CN206906829U - The monitoring system and real-time monitor of a kind of robot - Google Patents
The monitoring system and real-time monitor of a kind of robot Download PDFInfo
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- CN206906829U CN206906829U CN201720326988.XU CN201720326988U CN206906829U CN 206906829 U CN206906829 U CN 206906829U CN 201720326988 U CN201720326988 U CN 201720326988U CN 206906829 U CN206906829 U CN 206906829U
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- motor
- robot
- main control
- joint component
- control server
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Abstract
The utility model discloses a kind of monitoring system of robot and real-time monitor.Wherein, the system includes：At least one motor, each motor are located at corresponding to robot at joint component, for driving joint component corresponding to robot；At least one motor driver, motor corresponding to each motor driver access, for driving angle value of the motor when rotating corresponding to corresponding motor and detection；Main control server, it is connected with least one motor driver, the angle value detected for obtaining and transmitting at least one motor driver；Processing server, be connected with main control server, for transmitted according to main control server angle value control corresponding to joint component be within predetermined range of movement.The motion control that the utility model solves robot in the prior art does not have the technical problem for monitoring and voluntarily safeguarding in real time substantially according to the gait control planned in advance.
Description
Technical field
The utility model is related to anthropomorphic robot control field, a kind of monitoring system in particular to robot and
Real-time monitor.
Background technology
With society and the high speed development of science and technology, robot field has also obtained increasing concern, and it has concentrated machine
The multi-disciplinary achievement such as tool, electronics, computer, artificial intelligence, it is the mark of current scientific and technological level development.
Anthropomorphic robot is different from traditional industrial robot, wheeled and caterpillar type robot, this bio-robot tool
Standby more flexible running gear, can go to the place that some ordinary peoples are unable to reach, complete some default work.It is compared
The robot of other classifications has the advantages of more.In recent years, bipod walking robot technology obtains development at full speed, intends dynamic
The foot sport gaits such as walking, dynamic locomopion, the walking on slope and running are obtained for further investigation, and achieve very aobvious
The achievement of work.But the kinetic control system of current most of anthropomorphic robot is controlled according to the gait planned before
System, do not have monitoring motion state in real time and certainly maintenance and self-adjusting function.With anthropomorphic robot technology not
Disconnected development, this single kinetic control system has shown clearly disadvantageous.
Biped walking is living nature difficulty highest walking action, and anthropomorphic robot has to mechanical structure and drive module
Very high requirement, so the foot sport of research anthropomorphic robot, it will cause tradition machinery that major transformation occurs.Due to imitative
The motion control arithmetic of robot people is very high to basic machine structural requirement, it is necessary to which structure design has good with control algolithm
With.But mechanical structure can inherently have certain error, it is impossible to accomplish that perfection is fully mated with motion planning, so
It may result in gait effect and certain deviation be present, operating also brings along certain error to motor for a long time, it is therefore necessary to
For anthropomorphic robot motion control monitor and voluntarily correct in real time.
In the prior art, the motion control of robot, which is substantially to be controlled according to the gait planned in advance, has no reality
When monitor and the function voluntarily safeguarded.
For it is above-mentioned the problem of, not yet propose effective solution at present.
Utility model content
The utility model embodiment provides the monitoring system and real-time monitor of a kind of robot, existing at least to solve
The motion control of robot is not monitored and voluntarily safeguarded in real time substantially according to the gait control planned in advance in technology
Technical problem.
According to the one side of the utility model embodiment, there is provided a kind of monitoring system of robot, including：
At least one motor, each motor are located at corresponding to robot at joint component, for driving the correspondence of robot
Joint component；At least one motor driver, motor corresponding to each motor driver access, for controlling corresponding motor
And angle value of the motor corresponding to detecting when rotating；Main control server, it is connected with least one motor driver, for obtaining
And transmit the angle value that at least one motor driver detects；Processing server, it is connected with main control server, for according to master
Joint component corresponding to the angle value control of control server transport is within predetermined range of movement.
Further, processing server also includes：Processor, it is connected with main control server, if existed for angle value
Extremely or beyond predetermined value range, the control that joint component corresponding to generation adjustment is within predetermined range of movement refers to
Order；
Further, processing server also includes：Display, it is connected with main control server, for showing main control server
The angle value of transmission；Radio transmitting device, it is connected with processor, is instructed for output control.
