CN208092483U - Brain communication system controller and robot for robot - Google Patents
Brain communication system controller and robot for robot Download PDFInfo
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- CN208092483U CN208092483U CN201820412831.3U CN201820412831U CN208092483U CN 208092483 U CN208092483 U CN 208092483U CN 201820412831 U CN201820412831 U CN 201820412831U CN 208092483 U CN208092483 U CN 208092483U
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- 238000004891 communication Methods 0.000 title claims abstract description 88
- 210000004556 brain Anatomy 0.000 title claims abstract description 27
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Abstract
This application discloses a kind of brain communication system controller and robot for robot, which includes：Field programmable gate array, communication transceiver and 422 communication bus, the field programmable gate array are used for through 422 buses and the four limbs component of the robot, each communication node link of waist part and head piece；The field programmable gate array controls 422 communication bus by the communication transceiver and transmits multi-way control signals；The field programmable gate array is additionally operable to handle the status information of the communication node.Present application addresses the wiring quantity due to robot controller is more, the technical problem of operation and maintenance inconvenience caused by a large amount of space and controller resource is occupied.The application has reached the wiring quantity of simplified robot controller, saves the purpose in space and resource, the more convenient technique effect of the operation and maintenance to realize robot.
Description
Technical field
This application involves machine automatization control fields, in particular to a kind of brain communication system for robot
Controller and robot.
Background technology
There are many movable joint that robot limb includes, in addition the signal-obtaining of tip sensor, is controlled, led to
The node (the driving plate controller of movable joint motor) of letter be up to 30 it is even more, each node be required for difference control
With the reception for communicating the completion walked, specifically acted and sensor signal that can realize the big anthropomorphic robot of biped.
Inventor has found that, if each node device is wired to controller, the quantity of wiring can be very much, can occupy big
The space of amount and controller resource, and safeguard to get up can more be not easy, such mode of connection is unsuitable.
It is more for the wiring quantity of robot controller in the related technology, a large amount of space, controller resource are occupied, is made
With, safeguard inconvenient problem, currently no effective solution has been proposed.
Utility model content
The main purpose of the application is to provide a kind of brain communication system controller and robot for robot, with
The wiring quantity for solving robot controller is more, occupies a large amount of space and controller resource, and operation and maintenance is inconvenient to ask
Topic.
To achieve the goals above, according to the one side of the application, a kind of brain communication for robot is provided
System controller.
Include according to the brain communication system controller for robot of the application：Field programmable gate array, communication
Transceiver and 422 communication bus,
The field programmable gate array is used for through the four limbs component of 422 communication bus and the robot, waist portion
Each communication node link of part and head piece；
The field programmable gate array controls 422 communication bus by the communication transceiver and transmits multi-channel control
Signal；
The field programmable gate array is additionally operable to handle the status information of the communication node.
Further, the communication transceiver is 422 communication transceivers, and 422 communication transceiver is used for will be described existing
The transistor-transistor logic circuit rs 232 serial interface signal of field programmable gate array is converted into 422 interface circuits.
Further, the field programmable gate array further includes：Storage device, the storage device are described for increasing
Data storage space in field programmable gate array.
Further, the field programmable gate array further includes：Low-voltage differential signal interface, the low voltage difference
Signaling interface is used for transmission data.
Further, the field programmable gate array further includes：Joint test working group interface and actuator-sensor
Interface, the joint test working group interface and the actuator-sensor-interface are for the field programmable gate array
Program burn writing and/or software debugging.
Further, the brain communication system controller for robot further includes：Host computer, the host computer are logical
PCI GEN1Express X4 bus interface is crossed to connect with the field programmable gate array.
Further, the host computer is equipped with multichannel circumscription socket.
Further, the multichannel circumscription socket includes：Ethernet interface, digital high-definition multimedia interface and general serial
Bus interface, the Ethernet interface, digital high-definition multimedia interface and Universal Serial Bus Interface and the host computer are electrical
Connection.
Further, the brain communication system controller for robot further includes：Indicator light and button, it is described
Indicator light is used to indicate the working condition of the controller, and the button is used to control the working condition of the controller.
To achieve the goals above, according to the another aspect of the application, a kind of robot is provided.
Include according to the robot of the application：It is described to be used for robot for the brain communication system controller of robot
Brain communication system controller include：Field programmable gate array, communication transceiver and 422 communication bus, the scene can
Gate array is programmed for by each of the four limbs component of 422 communication bus and the robot, waist part and head piece
A communication node link；The field programmable gate array controls 422 communication bus by the communication transceiver and transmits
Multi-way control signals；The field programmable gate array is additionally operable to handle the status information of the communication node.
