CN208914129U - Body-sensing robot controller based on FPGA - Google Patents
Body-sensing robot controller based on FPGA Download PDFInfo
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- CN208914129U CN208914129U CN201820677702.7U CN201820677702U CN208914129U CN 208914129 U CN208914129 U CN 208914129U CN 201820677702 U CN201820677702 U CN 201820677702U CN 208914129 U CN208914129 U CN 208914129U
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- 230000003238 somatosensory effect Effects 0.000 description 3
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Abstract
The utility model relates to FPGA technologies, and in particular to a kind of body-sensing robot controller based on FPGA.It includes using FPGA as the control module of core, picture recognition module, bottom mobile drive module, mechanical arm drive module, wherein picture recognition module, the mobile drive module in bottom, mechanical arm drive module are connected with control module respectively, FPGA is that signal reading module, signal analysis module and signal processing module are equipped in the control module of core, picture recognition module is connect with signal processing module, and the mobile drive module in bottom, mechanical arm drive module are connect with signal processing module.The utility model has the beneficial effects that the body-sensing robot controller based on FPGA is to human body attitude dynamically track, body-sensing robot is controlled after being analyzed, being handled imitates human action in real time, realize intelligent control, this controller can control robot for online actions teaching or replace people's operation under bad environment, substantially increase the reliability and high efficiency of operation.
Description
Technical field
The utility model relates to FPGA technologies, and in particular to a kind of body-sensing robot controller based on FPGA.
Background technique
With the fast development of Robot Control Technology, all kinds of robots are widely used to industry, agricultural, national defence, section
It grinds, educate and the numerous areas such as daily life.Robot technology is the mark of industrial progress, in the work of certain danger
Make in environment, they have irreplaceable role.A kind of new technology of the body-sensing technology as human-computer interaction, have naturality and
The characteristics of intuitive.FPGA is the scale programmable logic device quickly grown in recent years, has that the design cycle is short, piece is domestic-investment
Source is abundant, can load infinitely and the features such as field-programmable.FPGA technology provides accordingly for the design innovation of control system
Technological means, on FPGA realize embedded controller be a kind of side between specific integrated circuit and general processor
Case has many advantages, such as that high speed, high reliability, miniaturization, integrated, low-power consumption, the security performance of electronic product are good.
Summary of the invention
Problem to be solved in the utility model is to provide a kind of controller that identification and control are realized in body-sensing robot, is
Body-sensing robot controller based on FPGA.
Body-sensing robot controller based on FPGA, it include using FPGA as the control module of core, picture recognition module,
Drive module, mechanical arm drive module are moved in bottom, wherein picture recognition module, the mobile drive module in bottom, mechanical arm driving
Module is connected with control module respectively, and FPGA is that signal reading module, signal analysis module are equipped in the control module of core
And signal processing module, picture recognition module are connect with signal processing module, the mobile drive module in bottom, mechanical arm drive mould
Block is connect with signal processing module.
It include DSP unit and circuit U 3 in the control module, circuit U 3 includes at least two I/O ports, and an I/O port is
RS mouthfuls, another I/O port is TS mouthfuls.
It further include external control module in the control module.
The control module includes circuit U 1, and circuit U 1 uses XC7A35T-1CPG236C chip.
The circuit U 3 uses chip PIC24FJ128GB106-I/MR.
The external control module includes circuit U 2, and circuit U 2 uses chip S25FL032P0XNFI01 and chip
S25FL032P0XMFI01。
The utility model has the beneficial effects that the body-sensing robot controller based on FPGA is to human body attitude dynamically track, warp
Control body-sensing robot imitates human action in real time after analysis, processing, realizes intelligent control, this controller can control robot
For online actions teaching or people's operation under bad environment is replaced, substantially increases the reliability and high efficiency of operation.
