CN201749364U

CN201749364U - Self-tracing steel plate cutting robot controller

Info

Publication number: CN201749364U
Application number: CN201020217578XU
Authority: CN
Inventors: 高春甫; 贺新升; 罗志勇; 张富; 唐可洪; 朱喜林; 鄂世举
Original assignee: Zhejiang Normal University CJNU
Current assignee: Zhejiang Normal University CJNU
Priority date: 2010-06-02
Filing date: 2010-06-02
Publication date: 2011-02-16
Anticipated expiration: 2020-06-02

Abstract

The utility model relates to a self-tracing steel plate cutting robot controller, which belongs to a controller. A bus is respectively connected with an image acquisition storage control module, a CCD image input interface, a FIFO caching module, a hardware algorithm acceleration module, a SRAM, a SDRAM, a FLASH, a power module, an embedded soft core processor, a VGA interface, a key interface, a television driving interface, an Ethernet interface, a RS232 interface, an expansion interface, and a LED indication lamp. The CCD image input interface is respectively connected with the image acquisition storage control module, a CCD camera, and the FIFO caching module. The VGA interface is connected with a display screen. The key interface is connected with a key. With novel structure, small and convenient integral design, the self-tracing steel plate cutting robot controller is easy to be mounted on a self-tracing cutting robot and fully meets the demand of the self-tracing cutting robot on image acquisition, data display and remote communication, thereby improving image processing speed and ensuring system real time.

Description

The self-tracking steel plate cutting robot controller

Technical field

The utility model relates to a kind of controller, specifically is meant a kind of from tracking the cutting robot controller.

Background technology

The cutting robot control circuit generally is made up of control system, motor driver and peripheral auxiliary electrical device from tracking.Control system is the control core, finishes image acquisition and processing, trajectory planning and motion control, and motor driver then is to control the mobile robot according to the instruction drive stepping motor of control system to finish predetermined movement locus.The stability of control system and driver directly influences the performance of cutting robot motion control, and then influences cutting accuracy.Most of at present vision mobile robot that tracks certainly adopts PC and DSP as the control system core.PC is as the system core, and processing speed is slow, and volume is excessive, and is not portable; DSP is as the system core, the system architecture complexity, and the cost height is not suitable for exploitation on a small scale.

Summary of the invention

The utility model provides a kind of self-tracking steel plate cutting robot controller, excessive to solve the controller volume that is used for the mobile robot at present, complex structure, the cost height, be not suitable for the problem of self-tracking steel plate cutting robot, the technical solution adopted in the utility model is: bus respectively with the image acquisition storage control module, the ccd image input interface, the FIFO cache module, the hardware algorithm accelerating module, SRAM, SDRAM, FLASH, power module, embedded soft-core processor, the VGA interface, keystroke interface, the motor-driven interface, Ethernet interface, the RS232 interface, expansion interface, LED light connects, the ccd image input interface also respectively with the image acquisition storage control module, the CCD camera, the FIFO cache module connects, the VGA interface is connected with display, and keystroke interface is connected with button.

The beneficial effects of the utility model mainly show: (1), controller only are made of a circuit board, and user interface is provided at the circuit board both sides, up and down can be for installing, and global design is small and exquisite convenient, is convenient to install on the cutting robot that tracks certainly; (2), controller function is perfect, and abundant sensor interface resource is provided, and fully satisfied the demand of cutting robot in image acquisition, data presentation and telecommunication that track certainly; (3) inserting mode that controller provided, with low cost and grafting is reliable convenient; (4) controller adopts embedded Nios II soft-core processor module, image hardware accelerator, FIFO cache module and motion-control module, and described module comprises bottom hardware driver, interpretive routine and specific instruction standard; Improve image processing speed, guaranteed the real-time of system; (5) interpretive routine of controller firmware inside towards the instruction standard establish one's own system, form simple and convenient expansion of module, can make corresponding modify in conjunction with the expansion of controller hardware function.

Description of drawings

Fig. 1 is the utility model theory diagram;

Fig. 2 is a workflow diagram of the present utility model.