In the embodiment of the present application, using field programmable gate array, communication transceiver and 422 communication bus, pass through 422
Communication bus leads to each of the four limbs component of field programmable gate array and the robot, waist part and head piece
Believe node link；The wiring quantity of simplified robot controller is reached, the purpose in space and resource has been saved, to realize machine
The more convenient technique effect of the operation and maintenance of device people, and then solve since the wiring quantity of robot controller is more, it accounts for
The technical problem of operation and maintenance inconvenience caused by a large amount of space and controller resource.
Description of the drawings
The attached drawing constituted part of this application is used for providing further understanding of the present application so that the application's is other
Feature, objects and advantages become more apparent upon.The illustrative examples attached drawing and its explanation of the application is for explaining the application, not
Constitute the improper restriction to the application.In the accompanying drawings：
Fig. 1 is the communication system controller composition frame chart according to the embodiment of the present application；
Fig. 2 is the communication system controller circuit connection diagram according to the embodiment of the present application；
Fig. 3 is the 422 communication transceiver SN65HVD1477D functional schematics according to the embodiment of the present application；And
Fig. 4 is the 422 telecommunication circuit schematic diagram of single channel according to the embodiment of the present application.
Specific implementation mode
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, technical solutions in the embodiments of the present application are clearly and completely described, it is clear that described embodiment is only
The embodiment of the application part, instead of all the embodiments.Based on the embodiment in the application, ordinary skill people
The every other embodiment that member is obtained without making creative work should all belong to the model of the application protection
It encloses.
It should be noted that the term " comprising " in the description and claims of this application and above-mentioned attached drawing and " tool
Have " and their any deformation, it is intended that cover it is non-exclusive include, for example, containing series of steps or unit
Process, method, system, product or equipment those of are not necessarily limited to clearly to list step or unit, but may include without clear
It is listing to Chu or for these processes, method, product or equipment intrinsic other steps or unit.
In addition, term " installation ", " setting ", " being equipped with ", " connection " etc. shall be understood in a broad sense.For example, it may be fixed connect
It connects, is detachably connected or monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected, or pass through
Intermediary is indirectly connected, or is two connections internal between device, element or component.It is common for this field
For technical staff, the concrete meaning of above-mentioned term in this application can be understood as the case may be.
It should be noted that in the absence of conflict, the features in the embodiments and the embodiments of the present application can phase
Mutually combination.The application is described in detail below with reference to the accompanying drawings and in conjunction with the embodiments.
As shown in Figure 1, this application involves a kind of brain communication system controller for robot, this is used for robot
Brain communication system controller includes：Field programmable gate array 1, communication transceiver 2 and 422 communication bus 3, the scene can
Gate array 1 is programmed to be used for through the four limbs component of 422 communication bus 3 and the robot, waist part and head piece
Each communication node link；The field programmable gate array 1 controls 422 communication bus 3 by the communication transceiver 2
Transmit multi-way control signals；The field programmable gate array 1 is additionally operable to handle the status information of the communication node.It scene can
Program 1 (full name in English of gate array：Field-Programmable Gate Array, abbreviation FPGA) that select is CYCLONE V
GX family chip 5CGXFC5C7F23C8N, while supporting PCI-E X4 kernels and DDR memory interfaces, logic unit 77Kbit is deposited
Storage unit 4460Kbit, user can be 240 with I0 quantity；Draw 10 tunnel, 422 communication bus altogether from FPGA1, respectively control machine
Totally 8 bus links (in addition 2 tunnels are reserved) of the left leg of device people, right leg, left arm, right arm, left hand, the right hand, waist and head, Suo Youtong
The control instruction of letter node is all sent out by FGPA1, and the status information of all communication nodes is entirely by FGPA1 aggregation process, thus
The wiring quantity of robot controller can be simplified, space and resource are saved, to keep the operation and maintenance of robot more square
Just.
As shown in Figure 1, the communication transceiver 2 is 422 communication transceivers, 422 communication transceiver is used for will be described
The transistor-transistor logic circuit rs 232 serial interface signal of field programmable gate array is converted into 422 interface circuits.422 selected are logical
Letter transceiver is the SN65HVD1477D chips of TI companies, and message transmission rate can reach 50Mbps, and chip functions show
It is intended to as shown in Figure 3.The signal of FPGA1 pins itself is TTL rs 232 serial interface signals, and standard is converted by external conversion circuit
422 interface circuits, physical circuit connection type is as shown in figure 4,20 universal input output pins of FPGA1 are respectively configured as
The transmission (TX) of 10 pairs of serial communications receives (RX) pin, is respectively connected to D feet (the Transistor-Transistor Logic level hair of 10 422 communication transceivers
Send pin, the Y feet and Z feet of corresponding 422 level terminals) and R feet (Transistor-Transistor Logic level reception pin, the A feet and B of corresponding 422 level terminals
Foot), the A and B of last 422 communication transceiver, Y and Z are respectively connected to corresponding 10 tunnel communication interface.
