CN114347072A - Robot controller simulation platform and virtual method thereof - Google Patents
Robot controller simulation platform and virtual method thereof Download PDFInfo
- Publication number
- CN114347072A CN114347072A CN202111471738.2A CN202111471738A CN114347072A CN 114347072 A CN114347072 A CN 114347072A CN 202111471738 A CN202111471738 A CN 202111471738A CN 114347072 A CN114347072 A CN 114347072A
- Authority
- CN
- China
- Prior art keywords
- controller
- unit
- robot
- simulation platform
- robot controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000004088 simulation Methods 0.000 title claims abstract description 29
- 238000011161 development Methods 0.000 claims abstract description 20
- 238000005516 engineering process Methods 0.000 claims abstract description 16
- 238000012545 processing Methods 0.000 claims abstract description 16
- 238000013507 mapping Methods 0.000 claims abstract description 7
- 230000006870 function Effects 0.000 claims description 23
- 239000012792 core layer Substances 0.000 claims description 9
- 239000010410 layer Substances 0.000 claims description 9
- 238000000034 method Methods 0.000 claims description 9
- 230000002093 peripheral effect Effects 0.000 claims description 8
- 230000001360 synchronised effect Effects 0.000 claims description 4
- MVVPIAAVGAWJNQ-DOFZRALJSA-N Arachidonoyl dopamine Chemical compound CCCCC\C=C/C\C=C/C\C=C/C\C=C/CCCC(=O)NCCC1=CC=C(O)C(O)=C1 MVVPIAAVGAWJNQ-DOFZRALJSA-N 0.000 claims description 3
- 230000002452 interceptive effect Effects 0.000 claims description 3
- 238000012360 testing method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000003745 diagnosis Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000004806 packaging method and process Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
-
- 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
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
- B25J9/1661—Programme controls characterised by programming, planning systems for manipulators characterised by task planning, object-oriented languages
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Automation & Control Theory (AREA)
- Evolutionary Computation (AREA)
- Fuzzy Systems (AREA)
- Mathematical Physics (AREA)
- Software Systems (AREA)
- Physics & Mathematics (AREA)
- Artificial Intelligence (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
- Debugging And Monitoring (AREA)
Abstract
The invention relates to the field of robot physical controller hardware, in particular to a robot controller simulation platform and a virtual method thereof, wherein the platform comprises: the system comprises a micro-processing unit, a driving unit and a storage unit, and comprises the following specific steps: s1, constructing a software framework; s2, in a drive development layer, physically mapping each drive part such as can, uart, emac and spi; s3, simulating by using software, and providing an interface for starting and interacting with external equipment; s4, fusing a GDB debugging technology to complete a real-time online debugging and diagnosing function; s5, reconstructing source codes and function codes, and integrating to form a complete set of robot controller virtualization technical scheme which is easy for developers to modify and develop.
Description
Technical Field
The invention relates to the field of hardware of a robot physical controller, in particular to a robot controller simulation platform and a virtual method thereof.
Background
In the robotic industry, physical controller hardware is an integral part. In the prior art, most real-time systems need to be supported by an entity controller during operation, and meanwhile, certain requirements are also made on the performance, quality and the like of the entity controller, so that certain difficulty is brought to the design and development of a robot, and the development cost is increased.
The stable operation of hardware equipment is the premise of realizing the functions of the hardware equipment, and the hardware of the industrial robot is expensive, so a novel scheme is needed for reducing the development cost. The simulation technology provides an innovative idea for the robot industry. It is necessary to simulate the function of the physical robot controller by a virtualization technology, so that the robot controller is free from the constraint of hardware, runs on a simulator, and simulates the actual development effect.
