CN114527695A - Startup and shutdown control method of robot system and robot system - Google Patents
Startup and shutdown control method of robot system and robot system Download PDFInfo
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- CN114527695A CN114527695A CN202210125857.0A CN202210125857A CN114527695A CN 114527695 A CN114527695 A CN 114527695A CN 202210125857 A CN202210125857 A CN 202210125857A CN 114527695 A CN114527695 A CN 114527695A
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- 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
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- G—PHYSICS
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
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Abstract
The application provides a startup and shutdown control method of a robot system and the robot system, wherein the method is applied to the robot system and comprises a switch key and a plurality of control units, such as a power panel and at least two other control units; the power panel is connected with each other control unit; the switch keys are respectively connected with the power panel and at least one other control unit; each of the plurality of control units is connected with at least one other control unit; the switch key responds to the target touch operation and sends a target trigger signal to a control unit connected with the switch key; and the control unit connected with the switch key identifies the target trigger signal, ignores or executes the operation corresponding to the target trigger signal, and triggers other control units in communication connection to execute the corresponding operation so as to enable the robot system to complete the target process. The method and the device can realize the starting process, the shutdown process or the restarting process of the robot system controlled by one key, and reduce the operation control complexity of a user.
Description
Technical Field
The application relates to the technical field of robot electrical control, in particular to a startup and shutdown control method of a robot system and the robot system.
Background
Most robot systems have only one control unit inside, and the startup and shutdown strategy is only aiming at the control unit, and is relatively easy to realize by using a single key. Even if a plurality of control units are arranged in the robot, one control unit is usually used as a main control unit, and the single-key startup and shutdown is designed and realized only for the control unit. For a complex system with a plurality of control units in the robot, if one switch button is used to implement the on/off function of the plurality of control units, the complex system is relatively complex, and a plurality of different circuit control modules are often required to be designed to implement a complex control process.
Disclosure of Invention
The application aims to provide a power-on and power-off control method of a robot system and the robot system, which can realize one-key control of a power-on flow, a power-off flow or a restarting flow of the robot system and reduce the operation control complexity of a user.
In a first aspect, an embodiment of the present application provides a method for controlling power on and power off of a robot system, where the method is applied to the robot system, and the system includes a switch button and a plurality of control units; the plurality of control units comprise a power panel and at least two other control units; the power panel is connected with each other control unit through a power line; the switch keys are respectively connected with the power panel and at least one other control unit through signal trigger lines; each control unit in the plurality of control units is connected with at least one other control unit through a communication line; the method comprises the following steps: the switch key responds to the target touch operation and sends a target trigger signal corresponding to the target touch operation to a control unit connected with the switch key; the target touch operation comprises a starting touch operation, a shutdown touch operation or a forced shutdown touch operation; and the control unit connected with the switch key identifies the target trigger signal, ignores the target trigger signal or executes the operation corresponding to the target trigger signal, and triggers other control units in communication connection to execute the operation corresponding to the target trigger signal, so that the robot system finishes the target process corresponding to the target touch operation.
Further, the target touch operation includes a preset number of click operations or a preset duration of press operations; the click times or the press durations respectively corresponding to the startup touch operation, the shutdown touch operation and the forced shutdown touch operation are different.
Further, the above-mentioned other at least two control units include: at least two first-type control units configured with an operating system; at least one first-class control unit is connected with the switch keys through signal trigger lines; each control unit in the plurality of first type control units is connected with at least one other control unit through a communication line; at least one first-type control unit is connected with the power panel through a communication line.
Further, the above-mentioned other at least two control units include: at least one first type control unit configured with an operating system and at least one second type control unit not configured with the operating system; at least one first-class control unit is connected with the switch keys through signal trigger lines; each control unit is connected with at least one other control unit through a communication line; and at least one second type control unit is connected with the power panel through a communication line.
Further, the target trigger signal is a power-on trigger signal corresponding to the power-on touch operation; the method comprises the following steps that a control unit connected with a switch key identifies a target trigger signal, ignores the target trigger signal or executes an operation corresponding to the target trigger signal, and triggers other control units connected with communication to execute the operation corresponding to the target trigger signal, so that a robot system completes a target process corresponding to target touch operation, and the method comprises the following steps: after the power panel detects the starting trigger signal, the power panel is switched on to supply power to each other control unit; after a first type control unit connected with a switch key is electrified, executing a starting operation according to a detected starting trigger signal, and triggering other first type control units to execute the starting operation after the first type control unit is electrified; and after each second type control unit is electrified, executing the starting operation.