Detailed description of the invention
Fig. 1 is the control block diagram of the utility model；
Fig. 2 is the circuit structure diagram of the circuit U 1 of the utility model, U2, U3；
Flow diagram when Fig. 3 is the application of the utility model；
Specific embodiment
As shown in Figure 1, the body-sensing robot controller based on FPGA, it includes using FPGA as the control module of core, uses
In the picture recognition module of reading Computer signal, for controlling the mobile drive module in the mobile bottom of body-sensing robot, being used for
The mechanical arm drive module of body-sensing robot arm movement is controlled, wherein picture recognition module, bottom mobile drive module, machine
Tool arm drive module is connected with control module respectively, and FPGA is that signal reading module, signal are equipped in the control module of core
Analysis module and signal processing module, picture recognition module are connect with signal processing module, bottom mobile drive module, machinery
Arm drive module is connect with signal processing module, includes DSP unit and circuit U 3 in control module, and circuit U 3 includes at least two
I/O port, I/O port are RS mouthful, another I/O port is TS mouthfuls, and software for editing calls the reception of DSP unit progress rs 232 serial interface signal
And feedback, it further include external control module in control module, control module includes circuit U 1, as shown in Fig. 2, circuit U 1 uses
XC7A35T-1CPG236C chip, circuit U 3 use chip PIC24FJ128GB106-I/MR, and external control module includes circuit
U2, circuit U 2 use chip S25FL032P0XNFI01 and chip S25FL032P0XMFI01.
As shown in figure 3, the figure shows entire body-sensing robot control identification complete equipment schematic diagram, it include PC machine,
Controller, power supply module, abnormal protection module and KINECT somatosensory device module.Wherein KINECT somatosensory device carries out depth map
The acquisition of picture；PC machine realizes the functions such as user tracking, bone identification, joint angles calculating by KINECT；Controller is according to PC
The joint angles that machine calculates, control robot complete servo-actuated；Power supply module completes point of robot steering engine and robot controller
Road power supply, and support abnormal protection；Abnormal protection module is by wireless, in abnormal cases, control robot branch power-off.Its
Middle pc machine obtains skeleton image by somatosensory device, obtains stable skeleton data by filtering noise reduction process, and
Bone tracing algorithm is applied to human body attitude dynamically track, it will by the wireless transparent transmission module that RS232 and control command control
Signal passes to the picture recognition module of the body-sensing robot controller based on FPGA, and signal reading module passes through RS and TS serial ports
Realize that the communication with signal reading module receives and feeds back, received signal is transmitted to signals to analyze mould for signal reading module
Block carries out identification human action, and the signal after identification is then passed to signal processing module, and signal processing module obtains signal
Afterwards, the signal of human action is passed into the mobile drive module in bottom or mechanical arm drive module, mobile drive module or machinery
Arm drive module is according to control robot motion and work is carried out after the corresponding signal received, wherein power supply module is to robot
It powers with controller and Digiplex.
As shown in Fig. 2, controller includes 3 part of 1 part of circuit U, 2 part of circuit U and circuit U, 1 part of circuit U, the portion U2
Divide the circuit that controller is interconnected to constitute with the part U3, wherein physical circuit connection is as follows:
1 part of circuit U:
The V11 pin of chip XC7A35T-1CPG236C connects the one end inductance R145, and the inductance R145 other end connects power supply
VCC；B13, A12, B12, A13, B11, A11 pin of chip XC7A35T-1CPG236C connects ground wire GND；Chip XC7A35T-
The W18 pin of 1CPG236C connects the one end inductance R61, and the inductance R61 other end connects light emitting diode LD4 cathode, light-emitting diodes
Pipe LD4 anode connects ground wire GND；The U19 pin of chip XC7A35T-1CPG236C connects light emitting diode LD1 cathode, shines
Diode LD1 anode connects the one end inductance R56, and the inductance R56 other end connects ground wire GND；Chip XC7A35T-1CPG236C's
