CN1506862A - Autonomous mobile robot platform based on multi-DSP parallel processing - Google Patents
Autonomous mobile robot platform based on multi-DSP parallel processing Download PDFInfo
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Abstract
The autonomous mobile robot platform based on multi-DSP parallel processing includes upper layer control computer connected via CAN bus with several DSP processing systems; and several DSP processing systems connected mutually via CAN bus to constitute local controller network. The present invention has high speed data processing capacity and real-time data communication capacity as well as greatly reduced robot mobile platform size, reduced power consumption and overall cost of mobile robot, and is suitable for expanding the application range of mobile robot.
Description
Technical field
The present invention relates to general mobile robot control system, particularly based on the autonomous mobile robot platform of many DSP parallel processing.
Background technology
The mobile robot is an important branch in the robotics, and it is a comprehensive intelligent control system that integrates multiple functions such as environment sensing, dynamic decision and planning, behavior control and execution.A complete mobile-robot system is made up of three parts usually: travel mechanism, sensory perceptual system and control system.Travel mechanism is the carrier of robot, and the space of decision robot has walking mechanism, wheeled mechanism, crawler type mechanism and mixed organization etc. several.Sensory perceptual system generally adopts ccd video camera, laser range finder, sonac, contact and proximity transducer, infrared ray sensor and radar fix sensor, gps sensor (GPS) etc.The mobile robot control system is equivalent to people's brain and nervous system, and the environmental information that its comprehensive sensory perceptual system obtains is also controlled travel mechanism's generation corresponding action.
Mobile-robot system in the past all is to adopt following two kinds of structures basically: the one, and the structure (see figure 1) that early stage mobile robot adopts is as the HERO type mobile robot (referring to the 23rd the 1st phase of volume of " robot " magazine) of former West Germany product.The servocontrol of robot sensor signal Processing and travel mechanism adopts Single Chip Microcomputer (SCM) system to finish in this structure, and the planning of robot and decision-making are realized that by top level computer the RS232 serial communication mode is adopted in communicating by letter of top level computer and lower module.The advantage of this structure is that cost is low, and is simple in structure, and major defect is signal Processing and poor arithmetic ability, can only realize that point-to-point communication and traffic rate are low, is difficult to adapt to the requirement of the especially unknown dynamic environment of dynamic environment.Begin to adopt in mobile robot's the design in recent years a kind of based on many system for computer structure (see figure 2)s, as the THMR-V type mobile robot (referring to the 23rd the 6th phase of volume of " robot " magazine) of Tsing-Hua University development.Each control module includes a computing machine (industrial computer or PC) in this structure, links to each other by LAN (Local Area Network) (being generally Ethernet) between each computing machine.The advantage of this structure is that processing power is strong, major defect is that volume is big, heavy, and power consumption is big, is difficult to adapt to the requirement of adopting battery powered mobile robot's low energy consumption, and its expensive characteristics have also greatly limited the popularization of mobile robot's application simultaneously.
Summary of the invention
The purpose of this invention is to provide a kind of autonomous mobile robot platform that adopts a plurality of DSP parallel processings, can independently finish mobile robot's task such as servocontrol, sensor signal processing, automatic obstacle avoiding, path planning respectively.
For achieving the above object, a kind of autonomous mobile robot platform based on many DSP parallel processing comprises:
The upper strata control computer links to each other with a plurality of DSP disposal systems by the CAN bus;
Link to each other by the CAN bus between a plurality of dsp systems, to be linked to be the controller area network network.
The present invention is on the basis that possesses high-speed data processing power and real-time data communication ability, dwindled the size of robot moving platform greatly, reduced energy resource consumption, reduced mobile robot's whole cost, the condition that has possessed small serial production helps expanding mobile robot's application.