For example, in the chinese patent application No. 201811598120.0, "a multi-robot controller based on edge cloud service", the multi-robot controller conforms to the scope of edge cloud technology, carries a high-performance CPU + FPGA heterogeneous acceleration framework and multiple groups of physical network interfaces, supports remote deployment of edge cloud robot applications, and can implement calculation of a multi-robot control model and distributed cooperative control. In addition, in order to realize multi-robot cooperative control, a virtualization technology is adopted to uniformly regulate and control hardware resources, network resources and storage resources of the controller, and a high-speed data buffer area is created for data sharing of multiple robots, so that integrated high-performance multi-robot control is realized. Because the method completely depends on external hardware equipment, the method is lack of flexibility, the development difficulty of developers is increased, and the development and learning cost of robot developers is also increased; meanwhile, in some specific cases, the running of the robot program has certain requirements on the model, the performance and the like of hardware, and the development of related technologies is greatly hindered.
For example, in the chinese patent No. 201810844014.X, "simulator and simulation method of robot system", the patent provides a simulator of robot system for simulating a virtual robot controller; the patent can only simulate the robot controller under certain conditions, is mainly used for application, and cannot simulate the robot controller from the bottom layer.
Disclosure of Invention
In order to solve the above problems, the present invention provides a robot controller simulation platform and a virtual method thereof.
A robotic controller simulation platform, comprising:
a microprocessor unit for simulating the central processing unit formed by integrated circuit, executing the functions of control unit and arithmetic logic unit, and performing information exchange operation with external memory;
the driving unit is used for interacting with external equipment and providing interactive interface functions;
and the storage unit is used for storing related data and performing read-write operation.
The micro-processing unit internally simulates a cluster stack, an arithmetic unit, a time sequence control circuit and data and address buses.
The micro-processing unit of the micro-processing unit consists of a central processing unit and a cache unit, and the part mainly simulates a processor of the robot controller.
The controller mainly comprises a clock manager, a reset manager, an FPGA manager, a system manager, system interconnection, HPS-FPGA bridging, a Cortex-A9 microprocessor unit subsystem, CoreSight debugging and tracking, a synchronous dynamic random access memory, a controller subsystem, an on-chip memory and an external drive controller.
The drive controller comprises an NADA memory controller, a digital security memory card/multimedia card, an SD/MMC controller, an Ethernet medium access controller, a general I/O interface, a discrete processor and a component interface.
The driving units comprise can, emac, uart, spi, i2c, gpio and usb types.
The driving unit provides peripheral interfaces for a controller area network, an Ethernet media access controller, a universal asynchronous receiving and transmitting transmitter, a serial peripheral interface, an internal integrated circuit, a universal input/output and a universal serial bus.
A virtual method of a robot controller simulation platform comprises the following specific steps:
s1, constructing a software framework, which comprises a drive development layer and a microprocessor core layer part;
s2, in a drive development layer, physically mapping each drive part such as can, uart, emac and spi, and providing an interface communicated with external equipment and a microprocessor core layer;
s3, in the core layer of the microprocessor, physically mapping the calculator and memory parts in the actual microprocessor, simulating by software, and providing interfaces for starting and interacting with external equipment;
s4, fusing a GDB debugging technology to complete a real-time online debugging and diagnosing function;
and S5, reconstructing the source codes and the function codes, and integrating to form a complete robot controller virtualization technical scheme which is easy to modify and develop by developers.
The invention has the beneficial effects that: constructing a software framework of a virtual robot controller system, and providing a new simulation technical scheme of the robot controller; the GDB debugging technology is fused, so that not only can the simulation of the entity robot controller be realized, but also the online debugging and trial diagnosis of the robot control program can be realized; the method is further developed under the prior art, a bottom technical scheme of the virtual robot controller is provided, the technology can be packaged and integrated, interfaces are provided for switching different types of robot controllers, and an idea is provided for the subsequent virtualization technology.
Drawings
The invention is further illustrated with reference to the following figures and examples.
FIG. 1 is a schematic diagram of a platform structure according to the present invention;
FIG. 2 is a schematic diagram of a flow method structure according to the present invention.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further explained below.
As shown in fig. 1, a robot controller simulation platform includes:
a microprocessor unit for simulating the central processing unit formed by integrated circuit, executing the functions of control unit and arithmetic logic unit, and performing information exchange operation with external memory;
the driving unit is used for interacting with external equipment and providing interactive interface functions;
and the storage unit is used for storing related data and performing read-write operation.
