CN111496774A - Robot distributed control system and method thereof - Google Patents
Robot distributed control system and method thereof Download PDFInfo
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- CN111496774A CN111496774A CN201910100141.3A CN201910100141A CN111496774A CN 111496774 A CN111496774 A CN 111496774A CN 201910100141 A CN201910100141 A CN 201910100141A CN 111496774 A CN111496774 A CN 111496774A
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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Abstract
The invention discloses a robot distributed control system and a method thereof, wherein the robot distributed control system comprises: the system comprises a main controller, a plurality of sub-controllers, a plurality of drivers and a control module, wherein the sub-controllers and the drivers are respectively communicated with the main controller; the main controller is used for splitting a control task of the whole robot into a plurality of small tasks, sending the small tasks to the corresponding sub-controllers, receiving processing results fed back by the sub-controllers, and respectively controlling the corresponding drivers according to the processing results; the plurality of sub-controllers are used for receiving the small tasks sent by the main controller and generating corresponding processing results of the small tasks and sending the corresponding processing results to the main controller; and the plurality of drivers are used for receiving corresponding processing results sent by the main controller and driving corresponding control modules. The invention greatly reduces the research and development risk and cost of the whole scheme, greatly improves the security of the whole control, and provides an expansion space for the group coordination control of the robot.
Description
Technical Field
The invention relates to the technical field of robot control, in particular to a distributed control system and a distributed control method for a robot.
Background
Industrial robots are multi-joint manipulators or multi-degree-of-freedom machine devices oriented to the industrial field, can automatically execute work, and are machines which realize various functions by means of self power and control capacity. The robot can accept human command and operate according to a preset program, and modern industrial robots can also perform actions according to a principle formulated by artificial intelligence technology. With the development of computers, automation control theory and the need for industrial production and the progress of the related art, the development of industrial robots has gone through 3 generations: a programmable teaching playback robot; controlling a robot having a certain autonomous ability based on a sensor; an intelligent robot. As a core part of the robot, a control system of the robot is one of key parts affecting the performance of the robot.
The robot controller system is a device for controlling the robot to complete certain actions or operation tasks according to instructions and sensing information, is the heart of the robot and determines the performance of the robot. Since the birth of robots, in particular, controllers used by industrial robots have been developed by developers based on their own independent results.
The existing industrial robot control system is basically based on centralized control, that is, each joint driver and each sensor collect information to a controller, the controller calculates the result in a unified way, and then the result is distributed to each joint driver, so as to control the movement of each joint. The disadvantages of this approach are: with the requirement of the robot to realize more and more functions, including trajectory planning, force control, collision detection, visual image processing, even speech recognition, deep learning and the like, the increasingly huge calculation amount and calculation speed limit also put higher and higher requirements on hardware of the robot controller, and the cost is also increased dramatically.
Accordingly, the prior art is yet to be improved and developed.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a robot distributed control system and a method thereof, aiming at the defects in the prior art, a large processing task is divided into a plurality of small processing tasks to be distributed to sub-controllers for processing, so that the research and development risk and cost of the whole scheme are greatly reduced, the confidentiality of the whole control is effectively improved, and an expansion space is provided for the robot group to realize the body coordination control.
The technical scheme adopted by the invention for solving the technical problem is as follows:
a distributed control system for a robot, comprising:
the system comprises a main controller, a plurality of sub-controllers, a plurality of drivers and a control module, wherein the sub-controllers and the drivers are respectively communicated with the main controller;
the main controller is used for splitting a control task of the whole robot into a plurality of small tasks, sending the small tasks to the corresponding sub-controllers, receiving processing results fed back by the sub-controllers, and respectively controlling the corresponding drivers according to the processing results;
the plurality of sub-controllers are used for receiving the small tasks sent by the main controller and generating corresponding processing results of the small tasks and sending the corresponding processing results to the main controller;
and the plurality of drivers are used for receiving corresponding processing results sent by the main controller and driving corresponding control modules.
Preferably, a communication processing module is arranged in the main controller, and the main controller is in communication connection with the sub-controller and the driver through the communication processing module respectively.
Preferably, an EtherCAT master station module is arranged in the master controller, EtherCAT slave station modules are arranged in the sub-controllers, and the EtherCAT master station module exchanges data with the communication processing module and the EtherCAT slave station modules respectively.
