KR100812986B1 - Multi-channel Robot Control System - Google Patents

Abstract

The present invention provides a multi-channel robot control system equipped with an operating system (OS) capable of cooperative operation between channels provided with a plurality of channels for performing multi-tasking, and an external interface unit 110. A main module 100 including a channel module 120, an internal memory 130, and a CAN communication driver 140; An input / output module (200) provided with a can communication connector (210) for connecting with the can communication driver (140) of the main module (100); And a server driver module 300 including a can communication connection unit 310 connected to the can communication driver 140 of the main module 100, wherein the external interface unit 110 communicates with an external operating system. The communication module is provided, and the channel module 120 includes: a plurality of channels 125 having individual channel internal processors 126 capable of performing independent tasks in a preemptive multi-tasking manner; The channel 125 is a multi-channel robot control, characterized in that for outputting a control signal containing the trajectory generated as a result of the operation performed to the server driver module 300 through the can communication driver 140, respectively; It's about the system.

Main Module, Channel Module, I / O Module, Server Driver Module, CAN Communication Driver, Channel Internal Processor, Main Processor, Internal Coordinates, Internal Variables, Global Coordinates, Global Variables

Description

Multi-channel Robot Control System

1 is an overall configuration diagram of a robot control system to which a specific embodiment of the present invention is applied.

2 shows the channel module in more detail.

3 is a structural diagram in which one channel controls the robot.

4 illustrates a channel state management process of the channel manager.

5 shows a process of performing an in-channel processor.

<Description of the symbols for the main parts of the drawings>

100: main module

110: external interface unit

120: channel module

121: main processor section 122: channel manager section

125: channel

126: channel internal processor

127: Parameter manager 128: File manager

130: internal memory

140: CAN communication driver (CAN Driver)

200: I / O module

210: CAN communication connection

300: server driver module

310: can communication connection

11: power converter

21: Global coordinates 22: Global variables

31: internal coordinate 32: internal variable

41: Axis

Field of technology

The present invention relates to a multi-channel robot control system provided with an operating system (OS) which is provided with a plurality of channels for performing multi-tasking and enables cooperative operation between channels.

Prior art

The existing concept of multi-tasking adds a task plan indicating device in one CPU, assigns a work code according to a series of tasks sequentially by the task plan indicating device, and accordingly, the internal area. It is a way to control multiple robots by assigning them.

However, the above method is closer to the method of synchronizing while working sequentially rather than multitasking, and also corresponds to controlling a plurality of axes provided in one robot instead of a plurality of robots.

That is, although several tasks appear to be performed at the same time, the processor in charge of the task itself performs a task by assigning the task to each task processor at each moment by a time-division method such as a timer interrupt.

At this time, the axis on which the work is performed is also limited to only one robot, and there is a problem that excessive system construction cost is required to control a plurality of robots.

There is also SEC's SECP Series as a robot controller that performs multitasking, which is a controller that can operate up to three channels simultaneously.

However, SEC's SECP Series uses an industrial PC as the main frame, and uses a commercial RTOS (Real Time OS) from a foreign country.

Therefore, the system construction cost is high by using an expensive industrial PC and a commercial foreign RTOS, and it does not provide a multi-tasking operating system (Multi-tasking Operating System) function that enables multichannel operation in one robot controller.

The object of the present invention created to solve the above-mentioned conventional problems is as follows.

First, it is an object of the present invention to provide a modular robot control system capable of driving up to six axes in one channel.

Second, it is another object of the present invention to provide a robot control system that is provided with a plurality of channels capable of performing individual work, each channel controls a single robot, to perform a multi-tasking by a plurality of robots.

Third, another object of the present invention is to provide a robot control system capable of cooperative operation between a plurality of channels.

The configuration of the present invention created to achieve the above object is as follows.

The present invention provides a multi-channel robot control system equipped with an operating system (OS) capable of cooperative operation between channels provided with a plurality of channels for performing multi-tasking, and an external interface unit 110. A main module 100 including a channel module 120, an internal memory 130, and a CAN communication driver 140; An input / output module (200) provided with a can communication connector (210) for connecting with the can communication driver (140) of the main module (100); And a server driver module 300 including a can communication connection unit 310 connected to the can communication driver 140 of the main module 100, wherein the external interface unit 110 communicates with an external operating system. The communication module is provided, and the channel module 120 includes: a plurality of channels 125 having individual channel internal processors 126 capable of performing independent tasks in a preemptive multi-tasking manner; The channel 125 outputs a control signal including a trajectory of a motion path of the robot generated as a result of the work to the server driver module 300 through the can communication driver 140.

Hereinafter, with reference to the accompanying drawings, a specific embodiment of the present invention will be described in detail.

1 shows an overall configuration diagram of a robot control system to which a specific embodiment of the present invention is applied, and FIG. 2 shows a channel module in more detail.

The power converter 11 shown in FIG. 1 converts AC power into DC power and supplies the same to the main module 100, the input / output module 200, and the server driver module 300 of the present invention.

The external interface unit 110 of the main module 100 includes a communication module capable of communicating with an external operating system, and supports UART, RS232, and RS422 for communication.

The internal memory 130 includes a flash memory for storing various data required for performing a task according to a specific embodiment of the present invention.

The channel module 120 includes a plurality of channels 125 having individual channel internal processors 126 capable of performing independent tasks in a preemptive multi-tasking manner.

The channel module 120 is shown in more detail in FIG. 2. According to a specific embodiment of the present invention shown in FIG. 2, a total of four channels are included in the channel module 120, and each channel 125 is included in the channel module 120. A separate in-channel processor 126 is provided for independent work.

In addition, the main processor unit 121 is provided to identify and specify the channel internal processor 126 to which priority is given among the channels 125.

In order to simultaneously control up to four robots with one channel (one robot that can be controlled by one channel) and simultaneously perform work commands input through the input / output module 200, several processes are performed at the same time. Should be.

The method adopted by the present invention to support this is preemptive multitasking, which is not non-preemptive multitasking in which the scheduler selects a priority process to execute in the next time slot in a time division manner by a timer interrupt. This is not suitable for compact systems since it must be based on an RTOS. In the preemptive multitasking, the operating system (OS) of the main processor unit 121 selects a process and gives priority to the process, and after the process given priority uses the CPU preferentially, the CPU is applied to the main processor unit 121. In return, the main processor unit 121 grants the CPU to the next priority process.

The channel module 120 also includes a channel manager 122 that is managed by the main processor 121 and checks and manages the state of each of the channels 125.

The channel manager 122 manages channel states in the following order, as shown in FIG.

end. The initial state is NOT_EXIT by powering on.

I. The channel initialization program checks for the existence of the channel and sets the initial value of each variable by referring to the required parameters. Checking the connection of the necessary drive devices to the NULL state.

All. When checking the abnormal state of the relevant drive device, finding no ORG signal, or accessing the memory area that is not allowed during RUN operation, the state is changed to ALARM state.

la. When the ALARM condition is cleared and the ALARM RESET command is received, the condition is changed to NULL.

hemp. When the JOG command is received in the NULL state and when the operation is completed in the JOG state, the mutual state is switched.

bar. When the ORG command is received in the NULL state and the operation is completed in the ORG state, or after the stop operation is completed by the PAUSE command, the mutual state is switched.

four. NULL and RUN

Ah. RUN and PAUSE

character. State transitions between PAUSE and NULL are done by the RUN, STOP, Break, and SETP commands. For this operation, a flag is used to indicate that a motion program file has been loaded.

car. If an abnormal situation occurs such that the variable value is out of range during the run, the interpreter switches to the Error state. However, if the abnormality is not likely to be caused by a user program, switch to the ALARM state.

Ka. When Error Reset command is received in Error state, it is converted to PAUSE state.

Get. When ESTOP command is received from outside, it switches to ESTOP state.

wave. When the ESTOP operation sequence is completed, it switches to ALRAM state.

As shown in Figs. 2 and 5, the channel internal processor 126 obtains internal coordinates and internal variables necessary for performing internal work of the channel 125 from the parameter manager 127 and the file manager 128. When a separate work command is input through the input / output module 200 while a work is performed in each of the channel internal processors 126 according to an internal coordinate and an internal variable, it is used only for performing internal work of each of the channels 125. The internal coordinates 31 and the internal variables 32 are synchronized with the global coordinates 21 and the global variables 22 available in all channels 125 to check the position between the channels 125 and input work instructions. As a result, each of the channels 125 performs a cooperative operation.
As described above, the internal coordinates 31 and the internal variables 32 are designated to be used only for the internal work of each of the channels 125, and the global coordinates 21 and the global variables 22 are used for all the channels 125. This is specified to be possible.
Here, the coordinates or variables refer to factors used to generate (calculate) the specific motion path (track) of the robot. The coordinates refer to data for a specific position, and the variable refers to data other than coordinates, for example, a space. Values related to the distance between the two points, the moving speed of the robot, the acceleration, the waiting time, etc. may be applicable.
In other words, the internal coordinate 31 is data indicating a position on the path along which the robot moves, such as (20, 30, 40). For example, if the robot managed by channel 1 has to move from the initial position of (10, 0, 0) to the final position of (20, 30, 40), the initial position value (10, 0, 0) and the final position value (20, 30, 40) corresponds to the internal coordinate of channel 1. Also, if the coordinate value of the waypoint through which the robot managed by channel 1 must pass between the initial position value and the final position value is (15, 30, 30), this also corresponds to the internal coordinate of channel 1. That is, in order to generate a trajectory for moving (movement) the robot managed in channel 1, such data (first position, intermediate position, and final position) must be inputted by designating the internal coordinate of channel 1.
The global coordinate 21 also means data for a specific position, which is the same as the internal coordinate 31, but is designated as a separate area from the internal coordinate 31 as shown in FIG. 2.
In other words, if the same coordinate value is designated and inputted into the internal coordinate 31, it is recognized only in the corresponding channel 125 and can be used for work. Can be. That is, data designated and input into the internal coordinates 20, 30, and 40 of the channel 1 or stored in the internal memory 130 may not be loaded and used in the channel 2. Therefore, if cooperative operation is necessary while channel 1 and channel 2 are checking each other's position, if all coordinate values are designated by their own internal coordinates, there is no way to check each other's position and thus cooperative operation is impossible.
In such a case, if (20, 30, 40) is input in global coordinates separately from the internal coordinates of channel 1 or stored in internal memory 130, this value can be retrieved and used if necessary in channel 2 as well. It is possible to cooperate with each other.
In other words, the position in the space of the internal coordinates 20, 30, and 40 and the position in the space of the global coordinates 20, 30, and 40 are coincident and do not mean different positions, only the respective channels 125. The only difference is whether the data is designated internally available or data available internally in all channels 125.
The relationship between the internal variable 32 and the global variable 22 is the same. That is, if any data is assigned or stored as an internal variable 32, it can be used only in the corresponding channel 125. If the same data is assigned or stored as a global variable 22, all channels 125 It becomes possible to use.