Further, the target trigger signal is a shutdown trigger signal corresponding to a shutdown touch operation; the method comprises the following steps that a control unit connected with a switch key identifies a target trigger signal, ignores the target trigger signal or executes an operation corresponding to the target trigger signal, and triggers other control units connected with communication to execute the operation corresponding to the target trigger signal, so that a robot system completes a target process corresponding to target touch operation, and the method comprises the following steps: after detecting a shutdown trigger signal, a first-class control unit connected with a switch key sends the shutdown trigger signal to other first-class control units and/or second-class control units in communication connection, and executes shutdown operation; the first-class control unit and/or the second-class control unit which are in communication connection with other units execute shutdown operation according to the shutdown trigger signal; the second type control unit in communication connection with the power panel also sends a shutdown trigger signal to the power panel at the same time; and after the power panel detects a shutdown trigger signal, the power panel shuts down the power supply after a preset delay time is reached.
Further, the at least one first type control unit includes: the system comprises at least one first-class sub-control unit configured with a user operation interface and at least one second-class sub-control unit not configured with the user operation interface; at least one first-class sub-control unit is connected with the switch keys through signal trigger lines; each control unit is connected with at least one other control unit in the plurality of first-type sub-control units and second-type sub-control units; after detecting a shutdown trigger signal, a first-class control unit connected with a switch key sends the shutdown trigger signal to other first-class control units and/or second-class control units in communication connection, and executes shutdown operation, wherein the steps comprise: after detecting a shutdown trigger signal, a first-class sub-control unit connected with a switch key displays a user selection interface containing shutdown options and restart options to a user; the first-class sub-control unit responds to a shutdown trigger signal generated by a user selecting a shutdown option, sends the shutdown trigger signal to each control unit in other first-class sub-control units and/or second-class sub-control units which are in communication connection, and executes shutdown operation.
Further, after the step of displaying a user selection interface including a shutdown option and a restart option to a user after the first-type sub-control unit connected to the switch key detects the shutdown trigger signal, the method further includes: the first-class sub-control unit responds to a restart trigger signal generated by a user selecting a restart option, executes a restart operation, and sends the restart trigger signal to other first-class sub-control units and/or second-class sub-control units in communication connection; other first-class sub-control units and/or second-class sub-control units in communication connection execute restarting operation according to the restarting trigger signal and send the restarting trigger signal to the second-class control unit in communication connection; and the second type control unit of the communication connection executes restarting operation according to the restarting trigger signal.
Further, the target trigger signal includes a forced shutdown touch signal corresponding to the forced shutdown touch operation; the method comprises the following steps that a control unit connected with a switch key identifies a target trigger signal, ignores the target trigger signal or executes an operation corresponding to the target trigger signal, and triggers other control units connected with communication to execute the operation corresponding to the target trigger signal, so that a robot system completes a target process corresponding to target touch operation, and the method comprises the following steps: and after detecting the forced shutdown touch signal, the power panel executes power-off operation to forcibly shut down each of the other control units.
In a second aspect, an embodiment of the present application further provides a robot system, where the robot system includes a switch button and a plurality of control units; the plurality of control units comprise a power panel and at least two other control units; the power panel is connected with each other control unit through a power line; the switch keys are respectively connected with the power panel and at least one other control unit through signal trigger lines; each control unit in the plurality of control units is connected with at least one other control unit through a communication line; the system is used for executing the on-off control method of the robot system.
The method is applied to the robot system, and the system comprises a switch key and a plurality of control units; the plurality of control units comprise a power panel and at least two other control units; the power panel is connected with each other control unit through a power line; the switch keys are respectively connected with the power panel and at least one other control unit through signal trigger lines; each control unit in the plurality of control units is connected with at least one other control unit through a communication line; the switch key responds to the target touch operation and sends a target trigger signal corresponding to the target touch operation to a control unit connected with the switch key; the target touch operation comprises a starting touch operation, a shutdown touch operation or a forced shutdown touch operation; and the control unit connected with the switch key identifies the target trigger signal, ignores the target trigger signal or executes the operation corresponding to the target trigger signal, and triggers other control units in communication connection to execute the operation corresponding to the target trigger signal, so that the robot system finishes the target process corresponding to the target touch operation. According to the embodiment of the application, through the connection relation among the switch key, the power panel and the other control units, when certain touch control operation is carried out on the switch key, the control on the control units can be completed by one key, so that the robot system can complete a starting-up flow or a shutdown flow corresponding to the touch control operation, the operation complexity of a user is reduced, and the control efficiency is improved.
Drawings
In order to more clearly illustrate the detailed description of the present application or the technical solutions in the prior art, the drawings needed to be used in the detailed description of the present application or the prior art description will be briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic structural diagram of a robot system according to an embodiment of the present disclosure;
FIG. 2 is a schematic structural diagram of another robot system provided in an embodiment of the present application;
fig. 3 is a flowchart of a power on/off control method for a robot system according to an embodiment of the present disclosure;
fig. 4 is a schematic diagram of a boot process according to an embodiment of the present application;
fig. 5 is a schematic diagram illustrating a shutdown restart process according to an embodiment of the present application;
FIG. 6 is a schematic structural diagram of another robot system provided in an embodiment of the present application;
fig. 7 is a schematic diagram of another boot process provided in the embodiment of the present application;
fig. 8 is a schematic diagram of another shutdown and restart process according to an embodiment of the present application.