The field programmable gate array further includes：Storage device, the storage device can be compiled for increasing the scene
Data storage space in journey gate array.As shown in Figure 1, the preferred DDR3SDRAM interfaces 11 (abbreviation DDR3) of storage device, DDR3
What is selected is MT41K256M16HA-125 chips, can increase the memory space of data, DDR3 have power consumption and calorific value compared with
Small, working frequency higher reduces the good advantage of video card overall cost, versatility.
As shown in Figure 1, the field programmable gate array further includes：Low-voltage differential signal interface 12, the low-voltage
Differential signal interface is used for transmission data.The core of low-voltage differential signal interface 12 (abbreviation LVDS interface) this technology is to adopt
With extremely low voltage swing high speed differential transmission data, point-to-point or point to multi--point connection may be implemented, have low-power consumption,
The features such as low error rate, low crosstalk and Low emissivity, for accessing the display devices such as liquid crystal display.
As shown in Figure 1, the field programmable gate array further includes：Joint test working group interface 13 and actuator-biography
Sensor interface 14, the joint test working group interface 13 and the actuator-sensor-interface 14 can be compiled for the scene
The program burn writing and/or software debugging of journey gate array 1.Using joint test working group interface 13 (abbreviation jtag interface) and execute
Device-sensor interface 14 (abbreviation AS interfaces) can debug equipment with more convenient peopleware.
As shown in Figure 1, the brain communication system controller for robot further includes：Host computer 4, the host computer
It is connect with the field programmable gate array 1 by PCI GEN1Express X4 bus interface.The company of FPGA1 and host computer 4
It connects and uses PCI GEN1Express X4 (abbreviation PCI-E X1) bus interface, two-way reliability rate that can reach
8.0GB/S.PCI Express (peripheral component interconnect express) are a kind of high speed serializations
Computer expansion bus standard, belongs to the point-to-point binary channels high bandwidth transmission of high speed serialization, and the equipment connected exclusively enjoys channel band
Width does not share bus bandwidth.
As a preferred embodiment of the present application, the host computer 4 is equipped with multichannel circumscription socket.These circumscription sockets
Different devices can be connected or equipment directly uses, can both make operation, debugging more convenient, making for equipment can also be expanded
Use function.
As a preferred embodiment of the present application, the multichannel circumscription socket includes：Ethernet interface, digital high-definition are more
Media interface and Universal Serial Bus Interface, the Ethernet interface, digital high-definition multimedia interface and universal serial bus connect
Mouth is electrically connected with the host computer 4.Host computer 4 draws PCI-E X1 buses, after the processing of RTL8111E network chips
To the Ethernet interface of gigabit all the way, and the another way gigabit ethernet interface directly led out from host computer 4, two-way gigabit in total
Ethernet interface, it may be convenient to realize network connection.Host computer 4 directly leads out digital high-definition multimedia interface (abbreviation all the way
HDMI interface), and electrostatic discharge protection circuit is added in the interface, audio/video receiving device, such as liquid crystal can be directly connected to
Display screen.Host computer 4 directly leads out Universal Serial Bus Interface (abbreviation USB interface), and such as 4 road USB3.0 and two-way USB2.0 connect
Mouthful, and electrostatic discharge protection circuit is added in the interface, USB flash disk, the visual apparatus based on USB3.0 interfaces and mouse, key can be accessed
Disk lamp commonly used equipment etc..
As a preferred embodiment of the present application, the multichannel circumscription socket can also include：M.2 interface.Host computer 4
Directly lead out M.2 interface all the way, compatible 2242 and 2,280 two kind of specification plug-in card；It can be used for extending WIFI module, bluetooth module
Etc. a variety of radio functions, a variety of host interface, such as PCI-E, SATA interface etc. are supported.
As a preferred embodiment of the present application, the multichannel circumscription socket can also include：Mini PCI-E interfaces.
Host computer 4 directly leads out Mini PCI-E interfaces all the way, compatible half high card and two kinds of forms of overall height card, can be used for accessing hard
Disk, the functions such as extended wireless network interface card.
