CN113960951A - Novel dinosaur model control system - Google Patents
Novel dinosaur model control system Download PDFInfo
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- CN113960951A CN113960951A CN202111519450.8A CN202111519450A CN113960951A CN 113960951 A CN113960951 A CN 113960951A CN 202111519450 A CN202111519450 A CN 202111519450A CN 113960951 A CN113960951 A CN 113960951A
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- 241000086550 Dinosauria Species 0.000 title claims abstract description 22
- 238000004891 communication Methods 0.000 claims abstract description 11
- 230000003993 interaction Effects 0.000 claims abstract description 7
- 230000033001 locomotion Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims 2
- 230000006870 function Effects 0.000 abstract description 19
- 238000010586 diagram Methods 0.000 description 9
- 238000004590 computer program Methods 0.000 description 5
- 230000009471 action Effects 0.000 description 3
- 238000012423 maintenance Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 230000002093 peripheral effect Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
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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
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0423—Input/output
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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
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24215—Scada supervisory control and data acquisition
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Abstract
The invention discloses a novel dinosaur model control system which comprises an operation unit, a wireless network unit, a master controller unit, a Bluetooth unit and a plurality of driving units, wherein the operation unit is used for controlling and adjusting the driving units according to user-defined data of a user and is respectively connected to the wireless network unit, the master controller unit and the Bluetooth unit; the wireless network unit and the Bluetooth unit are used for providing communication interaction between the master controller unit and a user; the general control unit is used for adjusting the running states of the plurality of driving units according to the control instructions of the operation unit, the size of the whole controller is reduced, and the controller can be accommodated in a dinosaur body. More functions can be achieved and more joints can be connected using STM 32. The failure rate is low because of the spare equipment.
Description
Technical Field
The invention relates to the field of control systems, in particular to a novel dinosaur model control system.
Background
The conventional old black box controller is realized by PLC programming and comprises a PLC, a driver, a data interface and the like. The volume is very large, and generally only external control can be performed, which causes inconvenient operation. The program is fixed, complex combination of a plurality of actions cannot be realized, and the user cannot do customized movement. Maintenance costs are high and maintenance personnel are required to go to the site for maintenance. There is no feedback of positioning and working condition information, and there is no cloud control function.
Disclosure of Invention
Aiming at the defects in the prior art, the invention provides a novel dinosaur model control system.
In order to achieve the purpose of the invention, the invention adopts the technical scheme that:
a novel dinosaur model control system comprises an operation unit, a wireless network unit, a master controller unit, a Bluetooth unit and a plurality of driving units, wherein the operation unit is used for controlling and adjusting the driving units according to user-defined data of a user and is respectively connected to the wireless network unit, the master controller unit and the Bluetooth unit; the wireless network unit and the Bluetooth unit are used for providing communication interaction between the master controller unit and a user; and the total control unit is used for adjusting the running states of the plurality of driving units according to the control instruction of the operation unit.
Furthermore, the plurality of driving units are respectively arranged at each joint of the dinosaur model, each driving unit comprises a driver and a push rod, the push rods are connected with the drivers and used for supplying power to the push rods and collecting motion signals of the push rods, the drivers are connected with a master controller through a CAN data bus, and the master controller transmits data through the CAN data bus to control each driver.
Furthermore, the bluetooth module and the operation module are in serial communication connection, wherein the bluetooth module adopts a master-slave integrated bluetooth serial module HC-05, a VCC port of the bluetooth module is connected with a high level, a GND port of the bluetooth module is grounded, a TX port of the bluetooth module is connected with a serial receiving pin of the processing module, and an RX port of the bluetooth module is connected with a serial output pin.
Furthermore, the bluetooth module resets the serial port and configures a GPIO port mode through a serial port clock and a GPIO clock, and the set serial port parameters comprise baud rate, word length and parity check parameters and are used for controlling the starting of the serial port and the terminal.
