chip of an STM32 microcontroller series of Italian semiconductor company; the DSP processor adopts microcontroller series chips of Texas instruments company; the ARM chip and the DSP chip are communicated through an SPI interface.
Furthermore, the 8 selectable RS232 and RS485 interfaces are formed by 8 serial ports USART + UART which are arranged in STM32 series chips and are externally connected with corresponding interface driving chips; the RS232 interface and the RS485 interface are selected by a dial switch to realize mutual switching, and data receiving of 8 serial ports is transmitted in a DMA mode.
Furthermore, the 2 CAN bus interfaces are formed by 2 CAN controllers internally arranged in STM32 series chips and externally connected CAN bus driving chips, and simultaneously, each CAN bus is connected in parallel to lead out a plurality of interfaces so as to be matched with more communication peripheral equipment based on the CAN buses, such as the synchronization for controlling a plurality of motors.
Further, 1 EtherCAT interface comprises Beifu company EtherCAT driver chip, adopts SPI interface and STM32 series chip to communicate, satisfies industrial ethernet's real-time transmission requirement.
Further, 8 PWM output interfaces are formed by PWM output channels of timers TIM9 to TIM14 built in an STM32 series chip, and are used to control up to 8 motors.
Further, the 6 incremental encoder interfaces are composed of encoder interfaces of timers TIM1 to TIM5 and TIM8 built in an STM32 series chip, and are used for receiving encoder feedback output signals of 6 motors.
Further, the 16-path switching value input interface is formed by externally connecting an optical coupling isolation chip to a GPIO port of an STM32 series chip and is used as an input interface of a switching value signal; the 16-path switching value output interface is formed by externally connecting an optical coupling isolation chip with a GPIO port of an STM32 series chip and is used as an output interface of a switching value signal.
Furthermore, the 6-path analog signal input interface is composed of 6-path analog input channels of an ADC built in an STM32 series chip and is externally connected with a voltage dividing resistor; the 2-path analog output interface is composed of two built-in DACs of STM32 series chips and can independently output two paths of 0-3.3V analog voltages.
Further, the 6 controllable power supply outputs are controlled by GPIO ports of STM32 series chips, and the voltage outputs are switched on and off through power MOSFETs or relays.
Compared with the prior art, the invention has the beneficial effects that at least:
1) the invention adopts the motion controller based on ARM and DSP dual-processor architecture, not only can complete more complex algorithm, but also can meet the requirements of a plurality of peripheral equipment interfaces.
2) According to the invention, a plurality of peripheral equipment communication interfaces are designed for matching by combining the condition that the mobile robot needs the peripheral equipment interface, so that the applicability is strong and the expandability is good.
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In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a mobile robot motion controller according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and all other embodiments obtained by those skilled in the art without any inventive work based on the embodiments of the present invention belong to the protection scope of the present invention.
Examples
As shown in fig. 1, the present invention provides a mobile robot motion controller, whose composition framework includes a microprocessor (ARM + DSP), 8 selectable RS232 and RS485 interfaces (COM 1-COM 8), 2 CAN bus interfaces (CAN1 and CAN2), 1 EtherCAT interface, 8 PWM output interfaces, 6 incremental encoder interfaces, 16 switching value input interfaces, 16 switching value output interfaces, 6 analog signal input interfaces, 2 analog value output interfaces, 6 controllable power supply outputs, etc.
Wherein, the motion controller adopts an (ARM + DSP) dual-processor architecture. The ARM processor uses the chip of the STM32 microcontroller family of the Italian Semiconductor (ST) company, and the family has a plurality of built-in peripheral interface controllers; the DSP processor adopts microcontroller series chips of Texas Instruments (TI) company, and has good computing capability; the ARM chip and the DSP chip are communicated through an SPI interface.
The 8-path selectable RS232 and RS485 interfaces are formed by externally connecting 8 serial ports (USART + UART) built in STM32 series chips with corresponding interface driving chips. The RS232 interface and the RS485 interface are switched by selecting a dial switch, and can respectively reach 8 paths of interfaces at most, so that the RS232 interface and the RS485 interface can be matched with a plurality of peripheral communication devices based on RS232 and RS 485. In order to reduce the occupation of excessive CPU resources during serial port communication, the data receiving of 8 serial ports are transmitted in a DMA mode.
The 2 CAN bus interfaces are formed by 2 CAN controllers which are arranged in STM32 series chips and are externally connected with CAN bus driving chips, and simultaneously, each CAN bus is connected in parallel to lead out a plurality of interfaces so as to be matched with more communication peripheral equipment based on the CAN buses, such as the synchronization for controlling a plurality of motors.
Wherein, 1 EtherCAT interface comprises time good (Beckhoff) company EtherCAT driver chip, adopts SPI interface and STM32 series chip to communicate, satisfies industrial ethernet's real-time transmission requirement.
The 8 PWM output interfaces are composed of PWM output channels of timers TIM 9-TIM 14 built in STM32 series chips and can be used for controlling up to 8 motors.
The 6 incremental encoder interfaces are composed of encoder interfaces of built-in timers TIM 1-TIM 5 and TIM8 of STM32 series chips and can be used for receiving encoder feedback output signals of 6 motors.
The 16-path switching value input interface is formed by externally connecting an optical coupling isolation chip to a GPIO port of an STM32 series chip, and can be used as an input interface of a switching value signal, such as a photoelectric switch, a key, a limit switch and the like.
Wherein, 16 way switching value output interfaces constitutes the output interface that can regard as the switching value signal by the external opto-coupler isolation chip of the GPIO port of STM32 series chip, like motor, alarm lamp, speaker etc..