As a preferred embodiment of the present application, the brain communication system controller for robot further includes：
Indicator light, the indicator light are used to indicate the working condition of the controller.It is mounted with that a variety of working conditions refer on the controller
Show lamp, including 1 power supply indicator, 10 communications status indicator lights, a hard disk connection indicator light and 4 FPGA processors
Working station indicator.Power supply indicator is bright when computer commnunication system card controller power-up state is normal, and when power-off goes out；Hard disk
Indicator light is bright (when system electrification) when hard disk connection is normal, goes out when hard disk is not connected with or connects abnormal；It is logical with 10 tunnels 422
Believe the corresponding 10 communication state indicator lights of bus, corresponding to indicator light when the road communication bus state is normal is always on, other
Indicator light goes out when state；Four work lights of FPGA processor, first is bright when FPGA processor powers on normal, and second
It is a to indicate collectively that 10 422 bus configuration states after the power is turned on, program carry out second lamp when bus configuration with third indicator light
Bright, third lamp goes out, and second lamp goes out when configuration completion status is normal, and third lamp is bright, and the 4th lamp is reserved.
As a preferred embodiment of the present application, the brain communication system controller for robot further includes：
Button, the button are used to control the working condition of the controller.Multiple press can be configured on controller according to actual needs
Key, button of such as sleeping, brain communication system enters standby mode after pressing triggering, can reduce system power dissipation, presses again and is
System, which wakes up, enters normal operating conditions；For another example reset key presses rear system and can carry out resetting and restarts.
It can be seen from the above description that the application realizes following technique effect：Using field programmable gate array
1, communication transceiver 2 and 422 communication bus 3, by 422 communication bus 3 by field programmable gate array 1 and the robot
Each communication node link of four limbs component, waist part and head piece；The wiring of simplified robot controller is reached
Quantity saves the purpose in space and resource, to realize the technique effect for keeping the operation and maintenance of robot more convenient.
The foregoing is merely the preferred embodiments of the application, are not intended to limit this application, for the skill of this field
For art personnel, the application can have various modifications and variations.Within the spirit and principles of this application, any made by repair
Change, equivalent replacement, improvement etc., should be included within the protection domain of the application.
Claims (10)
1. a kind of brain communication system controller for robot, which is characterized in that including：Field programmable gate array leads to
Believe transceiver and 422 communication bus,
The field programmable gate array be used for the four limbs component by 422 communication bus and the robot, waist part with
And each communication node link of head piece；
The field programmable gate array controls 422 communication bus by the communication transceiver and transmits multi-channel control letter
Number；
The field programmable gate array is additionally operable to handle the status information of the communication node.
2. the brain communication system controller according to claim 1 for robot, which is characterized in that the communication is received
Hair device is 422 communication transceivers, and 422 communication transceiver is used for the transistor and crystal of the field programmable gate array
Pipe logic circuit rs 232 serial interface signal is converted into 422 interface circuits.
3. the brain communication system controller according to claim 1 for robot, which is characterized in that the scene can
Programming gate array further includes：Storage device, the storage device are used to increase the data storage in the field programmable gate array
Deposit space.
4. the brain communication system controller according to claim 1 for robot, which is characterized in that the scene can
Programming gate array further includes：Low-voltage differential signal interface, the low-voltage differential signal interface are used for transmission data.
5. the brain communication system controller according to claim 1 for robot, which is characterized in that the scene can
Programming gate array further includes：Joint test working group interface and actuator and sensor interface, the joint test working group connect
Mouth and the actuator are used for the program burn writing and/or software debugging of the field programmable gate array with sensor interface.
6. the brain communication system controller according to claim 1 for robot, which is characterized in that further include：On
Position machine, the host computer are connect by PCI GEN1 Express X4 bus interface with the field programmable gate array.
7. the brain communication system controller according to claim 6 for robot, which is characterized in that the host computer
It is equipped with multichannel circumscription socket.
8. the brain communication system controller according to claim 7 for robot, which is characterized in that outside the multichannel
Plug receptacle includes：Ethernet interface, digital high-definition multimedia interface and Universal Serial Bus Interface, the Ethernet interface, number
Word high-definition media interface and Universal Serial Bus Interface are electrically connected with the host computer.
9. the brain communication system controller according to claim 1 for robot, which is characterized in that further include：Refer to
Show that lamp and button, the indicator light are used to indicate the working condition of the controller, the button is for controlling the controller
Working condition.
10. a kind of robot, which is characterized in that including：Brain as described in any one of claim 1 to 9 for robot
Communication system controller.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820412831.3U CN208092483U (en) | 2018-03-26 | 2018-03-26 | Brain communication system controller and robot for robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820412831.3U CN208092483U (en) | 2018-03-26 | 2018-03-26 | Brain communication system controller and robot for robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108345253A (en) * | 2018-05-18 | 2018-07-31 | 北京钢铁侠科技有限公司 | Brain communication system controller, control method and robot for robot |
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- 2018-03-26 CN CN201820412831.3U patent/CN208092483U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108345253A (en) * | 2018-05-18 | 2018-07-31 | 北京钢铁侠科技有限公司 | Brain communication system controller, control method and robot for robot |
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