E19 pin connects the one end inductance R53, and the inductance R53 other end connects light emitting diode LD0 cathode, and light emitting diode LD0 anode connects
It is grounded GND；E18 connection one end inductance R137 of chip XC7A35T-1CPG236C and the one end inductance R138, inductance R137 are another
One end connects power supply VCC, and the inductance R138 other end connects ground wire GND；The D18 pin of chip XC7A35T-1CPG236C connects electricity
Feel the one end R136, the inductance R136 other end connects the 5th pin of chip S25FL032P0XNFI01；Chip XC7A35T-1CPG236C
W9 pin connect the one end inductance R131, the inductance R131 other end connects zener diode D1 cathode and the 1st pin of switch J5, surely
Diode D1 anode is pressed to connect ground wire GND；The C8 pin of chip XC7A35T-1CPG236C connects the one end inductance R133, inductance
The R133 other end connects zener diode D3 cathode and the 4th pin of switch J5, and zener diode D3 anode connects ground wire GND；Core
The W10 pin of piece XC7A35T-1CPG236C connects the one end inductance R132, and it is negative that the inductance R132 other end connects zener diode D2
Pole and the 2nd pin of switch J5, zener diode D2 anode connect ground wire GND；The W8 pin of chip XC7A35T-1CPG236C connects
Meet the one end inductance R134, the 3rd pin of inductance R134 other end connection switch J5 and zener diode D4 cathode, zener diode D4
Anode connection ground wire GND；The W11 pin of chip XC7A35T-1CPG236C connects the one end inductance R97, and the inductance R97 other end connects
Connect the 22nd pin of chip PIC24FJ128BI06-1/MR；The U10 pin of chip XC7A35T-1CPG236C connects inductance R98 mono-
The other end at end, R98 connects the 23rd pin of chip PIC24FJ128BI06-1/MR；The C11 of chip XC7A35T-1CPG236C draws
Foot connects the 6th pin of the one end inductance R102, one end of inductance R139 and chip S25FL032P0XNFI01 simultaneously, and inductance R102 is another
One end connects the 30th pin of chip PIC24FJ128BI06-1/MR, and the inductance R139 other end connects power supply VCC；Chip
It is another that the U12 pin of XC7A35T-1CPG236C connects the one end inductance R99, the one end inductance R140 and the one end inductance R148, inductance R99
One end connects the 27th pin of chip PIC24FJ128BI06-1/MR, and the inductance R140 other end connects power supply VCC, and inductance R148 is another
One end connects light emitting diode LD19 anode, and light emitting diode LD19 cathode connects ground wire GND；Chip XC7A35T-1CPG236C
V10 pin connection one end inductance R100, the one end inductance R141 and the one end switch PTA-142, inductance R100 other end connection core
The 28th pin of piece PIC24FJ128BI06-1/MR, the inductance R141 other end connect power supply VCC, the connection of the switch PTA-142 other end
Ground wire GND；U11 pin connection one end inductance R142 of XC7A35T-1CPG236C and the one end inductance R95, the inductance R142 other end
Power supply VCC is connected, the inductance R95 other end connects the 11st pin of chip PIC24FJ128BI06-1/MR；XC7A35T-1CPG236C
D19 pin connection one end the inductance R101 and one end inductance R146, the inductance R101 other end connects chip PIC24FJ128BI06-
The 29th pin of 1/MR, the 2nd of the connection of the inductance R146 other end chip S25FL032P0XNFI01 and S25FL032P0XMFI01 are drawn
Foot；The V19 pin of XC7A35T-1CPG236C connects the one end inductance R59, and the inductance R59 other end is connecting light emitting diode LD2 just
Pole, light emitting diode cathode connect ground wire GND；The K19 pin of XC7A35T-1CPG236C connects chip
The 1st pin of S25FL032P0XNFI01 and S25FL032P0XMFI01 and the one end inductance R135, the R135 other end connect inductance
The one end R94, the inductance R94 other end connect light emitting diode LD16 anode, and light emitting diode LD16 cathode connects chip
The 16th pin of PIC24FJ128BI06-1/MR；The G18 pin of XC7A35T-1CPG236C connects the one end inductance R149, inductance
The 3rd pin and inductance R144 mono- of R149 other end connection chip S25FL032P0XNFI01 and chip S25FL032P0XMFI01
End, the inductance R144 other end connect power supply VCC；The F18 pin of XC7A35T-1CPG236C connects the one end inductance R150, inductance
The R150 other end connects the 7th pin and one end inductance R143 of chip S25FL032P0XNFI01 and S25FL032P0XMFI01,
The inductance R143 other end connects power supply VCC；The other pin floating of chip XC7A35T-1CPG236C.