Description of drawings
Fig. 1 is for adopting the system architecture of Single Chip Microcomputer (SCM) system as the mobile robot control module
Fig. 2 is for adopting the system architecture of multicomputer system as the mobile robot control module
Fig. 3 is for adopting the autonomous mobile robot plateform system structure of many DSP parallel processing
Embodiment
As shown in Figure 3, belong to the autonomous mobile robot category based on the autonomous mobile robot platform of many DSP parallel processing, the mobile robot will be implemented in utonomous working under unknown and the uncertain environment, should have the perception environment and plan auto-ability.For this reason, must improve quick perception, understanding and recognition capability and the navigation feature of mobile robot to current environment, this depends on to a great extent whether the mobile robot has adopted a rational architecture.Traditional horizontal type architecture signal flow based on " perception-modeling-planning-action " model is clear, be easy to Project Realization, but action of its every planning all needs the whole flow process through " perception-modeling-planning-action ", the speed of perception environment and planning action is slow, only is suitable for being operated in the known environment; Vertical-type architecture (as the containment type structure) based on behavior resolves into systemic-function the module of parallel (vertically), each module independently receiving sensor input and cook up separately action, the speed of perception environment and planning action is greatly accelerated, and can be operated in unknown and the uncertain environment.The present invention adopts the Hybrid Architecture that horizontal type architecture and vertical-type architecture are combined, but in the bottom control of robot, adopt the vertical-type architecture of each functional module executed in parallel, bottom control by separately independently the DSP parallel processing system (PPS) form, finish ultrasonic, infrared sensor signal Processing and motion control respectively, locate, keep away functions such as barrier, path planning, to accelerate the speed of robot perception environment and planning action.The horizontal type architecture that in the control of the upper strata of robot, adopts each functional module to carry out in proper order, guarantee that upper strata control can obtain the whole environmental informations of robot perception and the running status of robot, by analysis and effective task scheduling and the fault handling of implementing each functional module in the bottom control of reasoning, guarantee the efficient and reliability of mobile robot's overall operation to global information.
The autonomous mobile robot platform by the supersonic sounding dsp system, keep away barrier and servocontrol dsp system, path planning dsp system and upper strata control computer are formed, be linked to be the controller area network network by the CAN bus between three separate dsp systems and the upper strata control computer.The sonac signal is sent into the supersonic sounding dsp system and is handled after amplifying; The infrared sensor signal is sent into after amplifying and is kept away barrier and the servocontrol dsp system is handled, and realizes mobile robot's servocontrol and automatic obstacle avoiding; The alignment sensor signal is sent into that the path planning dsp system is handled and is realized mobile robot's path planning by dsp system.
The main control computer of upper strata control adopts embedded industrial control computer, be used for obtaining the whole environmental informations of robot perception and the running status of robot in upper strata control, realize mobile robot's task scheduling and fault handling, guarantee the reliability service of robot.
Adopt between each DSP disposal system and between DSP disposal system and the upper strata control computer CAN bus to be linked to be the controller area network network among the present invention, in the network separately independently between the DSP disposal system and and the upper strata control computer between by the CAN bus can realize reliable data communication and in real time, task scheduling efficiently.
The difference of the present invention and system shown in Figure 1 is:
Adopt the control center of digital signal processor as each module, this with Fig. 1 in the Single Chip Microcomputer (SCM) system that adopts compare at aspects such as signal handling capacity, real-time, computational accuracies and all have significant improvement, and kept the characteristics that original Single Chip Microcomputer (SCM) system volume is little, cost is low, low in energy consumption.The DSP digital signal processor that the present invention adopts has the advantage that fast, the most of instruction of instruction execution speed can be finished in the monocycle.In addition, it also has peripherals such as I/O port and A/D analog to digital converter in the very powerful sheet, CAN bus interface, serial communication interface, can simplify periphery circuit design, reduces system cost.The system architecture of many DSP parallel processing that the present invention adopts has overcome system shown in Figure 1 effectively and has had the defective that design is complicated and some algorithms are difficult to realize.
The main difference of another of the present invention and system shown in Figure 1 is the controller area network network structure that has adopted based on the CAN bus, separately independently between the dsp system and and top level computer between can realize at a high speed, data communication reliably, in real time and flexibly, effectively overcome system shown in Figure 1 and can only realize point-to-point communication and the low defective of traffic rate, made the mobile robot who adopts the present invention's design can adapt to the requirement of unknown dynamic environment.