Further, the processing module detects the data state by judging the serial port state, and when the serial port state bit is set to 1, the processing module detects that the data state is received, and when the serial port state bit is set, the processing module detects that the data state is sent.
Furthermore, the Ethernet module acquires a clock signal through an LWIP protocol, is in communication connection with the processing module through the LWIP protocol, and acquires an IP state and starts HTTP service through DHCP after the system is initialized successfully so as to realize man-machine interaction.
The invention has the following beneficial effects:
the whole controller is reduced in size and can be accommodated in the dinosaur body. More functions can be achieved and more joints can be connected using STM 32. The failure rate is low because of the spare equipment. The graphics are programmed in a way that allows the user to customize the functionality. The cloud networking function can monitor the running state of the equipment and remotely control the working condition of the equipment
Drawings
Fig. 1 is a schematic structural diagram of a novel dinosaur model control system of the present invention.
Detailed Description
The following description of the embodiments of the present invention is provided to facilitate the understanding of the present invention by those skilled in the art, but it should be understood that the present invention is not limited to the scope of the embodiments, and it will be apparent to those skilled in the art that various changes may be made without departing from the spirit and scope of the invention as defined and defined in the appended claims, and all matters produced by the invention using the inventive concept are protected.
A novel dinosaur model control system is shown in figure 1 and comprises an operation unit, a wireless network unit, a master controller unit, a Bluetooth unit and a plurality of driving units, wherein the operation unit is used for controlling and adjusting the driving units according to user-defined data of users and is respectively connected to the wireless network unit, the master controller unit and the Bluetooth unit; the wireless network unit and the Bluetooth unit are used for providing communication interaction between the master controller unit and a user; and the total control unit is used for adjusting the running states of the plurality of driving units according to the control instruction of the operation unit.
In this embodiment, the CPU may be selected from a Linux system, an RT-READ or an ARM operating system. The whole workflow is illustrated by taking an STM32 of an ARM architecture as an example.
STM32 communicates with bluetooth in a serial manner. The Bluetooth HC-05 is a master-slave integrated Bluetooth serial port module, and after the Bluetooth equipment is successfully matched and connected, the communication protocol in the Bluetooth can be ignored, and the Bluetooth can be directly used as a serial port. The two devices share one channel, namely the same serial port, wherein one device sends data to the channel, and the other device can receive the data in the channel. The serial port baud rate can be selected from 4800 bps-1382400 bps, VCC is connected to 3.3 or 5v, GND is connected to GND, TX is connected to an STM32 serial port receiving pin, and RX is connected to a serial port output pin.
Specifically, the plurality of driving units are respectively arranged at each joint of the dinosaur model, each driving unit comprises a driver and a push rod, the push rods are connected with the drivers and used for supplying power to the push rods and collecting motion signals of the push rods, the drivers are connected with a master controller through a CAN data bus, and the master controller transmits data through the CAN data bus to control each driver.
Specifically, each joint of the dinosaur is formed by connecting stepping motor push rods, each push rod is connected with a driver and used for supplying power to the push rods and collecting push rod motion signals, all the drivers are connected with a master controller through a data bus, and the master controller transmits data through a CAN bus to realize the control of each driver, so that different functions are realized.
In this embodiment, the control system is provided with a standby device of the controller, and when a failure of the currently operating device is detected, the standby device is automatically started to operate. The standby equipment interface is directly connected with the data bus, and when equipment fails, the CPU can control the standby equipment through the bus.
Furthermore, the bluetooth module and the operation module are in serial communication connection, wherein the bluetooth module adopts a master-slave integrated bluetooth serial module HC-05, a VCC port of the bluetooth module is connected with a high level, a GND port of the bluetooth module is grounded, a TX port of the bluetooth module is connected with a serial receiving pin of the processing module, and an RX port of the bluetooth module is connected with a serial output pin.