Detailed Description
The technical solutions of the present application will be described clearly and completely with reference to the following embodiments, and it should be understood that the described embodiments are some, but not all embodiments of the present application. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
For a complex system with a plurality of control units in a robot, the on-off function of the plurality of control units is relatively complex if one switch button is adopted, and at present, for the complex robot system, a plurality of different circuit control modules are often required to be designed to realize a complex control process. Based on this, the embodiment of the application provides a power on/off control method for a robot system and the robot system, which can realize a one-key control of a power on flow or a power off flow of the robot system, and reduce the operation control complexity of a user. For the understanding of the present embodiment, a robot system disclosed in the embodiments of the present application will be described in detail first.
Fig. 1 is a schematic internal structural diagram of a robot system according to an embodiment of the present disclosure, where the robot system includes: a switch key 10 and a plurality of control units; the plurality of control units includes a power panel 20 and at least two other control units 30; the power panel 20 is connected to each of the other control units 30 through a power line, as indicated by a black line; the switch keys 10 are respectively connected with the power panel 20 and at least one other control unit 30 through signal trigger lines, as shown by dotted lines; each of the plurality of control units is connected to at least one other control unit via a communication line, as indicated by the thick black lines.
The robot system has a plurality of control units therein for performing different tasks. Each control unit may have an operating system mounted thereon, or may be a die without an operating system mounted thereon. And a plurality of control units are communicated with each other through a network. Each control unit has a connection to at least one of the control units other than it. At least one of the control units is responsible for power supply control of the whole system, namely, power-on and power-off of all the control units are provided, such as the power panel.
The power panel responsible for power supply needs to be connected with each control unit, and for the control unit with an operating system, a normal starting-up and shutdown process needs to be executed, and direct power-off cannot be realized. For a control unit without an operating system, from the product perspective, some operation actions can be defined when the robot is powered on and powered off, so that the robot cannot be powered off directly, and the normal function of the robot can be influenced.
In a preferred robot system, the control unit with the operating system installed thereon may be divided into two types, one type is a control unit with a user operation interface, that is, a control unit facing a user, and the other type is a control unit without a user operation interface, that is, a control unit not facing a user.
Referring to fig. 2, the robot system divides the control units into four types of a, B, C, and D, and includes a control unit D1 as a power supply board, a user-facing control unit a1 with an operating system, user-non-facing control units B1 and B2 with an operating system, and control units C1 and C2 without an operating system. The power panel is connected with each other control unit through a power line; the switch keys are connected with a power panel and control units A1, B1 and B2 with an operating system through signal trigger lines; the control unit A1 in the class A control unit is respectively in communication connection with the B1 and the B2 in the class B control unit; the control unit B1 in the control unit B is respectively in communication connection with the C1 and the C2 in the control unit C; c1 in the C type control unit is connected with the power panel in a communication mode.
Through the connection relation among the switch keys, the power panel and the plurality of control units, one-key on-off control can be realized, and the specific control process refers to the explanation in the following method embodiment.
Based on the embodiment of the robot system, the embodiment of the application also provides a startup and shutdown control method of the robot system, which is applied to the robot system, wherein the system comprises a switch key and a plurality of control units; the plurality of control units comprise a power panel and at least two other control units; the power panel is connected with each other control unit through a power line; the switch keys are respectively connected with the power panel and at least one other control unit through signal trigger lines; each control unit in the plurality of control units is connected with at least one other control unit through a communication line; referring to a flowchart of a method for controlling the power on/off of a robot system shown in fig. 3, the method specifically includes the following steps:
step S302, the switch key responds to the target touch operation and sends a target trigger signal corresponding to the target touch operation to a control unit connected with the switch key;
the target touch operation comprises click operation of preset times or press operation of preset duration; the click times or the press durations respectively corresponding to the startup touch operation, the shutdown touch operation and the forced shutdown touch operation are different. For example, the pressing operation 1S corresponds to a power-on touch operation, the pressing operation 3S corresponds to a power-off touch operation, and the pressing operation 5S corresponds to a forced power-off touch operation. Or quick clicking for 1 time corresponds to starting up touch operation, quick clicking for 2 times corresponds to shutdown touch operation, quick clicking for 3 times corresponds to forced shutdown touch operation.
When a user performs on-off control of the robot system, it is usually known whether the current system needs to be powered on or powered off, and therefore, corresponding touch operations are executed on the switch keys, for example, when the current robot system is in a powered-off state, the user wants to power on, click for 1 time or press for 1S.