Further, system also includes：Signal processing apparatus, it is connected with radio transmitting device, motor driver, for root
The angle correction for adjusting corresponding joint component is generated according to control instruction and is transmitted to motor driver.
Further, main control server includes：Reception device, it is connected with radio transmitting device, for receiving control instruction；
Output device, it is connected with reception device, is instructed for output control to signal processing apparatus.
Further, system also includes：Warning device, it is connected with processing server, for surpassing in corresponding joint component
In the case of going out predetermined range of movement, warning message is exported.
Further, motor driving includes：Dsp chip, it is connected with signal processing apparatus, for performing motion control arithmetic
Drive the driving of each joint component.
Further, radio transmitting device also includes：WIFI module.
Further, main control server also includes at least one following：The memory modules such as operating system, RAM and ROM, IO
Interface, USB port, USART serial ports.
According to the another aspect of the utility model embodiment, a kind of real-time monitor is additionally provided, including：It is above-mentioned any one
The monitoring system of kind robot.
In the utility model embodiment, at least one motor, each motor is located at corresponding to robot at joint component,
For driving the corresponding joint component of robot；At least one motor driver, electricity corresponding to each motor driver access
Machine, for controlling angle value of the motor when rotating corresponding to corresponding motor and detection；Main control server, with least one electricity
Machine driver connects, the angle value detected for obtaining and transmitting at least one motor driver；Processing server, with master control
Server connect, for transmitted according to main control server angle value control corresponding to joint component be in predetermined range of movement
Within mode, reached radio communication between the real-time monitoring of robot joint angles and display and robot and server
Purpose, threshold value and actual joint angles are compared it is achieved thereby that robot joint angles are set, beyond joint angles
Set threshold value to carry out the technique effect of alarm, and then solve the motion control of robot in the prior art substantially according to thing
The gait control first planned does not have the technical problem for monitoring and voluntarily safeguarding in real time.
Brief description of the drawings
Accompanying drawing described herein is used for providing further understanding to of the present utility model, forms the part of the application,
Schematic description and description of the present utility model is used to explain the utility model, does not form to of the present utility model improper
Limit.In the accompanying drawings：
Fig. 1 is the schematic diagram according to a kind of monitoring system of robot of the utility model embodiment；
Fig. 2 is according to a kind of schematic diagram of the monitoring system of optional robot of the present utility model；And
Fig. 3 is the schematic diagram interacted according to a kind of optional supervisory-controlled robot of the present utility model with destination object.
Embodiment
In order that those skilled in the art more fully understand the utility model, it is real below in conjunction with the utility model
The accompanying drawing in example is applied, the technical scheme in the embodiment of the utility model is clearly and completely described, it is clear that be described
Embodiment is only the embodiment of the utility model part, rather than whole embodiments.Based on the reality in the utility model
Example is applied, the every other embodiment that those of ordinary skill in the art are obtained under the premise of creative work is not made, all should
When the scope for belonging to the utility model protection.
Embodiment 1
According to the utility model embodiment, there is provided a kind of embodiment of the monitoring system of robot.
Fig. 1 is according to a kind of monitoring system schematic diagram of robot of the utility model embodiment, as shown in figure 1, this is
System includes：At least one motor 10 (Fig. 1 only schematically draws one), (Fig. 1 is only schematically painted at least one motor driver 12
Go out one), main control server 14 and processing server 16, wherein,
At least one motor 10, each motor 10 are located at corresponding to robot at joint component, for driving robot
Corresponding joint component；At least one motor driver 12, each motor driver 12 access corresponding motor, for driving pair
Angle value of the motor 10 when rotating corresponding to the motor 10 answered and detection；Main control server 14, driven with least one motor
Device 12 connects, the angle value detected for obtaining and transmitting at least one motor driver；Processing server 16, taken with master control
Business device 14 connect, for transmitted according to main control server angle value control corresponding to joint component whether be in predetermined motion
Within the scope of.
Specifically, in said system, motor can be any one according to the law of electromagnetic induction realize electric energy conversion or
A kind of calutron transmitted；For example, it may be direct current servomotor or alternating current servomotor；Robot it is corresponding
Joint component can refer to manipulator, mechanical four limbs and machinery foot.
Analysis understands that the application such scheme can realize the mesh of the corresponding joint component of control machine people by motor
's.