The 6-path analog signal input interface is composed of 6-path analog input channels of an ADC (analog to digital converter) built in an STM32 series chip, is externally connected with a voltage dividing resistor, and can adapt to the acquisition of various analog signal voltages.
The 2-path analog quantity output interface is composed of two built-in DACs of STM32 series chips and can independently output two paths of 0-3.3V analog voltages.
The 6 controllable power outputs are controlled by GPIO ports of STM32 series chips, and the voltage outputs are switched on and off through power MOSFETs or relays.
The invention relates to a more general type mobile robot motion controller, and provides an ARM and DSP dual-processor-based framework. The ARM is mainly responsible for peripheral interface communication and scheduling management, and the DSP is used for processing relatively complex algorithms. The motion controller integrates multiple interfaces such as RS232, RS485, CAN bus, EtherCAT, analog input and output, general I/O, encoder input and PWM output, and CAN match with a plurality of peripheral functional devices, thereby ensuring the diversity of robot functions.
The invention adopts the motion controller based on ARM and DSP dual-processor architecture, which can not only complete more complex algorithm, but also meet the interface requirements of a plurality of peripheral equipment.
The invention combines the situation that the mobile robot needs the peripheral equipment interface, designs a plurality of peripheral equipment communication interfaces for matching, and has strong applicability and good expandability.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A mobile robot motion controller is characterized by comprising a microprocessor, 8 paths of selectable RS232 and RS485 interfaces, 2 CAN bus interfaces, 1 EtherCAT interface, 8 PWM output interfaces, 6 incremental encoder interfaces, 16 paths of switching value input interfaces, 16 paths of switching value output interfaces, 6 paths of analog signal input interfaces, 2 paths of analog value output interfaces and 6 paths of controllable power supply output interfaces; the microprocessor is respectively connected with 8 paths of selectable RS232 and RS485 interfaces, 2 CAN bus interfaces, 1 EtherCAT interface, 8 PWM output interfaces, 6 incremental encoder interfaces, 16 paths of switching value input interfaces, 16 paths of switching value output interfaces, 6 paths of analog signal input interfaces, 2 paths of analog value output interfaces and 6 paths of controllable power supply output interfaces; the microprocessor adopts an ARM + DSP dual-processor architecture; the 8 selectable RS232 and RS485 interfaces are COM 1-COM 8 respectively; the 2 CAN bus interfaces are CAN1 and CAN2, respectively.
2. The mobile robot motion controller of claim 1, wherein the ARM processor employs a chip of the family of meaning semiconductor STM32 microcontrollers; the DSP processor adopts microcontroller series chips of Texas instruments company; the ARM chip and the DSP chip are communicated through an SPI interface.
3. The mobile robot motion controller according to claim 1, wherein 8 selectable RS232 and RS485 interfaces are formed by 8 serial USART + UART external corresponding interface driving chips built in STM32 series chips; the RS232 interface and the RS485 interface are selected by a dial switch to realize mutual switching, and data receiving of 8 serial ports is transmitted in a DMA mode.
4. The mobile robot motion controller of claim 1, wherein the 2 CAN bus interfaces are formed by 2 CAN controllers built in an STM32 serial chip and connected with a CAN bus driving chip, and each CAN bus is connected in parallel to lead out a multi-path interface so as to match with more communication peripheral devices based on the CAN bus, such as the synchronization for controlling a plurality of motors.
5. The mobile robot motion controller of claim 1, wherein 1 EtherCAT interface is formed by an EtherCAT driver chip of the befort corporation, and the SPI interface is used to communicate with an STM32 series chip to meet the real-time transmission requirement of the industrial ethernet.
6. The mobile robot motion controller according to claim 1, wherein 8 PWM output interfaces are formed by PWM output channels of built-in timers TIM9 to TIM14 of the STM32 series chip for controlling up to 8 motors.
7. The mobile robot motion controller of claim 1, wherein the 6 incremental encoder interfaces are formed by encoder interfaces of built-in timers TIM 1-TIM 5 and TIM8 of the STM32 series chip, and are configured to receive encoder feedback output signals of the 6 motors.
8. The mobile robot motion controller according to claim 1, wherein the 16-way switching value input interface is formed by externally connecting an optical coupling isolation chip to a GPIO port of an STM32 series chip and is used as an input interface of a switching value signal; the 16-path switching value output interface is formed by externally connecting an optical coupling isolation chip with a GPIO port of an STM32 series chip and is used as an output interface of a switching value signal.
9. The mobile robot motion controller according to claim 1, wherein the 6-path analog signal input interface is composed of 6-path analog input channels of an ADC built in an STM32 series chip, and is externally connected with a voltage dividing resistor; the 2-path analog output interface is composed of two built-in DACs of STM32 series chips and can independently output two paths of 0-3.3V analog voltages.
10. The mobile robot motion controller of claim 1, wherein the 6-way controllable power supply output is controlled by a GPIO port of an STM32 series chip, with the terminal voltage output being switched by a power MOSFET or relay.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111813026A (en) * | 2020-07-28 | 2020-10-23 | 安徽鑫创源机器人科技有限公司 | ROS robot drive plate |
| CN112526908A (en) * | 2020-12-02 | 2021-03-19 | 昆山鑫润利自动化科技有限公司 | A commonality PCB designs motion control system for tool production |
| CN113176745A (en) * | 2021-04-19 | 2021-07-27 | 珞石（北京）科技有限公司 | Terminal interaction device of adaptive cooperative robot |
| CN115903696A (en) * | 2022-11-11 | 2023-04-04 | 瑞莱铂(盐城)机器人科技有限公司 | Hardware architecture of AGV (automatic guided vehicle) and working method thereof |
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Application publication date: 20200612 |