After the switch key responds to the target touch operation, a corresponding target trigger signal is automatically generated and sent to the control unit connected with the switch key, so that the control unit connected with the switch key can identify the target trigger signal, and therefore the user can know what operation should be executed at present or ignore the signal.
Step S304, the control unit connected to the switch key identifies the target trigger signal, ignores the target trigger signal or executes an operation corresponding to the target trigger signal, and triggers other control units connected to the communication to execute an operation corresponding to the target trigger signal, so that the robot system completes a target process corresponding to the target touch operation.
When the current target trigger signal is a starting trigger signal, the power panel can execute the operation of switching on the power supply, the control unit connected with the switch key can execute the starting operation, and the power panel or other control units connected with the switch key can trigger other communication control units to execute the starting operation;
when the current target trigger signal is a shutdown trigger signal, the power panel ignores the signal, the control unit connected with the switch key executes shutdown operation, and the control unit connected with the switch key triggers other control units connected with communication to execute shutdown operation.
The method for controlling the startup and shutdown of the robot system is applied to the robot system, and the system comprises a switch key and a plurality of control units; the plurality of control units comprise a power panel and at least two other control units; the power panel is connected with each other control unit through a power line; the switch keys are respectively connected with the power panel and at least one other control unit through signal trigger lines; each control unit in the plurality of control units is connected with at least one other control unit through a communication line; the switch key responds to the target touch operation and sends a target trigger signal corresponding to the target touch operation to a control unit connected with the switch key; the target touch operation comprises a starting touch operation, a shutdown touch operation or a forced shutdown touch operation; and the control unit connected with the switch key identifies the target trigger signal, ignores the target trigger signal or executes the operation corresponding to the target trigger signal, and triggers other control units in communication connection to execute the operation corresponding to the target trigger signal, so that the robot system finishes the target process corresponding to the target touch operation. According to the embodiment of the application, through the connection relation among the switch key, the power panel and the other control units, when certain touch control operation is carried out on the switch key, the control on the control units can be completed by one key, so that the robot system can complete a starting-up flow or a shutdown flow corresponding to the touch control operation, the operation complexity of a user is reduced, and the control efficiency is improved.
The embodiment of the present application further provides a power on/off control method for a robot system, which is implemented on the basis of the previous embodiment, and the embodiment focuses on describing a specific power on/off process and a specific restart process.
In an embodiment of the present application, the at least two control units include at least two first-type control units configured with an operating system; at least one first-class control unit is connected with the switch keys through signal trigger lines; each control unit in the plurality of first type control units is connected with at least one other control unit through a communication line; at least one first-type control unit is connected with the power panel through a communication line.
The at least two control units may further include: at least one control unit of a first type (e.g., control unit a1, control unit B1, control unit B2 shown in fig. 2) configured with an operating system and at least one control unit of a second type (e.g., control unit C1, control unit C2 shown in fig. 2) not configured with an operating system; the control unit connected with the switch keys is at least one control unit of a first type, such as the control unit A1, the control unit B1 and the control unit B2; each control unit is connected with at least one other control unit through a communication line; for example, the control unit B1 is connected with the control unit C1 and the control unit C2 respectively. At least one control unit of the second type is connected with the power panel through a communication line, for example, the control unit C1 is connected with the power panel D1 in a communication mode.
Under the connection relation, the startup and shutdown control steps are as follows:
the switch key responds to the target touch operation and sends a target trigger signal corresponding to the target touch operation to the power panel and a first type control unit connected with the switch key;
the power panel and the first control unit connected with the switch key respectively identify the target trigger signal, ignore the target trigger signal or execute the operation corresponding to the target trigger signal, and trigger the second control unit to execute the operation corresponding to the target trigger signal, so that the robot system completes the target process corresponding to the target touch operation.
The target trigger signal is a starting trigger signal corresponding to the starting touch operation; the specific starting process is as follows:
(1) the switch key responds to the starting touch operation and sends a starting trigger signal corresponding to the starting touch operation to the power panel and a first type control unit connected with the switch key; referring to fig. 4, the start-up touch operation is a short press, for example, 1S; when the switch key is pressed for a short time, two control units are triggered: a power panel responsible for power supply and a control unit with an operating system. After the switch key responds to the power-on touch operation, a power-on trigger signal is sent to the power panel D1 and the first type control units A1 and B1.
(2) After the power panel detects the starting trigger signal, the power panel is switched on to supply power to each other control unit; after the power panel D1 is triggered, the power supply is turned on to supply power to all the control units (e.g., the control unit a1, the control unit B1, and the control unit C1 in fig. 4) of the system.
(3) After a first type control unit connected with a switch key is electrified, executing a starting operation according to a detected starting trigger signal, and triggering other first type control units to execute the starting operation after the first type control unit is electrified; the control unit with an operating system is also triggered by the switch key after being delayed for tens of milliseconds, is automatically started and executes a starting process. After the power-on of the control units a1 and B1 shown in fig. 4, the startup process is started according to the detected power-on trigger signal.