Specifically, in said system, motor driver 12 can refer to the MCU of ARM chips, dsp chip, for performing fortune
Dynamic control algolithm, and angle value of the motor of each joint of robot when rotating is sent to main control server 14 and letter
Number processing unit 22, while receive the feedback signal that main control server 14 and signal processing apparatus 22 are sent.
Analysis understands that the application such scheme motor driver 12 can realize motor 10 corresponding to control and detect correspondingly
Motor 10 rotate when angle value purpose.
Specifically, in said system, main control server 14 is connected with least one motor driver 12, transmits detection machine
Angle value of each joint motor of device people when rotating.
Analysis understands that the application such scheme can realize that main control server 14 transmits detection machine by main control server 14
The purpose of angle value of each joint motor 10 of device people when rotating.
Specifically, in said system, processing server 16 can according to corresponding to determining the angle value of transmission joint portion
Whether part is in maximum perpendicular range of movement and maximum horizontal range of movement, wherein, maximum perpendicular range of movement can refer to wrist
Scope between minimum point and peak that portion can reach；Maximum horizontal range of movement refers to the solstics that wrist level reaches
With the distance of base central line.
Analysis understands that the application such scheme can realize each joint motor 10 when rotating by processing server 16
Angle value determine corresponding to joint component whether be in predetermined range of movement purpose.
In the utility model embodiment, using at least one motor, each motor is located at joint portion corresponding to robot
At part, for driving the corresponding joint component of robot；At least one motor driver, each motor driver access are corresponding
Motor, for motor corresponding to controlling and angle value of the motor when rotating corresponding to detecting；Main control server, with least one
Individual motor driver connection, the angle value detected for obtaining and transmitting at least one motor driver；Processing server, with
Main control server connect, for transmitted according to main control server angle value control corresponding to joint component be in predetermined motion
Within the scope of mode, reached between the real-time monitoring of robot joint angles and display and robot and server wireless
The purpose of communication, it is achieved thereby that robot joint angles set threshold value and are compared actual joint angles, beyond joint
Angle sets threshold value to carry out the technique effect of alarm, so solve the motion control of robot in the prior art substantially by
Do not have the technical problem for monitoring and voluntarily safeguarding in real time according to the gait control planned in advance.
In a kind of optional embodiment, processing server 16 includes：Display, it is connected with main control server, for showing
The angle value of main control server transmission；Processor, it is connected with main control server, if exception be present or beyond pre- for angle value
Fixed value range, the control instruction that joint component corresponding to generation adjustment is within predetermined range of movement；It is wirelessly transferred dress
Put, be connected with processor, instructed for output control.
Specifically, aforementioned display device can be SCM system or computer with display function etc., for real-time display
And monitor angle value of each joint motor of main control server transferring robot when rotating；Radio transmitting device can be
RFID, bluetooth, Infrared Transmission etc., in practice, can communication distance as needed selected, processor and master control
The communication mode of server, and control instruction is sent to signal processing apparatus 22 by reception device.
Analysis understands, the application such scheme can realize carry out angles of display value, determine corresponding to joint component exceed
The purpose of range of movement and transmission of wireless signals.
In a kind of optional embodiment, main control server 14 includes：Reception device, dress is wirelessly transferred with processing server
Connection is put, for receiving control instruction；Output device, it is connected with reception device, is instructed for output control to signal processing device
Put 22.
Specifically, reception device is used to receive control instruction of the generation for the correction value of adjusting angle angle value；Output device
For exporting above-mentioned control instruction.
Analysis understands that the application such scheme can realize reception and send output by reception device and output device to be referred to
The mesh of order.
In a kind of optional embodiment, a kind of schematic diagram of the monitoring system of optional robot as shown in Figure 2, system
Also include：Warning device 20, is connected with processing server, for exceeding the feelings of predetermined range of movement in corresponding joint component
Under condition, warning message is exported.
Specifically, warning device 20 can be loudspeaker, loudspeaker etc.；Such as：When machinery event occurs in robot body structure
Barrier or motion gait are because when the factor such as mechanical clearance error, motor performance deficiency itself and ground out-of-flatness occurs wrong
Alarm and prompt staff to handle.
Analysis understands that the application such scheme can realize alarm by warning device 20 and export warning message
Purpose.