Embodiment

Bus 20 respectively with image acquisition storage control module 2, ccd image input interface 3, FIFO cache module 4, hardware algorithm accelerating module 5, SRAM 6, SDRAM 7, FLASH8, power module 9, embedded soft-core processor 10, VGA interface 11, keystroke interface 12, motor-driven interface 13, Ethernet interface 14, RS232 interface 15, expansion interface 16, LED light 17 connects, ccd image input interface 3 also respectively with image acquisition storage control module 2, CCD camera 1, FIFO cache module 4 connects, VGA interface 11 is connected with display 18, and keystroke interface 12 is connected with button 19.

Power module 9 of the present utility model has adopted switching mode voltage stabilizing chip, the controller persistent current of 2A can be provided, except that supplying with the 5V power supply, inside can also provide the power supply of 1.5V and 3.3V to use for image acquisition storage control module 2, FIFO cache module 4, hardware algorithm accelerating module 5, embedded soft-core processor 10 and SDRAM respectively by chip; Chip has short-circuit protection function simultaneously.

Embedded soft nuclear 10, image acquisition storage control module 2, hardware algorithm accelerating module 5, the data fifo cache module that has of the present utility model is configured by programming software.User program comprises bsp driver and user instruction interpretive routine.Interface program is by adopting the programming software on the supporting PC of the utility model to realize, this programming software has two kinds of C language and Hardware Description Language VHDL.The binary code of user program is followed the instruction standard that the user sets, and this instruction standard function class is similar to the assembly instruction code.

The binary code of user program can be downloaded to FLASH storer of the present utility model by downloading line; User program begins to carry out, and module brings into operation; The interpretive routine of module is by the binary code of interpreting user, just can carry out logical operation and call driver is finished image algorithm and control function, and the control cutting robot is carried out corresponding action.

Controller principle of work: after controller brings into operation, image acquisition storage control module 2 is sent instruction, CCD camera 1 is transferred to FIFO cache module 4 through ccd image input interface 3 with image, image acquisition storage control module 2 is stored to storage unit static RAM SRAM and synchronous DRAM SDRAM with image, the image processing process that algorithm is simple, operand is big is finished by hardware algorithm accelerating module 4, and algorithm complex image processing process is finished processing by embedded soft-core processor 10 by software.System program and result are stored in the flash memory FLASH storer, finish Flame Image Process after, result is presented on the display by VAG interface 11; After controller generates motion control instruction, by the control of motor-driven interface 13 realizations to motion motor.Controller shows the cutting robot running status by LED light 1, connects button by keystroke interface 12, can be provided with controller.Controller is communicated by letter with PC by RS232 interface 15, and controller also can connect telecommunication network by Ethernet interface 14, can be that system adds module by expansion interface simultaneously.Each module and port connect by internal bus controller.

As shown in Figure 2, the controller system workflow is:

(1) obtains task and carry out mission planning, generate task list.

(2) obtain ccd image information, image acquisition storage control module control image acquisition and storage, FIFO cache module cache image information.

(3) whether image acquisition memory module control image information stores, and system is stored to storer with image information as required.

(4) call the Flame Image Process subroutine, system finishes Flame Image Process, generates motion control instruction, output order control motor movement, display controller running status.Continue to call Flame Image Process from program, until finishing all motion tasks.

(5) after all tasks are finished, system sums up the decision-making experience and upgrades solution bank according to feedback.

Claims

1. self-tracking steel plate cutting robot controller, it is characterized in that: bus respectively with the image acquisition storage control module, the ccd image input interface, the FIFO cache module, the hardware algorithm accelerating module, SRAM, SDRAM, FLASH, power module, embedded soft-core processor, the VGA interface, keystroke interface, the motor-driven interface, Ethernet interface, the RS232 interface, expansion interface, LED light connects, the ccd image input interface also respectively with the image acquisition storage control module, the CCD camera, the FIFO cache module connects, the VGA interface is connected with display, and keystroke interface is connected with button.