The difference of the present invention and system shown in Figure 2 is:
Employing has that high speed signal processing and digital control function and volume are little, in light weight, low-cost, the digital signal processor of low-power consumption is as the control center of each module, make the present invention on the basis that possesses high-speed data processing power and real-time data communication ability, dwindled the size of robot moving platform greatly, reduced energy resource consumption, reduced mobile robot's whole cost, overcome effectively that the system shown in Figure 2 volume is big, heavy, big, the expensive defective of power consumption, helped the application of mobile robot in fields such as military and civilians.
Embodiment
The CPU of each DSP disposal system all adopts the TMS320LF2407A that TI company produces among the present invention (Fig. 3), it is the dsp chip of using at the control field specially, having high speed signal handles and the necessary architecture of digital control function, its instruction execution speed is up to 40MIPS, and the instruction of the overwhelming majority can be finished in the monocycle of a 25ns.In addition, it also has I/O port and other peripherals in the very powerful sheet, can simplify periphery circuit design, reduces system cost.
It is core processor that supersonic sounding dsp system in the bottom control of the present invention adopts TMS320LF2407A, by the real-time and the reliability of methods such as hardware interrupts and taking turn collection realization sensor data acquisition, adopt sensing data blending algorithm and fault-tolerant design method to guarantee that system can reach very high acquisition rate and very high precision on the software.By the CAN bus communication, distance measurement value can be sent to other modules and upper strata control computer in the robot bottom control reliably with very high traffic rate.
The servocontrol of keeping away in barrier and the servocontrol dsp system is to adopt the principle that becomes structure to realize, promptly when error is big, use time-optimal control, motor adds the full-pressure high-speed operation, so that error reduces rapidly, in the PID control of hour use gain-variable of error, realize the non-overshoot operation of driving wheel servo-drive system, to reach mobile robot's high precision, the high-speed purpose that moves.It is to realize by multichannel infrared sensor signal, employing dynamic obstacle avoidance algorithm that collection is installed on the robot platform that mobile robot in the bottom control keeps away barrier.
Path planning dsp system in the bottom control of the present invention is used for realizing localization for Mobile Robot and path planning two parts function.Localization for Mobile Robot is used for current coordinate of The real time measure robot and orientation, and it at first obtains coarse positioning after the output as calculated according to motor shaft encoder, and the out of Memory such as image according to sonac information and upper strata reach accurate location then.Path planning then is robot working environment information and the impact point information that provides according to the top robot location's information that has drawn and top level computer, optimize index according to certain, adopt the Artificial Potential Field algorithm between starting point and impact point, to cook up one and do not have the path of bumping with the environment obstacle.
The main control computer of upper strata control adopts embedded industrial control computer, and it mainly finishes two parts function, and the one, receive user's steering order and show mobile robot's position and status information, finish man-machine interface with the user; The 2nd, finish mutual with the robot bottom, obtain the whole environmental informations of robot perception and the running status of robot, by analysis and effective task scheduling and the fault handling of implementing each functional module in the bottom control of reasoning, guarantee the efficient and reliability of mobile robot's overall operation to global information.
Claims (4)
1. autonomous mobile robot platform based on many DSP parallel processing is characterized in that:
The upper strata control computer links to each other with a plurality of DSP disposal systems by the CAN bus;
Link to each other by the CAN bus between a plurality of dsp systems, to be linked to be the controller area network network.
2. by the described platform of claim 1, it is characterized in that described DSP disposal system comprises: the supersonic sounding dsp system is used to handle the signal that sonac is sent into.
3. by the described platform of claim 1, it is characterized in that described DSP disposal system comprises: keep away barrier and servocontrol dsp system, be used to handle the signal that infrared sensor is sent into, so that control travel mechanism and realize mobile robot's automatic obstacle avoiding.
4. by the described platform of claim 1, it is characterized in that described DSP disposal system comprises: the path planning dsp system is used to handle the signal that alignment sensor is sent into, so that realize mobile robot's path planning.