The controller is connected with a network and is also provided with a Bluetooth module, and a user can realize the connection of the controller by using the network or Bluetooth. The user can program in a modularized mode on the internet by oneself, the control of the dinosaur is realized, and meanwhile, on the cloud end, the on-line debugging, the remote control, the working condition analysis, the fault removal, the overhaul and the problem solving can be carried out on the equipment.
Furthermore, the bluetooth module resets the serial port and configures a GPIO port mode through a serial port clock and a GPIO clock, and the set serial port parameters comprise baud rate, word length and parity check parameters and are used for controlling the starting of the serial port and the terminal.
Specifically, the enabled serial port clock and the GPIO clock of the Bluetooth module reset the serial port, configure the GPIO port mode and mainly set the serial port to be a multiplexing function. And setting serial port parameters including baud rate, word length, parity check and other parameters, enabling the serial port, and starting interruption. And finally, sending serial port data, and converting the serial port data into a Bluetooth signal through HC-05. The STM32 library function operation SART _ DR register reads the function of the data received by the serial port: uint16_ t SART _ ReceiveData (USART _ TypeDef USARTx); data received by the serial port can be read through the function
Further, the processing module detects the data state by judging the serial port state, and when the serial port state bit is set to 1, the processing module detects that the data state is received, and when the serial port state bit is set, the processing module detects that the data state is sent. Specifically, both sending and reading are based on the determination of the serial status, and the serial status RXNE (read data register is not empty) is introduced here, and when the bit is set to 1, it is indicated that data has been received and can be read. TC (transmission complete), when the bit is set, indicating that the data in USART _ DR has been transmitted.
Furthermore, the Ethernet module acquires a clock signal through an LWIP protocol, is in communication connection with the processing module through the LWIP protocol, and acquires an IP state and starts HTTP service through DHCP after the system is initialized successfully so as to realize man-machine interaction.
Specifically, STM32 has an ethernet module with a dedicated DMA controller, supporting an external PHY interface. The LWIP protocol is a realization mode of TCP/IP, belongs to a lightweight IP protocol, and is suitable for being used in a low-end embedded system.
The timer is adopted to provide a clock for the LWIO, the LWIP is initialized, and the operations of processing Ethernet peripheral equipment, external PHY, allocating memory, enabling DHCP, adding and opening a network card and the like are included. After the initialization is successful, the DHCP is entered to obtain the IP state, and when the acquisition is successful, the HTTP service is started, so that the STM32 address can be input into the browser to log in the Web control interface. Through visual programming, a user can predict dinosaur actions in advance in a preview window, a website can generate a JSON file according to a programming result of the user, the JSON file carries control information of the user, and Web is sent to the STM32 through the network or Bluetooth. After the STM32 receives the data, since the JSON is a serialized array, and may include, for example, a character string, a number, etc., the JSON is parsed to obtain a corresponding control action and a corresponding control parameter, and when a control function is programmed, the corresponding character string may be used as a function pointer, so that each time the JSON data is transferred, the JSON data includes a function call condition and a corresponding function parameter. The control function, such as the left-turn motion, is realized by STM32, CAN bus, push rod, motor driver, CAN driver and other components. The control signal is generated by the corresponding function of STM32, and is multiplexed into a CAN protocol transceiving port through a GPIO port, and is broadcasted to a CAN bus through a transceiver, and CAN data with specific ID CAN be received by a certain transceiver and registered in a mailbox to wait for execution. If the execution is wrong or the equipment fails, an error value is returned, which can lead the CPU to be converted into a redundant equipment which is prepared in advance to execute, and the redundant equipment is returned to the user end, namely a Web interface, so as to inform the user of the execution
The present invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
The principle and the implementation mode of the invention are explained by applying specific embodiments in the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It will be appreciated by those of ordinary skill in the art that the embodiments described herein are intended to assist the reader in understanding the principles of the invention and are to be construed as being without limitation to such specifically recited embodiments and examples. Those skilled in the art can make various other specific changes and combinations based on the teachings of the present invention without departing from the spirit of the invention, and these changes and combinations are within the scope of the invention.
