CN112123347A - Motion control method and system for simulation robot - Google Patents
Motion control method and system for simulation robot Download PDFInfo
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- CN112123347A CN112123347A CN202010955351.3A CN202010955351A CN112123347A CN 112123347 A CN112123347 A CN 112123347A CN 202010955351 A CN202010955351 A CN 202010955351A CN 112123347 A CN112123347 A CN 112123347A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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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
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
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Abstract
The application discloses a motion control method of a simulation robot, which comprises the following steps: collecting external audio; performing analog-to-digital conversion on the acquired audio, and sending first audio data obtained after conversion to a single chip microcomputer chip; the single chip microcomputer chip analyzes the first audio data and outputs an electric signal to the relay group, the relay group inputs the electric signal to the PLC unit for data processing, and the PLC unit outputs the processed data to each electromagnetic valve so as to control the air cylinder to make different actions. The pneumatic driving device is driven pneumatically, so that the flexibility is good, the overload resistance is high, the reliability is high, and the safety is high; the control system has the advantages that the cylinders are combined to move in different strokes, the singlechip processes audio and outputs different current or voltage signals, so that different relay outputs are realized, and programs do not need to be written corresponding to each audio and video file. The method and the device improve the action flexibility and coordination performance of the simulation robot.
Description
Technical Field
The invention relates to the field of simulation robots, in particular to a method and a system for controlling actions of a simulation robot.
Background
The motion control part of the high-simulation flexible robot can be divided into a pneumatic control system and an electric control system. The electric control system is mainly a steering engine, a direct current motor, a stepping motor and a servo motor, and the motors are used for driving the four limbs and face mechanisms of the robot to act. Pneumatic control is mostly to use solenoid valve control cylinder etc..
The pneumatic control system generally consists of a controller, an air cylinder and an electromagnetic valve, in the implementation process, the action is rigid, the mechanical movement is obvious, the action speed is influenced by an air source, and the regulation of the action speed depends on people, so that the automatic control is not facilitated; the electric control system is complicated in structure, high in cost, poor in load resistance and short in service life of the steering engine drive. At the same time, it is more difficult to achieve the additional function of waterproofing. The adopted pneumatic driving mode has poor action coordination performance, inconvenient control and inconvenient maintenance.
Disclosure of Invention
In order to solve the problems of stiff action and poor coordination performance of the existing simulation robot adopting pneumatic drive, the embodiment of the application provides a method and a system for controlling the action of the simulation robot.
In a first aspect, an embodiment of the present application provides a method for controlling actions of a simulation robot, including:
collecting external audio;
performing analog-to-digital conversion on the acquired audio, and sending first audio data obtained after conversion to a single chip microcomputer chip;
the single chip microcomputer chip analyzes the first audio data and outputs an electric signal to the relay set, the relay set inputs the electric signal to the PLC unit for data processing, and the PLC unit outputs the processed data to each electromagnetic valve to control the cylinder to make different actions.
Wherein, the single chip microcomputer chip is right first audio data carry out the analysis, and the output signal of telecommunication is to relay group, relay group carries out data processing with signal of telecommunication input to the PLC unit, the PLC unit is exported each solenoid valve with the data after handling, and the control cylinder makes different actions, includes:
converting the first audio data into audio frequency spectrums, dividing the audio frequency spectrums into eight grades, outputting io signals to relay groups 1-8 #, accessing the relay groups to the input end of a PLC unit, comparing the relay signals 1-8 # by the PLC unit, and outputting a first action signal if only relays 1#, 2# obtain signals; if the relays 1#, 2#, 3#, and 4# obtain signals, outputting a second action signal; if the relays 1#, 2#, 3#, 4#, 5#, and 6# obtain signals, outputting a third action signal; if all signals are obtained from 1#, 2#, 3#, 4#, 5#, 6#, 7#, and 8#, a fourth action signal is output.
The first action signal, the second action signal, the third action signal and the fourth action signal all comprise a group of action instruction programs.
Wherein, the single chip is 51 single chip.
Wherein the acquiring external audio further comprises:
an instruction to select an automatic mode is received.