The micro-processing unit internally simulates a cluster stack, an arithmetic unit, a time sequence control circuit and data and address buses.
The invention creatively designs a robot controller simulation platform aiming at the characteristics of the current market development requirements of the robot, simulates all functions of the actual robot controller, such as task scheduling, input/output and debugging, greatly reduces the development cost, provides convenience for developers to debug programs, such as a robot control program, and promotes the development of the technical field of artificial intelligence, thus being an innovative invention.
The micro-processing unit of the micro-processing unit consists of a central processing unit and a cache unit, and the part mainly simulates a processor of the robot controller.
The invention simulates the function of a hardware development board through a virtualization technology to form a simulator, virtualizes the robot controller hardware through software, simulates the functions of the robot controller hardware, completely simulates the robot controller hardware, gets rid of the constraint of the entity hardware, and realizes development and debugging at any time and any place. The effects are completely consistent under the robot controller and the simulator by comparing the reality with the virtual through the operation of a real-time system, the scheduling of a simulation task and the like.
The drive unit at the bottom layer is controlled and built, test codes are compiled to test basic functions of the drive at the bottom layer, and then corresponding package opening, configuration, reading and writing application program interface standards are adopted to provide corresponding calling interfaces for external development and application personnel.
The controller mainly comprises a clock manager, a reset manager, an FPGA manager, a system manager, system interconnection, HPS-FPGA bridging, a Cortex-A9 microprocessor unit subsystem, CoreSight debugging and tracking, a synchronous dynamic random access memory (synchronous dynamic random access memory), an SDRAM controller subsystem, an on-chip memory and a peripheral drive controller.
The controller starts from the simulation of the controller, and the description is the simulation function on the controller.
The controller is mainly used for realizing register simulation and bus simulation.
The driving control of the external equipment in the controller comprises the following steps:
s1, simulating the driving according to the characteristics of each driving, and initializing the driving;
s2, testing each drive control function provided in the real-time operating system, and determining the usability of the function;
s3, packaging portable operation system interface for each drive controller, providing opening, configuring, reading, writing and other interfaces, testing the corresponding interface of the corresponding application, and detecting whether the packaged interface meets the basic requirement of user call.
Constructing a software framework of a virtual robot controller system, and providing a new simulation technical scheme of the robot controller; the GDB debugging technology is fused, so that not only can the simulation of the entity robot controller be realized, but also the online debugging and trial diagnosis of the robot control program can be realized; the method is further developed under the prior art, a bottom technical scheme of the virtual robot controller is provided, the technology can be packaged and integrated, interfaces are provided for switching different types of robot controllers, and an idea is provided for the subsequent virtualization technology.
The drive controller comprises a NADA Memory controller, a Digital security Memory Card (Secure Digital Memory Card), an SD/multimedia Card (Multi Media Card), an MMCSD/MMC controller, an Ethernet medium access controller, a general I/O interface and a discrete processor (HPS component interface).
The driving units comprise can, emac, uart, spi, i2c, gpio and usb types.
The driving unit provides a Peripheral Interface for a Controller Area Network (Controller Area Network, can), an Ethernet Media Access Controller (Ethernet Media Access Controller), an email, a Universal Asynchronous transceiver/Transmitter (Universal Asynchronous Receiver/Transmitter), a uart, a Serial Peripheral Interface (Serial Peripheral Interface), spi, an internal Integrated Circuit (Interintegrated Circuit, i2 c), a Universal input/output (Universal-purpose input/output), gpio, and a Universal Serial Bus (Universal Serial Bus, usb).
As can be seen from the above functions, the virtualization of the robot controller mainly expands the register simulation and the bus simulation, and further physically maps the functions in the controller.
