CN201837857U - Modularized embedded control device for movement-oriented rescue robot - Google Patents
Modularized embedded control device for movement-oriented rescue robot Download PDFInfo
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- CN201837857U CN201837857U CN2010201742631U CN201020174263U CN201837857U CN 201837857 U CN201837857 U CN 201837857U CN 2010201742631 U CN2010201742631 U CN 2010201742631U CN 201020174263 U CN201020174263 U CN 201020174263U CN 201837857 U CN201837857 U CN 201837857U
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Abstract
The utility model discloses a modularized embedded control device for a movement-oriented rescue robot, relating to the field of control device for robots. The modularized embedded control device for the movement-oriented rescue robot comprises a processor core module (1), a peripheral and communication interface module (2), a sensor interface module (3) and modularized control software (4). In the utility model, all parts adopt modularized design so as to meet the requirement on controllers of rescue robots with different structures and functions, reduce design cycles and cost of the controllers with different functions, reinforce function multiplexing between the controllers with different functions, and simultaneously improve maintainability of the controllers for robots.
Description
Affiliated technical field
The utility model is a kind of modular insert control device towards movable rescue robot, satisfies the functional requirement of different movable rescue robots to controller.
Background technology
Robot controller is a part most important in the robot system, most critical.The quality of robot controller performance is directly determining the exercise performance of robot.Mostly the existing robots system is dedicated system, can only be adapted to the robot of ad hoc structure, in case robot construction changes, its controller also must redesign, thereby has limited robot according to the requirement change of task and working environment or the ability of expansion.Though the various controller of open structure for robot that exist have been accomplished portability at present, extensibility etc. adopt industrial control computer as controller mostly, and hardware configuration can't change, and the cost height, and volume is big, can't accomplish embedded Control.
Development along with Robotics, robot more and more needs robot to have better modular design at aspects such as design, manufacturing, maintenances, with the rescue robot that satisfies several different structures and function in the disparity items demand to controller, reduce the design cycle and the cost of difference in functionality controller, increase the multiplexing functions between the difference in functionality controller.At present the different machines people mainly concentrates on the different of communication and peripheral interface to the functional requirement of controller, different to type of sensor with quantitative requirement, different to the controller control function with the demand of man-machine interaction, be divided into processor core core module, peripheral hardware and communication interface module, sensor interface module and four modules of modular Control Software at this utility model towards the modular insert control device of movable rescue robot.
The utility model content
The purpose of this utility model is to design a kind of robot modularized device for embedded control, with the rescue robot that satisfies several different structures and function in the disparity items demand to controller, reduce the design cycle and the cost of difference in functionality controller, increase the multiplexing functions between the difference in functionality controller.
The utility model includes processor core core module (1) towards the modular insert control device of movable rescue robot, peripheral hardware and communication interface module (2), sensor interface module (3) and modular Control Software (4).
Processor core core module (1) is the core of system's control, adopt processor A RM (Advanced RISC Machine) the S3C2440 processor (11) of low-power consumption, and expansion has NOR Flash (Nor type flash memory) (12), NAND Flash (NAND type flash memory) (13), SDRAM (Synchronous Dynamic Random Access Memory) (14); Expand various bus interface (15) simultaneously.
Peripheral hardware and communication interface module (2) expand robot controller peripheral hardware and communication interface commonly used according to the needs of robot control function, mainly expand interfaces such as serial ports, 485 bus interface, CAN bus interface and network communication.
Sensor interface module (3) is used for connecting robot control and needs diversified sensor, need the collection of analog quantity such as temperature, humidity, gas concentration, and the collection of video/audio signal, audio collection utilizes the I2S bus to expand two-way audio input and output interface by the UDA1341 chip, and image acquisition realizes by the USB camera.
Modular Control Software (4) mainly is the related software of robot control, mainly comprises operating system module, driver module and robot control software's module, communication module.Mainly need transplant (SuSE) Linux OS, and on the (SuSE) Linux OS platform, finish relevant device driving exploitation, Control Software exploitation, communication program exploitation according to the configuration of system hardware platform.
Robot modularized device for embedded control advantage of the present utility model is:
1 robot modularized device for embedded control adopts modular design, designs and satisfies the common interfaces module that different machines people interface function requires, and makes things convenient for the integrated of system and safeguards, has shortened the system development time, improves the reliability of system.
The 2 arm processor S3C2440 that adopt low-power consumption on core processor is selected have reduced the power consumption of control device effectively as the system control device core processor.
Adopt modular design on 3 software modules, strengthened the cutting and the maintainability of system.Operating system adopts linux system as operating system simultaneously, has strengthened reliability, extendability and the opening of system software.
4 systems provide communication interfaces commonly used such as serial ports, 485 bus interface, CAN bus interface and network communication, the interface of the collection of analog quantity such as temperature, humidity, gas concentration is provided simultaneously, and the collection of video/audio signal, can satisfy the needs of various application occasions.
Description of drawings
Fig. 1 is system's composition diagram of robot modularized device for embedded control of the present utility model.
Fig. 2 is system's detailed structure view of robot modularized device for embedded control of the present utility model.
Embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
Referring to shown in Figure 1, a kind of robot modularized device for embedded control of the utility model, this robot modularized device for embedded control modular insert control device includes processor core core module (1), peripheral hardware and communication interface module (2), sensor interface module (3) and modular Control Software (4).
In the utility model, processor core core module (1) is the core of system's control, mainly is to finish the embedded Control Core Feature.The processor core core module adopts processor A RM (Advanced RISCMachine) the S3C2440 processor (11) of low-power consumption, and expansion has NOR Flash (Nor type flash memory) (12), NANDFlash (NAND type flash memory) (13), SDRAM (Synchronous Dynamic Random Access Memory) (14); Expand various bus interface (15) simultaneously.
Peripheral hardware and communication interface module (2) expand robot controller peripheral hardware and communication interface commonly used according to the needs of robot control function.Specific as follows: the expansion (21), use SJA1000 CAN controllers and the TJA1050 high-speed CAN transceiver that adopt TL16C554 serial ports expansion chip to carry out serial port function expand CAN bus interface (22), and adopt DM9000 ethernet controller and H1102 network transformer to expand ethernet communication interface (23), and adopt the MAX485 chip to realize 232 to the conversion of half-duplex 485 serial ports, adopt the MAX491 chip to realize 232 conversions (24) to full duplex 485 serial ports.
Sensor interface module (3) is used for connecting robot control and needs diversified sensor, needs the collection of analog quantity such as temperature, humidity, gas concentration, and the collection of video/audio signal.Arm processor AD translation interface part (31) is used in collection for analog quantity, and adopts I2S audio interface UDA1341TS chip to finish audio collection (32), and adopts the USB camera to realize image acquisition (33).
Modular Control Software (4) mainly is the related software of robot control, mainly comprises operating system module, driver module and robot control software's module, communication module.Configuration according to the system hardware platform, transplant (SuSE) Linux OS, and the Driver Development framework that utilizes operating system to provide on the (SuSE) Linux OS platform is finished serial ports expansion, CAN bus, Ethernet interface, audio interface, AD gathers and USB makes a video recording, and first-class device drives is transplanted and exploitation, the Control Software exploitation realizes the control of controller to each motor driver and sensor, and communication program is responsible for realizing communication with host communication and with robot components such as motor driver, sensors.
Coupling system detailed structure Fig. 2, the function that each unit is realized in this novel a kind of built-in image collection treating apparatus is done as described below:
(1) processor core core module (1)
The core of processor core core module (1) system control mainly is to finish the embedded Control Core Feature.The processor core core module adopts processor A RM (Advanced RISC Machine) the S3C2440 processor (11) of low-power consumption, S3C2440 is the integrated chip of a height, operating voltage 1.3V, adopt 16/32 ARM920T risc core, the interface support that provides: NAMD flash memory, digital camera, TFT/STN liquid crystal display, USB, SD/MMC/SDIO storage card and touch-screen etc.This product adopts 0.13 micron CMOS processor of making, supports several operation systems.Expansion simultaneously has the Flash storer to be used as the program storage of system, so that with program Solidification on hardware platform, NOR Flash (Nor type flash memory) (12) is used for storing start-up code and system's linux kernel, NAND Flash (NAND type flash memory) (13) is used for depositing file system, back up start-up code and system's linux kernel simultaneously, SDRAM (Synchronous Dynamic Random Access Memory) (14) is as Installed System Memory, required memory headroom during assurance system operation; Expand various bus interface (15) simultaneously, comprise data bus, address bus and control bus, and serial ports, USB interface, Ethernet interface, so as with other modules between be connected.
(2) peripheral hardware and communication interface module (2)
Peripheral hardware and communication interface module (2) expand robot controller peripheral hardware and communication interface commonly used according to the needs of robot control function.Specifically be described below:
Adopt TL16C554 serial ports expansion chip to carry out the expansion (21) of serial port function, TL16C554 is one and integrates four enhancement mode asynchronous communication assemblies (ACE) that passage is TL16C550C.Its each passage can receive data from peripherals or MODEM, realizes string-also conversion; Simultaneously, it also can receive data from the CPU termination, realizes also-the string conversion.8 position datawires of TL16C554 link to each other with the least-significant byte of the data bus of arm processor in the system, low 3 of the address wire of 3 bit address lines and arm processor link to each other, and 4 chip selection signals are exported by the 3-8 decoder for decoding and controlled by arm processor nGCS1 and A3, A4 address wire.
Use SJA1000 CAN controllers and TJA1050 high-speed CAN transceiver to expand CAN bus interface (22), the interface of SJA1000 and microprocessor is mainly finished by 8 single data and address time-sharing multiplex line.Adopt DM9000 ethernet controller and H1102 network transformer to expand ethernet communication interface (23), DM9000 is connected with arm processor by 23 bit data bus.Adopt the MAX485 chip to realize 232, adopt the MAX491 chip to realize 232 conversions (24) to full duplex 485 serial ports to the conversion of half-duplex 485 serial ports.
(3) sensor interface module (3)
Sensor interface module is used for connecting robot control and needs diversified sensor, needs the collection of analog quantity such as temperature, humidity, gas concentration, and the collection of video/audio signal.Arm processor AD translation interface part (31) is used in collection for analog quantity, and 4 road 10bit accuracy A D interface that the arm processor chip has are drawn, and is used for connecting analog quantity.And adopt the I2S bus to expand two-way audio input and output interface (32) by the UDA1341 chip.I2S (Inter-IC Sound) bus is that PHILIPS Co. is a kind of bus standard that the audio data transmission between the digital audio-frequency apparatus is formulated, and this bus is specialized in the data transmission between audio frequency apparatus, is widely used in various multimedia systems.And adopt the USB camera to realize image acquisition (33), and be connected with the processor core core module by USB interface, finish image acquisition.
(4) modular Control Software (4)
Modular Control Software (4) mainly is the related software of robot control, mainly comprises operating system module, driver module and robot control software's module, communication module.
According to the configuration of system hardware platform, transplant (SuSE) Linux OS, its step mainly comprises the transplanting of Boot loader, the transplanting of linux system, structure three parts of file system.
At first before the graft procedure system, need to transplant earlier Boot loader.So-called Boot loader is exactly one section small routine of operation before the operating system nucleus operation.By this section small routine initialization system hardware device, set up the mapping graph of memory headroom, for final call operation system kernel configures correct environment.Then be that the transplanting of (SuSE) Linux OS is 1. downloaded the Linux2.6. kernel and about the patch of ARM platform; 2. set up cross compilation environment, download and install arm-linux-gcc instrument chain; 3. according to system configuration, revise and transplant kernel.File system is the indispensable important component part of (SuSE) Linux OS.Realize root file system, at first will dispose kernel, configuration MTD compiles into kernel with the support function of the interior jffs2 of checking, ramfs file system, guarantees that linux system supports the jffs2 file system; Then, divide the Flash subregion, be Boot loader, kernel, file system memory allocated space according to system requirements.Next step is the file system of making the jffs2 form.Sharp weapon commonly used making the root file system in embedded Linux system are: Busy Box, generate the jffs2 file system with the mkfs.jffs2 instrument after making file system, with the file system programming in Flash.
The Driver Development framework that utilizes operating system to provide on the (SuSE) Linux OS platform is finished serial ports expansion, CAN bus, Ethernet interface, audio interface, AD gathers and USB makes a video recording, and first-class device drives is transplanted and exploitation.Drive for the said equipment, the framework that we adopt character device to drive carries out.
Driving with TL16C554 is an example, and the read function is used for from the serial ports reading of data, and the write function is used for sending data by serial ports.Be implemented as follows: the write function copies user's space to kernel spacing, and position 5:LSR5 (THRE) transmitter holding register of continuous information trunk line state register (LSR), when its set, show that the asynchronous communication assembly has been ready to accept new transmission character, at this moment data to be sent are write transmitter holding register (THR), thereby these data are sent, and constantly circulation all sends until all data and finishes.The read function will be constantly from the Data Receiving buffer zone reading of data put into the kernel spacing array, when the data buffer is sky, the read function will enter dormancy, and be waken up by serial ports reception interrupt function, until reading required byte number, and the serial data that receives copies in the user's space.Receive the Interrupt Process function, be responsible for the reception of serial data.When serial ports has data to arrive, will have and interrupt producing, and trigger at this moment and interrupt, and call and interrupt receiving the processing function.Whether this function is responsible for checking reading of data correct, and the data that read are put into buffer zone, and wakes the process of reading up.
The Control Software exploitation realizes the control of controller to each motor driver and sensor, need carry out cutting and configuration according to different machines people's requirement, finishes corresponding control programs according to the specific requirement of system.
Communication program is responsible for realizing communications with host communication and with robot components such as motor driver, sensors, mainly comprises writing of serial communication program, the writing of ethernet communication program.
The utility model robot modularized device for embedded control of the present utility model adopts modular design, design and satisfy the common interfaces module that different machines people interface function requires, make things convenient for the integrated of system and safeguard, shortened the system development time, improve the reliability of system.The arm processor S3C2440 that adopts low-power consumption on core processor is selected has reduced the power consumption of control device effectively as the system control device core processor simultaneously.Adopt modular design on the software module, strengthened the cutting and the maintainability of system.Operating system adopts linux system as operating system simultaneously, has strengthened reliability, extendability and the opening of system software.System provides communication interfaces commonly used such as serial ports, 485 bus interface, CAN bus interface and network communication, the interface of the collection of analog quantity such as temperature, humidity, gas concentration is provided simultaneously, and the collection of video/audio signal, can satisfy the needs of various application occasions.
Claims (4)
1. modular insert control device towards movable rescue robot, it is characterized in that: the utility model includes processor core core module (1) towards the modular insert control device of movable rescue robot, peripheral hardware and communication interface module (2), sensor interface module (3).
2. a kind of modular insert control device according to claim 1 towards movable rescue robot, it is characterized in that: processor core core module (1) includes arm processor (11) and peripheral NOR Flash (12), NAND Flash (13), SDRAM (14); Expand various bus interface (15) simultaneously, comprise data bus, address bus and control bus, and serial ports, USB interface, Ethernet interface, so as with other modules between be connected and system's power supply part (16).
3. a kind of modular insert control device according to claim 1 towards movable rescue robot, it is characterized in that: peripheral hardware and communication interface module (2) include TL16C554 serial ports expansion part (21), CAN bus interface (22) and ethernet communication interface (23), and 232 to 485 serial ports conversion portions (24).
4. a kind of modular insert control device according to claim 1 towards movable rescue robot, it is characterized in that: sensor interface module (3) comprises arm processor AD translation interface part (31), adopt I2S audio interface UDA1341TS chip to realize audio collection part (32), and adopt the USB camera to realize image acquisition part (33).
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| CN2010201742631U CN201837857U (en) | 2010-04-23 | 2010-04-23 | Modularized embedded control device for movement-oriented rescue robot |
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| CN2010201742631U CN201837857U (en) | 2010-04-23 | 2010-04-23 | Modularized embedded control device for movement-oriented rescue robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527280A (en) * | 2016-12-15 | 2017-03-22 | 上海辰竹仪表有限公司 | Intelligent controller |
| CN106597981A (en) * | 2016-12-15 | 2017-04-26 | 上海辰竹仪表有限公司 | Intelligent controller system |
| CN108237536A (en) * | 2018-03-16 | 2018-07-03 | 重庆鲁班机器人技术研究院有限公司 | Robot control system |
| CN113319836A (en) * | 2021-06-02 | 2021-08-31 | 辽宁工程技术大学 | Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway |
| CN115847451A (en) * | 2022-12-26 | 2023-03-28 | 江西洪都航空工业集团有限责任公司 | Distributed intelligent robot control system |
-
2010
- 2010-04-23 CN CN2010201742631U patent/CN201837857U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527280A (en) * | 2016-12-15 | 2017-03-22 | 上海辰竹仪表有限公司 | Intelligent controller |
| CN106597981A (en) * | 2016-12-15 | 2017-04-26 | 上海辰竹仪表有限公司 | Intelligent controller system |
| CN108237536A (en) * | 2018-03-16 | 2018-07-03 | 重庆鲁班机器人技术研究院有限公司 | Robot control system |
| CN113319836A (en) * | 2021-06-02 | 2021-08-31 | 辽宁工程技术大学 | Attitude control system and method for non-structured spatial redundancy monitoring robot for roadway |
| CN115847451A (en) * | 2022-12-26 | 2023-03-28 | 江西洪都航空工业集团有限责任公司 | Distributed intelligent robot control system |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20110518 Termination date: 20140423 |