Preferably, the EtherCAT master station module and the EtherCAT slave station module communicate with each other through an EtherCAT field bus.
Preferably, a shared memory module is arranged in the main controller, and the main controller accesses data through the shared memory module and the communication processing module.
Preferably, the plurality of sub-controllers comprises: a trajectory planning controller, a force controller, a sensor controller, an image processing controller and a voice recognition controller;
the track planning controller, the force controller, the sensor controller, the image processing controller and the voice recognition controller are all in communication connection with the main controller.
Preferably, the trajectory planning controller, the force controller, the sensor controller, the image processing controller and the voice recognition controller are respectively and correspondingly connected with a user instruction or script instruction module, a zero force teaching module, a collision detection module, a vision module and a voice recognition module;
the user instruction or script instruction module is used for converting the received user instruction or script instruction into a track or motion instruction;
the zero force teaching module is used for controlling the robot to keep the current posture, and controlling the robot body to keep the posture when the external force is cancelled when the current posture is changed through the external force;
the collision detection module is used for detecting whether the robot body generates collision in the motion process and sending out early warning information when the collision force exceeds a preset force range;
the vision module is used for converting the detected target into an image signal, transmitting the image signal to the image processing controller, and converting the image signal into a digital signal through the image processing controller;
the voice recognition module is used for converting the voice into corresponding machine instructions.
Preferably, the image processing controller converts an image signal, which is captured by a CCD camera, into a digital signal according to pixel distribution, brightness, and color.
The invention also provides a distributed control method of the robot, which comprises the following steps:
the main controller receives a control instruction sent by a user;
the main controller splits the control instruction into a plurality of small tasks and sends the small tasks to corresponding sub-controllers;
after receiving the small tasks sent by the main controller, the plurality of sub-controllers generate corresponding processing results for the small tasks and send the corresponding processing results to the main controller;
and after receiving the processing results fed back by each sub-controller, the main controller respectively controls corresponding drivers according to the processing results, and the drivers drive corresponding control modules.
Compared with the prior art, the embodiment of the application mainly has the following beneficial effects:
the whole control system of the robot is divided into a plurality of control units, so that the research and development risk and cost of the whole scheme are greatly reduced, a single control unit can be optimized and copied according to different application scenes of the robot, and an excellent effect can be achieved;
the large processing task is split into a plurality of small processing tasks to be distributed to the sub-controllers for processing, so that the hardware cost and the energy consumption of a single controller are reduced, different units are not interfered with each other during development after an interface is determined, the situation that the progress is uncontrollable due to overlarge engineering is avoided, and good progress control and personnel optimization are provided for the whole development;
the confidentiality is also an important characteristic of the scheme, the leakage of the adult scheme is effectively reduced, the unitized modules are subjected to department design and maintenance with different functions, the independence of each unit is ensured, and the control process of each unit cannot be analyzed after the communication protocol of the main controller is determined; sequence parameters greatly improve the security of the whole control;
in addition, the distributed control system provides an expansion space for the robot group coordination control. The main controllers of the independent robots are combined together through corresponding application development, namely the main controllers of the robots of a single distributed control system are combined together.
Drawings
In order to illustrate the solution of the present application more clearly, the drawings that are needed in the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and that other drawings can be obtained by those skilled in the art without inventive effort.
Fig. 1 is a block diagram of a master controller and a slave controller of a preferred embodiment of a distributed control system for a robot according to the present invention.
Fig. 2 is a block diagram of data exchange between a main controller and a sub-controller in a preferred embodiment of the distributed control system for robots of the present invention.
Fig. 3 is a block diagram of a distributed control system for robots according to a preferred embodiment of the present invention.
Fig. 4 is a flowchart illustrating a distributed control method for a robot according to a preferred embodiment of the present invention.
Reference numerals:
100-a main controller, 200-a sub-controller, 300-a driver, 400-a control module, 101-a communication processing module, 102-an EtherCAT main station module, 201-an EtherCAT slave station module, 103-a shared memory module, 202-a trajectory planning controller, 203-a force controller, 204-a sensor controller, 205-an image processing controller, 206-a voice recognition controller, 401-a user instruction or script instruction module, 402-a zero force teaching module, 403-a collision detection module, 404-a visual module, 405-a voice recognition module and 10 a teaching aid.