(4) And after each second type control unit is electrified, executing the starting operation. The control unit without an operating system is not directly triggered by a switch key, but is directly started after the power panel is electrified to execute an initialization process. For example, the control unit C1 starts the startup procedure after detecting that the power panel provides the power-on signal. After the adjacent control units are normally started, communication connection between the adjacent control units is established. And after all the control units are normally started, the whole system is started.
When the target trigger signal is a shutdown trigger signal corresponding to a shutdown touch operation, a normal shutdown process is as follows:
(1) the switch key responds to the shutdown touch operation and sends a shutdown trigger signal corresponding to the shutdown touch operation to the power panel and a first type control unit connected with the switch key; if the power-off touch operation is performed for 3 seconds, the power panel ignores the signal after detecting the signal, and does not perform the operation.
(2) After detecting a shutdown trigger signal, a first-class control unit connected with a switch key sends the shutdown trigger signal to other first-class control units and/or second-class control units in communication connection, and executes shutdown operation; if the control unit B1 sends a shutdown trigger signal to the control units C1 and C2, the control units a1 and B1 execute a shutdown procedure.
(3) And the first-class control units and/or the second-class control units which are in communication connection with each other execute shutdown operation according to the shutdown trigger signal. The control units C1 and C2 start the shutdown process.
It should be noted that, in this embodiment, the control unit may send the trigger signal to the control unit connected to other communication and perform the corresponding operation by itself at the same time, or may send the trigger signal to other control units first and then perform the corresponding operation.
(4) The second type control unit in communication connection with the power panel also sends a shutdown trigger signal to the power panel at the same time; for example, the control unit C1 sends a power off trigger signal to the power panel D1.
(5) And after the power panel detects a shutdown trigger signal, the power panel shuts down the power supply after a preset delay time is reached. The power panel turns off the power after delaying a preset time.
In a preferred embodiment, the at least one control unit of the first type includes at least one sub-control unit of the first type (e.g., control unit a1 in fig. 2) configured with a user operation interface and at least one sub-control unit of the second type (e.g., control units B1, B2 in fig. 2) not configured with a user operation interface; at least one first-class sub-control unit is connected with the switch keys through signal trigger lines; each control unit is connected with at least one other control unit in the plurality of first-type sub-control units and second-type sub-control units; the control unit A1 is respectively connected with the control units B1 and B2 as in FIG. 2; the control unit B1 is in communication connection with the control units C1 and C2; in the case that the control unit facing the user is included, the shutdown process may be implemented in the following manner:
s1, the switch key responds to the shutdown touch operation and sends a shutdown trigger signal to the power panel and the first type control unit connected with the switch key; the switch key is pressed 3s as described above.
Referring to fig. 5, when the switch key is pressed for 3 seconds, the switch key sends a trigger signal to the power board and the first-class sub-control unit connected with the switch key, and the power board ignores the signal after detecting the signal.
S2, after the first sub-control unit connected with the switch key detects the trigger signal, displaying a user selection interface containing a shutdown option and a restart option to a user; as shown in fig. 5, after the user-facing control unit captures the trigger signal, the interface pops up a "shutdown | restart" page.
If the user selects to shut down, the shutdown process is as follows:
s3, the first-class sub-control unit responds to the shutdown trigger signal generated by the user selecting the shutdown option, executes the shutdown operation, and sends the shutdown trigger signal to other first-class sub-control units and/or second-class sub-control units in communication connection; if the user selects the power-off option, control unit A performs the power-off process and sends a power-off command to the class B control units, such as control units B1 and B2.
S4, after detecting the shutdown trigger signal, other first-class sub-control units and/or second-class sub-control units in communication connection execute shutdown operation, and send the shutdown trigger signal to the second-class control unit in communication connection; if the control units B1 and B2 execute the shutdown process, the control unit B2 sends shutdown trigger signals to the control units C1 and C2.
And S5, the second control unit of the communication connection executes the shutdown operation according to the shutdown trigger signal. The control units C1, C2 initiate the shutdown procedure.
S6, the second control unit connected with the power panel in communication sends a shutdown trigger signal to the power panel; the control unit C1 sends a shutdown trigger signal to the power strip.
And S7, after the power panel detects the shutdown trigger signal, the power panel shuts down the power supply after the preset delay time is reached. The power panel turns off the power after delaying a preset time.
If the user selects to restart, the restart process is as follows:
s8, the first-class sub-control unit responds to the restart trigger signal generated by the user selecting the restart option, executes the restart operation, and sends the restart trigger signal to other first-class sub-control units and/or second-class sub-control units in communication connection; if the user selects the restart option, control unit A performs a restart procedure and sends a restart instruction to class B control units, such as control units B1, B2.