As shown in fig. 2, a virtual method of a robot controller simulation platform includes the following specific steps:
s1, constructing a software framework, which comprises a drive development layer and a microprocessor core layer part;
s2, in a drive development layer, physically mapping each drive part such as can, uart, emac and spi, and providing an interface communicated with external equipment and a microprocessor core layer;
s3, in the core layer of the microprocessor, physically mapping the calculator and memory parts in the actual microprocessor, simulating by software, and providing interfaces for starting and interacting with external equipment;
s4, fusing a GDB debugging technology to complete a real-time online debugging and diagnosing function;
and S5, reconstructing the source codes and the function codes, and integrating to form a complete robot controller virtualization technical scheme which is easy to modify and develop by developers.
The foregoing shows and describes the general principles, essential features, and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are merely illustrative of the principles of the invention, but that various changes and modifications may be made without departing from the spirit and scope of the invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. The utility model provides a robot controller analog platform which characterized in that: the method comprises the following steps:
a microprocessor unit for simulating the central processing unit formed by integrated circuit, executing the functions of control unit and arithmetic logic unit, and performing information exchange operation with external memory;
the driving unit is used for interacting with external equipment and providing interactive interface functions;
and the storage unit is used for storing related data and performing read-write operation.
2. The robotic controller simulation platform according to claim 1, wherein: the micro-processing unit internally simulates a cluster stack, an arithmetic unit, a time sequence control circuit and data and address buses.
3. The robotic controller simulation platform according to claim 1, wherein: the micro-processing unit of the micro-processing unit consists of a central processing unit and a cache unit, and the part mainly simulates a processor of the robot controller.
4. The robotic controller simulation platform according to claim 3, wherein: the controller mainly comprises a clock manager, a reset manager, an FPGA manager, a system manager, system interconnection, HPS-FPGA bridging, a Cortex-A9 microprocessor unit subsystem, CoreSight debugging and tracking, a synchronous dynamic random access memory, a controller subsystem, an on-chip memory and an external drive controller.
5. The robotic controller simulation platform according to claim 4, wherein: the drive controller comprises an NADA memory controller, a digital security memory card/multimedia card, an SD/MMC controller, an Ethernet medium access controller, a general I/O interface, a discrete processor and a component interface.
6. The robotic controller simulation platform according to claim 1, wherein: the driving units comprise can, emac, uart, spi, i2c, gpio and usb types.
7. The robotic controller simulation platform according to claim 1, wherein: the driving unit provides peripheral interfaces for a controller area network, an Ethernet media access controller, a universal asynchronous receiving and transmitting transmitter, a serial peripheral interface, an internal integrated circuit, a universal input/output and a universal serial bus.
8. A method of virtualizing a robotic controller emulation platform as defined in any one of claims 1 to 7, wherein: the method comprises the following specific steps:
s1, constructing a software framework, which comprises a drive development layer and a microprocessor core layer part;
s2, in a drive development layer, physically mapping each drive part such as can, uart, emac and spi, and providing an interface communicated with external equipment and a microprocessor core layer;
s3, in the core layer of the microprocessor, physically mapping the calculator and memory parts in the actual microprocessor, simulating by software, and providing interfaces for starting and interacting with external equipment;
s4, fusing a GDB debugging technology to complete a real-time online debugging and diagnosing function;
and S5, reconstructing the source codes and the function codes, and integrating to form a complete robot controller virtualization technical scheme which is easy to modify and develop by developers.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111471738.2A CN114347072A (en) | 2021-12-06 | 2021-12-06 | Robot controller simulation platform and virtual method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111471738.2A CN114347072A (en) | 2021-12-06 | 2021-12-06 | Robot controller simulation platform and virtual method thereof |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114347072A true CN114347072A (en) | 2022-04-15 |