2 part of circuit U:
The 1st pin of chip S25FL032POXNFI01 connects the 1st pin of chip S25FL032P0XMFI01 and inductance R135
One end, the inductance R135 other end connect the K19 pin of the one end inductance R94 and chip XC7A35T-1CPG236C, and inductance R94 is another
End connection light emitting diode LD16 anode, light emitting diode LD16 cathode connection chip PIC24FJ128BI06-1/MR the 16th draw
Foot；The 2nd pin of chip S25FL032P0XNFI01 connects the 2nd pin of chip S25FL032P0XMFI01 and the one end inductance R146,
The D19 pin of inductance R146 other end connection chip XC7A35T-1CPG236C；The 3rd pin of chip S25FL032P0XNFI01 connects
Connect the 3rd pin of chip S25FL032P0XMFI01, the one end inductance R144 and the one end inductance R149, inductance R144 other end connection electricity
Source VCC, the inductance R149 other end connect the G18 pin of chip XC7A35T-1CPG236C；Chip S25FL032P0XNFI01 the 4th
Pin connects the 4th pin of chip S25FL032P0XMFI01, the 5th pin of switch J5 and the one end capacitor C32, the capacitor C32 other end
Connection connection one end inductance R94, the inductance R94 other end connect light emitting diode LD16 anode, and light emitting diode LD16 cathode connects
Connect the 16th pin of chip PIC24FJ128BI06-1/MR；The 5th pin of chip S25FL032P0XNFI01 connects chip
The 5th pin of S25FL032P0XMFI01 and the one end inductance R136, the inductance R136 other end connect chip XC7A35T-1CPG236C
D18 pin；The 6th pin of chip S25FL032P0XNFI01 connects the 6th pin of chip S25FL032P0XMFI01, chip
The C11 pin of XC7A35T-1CPG236C and the one end inductance R139, the inductance R139 other end connect power supply VCC；Chip
The 7th pin of S25FL032P0XNFI01 connects the 7th pin of chip S25FL032P0XMFI01 and the one end inductance R143, inductance R143
Other end connection connection power supply VCC；The 8th pin of chip S25FL032P0XNFI01 connects chip S25FL032P0XMFI01 the 8th
Pin and the one end inductance R94, the inductance R94 other end connect light emitting diode LD16 anode, the connection of light emitting diode LD16 cathode
The 16th pin of chip PIC24FJ128BI06-1/MR.
The 1st pin of chip S25FL032P0XMFI01 connects the 1st pin of chip S25FL032P0XNFI01 and inductance R135
One end, the inductance R135 other end connect the K19 pin of the one end inductance R94 and chip XC7A35T-1CPG236C, and inductance R94 is another
End connection light emitting diode LD16 anode, light emitting diode LD16 cathode connection chip PIC24FJ128BI06-1/MR the 16th draw
Foot；The 2nd pin of chip S25FL032P0XMFI01 connects the 2nd pin of chip S25FL032P0XNFI01 and the one end inductance R146,
The D19 pin of inductance R146 other end connection chip XC7A35T-1CPG236C；The 3rd pin of chip S25FL032P0XMFI01 connects
Connect the 3rd pin of chip S25FL032P0XNFI01, the one end inductance R144 and the one end inductance R149, inductance R144 other end connection electricity
Source VCC, the inductance R149 other end connect the G18 pin of chip XC7A35T-1CPG236C；Chip S25FL032P0XMFI01 the 4th
Pin connects the 4th pin of chip S25FL032P0XNFI01, the 5th pin of switch J5 and the one end capacitor C32, the capacitor C32 other end
Connection connection one end inductance R94, the inductance R94 other end connect light emitting diode LD16 anode, and light emitting diode LD16 cathode connects
Connect the 16th pin of chip PIC24FJ128BI06-1/MR；The 5th pin of chip S25FL032P0XMFI01 connects chip
The 5th pin of S25FL032P0XNFI01 and the one end inductance R136, the inductance R136 other end connect chip XC7A35T-1CPG236C
D18 pin；The 6th pin of chip S25FL032P0XMFI01 connects the 6th pin of chip S25FL032P0XNFI01, chip
The C11 pin of XC7A35T-1CPG236C and the one end inductance R139, the inductance R139 other end connect power supply VCC；Chip
The 7th pin of S25FL032P0XMFI01 connects the 7th pin of chip S25FL032P0XNFI01 and the one end inductance R143, inductance R143
Other end connection connection power supply VCC；The 8th pin of chip S25FL032P0XMFI01 connects chip S25FL032P0XNFI01 the 8th
Pin and the one end inductance R94, the inductance R94 other end connect light emitting diode LD16 anode, the connection of light emitting diode LD16 cathode
The 16th pin of chip PIC24FJ128BI06-1/MR.
