CN202331089U - Modularized multi-functional robot controller - Google Patents
Modularized multi-functional robot controller Download PDFInfo
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- CN202331089U CN202331089U CN2011204963236U CN201120496323U CN202331089U CN 202331089 U CN202331089 U CN 202331089U CN 2011204963236 U CN2011204963236 U CN 2011204963236U CN 201120496323 U CN201120496323 U CN 201120496323U CN 202331089 U CN202331089 U CN 202331089U
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Abstract
The utility model discloses a modularized multi-functional robot controller, which comprises a main control module and an interface part, wherein the interface part comprises an extensible digital sensor interface module, an extensible analog sensor interface module, an extensible analog rudder interface module, an extensible digital rudder interface module, a downloading and simulating interface module, an expanding serial communication module, an extensible encoder rapid interface module, an extensible motor driving interface module and a system power supply centralized management interface module, wherein each module of an interface part is provided with a data interface and a power supply interface; and in the system power supply centralized management interface module, a microcontroller is arranged and is used for receiving working current and voltage state information of reach power supply region acquired by using each detection module and controlling the state of a protection circuit in each detection module. Due to the adoption of the modularized multi-functional robot controller, modularized rapid switching can be realized, the structure is simple, modular extension is easy and convenient to replace, and programming and base development are easy; and a functional module can be configured correspondingly according to the requirement of a user.
Description
Technical field
The utility model relates to a kind of robot controller, the multi-function robot controller of specifically a kind of modularization, extensive interface.
Background technology
Robot has been widely used in numerous areas at present; Comprise Aero-Space, industrial manufacturing, rescue and relief work, robot match and fields such as scientific research and education and instruction, it is a comprehensive sci-tech product that relates to subjects such as mechanical, electrical, control, measurement, information, communication, energy and material.Robot is of a great variety, and function is complicated, and as a kind of equipment and comprehensive research platform that replaces the manpower work, it is accepted extensively by the fan of each field, each level, learner and researcher.
Controller is the ROBOT CONTROL core, and it passes through to gather peripheral various sensor status values, and calculates and handle according to user's written program and algorithm, makes robot produce corresponding expection and operates, thereby reach certain actual functional capability.Adopt more robot controller all to possess strong specific function at present, but its shortcoming is its function singleness, can not make robot and control system possess stronger flexibility, this just requires robot controller to possess more function and stronger extended capability.
In recent years, each major company of the world develops high-performance machine people in succession, has developed into higher level with the artificial anthropomorphic robot of representing of France's " NAO " machine; But its controller is strongly professional; Control method is complicated, can only be difficult to carry out other complex tasks as research platform and performance robot; This clear on the other hand its controller lacks certain flexibility, has therefore also limited the expansion of its range of application.
Simultaneously, the star robot external member of the intention that more domestic companies of robot such as Beijing company of robot release is though its robot possesses the certain module characteristic; As have download debugging module, steering wheel module, motor drive module etc., but these modules are free on outside the controller, do not have and controller formation organic whole; And its control unit interface is fixed, and does not possess extendability, and intermodule connects with data line; Poor stability has limited the range of application of controller.Therefore, its controller module degree and extensibility are difficult to satisfy the requirement of flexible robot's controller.
In addition; Existing robot controller programmed environment generally all depends on the software that corresponding research and development company is developed; Can only carry out secondary development or top layer exploitation to code, limit the reconstruct of user, obviously be difficult to satisfy the demand of flexible robot controller to the controller bottom code.
Therefore; To from now on one period intelligent robot and the growth requirement of intelligence control system thereof; But developing the high flexibility robot controller of the universal programming environment of a kind of high modularization, abundant extendable functions module, stable modular structure and programming on bottom layer, is to be badly in need of one of urgent technical barrier that solves at present.
The utility model content
The purpose of the utility model provides and a kind ofly can realize multi-functional control, can realize that again modularization switches fast, and simple in structure, and that the module expansion is changed is easy, be easy to programme and the modular multi-functional device people controller of low level development.
The utility model is to solve the problems of the technologies described above the technical scheme that is adopted to be: a kind of modular multi-functional device people controller; Controller comprises main control module and interface section; But but the interface section comprises the expanding digital sensor interface module, can expand the simulation sensor interface module, can expand simulation steering wheel interface module expanding digital steering wheel interface module, download and simulation interface module, extend out serial communication module, scalable coding device fast interface module, can expand motor-driven interface module and system power supply centralized management interface module; Each module of interface section all is provided with data-interface and power interface, between data-interface and power interface, is provided with electrostatic screening and electromagnetic interference shield; Main control module is isolated through photoelectricity and is connected with the data-interface of each module of interface section, receives the data that each module is gathered, and sends instruction to each module, accomplishes corresponding programmed instruction task; Be provided with in the described system power supply centralized management interface module that sensor power supply detection module, power of motor power supply detect detection module, motor-driven and scrambler power supply detection module, steering wheel power supply detection module, the communication interface machine is downloaded power supply detection module and main control module for power supply and detection module; In system power supply centralized management interface module, be provided with microcontroller; Microcontroller receives the working current and the voltage status information of each power supply area of each detection module collection, and controls the state of holding circuit in each detection module.
Be integrated with photoisolator respectively in each module of said interface section.
Described scalable coding device fast interface module is provided with the encoder interfaces with expansion module interface unified standard, and each module of said interface section is equipped with and the unified fast interface of expansion module interface standard.
The described serial communication module that extends out can be expanded a plurality ofly from machine equipment, and supports the standard agreement communication.
The described serial communication module that extends out is also expanded wireless communication module is arranged, and the remote online monitor module communication of wireless communication module and peripheral hardware to remote online monitor module communication transmission control unit (TCU) running status value, and is shown in visual device.
Each module of said interface section is fixed on the controller body through the grafting latch mechanism.
The utility model adopts mega128 as the control core; Be main control module, auxiliary circuit around optimizing, pin is divided each functional areas according to functions of modules; And carry out unified addressing according to function; Adopt photoelectricity to isolate and arrange, peripheral interface is set, electromagnetic interference shield is set simultaneously according to unified standard with each module is corresponding.Finally, but but the controller main body comprises 16 expanding digital sensor interfaces, 8 can expand simulation sensor interface, 8 and can expand serial communication interface and JTAG and the ISP emulation download interface that simulation steering wheel interface, 1 road expanding digital steering wheel interface, 4 road digital encoder fast interfaces, 1 tunnel are used for wireless transmission.Data between module and controller is isolated through data fast interface and photoelectricity, has reduced the interference of module by signal to the control core, and power supply links to each other with module through the power supply fast interface, and separates with the data fast interface, can effectively reduce signal and disturb.On any interface module, expansion interface all can be expanded the identical function module fast.Said module interface possesses powerful load capacity; The system power supply centralized management interface module of controller is provided with independently service area to each module; And can gather the work state information such as electric current, voltage of each service area in real time, through the microcontroller that carries, according to disparate modules voltage range, load characteristic etc.; The running parameter and relevant operating index of said power module are set, regulate the power supply state and the guard mode of each module.
Said control unit interface module comprises: but the expanding digital sensor interface module, can expand the simulation sensor interface module, can expand RC steering wheel interface module, digital steering wheel interface module, download and emulation module, extend out the serial communication module, the special-purpose fast interface module of scalable coding device, can expand motor-driven interface module and system power supply centralized management interface module; Be equipped with and the monolithic fast interface of expansion connection module standard, be connected fast with the corresponding function module through fast interface.
The quick interface of the standardization of said interface module comprises data-interface and power interface; Data-interface mainly transmits information; Docking port number data port few, that contain much information adopts USB interface, SPI interface or serial communication interface, adopts standardization agreement, and transfer rate is fast, accuracy is high; The employing one line expansion technique that the docking port number is more, quantity of information is little adopts D type multicore splicing interface, and screw is fastening, is convenient to wiring, more helps changing fast and the expansion corresponding module.Power interface is mainly each module electric energy is provided, and adopts the double-layer wiring post, and the back of pegging graft is fastening with screw, has characteristics such as through-put power is big, volume is little, reliability height.Two kinds of interfaces are used; Can carry out the load capacity test processes to the power supply fast interface according to the load of expansion module; The data fast interface separates with the power supply fast interface simultaneously, plays quick connection, reliable transmission and electrostatic screening and electromagnetic interference shielding action.
All pins of said master controller are according to functions of modules partition functionality district, and carry out unified addressing according to function, adopt photoelectricity to isolate and arrange with each module is corresponding, according to unified standard peripheral interface are set, and electromagnetic interference shield is set simultaneously.
Said system power supply centralized management interface module is provided with independently service area to each module; And can gather the work state information such as electric current, voltage of each service area in real time; Through the microcontroller that carries; According to the using and expand of disparate modules, its running parameter and relevant operating index are set, regulate the power supply state and the guard mode of each module.
The said serial communication module that extends out, a plurality of from machine equipment and the communication of support standard agreement except that expanding, this module is mainly used in extended wireless module and the communication of remote online monitor module.
The outer remote in-service monitoring module that said controller support is additional, this module through with the controller wireless telecommunications, obtain the important running status value of controller, and be shown in visual device.
The beneficial effect of the utility model is: can realize that modularization switches fast, and simple in structure, that the module expansion is changed is easy, be easy to programming and low level development.Adopt modular design method; Can functional module be disposed accordingly according to user's needs; Each intermodule is connected compact and does not disturb mutually, and convenient programming is flexible, can give full play to the Flexible Control characteristic of controller; Controller is strong to adaptive capacity to environment, can be competent at the request for utilization under the various complex environments.
Description of drawings
Fig. 1 is the general frame circular chart of the utility model;
Fig. 2 is the power management distribution diagram of the utility model;
Fig. 3 is the data transmission flow graph of the utility model.
Mark among the figure: 1, main control module, but 2 expanding digital sensor interface modules, 3, can expand the simulation sensor interface module; But 4 expanding digital steering wheel interface modules, 5, can expand simulation steering wheel interface module, 6, download and simulation interface module; 7, extend out the serial communication module, 8, scalable coding device fast interface module, 9, can expand the motor-driven interface module; 10, system power supply centralized management interface module, 11, the remote online monitor module, 12, sensor power supply detection module; 13, power of motor power supply detects detection module, and 14, motor-driven and scrambler power supply detection module, 15, steering wheel power supply detection module; 16, the communication interface machine is downloaded the power supply detection module, and 17, main control module for power supply and detection module, 18, motor.
Embodiment
As shown in Figure 1, a kind of modular multi-functional device people controller comprises main control module 1 and interface section.In the controller function fully independently each submodule each interface through the interface section connect.But but the interface section comprises expanding digital sensor interface module 2, can expand simulation sensor interface module 3, can expand simulation steering wheel interface module 5 expanding digital steering wheel interface modules 4, download and simulation interface module 6, extend out serial communication module 7, scalable coding device fast interface module 8, can expand motor-driven interface module 9 and system power supply centralized management interface module 10.But but main control module 1 be responsible for according to input programmed acquisition and processing expanding digital sensor interface module 2, can expand simulation sensor interface module 3 expanding digital steering wheel interface modules 4, can expand simulation steering wheel interface module 5, download and simulation interface module 6, extend out serial communication module 7, scalable coding device fast interface module 8, can expand the data message that motor-driven interface module 9 and system power supply are managed interface module 10 concentratedly; Then; Send instruction to each module, accomplish corresponding programmed instruction task.Each module of interface section all is provided with data-interface and power interface, between data-interface and power interface, is provided with electrostatic screening and electromagnetic interference shield; Main control module 1 is isolated through photoelectricity and is connected with the data-interface of each module of interface section, receives the data that each module is gathered, and sends instruction to each module.
As shown in Figure 2, be the power distribution figure of controller.Said system power supply centralized management interface module 10 is provided with independently service area to each module, is provided with in the system power supply centralized management interface module 10 that sensor power supply detection module 12, power of motor power supply detect detection module 13, motor-driven and scrambler power supply detection module 14, steering wheel power supply detection module 15, the communication interface machine is downloaded power supply detection module 16 and main control module for power supply and detection module 17.Each detection module all is provided with testing circuit and holding circuit, in system power supply centralized management interface module 10, is provided with microcontroller, and microcontroller receives the information of each detection module; Gather the working current and the voltage status information of each power supply area in real time; In case be short-circuited, improper phenomenon such as overcurrent, under-voltage, overvoltage, then start the holding circuit of this workspace, automatically perform and cut off the electricity supply; And give the alarm through light harmony, remind the user; Treat that service restoration is normal, above-mentioned power work district energized is resumed work.Especially; In the current supply circuit that can expand motor-driven interface module 9; Owing to relate to transient high-current and continue big electric current; Therefore 10 pairs of interface modules of system power supply centralized management should have been carried out strict monitoring and protection by the zone electric current, adopted short period scanning sample, outage to carry out retrocession from recovery insurance and fusing protective tube respectively, guaranteed system works stability.
As shown in Figure 3, be the data message flow graph of controller.Be the influence of avoiding main control loop is caused; The data of sensor, motor driver are through the photoelectrical coupler transmission; Module is switched and expansion owing to relate to; Therefore photoisolator is not arranged in controller inside according to present method therefor, but integrated with each module of interface section, has so just avoided the problem of photoelectricity channel isolation quantity restriction module extended capability.
But described expanding digital sensor interface module 2, can expand simulation sensor interface module 3, can expand simulation steering wheel interface module 5 and other and can expand and follow the module of changing; Integrated with photoisolator and power interface respectively; And be fixed in the controller body with the grafting latch mechanism; Only need unclamp this latch mechanism when changing this module, reinstall module latch and get final product.Data distribution adopts the sampling of 8 passages wheel, and according to the requirement of distinct interface number, the expansion interface quantity of module differs.
Described scalable coding device fast interface module 8 is provided with the encoder interfaces with expansion module interface unified standard, and each module of said interface section is equipped with and the unified fast interface of expansion module interface standard.The described serial communication module 7 that extends out can be expanded a plurality ofly from machine equipment, and supports the standard agreement communication.Extend out serial communication module 7 and also expand wireless communication module is arranged, remote online monitor module 11 communications of wireless communication module and peripheral hardware to remote online monitor module 11 communication transmission control unit (TCU) running status values, and are shown in visual device.
But said expanding digital steering wheel interface module 4; Be integrated with RS232 protocol chip and RS485 protocol chip; Satisfy short distance and digital remote steering wheel demand for control; Selected expansion module has: the two protocol extension modules of single RS232 expansion connection module, single RS485 expansion connection module and RS232 and RS485, and above-mentioned module interface is sought unity of standard according to controller, and the user can change disparate modules according to different needs.
Said download and simulation interface module 6; Simultaneously integrated general ISP and JTAG download module; Only need to be connected to computer and install driver through the USB connecting line; And cooperating general download and programming simulation software can accomplish download and emulation, these softwares have: AVR_fighter, AVR_stdio etc.
The said serial communication module 7 that extends out; Through the extended wireless communication module; Realize the communication with remote online monitor module 11, so in the controller operational process on-line monitoring controller running status, the display device through monitor can obtain important parameters value in the controller operational process; Running status with this accurate judgment controller makes things convenient for on-line debugging.
Said scalable coding device fast interface module 8; It is the scalable coding device interface that is integrated in controller; It is supported No. 4 scramblers to insert and can expand; Can satisfy Electric Machine Control needs such as wheeled robot especially, can effectively improve the kinematic accuracy and the control accuracy of robot, and then improve the overall performance of robot.
The said motor-driven interface module 9 of expanding is supported 4 road high power DC electric machines output, and output power is according to module and different, minimum single channel 25W, and maximum single channel 150W, voltage scope of application 6V ~ 36V adopts full-bridge actuation techniques, safety and stability.The utility model has designed safeguard measures such as strict overcurrent, overvoltage, the stability and the security that have improved power driving circuit especially.
Said controller can use the programmed environment of any a support AVR single-chip microcomputer to programme; And the rich functions module is provided; Can directly call through program and participate in compiling, support compilation and C Programming with Pascal Language simultaneously, the user can be according to the port address and the expansion module address of controller; Set up program engineering targetedly, and carry out autonomous bottom code exploitation.
The utility model adopts modular design, can expand different functional as required, adopts the power supply situation of each interface module of management by methods of centralized management, guarantees the stability and the security of operation.Testing circuit and holding circuit in the system power supply centralized management interface module 10, and the interface circuit in each interface module all can be according to the prior art setting.