Family
ID=81098236
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111471738.2A Pending CN114347072A (en) | 2021-12-06 | 2021-12-06 | Robot controller simulation platform and virtual method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114347072A (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020107678A1 (en) * | 2001-02-07 | 2002-08-08 | Chuan-Lin Wu | Virtual computer verification platform |
| CN1728702A (en) * | 2004-07-29 | 2006-02-01 | 国家数字交换系统工程技术研究中心 | Method for separating control plane of router from hardware of data plane |
| CN102968311A (en) * | 2012-12-13 | 2013-03-13 | 中国航空无线电电子研究所 | Onboard embedded software development platform |
| WO2018072445A1 (en) * | 2016-10-20 | 2018-04-26 | 南京南瑞继保电气有限公司 | Running method for embedded type virtual device and system |
| CN111360813A (en) * | 2018-12-26 | 2020-07-03 | 中国科学院沈阳自动化研究所 | Multi-robot controller based on edge cloud service |
| US10796035B1 (en) * | 2016-03-21 | 2020-10-06 | EMC IP Holding Company LLC | Computing system with simulated hardware infrastructure to support development and testing of management and orchestration software |
| CN112783018A (en) * | 2019-11-11 | 2021-05-11 | 罗克韦尔自动化技术公司 | Robot digital twin control under industrial environment simulation |
-
2021
- 2021-12-06 CN CN202111471738.2A patent/CN114347072A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20020107678A1 (en) * | 2001-02-07 | 2002-08-08 | Chuan-Lin Wu | Virtual computer verification platform |
| CN1728702A (en) * | 2004-07-29 | 2006-02-01 | 国家数字交换系统工程技术研究中心 | Method for separating control plane of router from hardware of data plane |
| CN102968311A (en) * | 2012-12-13 | 2013-03-13 | 中国航空无线电电子研究所 | Onboard embedded software development platform |
| US10796035B1 (en) * | 2016-03-21 | 2020-10-06 | EMC IP Holding Company LLC | Computing system with simulated hardware infrastructure to support development and testing of management and orchestration software |
| WO2018072445A1 (en) * | 2016-10-20 | 2018-04-26 | 南京南瑞继保电气有限公司 | Running method for embedded type virtual device and system |
| CN111360813A (en) * | 2018-12-26 | 2020-07-03 | 中国科学院沈阳自动化研究所 | Multi-robot controller based on edge cloud service |
| CN112783018A (en) * | 2019-11-11 | 2021-05-11 | 罗克韦尔自动化技术公司 | Robot digital twin control under industrial environment simulation |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6427224B1 (en) | Method for efficient verification of system-on-chip integrated circuit designs including an embedded processor | |
| US20130211812A1 (en) | Conveying data from a hardware device to a circuit simulation | |
| CN103034524A (en) | Paravirtualized virtual GPU | |
| CN113849433B (en) | Execution method and device of bus controller, computer equipment and storage medium | |
| CN105930201A (en) | Functional simulator for reconfigurable dedicated processor core | |
| CN114818599A (en) | Chip simulation verification system | |
| CN101876954B (en) | Virtual machine control system and working method thereof | |
| CN112131741B (en) | Real-time dual-kernel single-machine semi-physical simulation architecture and simulation method | |
| JP2023545818A (en) | Chip system, virtual interrupt handling method and corresponding device | |
| CN101630343B (en) | Simulation method and simulation system | |
| CN113326226A (en) | Virtualization method and device, board card and computer readable storage medium | |
| EP2325747A2 (en) | Virtual platform for prototyping system-on-chip designs | |
| WO2021223744A1 (en) | Method for realizing live migration, chip, board, and storage medium | |
| CN112764981B (en) | Cooperative testing system and method | |
| CN116976277A (en) | Chip simulation system | |
| CN113568734A (en) | Virtualization method and system based on multi-core processor, multi-core processor and electronic equipment | |
| CN116611375A (en) | Software and hardware collaborative simulation platform and software and hardware testing method | |
| CN114347072A (en) | Robot controller simulation platform and virtual method thereof | |
| CN1312583C (en) | Simulation apparatus, simulation program, and recording medium | |
| CN103902767A (en) | QEMU and SystemC based multi-core simulator | |
| CN103294632B (en) | A kind of bus support plate, data interaction system, data processing method and device | |
| CN113326091A (en) | Virtualization method, virtualization device, board card and computer-readable storage medium | |
| KR101412576B1 (en) | Virtual board platform, SOC simulating device, method of simulating SOC and method of verifying SOC | |
| CN117971400B (en) | Network card equipment simulation system, network card equipment simulation method, electronic equipment and storage medium | |
| JP2001256072A (en) | System emulator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |