CN217506398U - Robot integrated controller - Google Patents
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- CN217506398U CN217506398U CN202221561043.3U CN202221561043U CN217506398U CN 217506398 U CN217506398 U CN 217506398U CN 202221561043 U CN202221561043 U CN 202221561043U CN 217506398 U CN217506398 U CN 217506398U
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Abstract
The utility model discloses an integrated control ware of robot. Wherein, this controller includes: the system comprises a control panel, a processor, an Inertial Measurement Unit (IMU) chip, a plurality of groups of mini-PCIE interfaces of the expansion bus standard of the micro high-speed serial computer, a host M2 interface and a power interface. The utility model provides a robot integrated controller among the correlation technique exist the controller too big, the not high technical problem of integrated level.
Description
Technical Field
The utility model relates to a bionic robot particularly, relates to a robot integrated control ware.
Background
Along with the great heat of the robot industry, the products of the biped bionic robot, the quadruped bionic robot and the hexapod wheel type robot are increased, the hardware requirement on a controller is greatly increased, the quadruped bionic robot has the stability of the biped bionic robot, the complexity of the hexapod wheel type robot is avoided, the realization difficulty is low, the functionality of the bionic robot is wide, and the bionic robot has huge market prospects in military replacement, disaster area exploration and placement inspection. However, the controller of the four-footed bionic robot is often large in size and power, so that the adaptive battery has huge capacity, can not meet the long-time use standard, and also has increased size, low integration level and large energy consumption, and the IMU often realizes functions through an external interface.
In view of the above problems, no effective solution has been proposed.
SUMMERY OF THE UTILITY MODEL
An embodiment of the utility model provides a robot integrated controller to solve the technical problem that the controller that robot integrated controller in the correlation technique exists is too big, the integrated level is not high at least.
According to an aspect of the embodiments of the present invention, there is provided a robot integrated controller, including: control panel, treater, inertia measurement unit IMU chip, the miniature high-speed serial computer expansion bus standard mini-PCIE interface of multiunit, host computer M2 interface, power source, wherein: the processor is connected to the control board and used for receiving a control instruction, sending a primary action instruction according to the control instruction and sending a secondary action instruction according to the first action data read by the IMU chip; the IMU chip is connected with the control board and used for reading the first action data generated by the robot; the plurality of groups of mini-PCIE interfaces are connected with the control panel, comprise a plurality of paths of mini-PCIE controller area network CAN interfaces and are used for transmitting data by using a controller area network CAN bus protocol so as to control the mechanical feet and the mechanical arms of the robot; the M2 interface is connected to the control board and used for controlling the robot in a wireless control mode; the power interface is connected with the control board and used for connecting a power supply to supply power to the processor, the IMU chip, the plurality of groups of mini-PCIE interfaces and the M.2 interface.
Optionally, the robot integrated controller further includes: and the network port interface is connected with the control board and is used for connecting a preset terminal to realize wired data transmission with the preset terminal.
Optionally, the robot integrated controller further includes: and the universal serial bus USB3.0 interface is connected with the control board and is used for connecting preset hardware equipment.
Optionally, the robot integrated controller further includes: and the external inertial measurement unit IMU serial port communication interface is connected to the control board and is used for connecting a second IMU chip to read second action data generated by the robot.
Optionally, the robot integrated controller further includes: and the FAN FAN interface is connected with the control board and used for connecting a FAN to radiate heat for the robot integrated controller.
Optionally, the robot integrated controller further includes: and the high-definition multimedia HDMI interface is connected to the control panel and is used for connecting a display screen to display data generated in the operation process of the robot integrated controller.
Optionally, the robot integrated controller includes: and the register is connected with the control board and used for storing data generated in the operation process of the robot integrated controller.
Optionally, the robot integrated controller further includes: and the power-on reset key is connected to the control panel and used for realizing the starting and resetting of the robot integrated controller.
Optionally, the robot integrated controller further includes: the metal shell covers the control panel in an outer mode and is used for protecting the control panel.
Optionally, the processor is a Jetson AGX Xavier processor.
The embodiment of the utility model provides an in, adopted the control panel that can integrate treater, inertial measurement unit IMU chip, the miniature high-speed serial computer expansion bus standard mini-PCIE interface of multiunit, host computer M2 interface and power interface's core function as robot integrated control ware. The processor is connected with the control board and used for receiving the control command, sending out a primary action command according to the control command and sending out a secondary action command according to the first action data read by the IMU chip; the IMU chip is connected with the control board and used for reading first action data generated by the robot; the system comprises a plurality of groups of mini-PCIE interfaces, a control panel, a controller area network CAN interface, a controller area network CAN bus interface, a control panel and a controller, wherein the plurality of groups of mini-PCIE interfaces are connected with the control panel and are used for transmitting data by using a controller area network CAN bus protocol so as to operate mechanical feet and mechanical arms of the robot; the M2 interface is connected with the control panel and used for realizing the control of the robot in a wireless control mode; and the power interface is connected with the control panel and used for connecting a power supply to supply power to the processor, the IMU chip, the plurality of groups of mini-PCIE interfaces and the M.2 interface. According to the above, the present invention, on the basis of realizing the core function, reduces the size of the integrated robot controller through an integrated manner, and further solves the technical problems of the robot integrated controller in the related art, such as too large controller and low integration level.
Drawings
The accompanying drawings, which are included to provide a further understanding of the invention and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the invention and together with the description serve to explain the invention without undue limitation to the invention. In the drawings:
fig. 1 is a block diagram of a robot integrated controller device according to an embodiment of the present invention;
fig. 2 is a first pictorial view of a robotic integrated controller device in accordance with an embodiment of the present invention;
fig. 3 is a second pictorial view of a robotic integrated controller device in accordance with an embodiment of the present invention;
fig. 4 is a third object diagram of the robot integrated controller device according to the embodiment of the present invention.
Detailed Description
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in other sequences than those illustrated or described herein. Furthermore, the terms "comprises" and "comprising," as well as any variations thereof, are intended to cover a non-exclusive inclusion, such that a system, article, or apparatus that comprises a list of elements is not necessarily limited to those elements explicitly listed, but may include other elements not expressly listed or inherent to such product or apparatus.
Example 1
According to the embodiment of the present invention, an embodiment of a robot integrated controller is provided, it should be noted that fig. 1 is a structural block diagram of a robot integrated controller according to the embodiment of the present invention, as shown in fig. 1, the apparatus includes: the system comprises a control board 102, a processor 104, an inertial measurement unit IMU chip 106, a plurality of groups of mini-PCIE interfaces 108 of the micro high-speed serial computer expansion bus standard, a host M2 interface 110 and a power interface 112, wherein:
the processor 104 is connected to the control board 102 and configured to receive the control command, issue a primary motion command according to the control command, and issue a secondary motion command according to the first motion data read by the IMU chip;
an IMU chip 106 connected to the control board 102 for reading first motion data generated by the robot;
a plurality of sets of mini-PCIE interfaces 108 connected to the control board 102, including a plurality of mini-PCIE-to-controller area network CAN interfaces, configured to transmit data in a controller area network CAN bus protocol to operate the robot's robot feet and robot arms;
an M2 interface 110 connected to the control board 102 for controlling the robot in a wireless control manner;
and the power interface 112 is connected to the control board 102 and is used for connecting a power supply to supply power to the processor, the IMU chip, the plurality of sets of mini-PCIE interfaces and the m.2 interface.
The utility model discloses a can integrated processor, inertial measurement unit IMU chip, the miniature high-speed serial computer expansion bus standard mini-PCIE interface of multiunit, host computer M2 interface and power interface's core function's of control panel as robot integrated control ware. The processor is connected with the control board and used for receiving the control command, sending out a primary action command according to the control command and sending out a secondary action command according to the first action data read by the IMU chip; the IMU chip is connected with the control board and used for reading first action data generated by the robot; the system comprises a plurality of groups of mini-PCIE interfaces, a control panel, a controller area network CAN interface, a controller area network CAN bus interface, a control panel and a controller, wherein the plurality of groups of mini-PCIE interfaces are connected with the control panel and are used for transmitting data by using a controller area network CAN bus protocol so as to operate mechanical feet and mechanical arms of the robot; the M2 interface is connected with the control panel and used for realizing the control of the robot in a wireless control mode; and the power interface is connected with the control panel and used for connecting a power supply to supply power to the processor, the IMU chip, the plurality of groups of mini-PCIE interfaces and the M.2 interface. According to the above, the utility model discloses on the basis of realizing the core function, make the integrated controller volume of robot reduce through integrated mode, and then solved the too big, not high and the too much technical problem of power consumption that leads to of controller that the integrated controller of robot exists among the correlation technique.
As an alternative embodiment, the control board 102 may be a core board with a minimum CPU function, that is, on the basis of realizing the core function, the arrangement on the control board and the like minimize the size of the whole robot integrated controller. In addition, the front and the back of the control board defined below are defined as the front side and the back side of the control board connected to the processor.
As an optional embodiment, the processor 104 may be a Jetson AGX Xavier processor, connected to the control board, or alternatively located at the right side of the front of the control board, and configured to receive the control command, and issue a primary motion command according to the control command, and further, by using the UART bus of the Jetson AGX Xavier processor to pull up the level to 3V3, the serial port conversion chip is used to output an RS232 signal, so that the processor can read acceleration and angular velocity data, that is, can issue a secondary motion command according to the first motion data read by the IMU chip, and the computing power of the Jetson AGX Xavier processor is up to 32 TOPS; the running energy consumption is as low as 20W, the size is only 100X100MM, the size of the robot integrated controller can be greatly reduced, and the energy consumption is reduced.
As an alternative embodiment, the power interface 112 is connected to the control board, and optionally, may be located right above the back surface of the control board, and is used to connect a power supply to supply power to the processor, the IMU chip, the multiple sets of mini-PCIE interfaces, and the m.2 interface.
As an alternative embodiment, the IMU chip 106 may be selected from the MTI-630, connected to the control board, and optionally located at the left side of the back side of the control board, and the IMU chip may read first motion data generated by the robot, where the first motion data includes acceleration data of the X/Y/Z axis generated by the robot and angular velocity data around the X/Y/Z axis, and the IMU chip integrates a 3-axis accelerometer and a 3-axis gyroscope, where the accuracy of the roll angle and the pitch angle is 0.2 °, and the accuracy of the yaw angle is 1 °, and may be used for inertial navigation expansion and safety function verification of the robot, and improve the accuracy when controlling the robot.
As an optional embodiment, the robot integrated controller may further include an external inertial measurement unit IMU serial port communication interface, connected to the control board, for connecting to a second IMU chip to read second motion data generated by the robot. The data types acquired by the first motion data and the second motion data can be the same, but the data types acquired by different IMUs are different from each other, so that the first motion data and the second motion data can be corrected correspondingly according to the first motion data and the second motion data, and the finally acquired motion data is more accurate.
As an optional embodiment, a plurality of sets of mini-PCIE interfaces 108 are connected to the control board, and optionally, may be located at a lower left corner of the back side of the control board, where a set of mini-PCIE interfaces includes four paths of mini-PCIE to controller area network CAN interfaces, and according to the number of the mechanical feet and the mechanical arms of the robot, the number of sets of mini-PCIE interfaces may be reasonably set, so as to control the mechanical feet and the mechanical arms of the robot by transmitting data through a controller area network CAN bus protocol, and besides the functions of controlling the mechanical feet and the mechanical arms of the robot, the mini-PCIE interfaces may also be used for expanding and using more functions of the robot, and the CAN bus protocol may reach a communication rate of 1Mbps at most according to different hardware requirements, thereby improving the communication efficiency.
As an alternative embodiment, the M2 interface 110 is connected to the control board, and optionally, can be located at the lower left corner of the back surface of the control board, for controlling the robot in a wireless control manner.
As an optional embodiment, the robot integrated controller may further include a network interface, connected to the control board, or optionally located at a right side position of the back surface of the control board, and configured to connect to a predetermined terminal to implement wired data transmission with the predetermined terminal, that is, to connect to a computer, a notebook, and other terminal devices to implement wired data transmission with the computer and the notebook, or to control the robot in a wired control manner.
As an alternative embodiment, the robot integrated controller may further include a USB3.0 interface connected to the control board, and optionally may be located directly below or on the right side of the reverse side of the control board for connecting to a predetermined hardware device, for example, a predetermined hardware device such as a mouse or a keyboard may be connected. The functions of the robot integrated controller are increased according to the functions of the hardware equipment, or better regulation and control tests are carried out on the robot integrated controller according to the functions of the hardware equipment.
As an alternative embodiment, the integrated robot controller may further include a FAN interface connected to the control board for connecting a FAN to dissipate heat for the integrated robot controller. The problem that functions and the like have faults due to the fact that the robot integrated controller is used for a long time and generates a local overheating phenomenon is avoided.
As an optional embodiment, the robot integrated controller may further include a high-definition multimedia HDMI interface, connected to the control board, and optionally located at an upper left corner of the front surface of the control board, for connecting to a display screen to display data generated during the operation of the robot integrated controller. The generated data can be more clearly known through the display screen, and the test and the record are more facilitated. Optionally, the integrated robot controller may further include a register connected to the control board for storing data generated during the operation of the integrated robot controller for review and inspection.
As an optional embodiment, the integrated robot controller may further include a power-on reset button, connected to the control board, and optionally, may be located at an upper left corner of the back of the control board, for implementing the turning on and resetting of the integrated robot controller, similar to implementing the function of a switch.
As an alternative embodiment, the integrated robot controller may further include a metal housing covering the control board for protecting the control board. The metal shell is adopted, and the metal shell is also matched with a connector with a protection grade higher than IP65, so that the robot controller has the protection grade of IP65, and the robot controller can be applied to complex indoor and outdoor environments.
Based on above-mentioned embodiment and optional embodiment, the utility model discloses provide a four-footed bionic robot's controller among the optional implementation mode. Fig. 2 is a first physical diagram of the robot integrated controller device according to an embodiment of the present invention, namely a front physical diagram of a control panel; fig. 3 is a second physical diagram of the integrated controller device for a robot according to an embodiment of the present invention, namely, a physical diagram of the front side of the control panel after the connection of the processor; fig. 4 is a third real object diagram of the integrated controller device of robot according to the embodiment of the present invention, that is, the real object diagram of the back side of the controller, as shown in fig. 2.3.4, the present invention provides a four-footed bionic robot controller including:
1) jetson AGX Xavier processor 202 in ARM architecture (same as the above processors): the UART bus of the Jetson AGX Xavier processor is pulled up to 3V3, and a serial port conversion chip is used for outputting RS232 signals, so that the CPU can read acceleration and angular velocity data. The computing power of the Jetson AGX Xavier processor is up to 32 TOPS; the running energy consumption is as low as 20W, and the size is only 100X100 MM.
2) A minimum control panel 204 for core functions (as above); the volume is reduced as integrally as possible.
3) MTI-630 chip 206 (same inertial measurement unit IMU chip as above): and the MTI-630 integrates a 3-axis accelerometer and a 3-axis gyroscope, wherein the accuracy of the roll angle and the pitch angle is 0.2 degrees, and the accuracy of the yaw angle is 1 degree. The acceleration data of the X/Y/Z axis and the angular velocity data around the X/Y/Z axis can be generated, and the data are used for inertial navigation expansion and safety function verification of the quadruped bionic robot.
4) The IMU external interface 208 (which is the same as the aforementioned external inertial measurement unit IMU serial port communication interface) is not only a built-in IMU that does not occupy space, but also a high-end IMU that can be connected conveniently through an external interface.
5)2 sets of mini-PCIE interfaces 210, 2 SOC-CAN interfaces 212, connect in the control panel, 1 set of mini-PCIE interfaces includes four ways mini-PCIE and changes the CAN interface, 1 SOC-CAN interface includes 1 way SOC changes the CAN interface, 4 and the number of arm are 1 according to the number of the mechanical foot of robot, CAN set up arbitrary 5 interfaces in 10 interfaces and be used for controlling the mechanical foot and the arm of robot with controller area network CAN bus protocol transmission data, except the function of the mechanical foot and the arm of controlling the robot, other interfaces CAN be used for the expansion use of more functions of robot, and, CAN bus protocol CAN be according to the different highest communication rate that CAN reach 1Mbps of hardware requirement, communication efficiency has been improved.
6) HDMI interface 214 (same high definition multimedia HDMI interface as above): and displaying data generated in the process of operating the controller of the four-footed bionic robot.
7) USB3.0 interface 216 (same as the USB3.0 interface described above): and connecting the mouse and the keyboard to execute test operation.
8) Network communication interface 218 (same as the above-mentioned portal interface): the connecting computer realizes wired data transmission and wired control of the quadruped robot.
9) M.2wifi interface 220 (same host M2 interface as above): the wireless connection realizes wireless data transmission and wireless control of the quadruped robot.
10) FAN interface 222 (same FAN interface described above): the connecting fan is used for radiating heat of the controller of the four-footed bionic robot.
11) The power interface 224: the power supply is connected to provide power.
12) Power-on reset button 226: the controller of the four-foot bionic robot is started and reset.
Through the above alternative embodiment, at least the following advantages can be achieved:
(1) the ARM architecture is used for realizing the four-footed bionic robot, the precision is high, the energy consumption is low, and the calculation power of a Jetson AGX Xavier processor is up to 32 TOPS; the running energy consumption is as low as 20W, and the size is only 100X100 MM;
(2) a built-in high-precision IMU is integrated, the precision of a roll angle and a pitch angle of an IMU chip is 0.2 degrees, and the precision of a yaw angle is 1 degree;
(3) the integrated 10 CAN bus communication interfaces, 10 CAN bus transmission rate all CAN reach 1 Mbps.
The above embodiment numbers of the present invention are only for description, and do not represent the advantages and disadvantages of the embodiments.
In the above embodiments of the present invention, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to the related descriptions of other embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed technology can be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units may be a logical division, and in actual implementation, there may be another division, for example, multiple units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, units or modules, and may be in an electrical or other form.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit may be implemented in the form of hardware, or may also be implemented in the form of a software functional unit.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, a plurality of modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (10)
1. A robot integrated controller, comprising: control panel, treater, inertia measurement unit IMU chip, the miniature high-speed serial computer expansion bus standard mini-PCIE interface of multiunit, host computer M2 interface, power source, wherein:
the processor is connected to the control board and used for receiving a control instruction, sending a primary action instruction according to the control instruction and sending a secondary action instruction according to the first action data read by the IMU chip;
the IMU chip is connected with the control board and used for reading the first action data generated by the robot;
the plurality of groups of mini-PCIE interfaces are connected with the control panel, comprise a plurality of paths of mini-PCIE controller area network CAN interfaces and are used for transmitting data by using a controller area network CAN bus protocol so as to control the mechanical feet and the mechanical arms of the robot;
the M2 interface is connected to the control board and used for controlling the robot in a wireless control mode;
the power interface is connected to the control board and used for connecting a power supply to supply power to the processor, the IMU chip, the plurality of groups of mini-PCIE interfaces and the M2 interface.
2. The robot integrated controller of claim 1, further comprising:
and the network port interface is connected with the control board and is used for connecting a preset terminal to realize wired data transmission with the preset terminal.
3. The robot integrated controller of claim 1, further comprising:
and the universal serial bus USB3.0 interface is connected with the control board and is used for connecting preset hardware equipment.
4. The robot integrated controller of claim 1, further comprising:
and the external inertial measurement unit IMU serial port communication interface is connected to the control board and is used for connecting a second IMU chip to read second action data generated by the robot.
5. The robot integrated controller of claim 1, further comprising:
and the FAN FAN interface is connected with the control board and used for connecting a FAN to radiate heat for the robot integrated controller.
6. The robot integrated controller of claim 1, further comprising:
and the high-definition multimedia HDMI interface is connected to the control panel and is used for connecting a display screen to display data generated in the operation process of the robot integrated controller.
7. The robot integrated controller of claim 1, comprising:
and the register is connected with the control board and used for storing data generated in the operation process of the robot integrated controller.
8. The robot integrated controller of claim 1, further comprising:
and the power-on reset key is connected to the control panel and used for realizing the starting and resetting of the robot integrated controller.
9. The integrated robot controller of claim 1, further comprising:
the metal shell covers the control panel in an outer mode and is used for protecting the control panel.
10. A robot integrated controller according to any of claims 1 to 9, wherein the processor is a Jetson AGX Xavier processor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202221561043.3U CN217506398U (en) | 2022-06-21 | 2022-06-21 | Robot integrated controller |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202221561043.3U CN217506398U (en) | 2022-06-21 | 2022-06-21 | Robot integrated controller |
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| Publication Number | Publication Date |
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| CN217506398U true CN217506398U (en) | 2022-09-27 |
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| CN202221561043.3U Active CN217506398U (en) | 2022-06-21 | 2022-06-21 | Robot integrated controller |
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- 2022-06-21 CN CN202221561043.3U patent/CN217506398U/en active Active
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