3 part of circuit U:
The 16th pin of chip PIC24FJ128BI06-1/MR connects light emitting diode LD16 cathode, light emitting diode LD16
Anode connection one end inductance R94, the inductance R94 other end connect the one end capacitor C32 and the one end inductance R135, the capacitor C32 other end
The 4th pin of chip S25FL032P0XNFI01 is connected, the inductance R135 other end connects the 1st pin of chip S25FL032P0XNFI01
With the 1st pin of chip S25FL032P0XMFI01；The 11st pin of chip PIC24FJ128BI06-1/MR connects the one end inductance R95,
The inductance R95 other end connects U11 pin and one end inductance R142 of chip XC7A35T-1CPG236C, and the inductance R142 other end connects
Connect the 2nd pin of chip S25FL032P0XNFI01 and the 2nd pin of chip S25FL032P0XMFI01；Chip
The 22nd pin of PIC24FJ128BI06-1/MR connects the one end inductance R97, and the inductance R97 other end connects chip XC7A35T-
The W11 pin of 1CPG236C；The 23rd pin of chip PIC24FJ128BI06-1/MR connects the one end inductance R98, and inductance R98 is another
The U10 pin of end connection chip XC7A35T-1CPG236C；The 27th pin of chip PIC24FJ128BI06-1/MR connects inductance
The one end R99, the inductance R99 other end connect the U12 pin of chip XC7A35T-1CPG236C；Chip PIC24FJ128BI06-1/
The 28th pin of MR connects the one end inductance R100, and the inductance R100 other end connects the V10 pin of chip XC7A35T-1CPG236C；Core
The 29th pin of piece PIC24FJ128BI06-1/MR connects the one end inductance R101, and the inductance R101 other end connects chip XC7A35T-
The D19 pin of 1CPG236C；The 30th pin of chip PIC24FJ128BI06-1/MR connects the one end inductance R102, and inductance R102 is another
One end connects the 6th pin of chip S25FL032P0XNFI01, the 6th pin of chip S25FL032P0XMFI01 and chip XC7A35T-
The C11 pin of 1CPG236C；The other pin floating of chip PIC24FJ128BI06-1/MR.
Claims (6)
1. a kind of body-sensing robot controller based on FPGA, it is characterised in that:
It includes driving mould by the control module of core, picture recognition module, the mobile drive module in bottom, mechanical arm of FPGA
Block, wherein picture recognition module, the mobile drive module in bottom, mechanical arm drive module are connected with control module respectively, FPGA
To be equipped with signal reading module, signal analysis module and signal processing module, picture recognition module in the control module of core
It is connect with signal processing module, the mobile drive module in bottom, mechanical arm drive module are connect with signal processing module.
2. the body-sensing robot controller according to claim 1 based on FPGA, it is characterised in that: the control module
Interior includes DSP unit and circuit U 3, and circuit U 3 includes at least two I/O ports, and an I/O port is RS mouthfuls, another I/O port is TS mouthfuls.
3. the body-sensing robot controller according to claim 1 or 2 based on FPGA, it is characterised in that: the control
It further include external control module in module.
4. the body-sensing robot controller according to claim 1 or 2 based on FPGA, it is characterised in that: the control
Module includes circuit U 1, and circuit U 1 uses XC7A35T-1CPG236C chip.
5. the body-sensing robot controller according to claim 2 based on FPGA, it is characterised in that: the circuit U 3 is adopted
With chip PIC24FJ128GB106-I/MR.
6. the body-sensing robot controller according to claim 3 based on FPGA, it is characterised in that: the external control
Module includes circuit U 2, and circuit U 2 uses chip S25FL032P0XNFI01 and chip S25FL032P0XMFI01.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820677702.7U CN208914129U (en) | 2018-05-08 | 2018-05-08 | Body-sensing robot controller based on FPGA |
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| CN201820677702.7U CN208914129U (en) | 2018-05-08 | 2018-05-08 | Body-sensing robot controller based on FPGA |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405730A (en) * | 2019-06-06 | 2019-11-05 | 大连理工大学 | A kind of man-machine object interaction mechanical arm teaching system based on RGB-D image |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110405730A (en) * | 2019-06-06 | 2019-11-05 | 大连理工大学 | A kind of man-machine object interaction mechanical arm teaching system based on RGB-D image |
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