S9, after detecting the restart trigger signal, other first-class sub-control units and/or second-class sub-control units in communication connection execute the restart operation and send the restart trigger signal to the second-class control unit in communication connection; if the control units B1 and B2 execute the restart flow, the control unit B2 sends a restart trigger signal to the control units C1 and C2.
And S10, the second control unit of the communication connection executes the restarting operation according to the restarting trigger signal. The control units C1, C2 start the restart procedure.
In specific implementation, 1 switch is pressed for 3s for long time, and normal shutdown or restart is carried out. The power panel receives the trigger signal, but ignores the signal and does not process the signal. In the control unit with the operating system, the control unit which is not operated by the user ignores the signal and does not process the signal. In the control unit with the operating system, the control unit which faces the operation of the user catches the trigger signal, and the interface pops up a 'shutdown | restart' interface which is selected by the user. If 'shutdown' is selected, the control unit executes a shutdown process. In the shutdown process, the control unit facing the user operation issues a shutdown instruction to the plurality of control units not facing the user operation. And the control unit which is not oriented to the user operation executes the shutdown process after receiving the shutdown instruction. The control unit with the operating system transmits a shutdown instruction to the control unit without the operating system, so that the control unit without the operating system enters a shutdown process. And the control unit without the operating system issues a shutdown instruction to the power panel. After the power panel receives the shutdown instruction and the timing is delayed for a period of time, the power supply of the whole system is cut off, and shutdown is completed. The length of the delay time is determined by a calibration method.
If the user selects "restart", the control unit performs a restart procedure. In the restarting process, the control unit facing the user operation issues a restarting instruction to a plurality of control units not facing the user operation. And the control unit which is not operated towards the user executes the restarting process after receiving the restarting instruction. And the control unit with the operating system transmits a restart instruction to the control unit without the operating system, so that the control unit without the operating system enters a restart process. In the whole process, the power panel is always in a power supply state.
A special shutdown mode, namely a forced shutdown mode, is introduced below, namely the target trigger signal is a forced shutdown touch signal corresponding to a forced shutdown touch operation; after the step of sending a target trigger signal corresponding to the target touch operation to the power panel and the control unit connected with the switch key by the switch key responding to the target touch operation, the method further comprises the following steps: and after detecting the forced shutdown touch signal, the power panel executes power-off operation to forcibly shut down each of the other control units. For example, if 1 switch key is pressed for more than 5 seconds, only the power panel detects the signal and responds, and all other control units ignore the signal and do not respond. The power panel captures the signal, all power supplies of the system are immediately cut off, and the whole robot system is forcibly shut down.
The embodiment of the application also provides a power on/off control method of the robot system, wherein a plurality of control units are triggered through 1 key, and a software communication mechanism is designed among the plurality of control units, so that the 1-key power on/off function of the complex robot system is realized. The startup and shutdown process and the restart process of the robot system can be controlled by one key through triggering the control unit which is not oriented to the user by the control unit which is oriented to the user, triggering the control unit which is not provided with the operating system by the control unit which is provided with the operating system and triggering the control unit with the power panel mutually.
The embodiment of the present application further provides a power on/off control method for a robot system, which is implemented on the basis of the previous embodiment, and the embodiment mainly describes a power on/off process and a restart process in a specific application scenario. In an embodiment of the application, the first-type sub-control unit includes an android motherboard; the second type of sub-control unit comprises a navigation main board and a vision main board; the second type of control unit comprises an MCU board.
The robot system wiring mode is as shown in fig. 6, there are 3 main control boards, 5 calculation or processing units in the robot, wherein 1 mainboard is equipped with the Android system, that is, the Android mainboard, 1 mainboard is equipped with linux and does the vision development, that is, the vision mainboard, 1 is equipped with ubuntu and does the navigation planning, that is, the navigation mainboard, 1 is that MCU is equipped with freertos, that is, MCU board (although this MCU board is equipped with operating system, but this system direct power-off operation, therefore, this MCU board can divide into second class of control unit), 1 is that power strip does not have operating system. For a motherboard with an operating system, it is preferable to perform a normal power-on/off process rather than a direct power-off process. Under the current condition, the android main board and the navigation main board need to be normally started and shut down.
In this embodiment, there are 1 hardware switch button, which needs to control the on/off function of the whole system, and the switching between the sleep state and the active state.
The startup and shutdown scheme is as follows:
(1) boot-up, see FIG. 7 for an illustration:
1 switch button, and controls the power supply and signal trigger of 3 boards simultaneously. When the on-off key is pressed for a short time, the power panel receives the trigger signal and supplies power to all the controllers of the system. Meanwhile (or delay dozens of ms), the starting signal of the android mainboard is triggered, the android mainboard is automatically started, and the starting process is executed; the navigation mainboard starting signal is triggered and automatically started to execute the starting process. The power supply board supplies power to other boards and peripheral equipment. After the MCU board is powered on, an initialization process is executed, various peripheral devices such as a motor and the like are reset, and the lamp effect automatic playing is started. The whole system is started.