In a kind of optional embodiment, as shown in Fig. 2 system also includes：Signal processing apparatus 22, with being wirelessly transferred dress
Put, motor driver connection, for generating angle correction and biography for joint component corresponding to adjusting according to control instruction
Transport to motor driver.
Specifically, signal processing apparatus 22 can specifically export processing function signal, repaiied for handling motor abnormality signal
Just and compensate.
Need herein, during robot ambulation due in machine error, center of gravity lateral deviation fall, calculation can be adjusted
In method ZMP (point of zero moment) positions and by ZMP again (point of zero moment) centroid positions calculated feed back to motion control calculate
So as to dynamic adjusting machine device people's walking postures in method；Due to the imbalance of robot architecture, can cause two hip joints not with ground
It is parallel, now angle Interpolation compensation dynamically can be carried out to hip joint motor, robot is always maintained above the waist upright.
In a kind of optional embodiment, motor driver 12 includes：Dsp chip, it is connected, is used for signal processing apparatus 22
Perform the driving of motion control arithmetic and each joint component.
Specifically, above-mentioned motion control arithmetic can refer specifically to multiaxis beeline interpolation algorithm, such as：Point-to-point comparison method, number
Word integration method and minimum deviation method；In a kind of optional embodiment, point-to-point comparison method can be less than an arteries and veins with interpolation precision
Punching, a feeding pulse only is sent to change in coordinate axis direction every time, send out pulse every time and calculate the inclined of changing coordinates point and theory locus
Difference judges interpolation direction of feed.
Analysis understands that above-mentioned dsp chip can realize the driving of execution motion control arithmetic and each joint component
Purpose.
In a kind of optional embodiment, radio transmitting device also includes：WIFI module.
Specifically, WIFI module, RFID, bluetooth, Infrared Transmission etc.；As one kind between main control server and server
Communication mode, the distance selection either type to communicate as needed carry out radio communication.
Analysis understands that above-mentioned WIFI module can realize the purpose that control main control server communicates with display server.
In a kind of optional embodiment, main control server 14 also includes at least one following：Operating system, RAM and ROM etc.
Memory module, I/O interface, USB port, USART serial ports.
The scheme provided based on above-described embodiment understood, for existing robot motion control be substantially according to
The gait planned in advance is controlled the function of having no and monitor and voluntarily safeguard in real time, provided by the utility model optional
Or preferred embodiment can realize that the motion control of robot can be real according to the gait control planned in advance, and further
The function of monitoring and voluntarily safeguard when real.Thus, a kind of optional supervisory-controlled robot and destination object with reference to shown in Fig. 3
Interactive schematic diagram is as follows achievable scheme of the present utility model to be described in detail：
As shown in figure 3, the claimed system equipment of the utility model includes such as lower component：Each closed installed in robot
At least one joint motor 10 on part is saved, for the motor driver 12 for driving joint motor to work, for controlled motor
Driver 12 and the main control server 14 of other equipment work, and generate for controlling each joint component to carry out action control
The processor-server 16 of signal.
Specifically, above-mentioned motor 10, each motor 10 is located at corresponding to robot at joint component, for driving robot
Corresponding joint component；
Main control server 14, for the angle value by each joint motor 10 that motor driver 12 monitors when rotating
Processing server 16 is transferred to by WIFI.
Processing server 16, for whether the joint component according to corresponding to the determination of the angle value of transmission to be in into maximum perpendicular
Angle value when in range of movement and maximum horizontal range of movement and carrying out real-time display rotation.
Motor driver 12, for the operating of each joint motor 10 of control machine people, and real-time Transmission robot is each
The angle value in joint is sent to main control server 14 and signal processing module 22, while receives main control server 15 and signal transacting
The feedback signal of module 22.
Alarm Server 20, for setting relative alarm threshold value, corresponding joint component is exceeded to the situation of range of movement
Under alarmed and prompt staff to handle.
Signal processing module 22, calculated for adjusting the angle in each joint in Compensating Robot walking process to make compensation
Method, robot is set to be maintained at as far as possible in the gait that algorithm is planned.
Embodiment 2
According to the another aspect of the utility model embodiment, a kind of real-time monitor is additionally provided, including it is above-mentioned any one
The monitor control system of kind robot.Further, above-mentioned monitor control system includes：At least one motor, each motor position
In corresponding to robot at joint component, for driving the corresponding joint component of robot；At least one motor driver, often
Motor corresponding to individual motor driver access, for controlling angle of the motor when rotating corresponding to corresponding motor and detection
Value；Main control server, it is connected with least one motor driver, is detected for obtaining and transmitting at least one motor driver
Angle value；Processing server, be connected with main control server, for transmitted according to main control server angle value control corresponding to
Joint component is within predetermined range of movement.