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| CNB021560315A CN1219263C (en) | 2002-12-11 | 2002-12-11 | Autonomous mobile robot platform based on multi-DSP parallel processing |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354079C (en) * | 2005-07-15 | 2007-12-12 | 中国船舶重工集团公司第七○九研究所 | High performance intelligent controlling computer system for underwater robot |
| CN100465941C (en) * | 2007-10-30 | 2009-03-04 | 中国传媒大学 | Paralleling calculating machinery based on DSP and system |
| CN101817182A (en) * | 2010-03-30 | 2010-09-01 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| CN101612733B (en) * | 2008-06-25 | 2013-07-31 | 中国科学院自动化研究所 | Distributed multi-sensor mobile robot system |
| CN103231373A (en) * | 2013-03-26 | 2013-08-07 | 东南大学 | Exoskeleton hardware control platform |
| CN103383569A (en) * | 2013-05-31 | 2013-11-06 | 浙江工业大学 | Mobile robot optimal patrol route setting method based on linear temporal logic |
| CN104360685B (en) * | 2014-10-31 | 2017-02-22 | 北京特种机械研究所 | Omni-directional mobile platform autonomous navigation system based on iGPS |
| CN107745383A (en) * | 2017-10-18 | 2018-03-02 | 北京爱接力科技发展有限公司 | A kind of robot control method and robot |
| CN109910873A (en) * | 2019-04-04 | 2019-06-21 | 太原理工大学 | A kind of vehicle automatic parking Torque Control method based on synovial membrane |
| CN114413910A (en) * | 2022-03-31 | 2022-04-29 | 中国科学院自动化研究所 | Visual target navigation method and device |
-
2002
- 2002-12-11 CN CNB021560315A patent/CN1219263C/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100354079C (en) * | 2005-07-15 | 2007-12-12 | 中国船舶重工集团公司第七○九研究所 | High performance intelligent controlling computer system for underwater robot |
| CN100465941C (en) * | 2007-10-30 | 2009-03-04 | 中国传媒大学 | Paralleling calculating machinery based on DSP and system |
| CN101612733B (en) * | 2008-06-25 | 2013-07-31 | 中国科学院自动化研究所 | Distributed multi-sensor mobile robot system |
| CN101817182A (en) * | 2010-03-30 | 2010-09-01 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| CN101817182B (en) * | 2010-03-30 | 2011-08-10 | 杭州电子科技大学 | Intelligent moving mechanical arm control system |
| CN103231373A (en) * | 2013-03-26 | 2013-08-07 | 东南大学 | Exoskeleton hardware control platform |
| CN103383569A (en) * | 2013-05-31 | 2013-11-06 | 浙江工业大学 | Mobile robot optimal patrol route setting method based on linear temporal logic |
| CN103383569B (en) * | 2013-05-31 | 2016-12-28 | 浙江工业大学 | Mobile robot optimum circuit route footpath based on linear time temporal logic establishing method |
| CN104360685B (en) * | 2014-10-31 | 2017-02-22 | 北京特种机械研究所 | Omni-directional mobile platform autonomous navigation system based on iGPS |
| CN107745383A (en) * | 2017-10-18 | 2018-03-02 | 北京爱接力科技发展有限公司 | A kind of robot control method and robot |
| CN107745383B (en) * | 2017-10-18 | 2020-11-10 | 北京爱接力科技发展有限公司 | Robot control method and robot |
| CN109910873A (en) * | 2019-04-04 | 2019-06-21 | 太原理工大学 | A kind of vehicle automatic parking Torque Control method based on synovial membrane |
| CN109910873B (en) * | 2019-04-04 | 2021-04-23 | 太原理工大学 | Sliding mode-based automatic parking torque control method for unmanned vehicle |
| CN114413910A (en) * | 2022-03-31 | 2022-04-29 | 中国科学院自动化研究所 | Visual target navigation method and device |
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| CN1219263C (en) | 2005-09-14 |
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Assignee: Xuzhou Handler Special Vehicle Co., Ltd. Assignor: Institute of Automation, Chinese Academy of Sciences Contract fulfillment period: 2006.1.6 to 2016.1.5 Contract record no.: 2009320000125 Denomination of invention: Autonomous mobile robot platform based on multi-DSP parallel processing Granted publication date: 20050914 License type: exclusive license Record date: 2009.2.18 |
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Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2006.1.6 TO 2016.1.5; CHANGE OF CONTRACT Name of requester: XUZHOU HAILUNZHE SPECIAL VEHICLE CO., LTD. Effective date: 20090218 |
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