Detailed Description
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs; the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application; the terms "including" and "having," and any variations thereof, in the description and claims of this application and the description of the above figures are intended to cover non-exclusive inclusions. The terms "first," "second," and the like in the description and claims of this application or in the above-described drawings are used for distinguishing between different objects and not for describing a particular order.
Reference herein to "an embodiment" means that a particular feature, result, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.
Referring to fig. 1, an embodiment of the present invention provides a distributed robot control system, as shown in fig. 1, including: a main controller 100, five sub-controllers 200, five drivers 300 respectively communicating with the main controller 100, a control module 400 electrically connected with the sub-controllers 200; the main controller 100 is configured to split a control task of the entire robot into five small tasks, send the five small tasks to the corresponding sub-controllers 200, receive processing results fed back by the five sub-controllers 200, and respectively control the corresponding five drivers 300 according to the processing results; the five sub-controllers 200 are configured to receive the tasklets sent by the main controller 100, and generate corresponding processing results for the tasklets and send the processing results to the main controller 100; five of the drivers 300 are used to receive the corresponding processing results sent by the main controller 100 and drive the corresponding control modules 400.
The core idea of the present invention is to divide the whole control task of the robot into a plurality of subtasks, then send the subtasks to different sub-controllers 200, perform operation processing on the corresponding subtasks by each sub-controller to obtain corresponding results, and feed back the results processed by the sub-controllers to the overall main controller 100 for summary integration, and at the same time, control the corresponding drivers 300 according to the processing results of the sub-controllers to drive the corresponding control modules 400, so that the sub-controllers 200 can be set to five, and can also be increased or decreased according to the specific requirements of the robot.
The main controller 100 and the sub-controller 200 are both provided with central processing units, and the driver 300 can select a dc driver with a larger power density, and the dc driver has an IO signal interface and an analog interface.
The main controller 100 can complete the motion control of the robot, and the controllers are designed based on a powerful Intel x86Skylake framework and a real-time industrial Ethernet, on the platform, the controllers can process axial motion of space coordinates and three-dimensional space motion control tasks of multi-axis interpolation of the robot, and the controllers can easily realize the planning and control of the motion track of the robot through a standard P L C-OPEN motion control module and an extended Scramp motion control module.
The main controller 100 integrates an EtherCAT master station module to easily communicate with industrial bus devices (such as servo motors and digital input and output signals). The bus management module can realize the processing and function control of the bus communication information under the Codesys environment.
In addition, the master controller 100 also includes a CNC programming environment that teaches and records the position of the robot in the CNC program through a graphical interface, and then can directly recall the position information.
In a further preferred embodiment of the present invention, as shown in fig. 2, a communication processing module 101 is disposed in the main controller 100, and the main controller 100 is communicatively connected to the sub-controller 200 and the driver 300 through the communication processing module 101.
In a further preferred embodiment of the present invention, as shown in fig. 2, an EtherCAT master station module 102 is disposed in the master controller 100, and EtherCAT slave station modules 201 are disposed in all five of the sub-controllers 200, and the EtherCAT master station module 102 performs data exchange with the communication processing module 101 and the EtherCAT slave station modules 201, respectively. Meanwhile, the main controller 100 exchanges data with the drive 300 in the same manner.
In a further preferred embodiment of the present invention, as shown in fig. 2, the EtherCAT master module 102 communicates with the EtherCAT slave module 101 via an EtherCAT fieldbus.
At present, CANbus (Contro LL er Area network-work Bus controller local Area network) Bus or Rs485(485 signal universal serial port protocol) Bus among the robot control system, although CANbus or Rs485 Bus are stable in communication, have higher anti-interference performance, but it can't satisfy the requirement of high-grade numerical control device to real-time and reliability, and simultaneously, the CANbus or Rs485 Bus expansibility that present robot control system adopted is relatively poor, and hardware wiring is complicated.
The circulation of data is realized through the EtherCAT field bus, the safety performance level of the system is guaranteed, the safety performance of the system is improved, meanwhile, the EtherCAT field bus is adopted for communication, the hardware wiring of the robot can be reduced, and the real-time performance and the precision of robot control are improved.
The EtherCAT (safety over EtherCat) field bus is an open real-time Ethernet communication protocol, and establishes a new standard for the real-time performance and the topology flexibility of the system. In the current industrial field, an EtherCAT field bus is widely applied to field high-speed data transmission as a high-performance bus.