In a second aspect, the present application provides a motion control system for a simulation robot, comprising:
the acquisition unit is used for acquiring external audio;
the analog-to-digital conversion unit is used for performing analog-to-digital conversion on the acquired audio and sending first audio data obtained after conversion to the single chip microcomputer chip;
the single chip microcomputer chip is used for analyzing the first audio data and outputting an electric signal to the relay set;
the relay group is used for inputting an electric signal to the PLC unit;
and the PLC unit is used for processing the electric signals and outputting the processed data to each electromagnetic valve so as to control the air cylinder to make different actions.
Wherein, the single chip is 51 single chip.
The system further comprises a receiving unit used for receiving an instruction for selecting the automatic mode.
In a third aspect, the present application provides a computer-readable storage medium, on which a computer program is stored, and the computer program is used for implementing the steps of any one of the above methods when executed by a processor.
In a fourth aspect, the present application provides an emulated robot, comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the methods described above when executing the program.
The method and the system for controlling the actions of the simulation robot have the following beneficial effects:
the application discloses a motion control method of a simulation robot, which comprises the following steps: collecting external audio; performing analog-to-digital conversion on the acquired audio, and sending first audio data obtained after conversion to a single chip microcomputer chip; the single chip microcomputer chip analyzes the first audio data and outputs an electric signal to the relay group, the relay group inputs the electric signal to the PLC unit for data processing, and the PLC unit outputs the processed data to each electromagnetic valve so as to control the air cylinder to make different actions. The pneumatic driving device is driven pneumatically, so that the flexibility is good, the overload resistance is high, the reliability is high, and the safety is high; the control system has the advantages that the cylinders are combined to move in different strokes, the singlechip processes audio and outputs different current or voltage signals, so that different relay outputs are realized, and programs do not need to be written corresponding to each audio and video file. The method and the device improve the action flexibility and coordination performance of the simulation robot.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling the motion of a simulation robot according to an embodiment of the present application;
FIG. 2 is a flowchart illustrating audio processing in a method for controlling the motion of a simulation robot according to an embodiment of the present invention;
fig. 3 is a control schematic diagram of a motion control system of a simulation robot according to an embodiment of the present application.
Detailed Description
The present application is further described with reference to the following figures and examples.
In the following description, the terms "first" and "second" are used for descriptive purposes only and are not intended to indicate or imply relative importance. The following description provides embodiments of the invention, which may be combined or substituted for various embodiments, and this application is therefore intended to cover all possible combinations of the same and/or different embodiments described. Thus, if one embodiment includes feature A, B, C and another embodiment includes feature B, D, then this application should also be considered to include an embodiment that includes one or more of all other possible combinations of A, B, C, D, even though this embodiment may not be explicitly recited in text below.
The following description provides examples, and does not limit the scope, applicability, or examples set forth in the claims. Changes may be made in the function and arrangement of elements described without departing from the scope of the disclosure. Various examples may omit, substitute, or add various procedures or components as appropriate. For example, the described methods may be performed in an order different than the order described, and various steps may be added, omitted, or combined. Furthermore, features described with respect to some examples may be combined into other examples.
The motion control part of the high-simulation flexible robot can be divided into a pneumatic control system and an electric control system. The electric control system is mainly a steering engine, a direct current motor, a stepping motor and a servo motor, and the motors are used for driving the four limbs and face mechanisms of the robot to act. Pneumatic control is mostly to use solenoid valve control cylinder etc.. Compared with the traditional method for realizing the cylinder control mechanism, the invention has the advantages of more freedom degrees, flexible swing, rich expressions, simpler required mechanical structure, low control and maintenance cost, adaptation to long-term work and the like, can ensure that a human simulator acts more vividly, and can realize stepless speed change of action like an electric mechanism.
The invention aims to provide a sound-shape synchronous control system which is simple in system composition, easy to control and strong in flexibility, so that the problems of action distortion, missing and incompatibility in the process of simulation design are solved, and the aim of the invention is to provide reference for a simulation robot in aspects of science education, service and entertainment.
