CN208092486U - A kind of controller for robot and the robot for being connected with the controller - Google Patents
A kind of controller for robot and the robot for being connected with the controller Download PDFInfo
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- CN208092486U CN208092486U CN201820434843.6U CN201820434843U CN208092486U CN 208092486 U CN208092486 U CN 208092486U CN 201820434843 U CN201820434843 U CN 201820434843U CN 208092486 U CN208092486 U CN 208092486U
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- robot
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- microcontroller
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Abstract
This application discloses a kind of controller for robot and it is connected with the robot of the controller.The controller includes sensor assembly, processing module and communication module, and the sensor assembly is connect with the processing module by SPI interface, and the processing module is connect with the communication module by TTL serial ports；The sensor assembly includes：First sensor and second sensor, the first sensor are used to detect the acceleration movement state and direction motion state of robot, and the second sensor is for correcting the Accumulated deviation generated when robot motion.The technical issues of being controlled present application addresses robot pose existing for robot controller field.
Description
Technical field
This application involves robot fields, in particular to a kind of controller for robot and are connected with the control
The robot of device processed.
Background technology
Robot, is the automatic installations for executing work, and robot controller is the key that influence robot performance portion
/ mono-.Balance during robot ambulation be difficult to solve the problems, such as, and attitude detection is wherein indispensable one
Link.
Inventor has found that current robot controller field has that robot pose control accuracy is not high.
The problem of for the relevant technologies robot motion's gesture stability, currently no effective solution has been proposed.
Invention content
The main purpose of the application is to provide a kind of controller for robot and is connected with the machine of the controller
People, to solve the problems, such as that robot control accuracy is not high.
To achieve the goals above, according to the one side of the application, a kind of controller for robot is provided.
Include according to the controller for robot of the application：Sensor assembly, processing module and communication module, it is described
Sensor assembly is connect with the processing module by SPI interface, and the processing module passes through TTL serial ports with the communication module
Connection；
The sensor assembly includes：First sensor and second sensor, the first sensor is for detecting machine
The acceleration movement state and direction motion state of people, the second sensor be used to correct generated when robot motion it is accumulative
Deviation.
Further, the first sensor includes：Acceleration transducer and gyroscope, the acceleration transducer are used for
The acceleration movement state of the robot is measured, the gyroscope is used to measure the direction motion state of the robot.
Further, the second sensor includes magnetometer, and the magnetometer when correcting robot motion for generating
Accumulated deviation.
Further, the processing module includes microcontroller, and affiliated microcontroller is for handling the sensor assembly detection
The motion state data of the robot arrived.
Further, the microcontroller includes：SPI interface and TTL serial ports, the SPI interface for the microcontroller with
Data transfer between the sensor, the TTL serial ports are passed for the data between the microcontroller and the communication module
It passs.
Further, the microcontroller further includes：Timer, for timing by the microcontroller treated motion state
Data are sent to the communication module.
Further, the communication module includes：FPGA processor is used for and the robot system bus communication.
Further, the communication module includes 422 Bus interfaces, for the controller and the system bus
Between signal transmission.
Further, further include power supply module, be used for the power supply of the controller.
To achieve the goals above, according to the another aspect of the application, a kind of machine being connected with the controller is provided
People.
Include the controller for robot according to the robot for being connected with the controller of the application.
In the embodiment of the present application, it using the controller for being used for robot in the utility model, is accurately obtained by sensor
The motion state for taking robot keeps the gesture stability of robot more accurate, solves robot field robot motion balance
Control problem.
Using above technical scheme, have the advantages that：The utility model provides a kind of control for robot
Device and the robot for being connected with the controller obtain machine human body posture by the way that attitude transducer is added from three dimensions,
Keep robot pose control more accurate, realizes the cloud dynamic balancing of robot.
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 controller schematic diagram according to the embodiment of the present application；
Fig. 2 is the sensor assembly schematic diagram according to the embodiment of the present application；
Fig. 3 is the integrated connection schematic diagram according to the embodiment of the present application；
Fig. 4 is the first sensor schematic diagram according to the embodiment of the present application；And
Fig. 5 is the second sensor schematic diagram 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 term " first " in the description and claims of this application and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without being used to describe specific sequence or precedence.It should be appreciated that using in this way
Data can be interchanged in the appropriate case, so as to embodiments herein described herein.In addition, term " comprising " 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 " connection ", " connected " shall be understood in a broad sense.For example, it may be being fixedly connected, it is detachably connected, or
Monolithic construction；Can be mechanical connection, or electrical connection；It can be directly connected, or indirectly connected through an intermediary,
Or it is two connections internal between device, element or component.It for those of ordinary skills, can be with
The concrete meaning of above-mentioned term in this application is 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 controller for robot, which includes：Sensor assembly 1,
Processing module 2, communication module 3 and power supply module 4, sensor assembly 1 are connect with processing module 2 by SPI interface, processing module
2 are connect with communication module 3 by TTL serial ports, and power supply module 4 is used for the power supply of the controller.
Wherein, sensor assembly 1 can detect machine human body posture, and processing module 2 is used for the initialization of sensor
Configuration and sensor information receive, processing, and treated information is sent to communication module 3 by serial ports, and communication module 3
It then can be controller access system communication bus, so as to so that the information that sensor detects passes to robot brain control
Device processed, and then realize the adjustment and control of robot motion's posture.
As shown in Fig. 2, the sensor assembly in the controller includes：First sensor 11 and second sensor 12, first
Sensor 11 includes acceleration transducer 111 and gyroscope 112, and second sensor 12 includes magnetometer 121.