In a kind of optional embodiment, above-mentioned real-time monitor can be used in monitoring in real time with showing each joint motor
Angle value when rotating；Radio communication between robot and server；Each joint motor has respective threshold and will be real
Border angle changing rate, prompted beyond threshold value and send alarm；Robot is set to keep algorithm to be advised according to real-world operation situation
Draw the compensation adjustment of gait posture.
Above-mentioned the utility model embodiment sequence number is for illustration only, does not represent the quality of embodiment.
In above-described embodiment of the present utility model, the description to each embodiment all emphasizes particularly on different fields, in some embodiment
The part not being described in detail, it may refer to the associated description of other embodiment.
Described above is only preferred embodiment of the present utility model, it is noted that for the common skill of the art
For art personnel, on the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improve and
Retouching also should be regarded as the scope of protection of the utility model.
Claims (10)
- A kind of 1. monitoring system of robot, it is characterised in that including：At least one motor, each motor are located at corresponding to robot at joint component, for driving corresponding to the robot Joint component；At least one motor driver, motor corresponding to each motor driver access, for driving the corresponding motor simultaneously Detect angle value of the corresponding motor when rotating；Main control server, it is connected with least one motor driver, is driven for obtaining and transmitting at least one motor The angle value that dynamic device detects；Processing server, it is connected with the main control server, the angle value for being transmitted according to the main control server controls institute Joint component corresponding to stating is within predetermined range of movement.
- 2. system according to claim 1, it is characterised in that the processing server includes：Processor, it is connected with the main control server, it is abnormal or during beyond predetermined value range for existing in the angle value, The control instruction that joint component corresponding to generation adjustment is within predetermined range of movement.
- 3. system according to claim 2, it is characterised in that the processing server also includes：Display, it is connected with the main control server, for showing the angle value of the main control server transmission；Radio transmitting device, it is connected with the processor, for exporting the control instruction.
- 4. system according to claim 3, it is characterised in that the system also includes：Signal processing apparatus, it is connected with the radio transmitting device, the motor driver, for being given birth to according to the control instruction Into for adjusting the angle correction of the corresponding joint component and transmitting to the motor driver.
- 5. system according to claim 4, it is characterised in that the main control server includes：Reception device, it is connected with the radio transmitting device, for receiving the control instruction；Output device, it is connected with the reception device, for exporting the control instruction to the signal processing apparatus.
- 6. system according to claim 1, it is characterised in that the system also includes：Warning device, it is connected with the processing server, for exceeding the predetermined motion in the corresponding joint component In the case of scope, warning message is exported.
- 7. system according to claim 4, it is characterised in that the motor driver includes：Dsp chip, it is connected with the signal processing apparatus, each joint component is driven for performing motion control arithmetic.
- 8. system according to claim 3, it is characterised in that the radio transmitting device includes：WIFI module.
- 9. system according to claim 1, it is characterised in that the main control server includes at least one following：Operation System, RAM and ROM memory modules, I/O interface, USB port, USART serial ports.
- 10. a kind of real-time monitor, it is characterised in that including the robot described in any one in the claims 1 to 9 Monitoring system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720326988.XU CN206906829U (en) | 2017-03-30 | 2017-03-30 | The monitoring system and real-time monitor of a kind of robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201720326988.XU CN206906829U (en) | 2017-03-30 | 2017-03-30 | The monitoring system and real-time monitor of a kind of robot |
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| CN206906829U true CN206906829U (en) | 2018-01-19 |
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| CN201720326988.XU Expired - Fee Related CN206906829U (en) | 2017-03-30 | 2017-03-30 | The monitoring system and real-time monitor of a kind of robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325757A (en) * | 2021-05-21 | 2021-08-31 | 珠海格力电器股份有限公司 | Industrial robot control system |
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2017
- 2017-03-30 CN CN201720326988.XU patent/CN206906829U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113325757A (en) * | 2021-05-21 | 2021-08-31 | 珠海格力电器股份有限公司 | Industrial robot control system |
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Granted publication date: 20180119 Termination date: 20210330 |