The application discloses a 51-single-chip microcomputer audio module is used for a control system of a simulation robot. The simulation robot controlled by the 51 single-chip microcomputer audio module is far beyond the simulation robot using the traditional electric driving mode and the PLC unit programming mode in the aspects of motion mode and man-machine interaction. The system has the advantages of programming modularization, flexible control, high recognition rate and the like of the simulation robot under the condition of realizing the same action, reserves more possibility for the connection of the appearance due to the simplification of the structure and the reduction of lines, is easy to endow different images of the mechanism, and has wider application range.
As shown in fig. 1 to 3, the present application provides a method for controlling the motion of a simulation robot, including the steps of: s101, collecting external audio; s103, performing analog-to-digital conversion on the acquired audio, and sending first audio data obtained after conversion to a single chip microcomputer chip; and S105, analyzing the first audio data by the single chip microcomputer chip, outputting an electric signal to the relay group, inputting the electric signal to the PLC unit by the relay group for data processing, and outputting the processed data to each electromagnetic valve by the PLC unit so as to control the air cylinder to perform different actions.
Wherein, single chip microcomputer chip carries out the analysis to first audio data, and the output signal of telecommunication to relay group, and relay group carries out data processing with signal of telecommunication input to the PLC unit, and the data output after the PLC unit will be handled each solenoid valve, and the control cylinder makes different actions, includes:
converting the first audio data into audio frequency spectrums, dividing the audio frequency spectrums into eight grades, outputting io signals to relay groups 1-8 #, connecting the relay groups to the input end of a PLC unit, comparing the relay signals 1-8 # by the PLC unit, and outputting a first action signal if only relays 1#, 2# obtain signals; if the relays 1#, 2#, 3#, and 4# obtain signals, outputting a second action signal; if the relays 1#, 2#, 3#, 4#, 5#, and 6# obtain signals, outputting a third action signal; if all signals are obtained from 1#, 2#, 3#, 4#, 5#, 6#, 7#, and 8#, a fourth action signal is output.
The first action signal, the second action signal, the third action signal and the fourth action signal all comprise a group of action instruction programs. The single chip is 51 single chip. Before the external audio is collected, the method further comprises the following steps: an instruction to select an automatic mode is received.
The application also provides a motion control system of the simulation robot, comprising: the acquisition unit is used for acquiring external audio; the analog-to-digital conversion unit is used for performing analog-to-digital conversion on the acquired audio and sending first audio data obtained after conversion to the single chip microcomputer chip; the single chip microcomputer chip is used for analyzing the first audio data and outputting an electric signal to the relay group; the relay group is used for inputting the electric signal to the PLC unit; and the PLC unit is used for processing the electric signals and outputting the processed data to each electromagnetic valve so as to control the air cylinder to make different actions.
In some embodiments, the one-chip microcomputer chip is a 51-chip microcomputer chip. The control system of the present application further comprises a receiving unit for receiving an instruction to select the automatic mode.
In some embodiments, the control system of the simulation robot comprises an air source control system, a control valve system, a signal processing system, and programs and software. The control system mainly consists in controlling the cylinder stroke and the number of cylinders. The simulation robot system comprises a plurality of groups of air source driving mechanism systems, the input and the output of the electromagnetic valves are controlled through programs, and data information is returned through the sensors, so that the action of matching sound lines is formed, the self safety of the actuator is ensured, the flexibility of the driving system is realized, the movement of various positions and postures of the simulation robot is realized on the basis of the arrangement and combination control of the air source mechanisms, and the flexibility of the action is ensured.
1) The air source control system comprises: the air source control mainly comprises a constant-pressure air supply compressor with a drying function, a gas storage tank and a pressure regulating valve. His purpose is to provide an adequate gas supply for the whole system. Is a stable foundation stone ensuring the whole system.
2) An electromagnetic valve system: solenoid valve systems are made up of one or more base units. Each basic unit is provided with a pneumatic component which can be controlled.
3) A signal processing system: the signal processing system consists of an air cylinder in-place acquisition system, an electromagnetic valve signal output system and a data and action processing system. The signal collected by the cylinder-to-position system is the position of each controlled element. The electromagnetic valve signal output system sends the processed signal to the cylinder. The data action processing system is a brain of the system, knows the current action condition of the whole system through signal acquisition, combines with an action instruction stored in the system to generate motion data, and outputs a command through an electromagnetic valve signal output system.