The EtherCAT master station module 102 periodically accesses each EtherCAT slave station module 201 to realize input and output refreshing of I/O data of the EtherCAT slave station module 201.
Control methods that cannot be achieved with conventional fieldbus systems can be achieved with the superior performance of EtherCAT technology. This also forms a super speed control loop via the bus. Functions that previously required local dedicated hardware support can now be mapped in software, with enormous bandwidth resources allowing state data to be transmitted in parallel with any data. The EtherCAT technology enables the communication technology to be matched with modern high-performance industrial PC, and a bus system is no longer the bottleneck of a control concept. Data transfer for distributed I/O exceeds performance that can only be achieved by local I/O interfaces.
The main controller 100 sends corresponding subtasks to the sub-controllers 200 through the EtherCAT field bus, and each sub-controller 200 processes the received subtasks correspondingly and feeds back the processing results to the main controller 100 through the EtherCAT field bus for gathering.
The main controller 100 adopts a real-time operating system based on a PC (personal computer), the analysis of a master station protocol stack is completed under a real-time system, the control period can reach 1ms, the communication between the main controller 100 and the sub-controller 200 has real-time performance and stability based on an EtherCAT field bus, and the defects that the bus on the traditional industrial robot is not real-time enough, and the packet loss is easy are overcome.
In a further preferred embodiment of the present invention, a shared memory module 103 is disposed in the main controller 100, and the main controller 100 performs data access with the communication processing module 101 through the shared memory module 103.
The shared memory module 103 is disposed between the main controller 100 and the communication processing module 101, and between the main controller 100 and each of the drivers 300, so as to ensure stable and efficient interaction of data among the functional units.
In specific implementation, the main controller 100 and the five sub-controllers 200 communicate with the EtherCAT master station module 102 through a uniquely designed shared memory technology to perform data interaction. The main controller 100 receives the processing results returned from the five sub-controllers 200, and transmits corresponding path information to each driver 300 in real time.
The shared memory technology is an efficient interprocess communication mode, and data between data sharing processes are not transmitted but directly access a memory. In order to exchange information among a plurality of processes, a kernel specially reserves a memory area, the memory area needs to be mapped to a private address space of the kernel by a process to be accessed, and at the moment, the process can directly read the memory without copying data, so that the efficiency is greatly improved.
Shared memory refers to a large amount of memory that can be accessed by different Central Processing Units (CPUs) in a multi-processor system. Since a plurality of CPUs needs to access the memory quickly, the memory is cached (Cache). After any cached data is updated, the shared memory needs to be updated immediately since other processors may also need to access the data, otherwise different processors may use different data. Shared memory is a communication method between multiple processes in Unix, and this method is usually used for communication between multiple processes of one program, and in fact, information can be transferred between multiple programs through shared memory.
In a further preferred embodiment of the present invention, as shown in fig. 3, five of the sub-controllers 200 comprise: trajectory planning controller 202, force controller 203, sensor controller 204, image processing controller 205, and voice recognition controller 206; the trajectory planning controller 202, the force controller 203, the sensor controller 204, the image processing controller 205, and the voice recognition controller 206 are all communicatively coupled to the master controller 100.
In a further preferred embodiment of the present invention, as shown in fig. 3, the trajectory planning controller 202, the force controller 203, the sensor controller 204, the image processing controller 205, and the voice recognition controller 206 are respectively and correspondingly connected with a user instruction or script instruction module 401, a zero force teaching module 402, a collision detection module 403, a vision module 404, and a voice recognition module 405; the user instruction or script instruction module 401 is configured to convert the received user instruction or script instruction into a track or motion instruction; the zero force teaching module 402 is used for controlling the robot to keep the current posture, and controlling the robot body to keep the posture when the external force is cancelled when the current posture is changed by the external force; the collision detection module 403 is configured to detect whether the robot body collides during the movement process, and send out warning information when the collision strength exceeds a preset strength range; the vision module 404 is configured to convert the detected target into an image signal, and transmit the image signal to an image processing controller, where the image signal is converted into a digital signal by the image processing controller; the speech recognition module 405 is used to convert speech into corresponding machine instructions.