(2) Normal shutdown, see fig. 8:
1 shift knob presses 3s for a long time, and this signal is ignored to the power strip, and this signal is ignored to the navigation mainboard, and this signal is caught to tall and erect mainboard of ann, and the interface pops up "shutdown | restart" interface, is selected by the user. If the shutdown is selected, the android mainboard executes a shutdown process, and the intermediate execution step comprises issuing a shutdown instruction to the navigation mainboard and issuing a shutdown instruction to the vision mainboard. And after the navigation main board ubuntu system receives the shutdown instruction, executing the shutdown instruction, wherein the intermediate execution step comprises the step of issuing the shutdown instruction to the MCU board freertos system. And after receiving the shutdown instruction, the MCU board freertos system executes the shutdown action and simultaneously issues the shutdown instruction to the power panel. After the power panel receives the shutdown instruction, the power supply of the whole system is cut off after timing delay for a period of time.
(3) Restart, see fig. 8 for illustration:
1 shift knob presses 3s for a long time, and this signal is neglected to the power strip, and this signal is neglected to the navigation mainboard, and this signal is caught to tall and erect mainboard of ann, and the interface pops out "shutdown | restarts" interface, selects by the user. And if the 'restart' is selected, the android system of the android mainboard executes a restart process, and the intermediate execution step comprises issuing a restart instruction to the navigation mainboard and issuing a restart instruction to the visual mainboard. And after the navigation main board ubuntu system receives the restart instruction, executing the restart instruction, wherein the intermediate execution step comprises the step of issuing the restart instruction to the MCU board freertos system. And after the MCU board freertos system receives the restart instruction, executing soft restart operation. The power panel always keeps the power supply state.
(4) Forced shutdown:
1 shift knob presses 5s for a long time, and this signal is neglected to tall and erect mainboard of ann, and this signal is neglected to the navigation mainboard, and this signal is caught to the power strip, cuts off all powers supplies of system immediately.
In the power on/off control method for the robot system, the method is applied to the robot system, and the system comprises a switch key, a power panel, an android main board, a navigation main board, a vision main board and an MCU board; according to the embodiment of the application, through the connection relation among the switch key, the power panel, the android main board, the navigation main board, the vision main board and the MCU board, when certain touch control operation is carried out on the switch key, the control on the plurality of control units can be completed by one key, so that the robot system can complete the work flow corresponding to the touch control operation, such as a starting-up flow, a shutdown flow or a restarting flow, the operation complexity of a user is reduced, and the control efficiency is improved.
The computer program product of the method provided in the embodiment of the present application includes a computer-readable storage medium storing a program code, where instructions included in the program code may be used to execute the method described in the foregoing method embodiment, and specific implementation may refer to the method embodiment, and details are not described herein again.
Unless specifically stated otherwise, the relative steps, numerical expressions, and values of the components and steps set forth in these embodiments do not limit the scope of the present application.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application or portions thereof that substantially contribute to the prior art may be embodied in the form of a software product stored in a storage medium and including instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk, and various media capable of storing program codes.
In the description of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, and do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
Finally, it should be noted that: the above-mentioned embodiments are only specific embodiments of the present application, and are used for illustrating the technical solutions of the present application, but not limiting the same, and the scope of the present application is not limited thereto, and although the present application is described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: any person skilled in the art can modify or easily conceive the technical solutions described in the foregoing embodiments or equivalent substitutes for some technical features within the technical scope disclosed in the present application; such modifications, changes or substitutions do not depart from the spirit and scope of the exemplary embodiments of the present application, and are intended to be covered by the scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims.
Claims (10)
1. The method is characterized in that the method is applied to the robot system, and the system comprises a switch key and a plurality of control units; the plurality of control units comprise a power panel and at least two other control units; the power panel is connected with each other control unit through a power line; the switch keys are respectively connected with the power panel and at least one other control unit through signal trigger lines; each control unit in the plurality of control units is connected with at least one other control unit through a communication line; the method comprises the following steps:
the switch key responds to a target touch operation and sends a target trigger signal corresponding to the target touch operation to a control unit connected with the switch key; the target touch operation comprises a starting touch operation, a shutdown touch operation or a forced shutdown touch operation;
and the control unit connected with the switch key identifies the target trigger signal, ignores the target trigger signal or executes the operation corresponding to the target trigger signal, and triggers other control units in communication connection to execute the operation corresponding to the target trigger signal, so that the robot system completes the target process corresponding to the target touch operation.
2. The method according to claim 1, wherein the target touch operation comprises a preset number of click operations or a preset duration of press operations; the click times or the press durations respectively corresponding to the startup touch operation, the shutdown touch operation and the forced shutdown touch operation are different.