Preferably, acceleration sensor 111 is to measure all directions acceleration in space, it may be determined that the acceleration of robot
Direction and acceleration magnitude.
Preferably, gyroscope 112 is a kind of equipment for being used for measurement angle and maintaining direction, can detect robot
The motion conditions such as tilt and wave.
Using acceleration sensor 111 and gyroscope 112, the entire motion state of equipment can be described substantially.
Preferably, magnetometer 121 is modified compensation, Ke Yiyou using earth magnetic field is measured by absolute direction-pointing function
Effect solves the Accumulated deviation that the prolonged exercise of robot generates.
As shown in Figure 3, it is preferred that the microcontroller in the controller is selected is the STM32F103C8T6 of STMicw Electronics
Microcontroller, the primary data that sensor assembly detects pass to microcontroller by SPI interface, and microcontroller is initial by these
Data are analyzed, are handled, and are converted to the information that robot control system can directly use, then be transmitted to communication by serial ports
Data are dealt at robot mca controller by module eventually by system bus.
Communication module 3 is a kind of communication plan based on 422 buses, and effect is the instruction for receiving 422 system bus and issuing,
And return the status data of current device.Communication core module is mainly realized by FPGA processor and its power supply circuit, at FPGA
Reason device is responsible for and robot system bus communication, and communication interface is full duplex 422, data communication rates 5Mbps, FPGA processing
The signal of device pin itself is TTL rs 232 serial interface signals, and 422 interface circuits of standard, FPGA are converted by external conversion circuit
It is achieved that the scheme that 422 communications are carried out with external bus.And with intercommunication (single chip communication), carried out by TTL serial ports
Communication, because microcontroller itself is also TTL serial ports, electric level interface is completely compatible in electrical specification.
As shown in figure 4, the inspection center of acceleration transducer 111 and gyroscope 112 is located at the center of chip, work as chip
When face-up, specific axis sensitivity and direction.
As shown in figure 5,121 inspection center of magnetometer is located at the center of chip, when chip front side upward when, specific axis
Sensitivity and direction.
The present embodiment provides a kind of robot, which is connected with above controller.
The operation principle of the utility model is as described below：After controller connects power supply, microcontroller initialization, mainly to inside
The resources such as serial ports SCI, SPI and timer are configured, then microcontroller by itself SPI interface to sensor MPU-9250 into
Row parameter configuration, after completing configuration, microcontroller can read attitude data by SPI interface from sensor, and will read
To data handled.By timer interruption control SCI serial ports, by treated, attitude data is sent to communication to microcontroller
Nucleus module；The data received are sent to by 422 transceivers in system bus by communication core module again, and attitude data is final
Robot mca controller is sent to by system bus, and mca controller can be according to the data received to the appearance of robot
State is adjusted, to make robot achieve the purpose that balance.
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 controller for robot, which is characterized in that including：Sensor assembly, processing module and communication module, institute
It states sensor assembly to connect by SPI interface with the processing module, the processing module is gone here and there with the communication module by TTL
Mouth connection；
The sensor assembly includes：First sensor and second sensor, the first sensor is for detecting robot
Acceleration movement state and direction motion state, the second sensor be used for correct generated when robot motion it is accumulative partially
Difference.
2. controller according to claim 1, which is characterized in that the first sensor includes：Acceleration transducer and
Gyroscope, the acceleration transducer are used to measure the acceleration movement state of the robot, and the gyroscope is for measuring
The direction motion state of the robot.
3. controller according to claim 1, which is characterized in that the second sensor includes magnetometer, the magnetic force
The Accumulated deviation generated when counting for correcting robot motion.
4. controller according to claim 1, which is characterized in that the processing module includes microcontroller, the microcontroller
Motion state data for handling the robot that the sensor assembly detects.
5. controller according to claim 4, which is characterized in that the microcontroller includes：SPI interface and TTL serial ports, institute
SPI interface is stated for data transfer between the microcontroller and the sensor, the TTL serial ports for the microcontroller with
Data transfer between the communication module.
6. controller according to claim 4, which is characterized in that the microcontroller further includes：Timer periodically will be used for
Treated that motion state data is sent to the communication module for the microcontroller.
7. controller according to claim 1, which is characterized in that the communication module includes：FPGA processor, for
The robot system bus communication.
8. controller according to claim 7, which is characterized in that the communication module includes 422 Bus interfaces, is used
Signal transmission between the controller and the system bus.
9. controller according to claim 1, which is characterized in that further include power supply module, be used for the confession of the controller
Electricity.
10. a kind of robot, which is characterized in that include the controller as described in claim 1 to 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820434843.6U CN208092486U (en) | 2018-03-28 | 2018-03-28 | A kind of controller for robot and the robot for being connected with the controller |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820434843.6U CN208092486U (en) | 2018-03-28 | 2018-03-28 | A kind of controller for robot and the robot for being connected with the controller |
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| Publication Number | Publication Date |
|---|---|
| CN208092486U true CN208092486U (en) | 2018-11-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201820434843.6U Active CN208092486U (en) | 2018-03-28 | 2018-03-28 | A kind of controller for robot and the robot for being connected with the controller |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279618A (en) * | 2018-03-28 | 2018-07-13 | 北京钢铁侠科技有限公司 | It is a kind of for the controller of robot, control method and robot |
-
2018
- 2018-03-28 CN CN201820434843.6U patent/CN208092486U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279618A (en) * | 2018-03-28 | 2018-07-13 | 北京钢铁侠科技有限公司 | It is a kind of for the controller of robot, control method and robot |
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