Said controller possesses higher flexibility, shows: adopt the modular design method of height, have abundant available functional module, powerful module extended capability, the ability to communicate of controller and on-line debugging ability.Modular multi-functional device people controller can dispose functional module according to user's needs accordingly; Each intermodule is connected compact and does not disturb mutually; Convenient programming is flexible; Can give full play to the Flexible Control characteristic of controller, therefore, modular multi-functional device people controller is strong to adaptive capacity to environment; Can be competent at the request for utilization under the various complex environments, the robot that can be used for competing, disaster relief robot, danger removal robot, service robot, teaching experiment platform and various field of intelligent control; When applied environment changes, only needing quick replacing functional module that controller is reached needs get final product.
Claims (5)
1. modular multi-functional device people controller; It is characterized in that: controller comprises main control module (1) and interface section; But the interface section comprises expanding digital sensor interface module (2), can expand simulation sensor interface module (3), can expand simulation steering wheel interface module (5) but expanding digital steering wheel interface module (4), download and simulation interface module (6), extend out serial communication module (7), scalable coding device fast interface module (8), can expand motor-driven interface module (9) and manage interface module (10) concentratedly with system power supply; Each module of interface section all is provided with data-interface and power interface, between data-interface and power interface, is provided with electrostatic screening and electromagnetic interference shield; Main control module (1) is isolated through photoelectricity and is connected with the data-interface of each module of interface section; Be provided with in the described system power supply centralized management interface module (10) that sensor power supply detection module (12), power of motor power supply detect detection module (13), motor-driven and scrambler power supply detection module (14), steering wheel power supply detection module (15), the communication interface machine is downloaded power supply detection module (16) and main control module for power supply and detection module (17); In system power supply centralized management interface module (10), be provided with microcontroller; Microcontroller receives the working current and the voltage status information of each power supply area of each detection module collection, and controls the state of holding circuit in each detection module.
2. a kind of modular multi-functional device people controller as claimed in claim 1 is characterized in that: be integrated with photoisolator respectively in each module of said interface section.
3. a kind of modular multi-functional device people controller as claimed in claim 1; It is characterized in that: described scalable coding device fast interface module (8) is provided with the encoder interfaces with expansion module interface unified standard, and each module of said interface section is equipped with and the unified fast interface of expansion module interface standard.
4. a kind of modular multi-functional device people controller as claimed in claim 1; It is characterized in that: the described serial communication module (7) that extends out is also expanded wireless communication module is arranged; Remote online monitor module (11) communication of wireless communication module and peripheral hardware; To remote online monitor module (11) communication transmission control unit (TCU) running status value, and be shown in visual device.
5. a kind of modular multi-functional device people controller as claimed in claim 1, it is characterized in that: each module of said interface section is fixed on the controller body through the grafting latch mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204963236U CN202331089U (en) | 2011-12-04 | 2011-12-04 | Modularized multi-functional robot controller |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011204963236U CN202331089U (en) | 2011-12-04 | 2011-12-04 | Modularized multi-functional robot controller |
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| CN202331089U true CN202331089U (en) | 2012-07-11 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011204963236U Withdrawn - After Issue CN202331089U (en) | 2011-12-04 | 2011-12-04 | Modularized multi-functional robot controller |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436200A (en) * | 2011-12-04 | 2012-05-02 | 河南科技大学 | Modularized multifunctional robot controller |
| CN110008647A (en) * | 2019-05-08 | 2019-07-12 | 广东三向智能科技股份有限公司 | The twin simulator of number and the twin analogue system of number |
-
2011
- 2011-12-04 CN CN2011204963236U patent/CN202331089U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102436200A (en) * | 2011-12-04 | 2012-05-02 | 河南科技大学 | Modularized multifunctional robot controller |
| CN102436200B (en) * | 2011-12-04 | 2013-08-21 | 河南科技大学 | Modularized multifunctional robot controller |
| CN110008647A (en) * | 2019-05-08 | 2019-07-12 | 广东三向智能科技股份有限公司 | The twin simulator of number and the twin analogue system of number |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20120711 Effective date of abandoning: 20130821 |
|
| RGAV | Abandon patent right to avoid regrant |