4) The program and the software are as follows: the plc stored in the data and action processing system is an important part of the overall device operation.
The working principle is as follows:
the air compressor with constant-pressure air supply, the electromagnetic valve, the throttle valve, the Siemens S7-1215CPLC, the direct-current DC24V power module, the 51 single-chip microcomputer module, the wifi module, the Siemens touch screen, the electromagnetic valve, the switch, the multiple groups of cylinders and the relay group are respectively arranged in the machine. The software mainly comprises Bo Chart V15 and PLC software edited by Bo Chart V15.
Function of hardware part
1) The 51 single-chip microcomputer module is the core of the system
2) Sufficient and clean air source provided by constant-pressure air supply compressor
2) The throttle valve limits the pressure in the gas path and regulates the speed of the cylinder
3) Siemens S7-1215CPLC is that the brain of the system works according to the program command system
4) DC24V power supply module for supplying power to solenoid valve and PLC
5) And the direct current DC5V power supply module supplies power to the 51 single chip microcomputer module and the relay set.
6) Wifi module can be used to computer remote control
7) Siemens touch screens for human to device interaction
8) The pneumatic part is composed of a plurality of cylinders and is matched with audio contents to perform various actions
Software part function
1) Bo-chart software for compiling control software
2) The software is used for controlling the whole system, and the software system comprises a device power-off protection program block, a manual program block, a reset program and an automatic program block.
The flow of the whole system work combining software and hardware is as follows. Firstly, the constant-pressure air supply air compressor is started when power is supplied. While turning on the power-off protection block for safety. The next step in the power down protection block is to select the manual mode or the automatic mode, and if the manual mode is the manual mode, data is written into the touch screen, and then the data in the touch screen is used for directly operating the proportional pressure valve. When the automatic mode is selected. First, an automatic reset procedure is performed, which is to automatically return to the start point of the operation (to make all the cylinders operate to the initial position). Then, according to an automatic program block (namely, the single chip microcomputer module is used for analyzing an audio file and outputting an electric signal to the relay group, the relay group is input to the PLC for data processing, the PLC outputs the electric signal to each electromagnetic valve, and the air cylinder performs different actions). The most important of them is that the electric signal capable of identifying the output of the audio file is processed in the PLC to make the action soft and diversified. The principle of the method is that actions are combined firstly, collected audio signals serve as comparison values, and corresponding combined actions are output according to the number given by the relay groups.
The method comprises the following steps that four different actions can be formed by combining two cylinders, so when a plc controls a combined cylinder, four actions can be made by using two output points, each two cylinders are taken as a group, an audio frequency spectrum is divided into eight grades in a single chip microcomputer, judgment is made, each node outputs an io signal to relay groups 1-8 #, the relay groups are accessed to the plc input end, the plc compares the relay signals 1-8 #, and if only the relay signals 1# and 2# are obtained, a signal I is output; if 1#, 2#, 3#, 4# obtain the signal, then output signal two; if 1#, 2#, 3#, 4#, 5# and 6# obtain signals, outputting a signal (c); if all signals are obtained from 1#, 2#, 3#, 4#, 5#, 6#, 7# and 8#, then a signal (r) is output. The action of the simulation robot is divided into a plurality of subprograms to control the electromagnetic valve, and output signals are used for controlling the action subprograms of the simulation robot respectively, so that plc program control is simplified, and multi-scene performance is adapted.
The present application has the following effects:
1. the module control is adopted, and the control is simplified;
2. the cylinder is dirt-resistant, has stable performance under the condition of constant air pressure and is not easy to break down;
3. the anti-load capacity is enhanced compared with that of an electric control system;
4. the electrical control cost is reduced, and the whole manufacturing cost is reduced;
5. can be remotely controlled.
The application has the following advantages:
1. the pneumatic driving is adopted, so that the flexibility is good, the overload resistance is high, the reliability is high, and the safety is high;
2. the control system has the advantages that the cylinders are combined to move in different strokes, the singlechip processes audio and outputs different current or voltage signals, so that different relay outputs are realized, and programs do not need to be written corresponding to each audio and video file.