As shown in fig. 3, the distributed robot control system further includes a teach pendant 10, the teach pendant 10 receives control parameters and control modes for controlling the robot and sends the control parameters to the main controller 100, the main controller 100 receives the control parameters, splits the control parameters into a plurality of small tasks and sends the small tasks to the sub-controller 200, the sub-controller 200 receives the tasks and processes the tasks, and feeds back processing results to the main controller 100, and the main controller receives the processing results and sends the processing results to corresponding drivers 300, and the drivers 300 drive the control modules.
The user command or script command module 401 converts the received user command or script command into a track or motion command, and then returns the track or motion command to the main controller 100.
The zero force teaching module 402 improves the usability of the robot, effectively reduces the debugging time and the learning cost, and realizes the rapid, stable and efficient field application of the product.
The collision detection module 403 has a function of setting a force preset range, and when the collision detection module 403 detects that the robot body generates a collision in the movement process and the collision force exceeds the force preset range, the collision detection module sends out early warning information.
The sensor controller 204 may control an air pressure sensor, a temperature and humidity sensor, an airspeed sensor, a light intensity sensor, and the like.
In a further preferred embodiment of the present invention, the posture of the robot body cannot be changed by the gravity of the robot body itself.
In a further preferred embodiment of the present invention, the image processing controller 205 converts the image signal, which is captured by the CCD camera, into a digital signal according to the pixel distribution, brightness and color.
The image processing controller 205 performs various operations on the acquired image signals to extract target features, such as area, number, position, and length, and outputs corresponding results according to preset allowance and other conditions, so as to implement an automatic identification function. The processing of the image processing controller 205 is primarily embodied in an image recognition application, an image detection application, a visual positioning application, an object measurement application, an object sorting application, and the like.
The CCD (charge coupled device) is a charge coupled device, and may be referred to as a CCD image sensor. A CCD is a semiconductor device that can convert an optical image into a digital signal. The tiny photosensitive substances implanted on the CCDs are called pixels (pixels), and the larger the number of pixels contained in a CCD, the higher the resolution of the picture provided by the CCD. The CCD functions like a film, but converts image pixels into digital signals, and has a plurality of capacitors arranged in order to sense light and convert images into digital signals, and each small capacitor transfers charges carried by the small capacitor to its adjacent capacitor under the control of an external circuit.
The CCD camera transmits the acquired image data to the field programmable gate array through the Cameralink interface, and the field programmable gate array can receive the image data and process, compare and process the image data in cooperation with the digital signal processor and the image sample model to obtain the position coordinate and the angle information.
The invention also provides a distributed control method of the robot, as shown in fig. 3, comprising the following steps:
s100, receiving a control instruction sent by a user by a main controller;
s200, the main controller splits the control instruction into a plurality of small tasks and sends the small tasks to corresponding sub-controllers;
s300, after receiving the small tasks sent by the main controller, the plurality of sub-controllers generate corresponding processing results for the small tasks and send the corresponding processing results to the main controller;
and S400, after receiving the processing results fed back by each sub-controller, the main controller respectively controls corresponding drivers according to the processing results, and the drivers drive corresponding control modules.
The robot control method can effectively reduce the development difficulty and cost of robot control system development, prevent control parameters from being analyzed in the control process, and greatly improve the confidentiality of the whole control.
In summary, the present invention discloses a distributed control system for a robot and a method thereof, wherein the distributed control system comprises: the system comprises a main controller, a plurality of sub-controllers, a plurality of drivers and a control module, wherein the sub-controllers and the drivers are respectively communicated with the main controller; the main controller is used for splitting a control task of the whole robot into a plurality of small tasks, sending the small tasks to the corresponding sub-controllers, receiving processing results fed back by the sub-controllers, and respectively controlling the corresponding drivers according to the processing results; the whole control system of the robot is divided into a plurality of control units, so that the research and development risk and cost of the whole scheme are greatly reduced, a single control unit can be optimized and copied according to different application scenes of the robot, and an excellent effect can be achieved; the hardware cost and the energy consumption of a single controller are effectively reduced, the security of the whole control is greatly improved, and meanwhile, the distributed control system provides an expansion space for the robot group cooperation control.