Claims (6)
1. A novel dinosaur model control system is characterized by comprising an operation unit, a wireless network unit, a master controller unit, a Bluetooth unit and a plurality of driving units, wherein the operation unit is used for controlling and adjusting the driving units according to user-defined data of a user and is respectively connected to the wireless network unit, the master controller unit and the Bluetooth unit; the wireless network unit and the Bluetooth unit are used for providing communication interaction between the master controller unit and a user; and the total control unit is used for adjusting the running states of the plurality of driving units according to the control instruction of the operation unit.
2. The novel dinosaur model control system according to claim 1, wherein the plurality of driving units are respectively disposed at each joint of the dinosaur model, each driving unit comprises a driver and a push rod, wherein the push rod is connected with the driver and used for supplying power to the push rod and collecting motion signals of the push rod, the driver is connected with a master controller through a CAN data bus, and the master controller transmits data to control each driver through the CAN data bus.
3. The novel dinosaur model control system according to claim 2, wherein the bluetooth module and the operation module are connected by serial communication, wherein the bluetooth module is a master-slave integrated bluetooth serial module HC-05, a VCC port of the bluetooth module is connected with a high level, a GND port of the bluetooth module is connected with ground, a TX port of the bluetooth module is connected with a serial receiving pin of the processing module, and an RX port of the bluetooth module is connected with a serial output pin.
4. The novel dinosaur model control system according to claim 3, wherein the Bluetooth module resets the serial port and configures a GPIO port mode through a serial port clock and a GPIO clock, and the set serial port parameters comprise baud rate, word length and parity check parameters for controlling the start and the termination of the serial port.
5. The novel dinosaur model control system of claim 4, wherein the processing module detects the data state by determining the serial status, and when the serial status bit is set to 1, the detection status is received, and when the serial status bit is set, the detection status is sent.
6. The novel dinosaur model control system according to claim 5, wherein the Ethernet module obtains a clock signal through LWIP protocol, and is in communication connection with the processing module through LWIP protocol, and after the system is initialized successfully, obtains IP state through DHCP and starts HTTP service to realize man-machine interaction.
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| CN2020114654783 | 2020-12-14 | ||
| CN202011465478 | 2020-12-14 |
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|---|---|---|---|---|
| CN201020717Y (en) * | 2007-04-13 | 2008-02-13 | 华中科技大学 | Module type embedded type multiple-foot robot movement controller |
| TW201132393A (en) * | 2010-03-26 | 2011-10-01 | Compal Communications Inc | Robot |
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| CN207643135U (en) * | 2017-09-14 | 2018-07-24 | 泰山医学院 | A kind of articulated robot control system |
| CN111340211A (en) * | 2020-02-19 | 2020-06-26 | 腾讯科技（深圳）有限公司 | Training method of action control model, related device and storage medium |
| CN111506021A (en) * | 2020-05-13 | 2020-08-07 | 连云港宏翔东方智能技术有限公司 | STM 32-based embedded multi-axis motion control system |
| CN111813138A (en) * | 2020-07-23 | 2020-10-23 | 山东大学 | Real-time embedded control system of foot type mobile robot |
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2021
- 2021-12-13 CN CN202111519450.8A patent/CN113960951A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201020717Y (en) * | 2007-04-13 | 2008-02-13 | 华中科技大学 | Module type embedded type multiple-foot robot movement controller |
| TW201132393A (en) * | 2010-03-26 | 2011-10-01 | Compal Communications Inc | Robot |
| CN102360190A (en) * | 2011-08-18 | 2012-02-22 | 广东工业大学 | Humanoid robot control system |
| CN102799124A (en) * | 2012-08-22 | 2012-11-28 | 中科宇博（北京）文化有限公司 | Control system of biomimetic mechanical dinosaur |
| CN207643135U (en) * | 2017-09-14 | 2018-07-24 | 泰山医学院 | A kind of articulated robot control system |
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