In the present application, the embodiment of the motion control system of the simulation robot is basically similar to the embodiment of the motion control method of the simulation robot, and please refer to the introduction of the embodiment of the motion control method of the simulation robot in related terms.
It is clear to a person skilled in the art that the solution according to the embodiments of the invention can be implemented by means of software and/or hardware. The "unit" and "module" in this specification refer to software and/or hardware that can perform a specific function independently or in cooperation with other components, where the hardware may be, for example, an FPGA (Field-Programmable Gate Array), an IC (Integrated Circuit), or the like.
Each processing unit and/or module according to the embodiments of the present invention may be implemented by an analog circuit that implements the functions described in the embodiments of the present invention, or may be implemented by software that executes the functions described in the embodiments of the present invention.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and the computer program is used for realizing the steps of the motion control method of the simulation robot when being executed by a processor. The computer-readable storage medium may include, but is not limited to, any type of disk including floppy disks, optical disks, DVD, CD-ROMs, microdrive, and magneto-optical disks, ROMs, RAMs, EPROMs, EEPROMs, DRAMs, VRAMs, flash memory devices, magnetic or optical cards, nanosystems (including molecular memory ICs), or any type of media or device suitable for storing instructions and/or data.
The simulation robot comprises a processor, a memory, an input device and an output device. The processor, memory, input device, and output device may be connected by a bus or other means. The memory stores a computer program which can be run on the processor, and the processor realizes the steps of the motion control method of the simulation robot when executing the program.
In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.
All functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
1. A motion control method of a simulation robot is characterized by comprising the following steps:
collecting external audio;
performing analog-to-digital conversion on the acquired audio, and sending first audio data obtained after conversion to a single chip microcomputer chip;
the single chip microcomputer chip analyzes the first audio data and outputs an electric signal to the relay set, the relay set inputs the electric signal to the PLC unit for data processing, and the PLC unit outputs the processed data to each electromagnetic valve to control the cylinder to make different actions.
2. The method for controlling the operation of the simulation robot according to claim 1, wherein the single chip microcomputer analyzes the first audio data and outputs an electrical signal to a relay set, the relay set inputs the electrical signal to a PLC unit for data processing, the PLC unit outputs the processed data to each solenoid valve to control the cylinder to perform different operations, and the method comprises:
converting the first audio data into audio frequency spectrums, dividing the audio frequency spectrums into eight grades, outputting io signals to relay groups 1-8 #, accessing the relay groups to the input end of a PLC unit, comparing the relay signals 1-8 # by the PLC unit, and outputting a first action signal if only relays 1#, 2# obtain signals; if the relays 1#, 2#, 3#, and 4# obtain signals, outputting a second action signal; if the relays 1#, 2#, 3#, 4#, 5#, and 6# obtain signals, outputting a third action signal; if all signals are obtained from 1#, 2#, 3#, 4#, 5#, 6#, 7#, and 8#, a fourth action signal is output.
3. The motion control method of the simulation robot according to claim 2, wherein the first motion signal, the second motion signal, the third motion signal, and the fourth motion signal each include a set of motion instruction programs.
4. The motion control method of the simulation robot according to any one of claims 1 to 3, wherein the one-chip microcomputer chip is a 51-chip microcomputer chip.
5. The motion control method of the simulation robot according to any one of claims 1 to 3, wherein the capturing of the external audio further comprises:
an instruction to select an automatic mode is received.
6. A motion control system for a simulation robot, comprising:
the acquisition unit is used for acquiring external audio;
the analog-to-digital conversion unit is used for performing analog-to-digital conversion on the acquired audio and sending first audio data obtained after conversion to the single chip microcomputer chip;
the single chip microcomputer chip is used for analyzing the first audio data and outputting an electric signal to the relay set;
the relay group is used for inputting an electric signal to the PLC unit;
and the PLC unit is used for processing the electric signals and outputting the processed data to each electromagnetic valve so as to control the air cylinder to make different actions.
7. The motion control system of claim 6, wherein the single chip is a 51-chip.
8. The simulated robot motion control system of claim 7, further comprising a receiving unit for receiving an instruction to select an automatic mode.
9. A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 5.
10. A simulated robot comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the steps of the method of any of claims 1-5 are implemented when the program is executed by the processor.
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