It is to be understood that the above-described embodiments are merely illustrative of some, but not restrictive, of the broad invention, and that the appended drawings illustrate preferred embodiments of the invention and do not limit the scope of the invention. This application is capable of embodiments in many different forms and is provided for the purpose of enabling a thorough understanding of the disclosure of the application. Although the present application has been described in detail with reference to the foregoing embodiments, it will be apparent to one skilled in the art that the present application may be practiced without modification or with equivalents of some of the features described in the foregoing embodiments. All equivalent results obtained by using the contents of the specification and the drawings of the present application can be directly or indirectly applied to other related technical fields, and are also within the protection scope of the present application.
Claims (9)
1. A distributed control system for a robot, comprising:
the system comprises a main controller, a plurality of sub-controllers, a plurality of drivers and a control module, wherein the sub-controllers and the drivers are respectively communicated with the main controller;
the main controller is used for splitting a control task of the whole robot into a plurality of small tasks, sending the small tasks to the corresponding sub-controllers, receiving processing results fed back by the sub-controllers, and respectively controlling the corresponding drivers according to the processing results;
the plurality of sub-controllers are used for receiving the small tasks sent by the main controller and generating corresponding processing results of the small tasks and sending the corresponding processing results to the main controller;
and the plurality of drivers are used for receiving corresponding processing results sent by the main controller and driving corresponding control modules.
2. The distributed robot control system according to claim 1, wherein a communication processing module is disposed in the main controller, and the main controller is in communication connection with the sub-controller and the driver through the communication processing module.
3. The distributed robot control system of claim 2, wherein an EtherCAT master station module is arranged in the master controller, EtherCAT slave station modules are arranged in the plurality of sub-controllers, and the EtherCAT master station module exchanges data with the communication processing module and the EtherCAT slave station modules respectively.
4. The distributed control system of robot of claim 3, wherein the EtherCAT master station module and the EtherCAT slave station module communicate via an EtherCAT fieldbus.
5. The distributed robot control system of claim 4, wherein a shared memory module is disposed in the main controller, and the main controller performs data access with the communication processing module through the shared memory module.
6. The distributed control system of robots as recited in claim 1 wherein said plurality of said sub-controllers comprises: a trajectory planning controller, a force controller, a sensor controller, an image processing controller and a voice recognition controller;
the track planning controller, the force controller, the sensor controller, the image processing controller and the voice recognition controller are all in communication connection with the main controller.
7. The distributed robot control system of claim 6, wherein the trajectory planning controller, the force controller, the sensor controller, the image processing controller, and the voice recognition controller are respectively and correspondingly connected with a user instruction or script instruction module, a zero-force teaching module, a collision detection module, a vision module, and a voice recognition module;
the user instruction or script instruction module is used for converting the received user instruction or script instruction into a track or motion instruction;
the zero force teaching module is used for controlling the robot to keep the current posture, and controlling the robot body to keep the posture when the external force is cancelled when the current posture is changed through the external force;
the collision detection module is used for detecting whether the robot body generates collision in the motion process and sending out early warning information when the collision force exceeds a preset force range;
the vision module is used for converting the detected target into an image signal, transmitting the image signal to the image processing controller, and converting the image signal into a digital signal through the image processing controller;
the voice recognition module is used for converting the voice into corresponding machine instructions.
8. The distributed control system of robots of claim 7, wherein said image processing controller converts image signals, which are captured by a CCD camera, into digital signals according to pixel distribution, brightness and color.
9. A distributed control method for a robot is characterized by comprising the following steps:
the main controller receives a control instruction sent by a user;
the main controller splits the control instruction into a plurality of small tasks and sends the small tasks to corresponding sub-controllers;
the plurality of sub-controllers receive the small tasks sent by the main controller, process the small tasks and generate corresponding processing results to be fed back to the main controller;
and after receiving the processing results fed back by each sub-controller, the main controller respectively controls the corresponding driver to drive the corresponding control module according to the processing results.
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| CN114800492A (en) * | 2022-04-11 | 2022-07-29 | 深圳市大族机器人有限公司 | Method, system, computer device and storage medium for controlling slave station terminal |
| CN115097816A (en) * | 2022-05-20 | 2022-09-23 | 深圳市大族机器人有限公司 | Modularized multi-robot cooperation control method |
| WO2023019941A1 (en) * | 2021-08-18 | 2023-02-23 | 达闼机器人股份有限公司 | Robot control method and apparatus, storage medium, and robot |
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