3. The method of claim 1, wherein the other at least two control units comprise: at least two first-type control units configured with an operating system; at least one first-class control unit is connected with the switch keys through signal trigger lines; each control unit in the plurality of first type control units is connected with at least one other control unit through a communication line; at least one first-type control unit is connected with the power panel through a communication line.
4. The method of claim 1, wherein the other at least two control units comprise: at least one first type control unit configured with an operating system and at least one second type control unit not configured with the operating system; at least one first-class control unit is connected with the switch keys through signal trigger lines; each control unit is connected with at least one other control unit through a communication line; and at least one second-type control unit is connected with the power panel through a communication line.
5. The method of claim 4, wherein the target trigger signal is a power-on trigger signal corresponding to a power-on touch operation; the step of identifying the target trigger signal by the control unit connected with the switch key, ignoring the target trigger signal or executing the operation corresponding to the target trigger signal, and triggering the control units connected with other communication to execute the operation corresponding to the target trigger signal so as to enable the robot system to complete the target process corresponding to the target touch operation includes the following steps:
after the power panel detects the starting trigger signal, the power panel is switched on to supply power to each other control unit;
after a first type control unit connected with the switch key is electrified, executing a starting operation according to the detected starting trigger signal, and triggering other first type control units to execute the starting operation after being electrified;
and executing a starting operation after each second type control unit is electrified.
6. The method according to claim 4, wherein the target trigger signal is a shutdown trigger signal corresponding to a shutdown touch operation; the step of identifying the target trigger signal by the control unit connected with the switch key, ignoring the target trigger signal or executing the operation corresponding to the target trigger signal, and triggering the control units connected with other communication to execute the operation corresponding to the target trigger signal so as to enable the robot system to complete the target process corresponding to the target touch operation includes the following steps:
after detecting the shutdown trigger signal, the first type control unit connected with the switch key sends the shutdown trigger signal to the first type control unit and/or the second type control unit in other communication connection, and executes shutdown operation;
the first-class control unit and/or the second-class control unit which are in communication connection with other units execute shutdown operation according to the shutdown trigger signal;
the second type control unit in communication connection with the power panel also sends a shutdown trigger signal to the power panel at the same time;
and after the power panel detects the shutdown trigger signal, the power panel shuts down the power supply after a preset delay time is reached.
7. The method according to claim 6, wherein at least one control unit of the first type comprises: the system comprises at least one first-class sub-control unit configured with a user operation interface and at least one second-class sub-control unit not configured with the user operation interface; at least one first-class sub-control unit is connected with the switch keys through signal trigger lines; each control unit is connected with at least one other control unit in the plurality of first-type sub-control units and second-type sub-control units;
after detecting the shutdown trigger signal, the first type control unit connected with the switch key sends the shutdown trigger signal to other first type control units and/or second type control units in communication connection, and executes shutdown operation, wherein the steps comprise:
after detecting the shutdown trigger signal, the first-class sub-control unit connected with the switch key displays a user selection interface containing shutdown options and restart options to a user;
and the first-class sub-control unit responds to a shutdown trigger signal generated by the user selecting the shutdown option, sends the shutdown trigger signal to other first-class sub-control units and/or second-class sub-control units in communication connection, and executes shutdown operation.
8. The method as claimed in claim 7, wherein after the step of displaying a user selection interface including a shutdown option and a restart option to a user after the first-type sub-control unit connected to the switch key detects the shutdown trigger signal, the method further comprises:
the first-class sub-control unit responds to a restart trigger signal generated by the user selecting the restart option, executes restart operation and sends the restart trigger signal to other first-class sub-control units and/or second-class sub-control units in communication connection;
other first-class sub-control units and/or second-class sub-control units in communication connection execute restarting operation according to the restarting trigger signal and send the restarting trigger signal to the second-class control unit in communication connection;
and the second type control unit in communication connection executes restarting operation according to the restarting trigger signal.
9. The method of claim 4, wherein the target trigger signal comprises a forced shutdown touch signal corresponding to a forced shutdown touch operation; the step of identifying the target trigger signal by the control unit connected with the switch key, ignoring the target trigger signal or executing the operation corresponding to the target trigger signal, and triggering the control units connected with other communication to execute the operation corresponding to the target trigger signal so as to enable the robot system to complete the target process corresponding to the target touch operation includes the following steps:
and after detecting the forced shutdown touch signal, the power panel executes power-off operation to forcibly shut down each of the other control units.
10. A robot system is characterized in that the system comprises a switch button and a plurality of control units; the plurality of control units comprise a power panel and at least two other control units; the power panel is connected with each other control unit through a power line; the switch keys are respectively connected with the power panel and at least one other control unit through signal trigger lines; each control unit in the plurality of control units is connected with at least one other control unit through a communication line; the system is used for executing the on-off control method of the robot system according to any one of claims 1-9.
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