As such, by synchronizing the internal coordinates 31 and the internal variables 32 with the global coordinates 21 and the global variables 22, all different axes can be operated through one control command.

For example, when a robot of channel 1 moves to a position A and a robot of channel 2 moves to a position B, if a separate command is input through the input / output module 200, the robot of channel 1 is synchronized with the robot of channel 1. By taking into account the mutual position of the robots in channel 2 (global coordinates), it is possible to perform complex synchronization operations that compensate as desired (global variables) and return to the original work.
In other words, the robot of channel 1 and the robot of channel 2 move along their trajectories along the trajectory of the motion path generated by the internal coordinates 31 and the internal variables 32 of the channels 1 and 2, respectively. A separate work command requiring cooperative operation between the channels 125 may be input through the input / output module 200 in the form of global coordinates 21 and global variables 22 designated to be available in both channels 1 and 2. In this case, for cooperative operation, channels 1 and 2 need to check the position, direction, speed, etc. of each other.
Therefore, internal coordinates 31 and internal variables 32 designated for use only in internal work of each of channels 1 and 2 must be synchronized to global coordinates 21 and global variables 22 designated to be available on both channels 1 and 2. In this case, the fact that the global coordinate 21 and the global variable 22 are synchronized means that the global coordinate 21 and the global variable 22 may be treated in the same manner.
That is, the internal coordinate 31 and the internal variable 32 of the synchronized channel 1 are treated the same as those specified by the global coordinate 21 and the global variable 22 and can be used in the channel 2. The internal coordinates 31 and the internal variables 32 are also treated the same as those assigned to the global coordinates 21 and the global variables 22 and can be used in channel 1.
Therefore, channel 1 and channel 2 identify and cooperate with each other by using the internal coordinates 31 and internal variables 32 synchronized with the global coordinates 21 and the global variables 22, and the position, speed, and direction of movement. Driving is possible.

The information obtained from the file manager 128 and the parameter manager 127 is compiled by the program compiler, converted into a recognizable form, and interpreted by the interpreter.

When the trajectory determined to the target point is generated by receiving the converted work command, the control signal is output through the can communication connection unit 320 of the server driver module 300 connected to the can communication driver 140 of the main module 100. .
In other words, as shown in FIGS. 1 and 3, when a trajectory (trajectory determined up to a target point) is generated for each movement path of each of the axes 41 controlled by the server driver module 300 in the channel 125, the related control is performed. The signal is transmitted to the server driver module 300 through the can communication driver 140 and the can communication connection unit 320, the server driver module 300 to control the movement of each axis 41 in accordance with the received control signal do.

As shown in FIG. 3, one channel 125 manages three server driver modules 300, and one server driver module 300 controls two axes 41. ) Is given an identification factor (ID) to enable mutual identification.

Technical effects according to the present invention of the above configuration is as follows.

First, it provides a modular robot control system that can drive up to six axes in one channel.

In order to multitask, one task must be able to smoothly perform trajectory movement of all axes of the robot. Therefore, it is necessary to build a control system capable of driving up to six servo actuators. In the present invention, six axes are controlled from one channel, and each axis is individually provided with an identification factor (ID). Unlike other robot controllers that use X, Y, Z, and R axes sequentially, you can select the desired axis and apply it to the coordinate system of the robot. In other words, the corresponding axis of the desired robot can be selected and controlled according to the user's request regardless of the order. In addition, each component is modular and can be easily expanded and collapsed as needed.

Second, a plurality of channels capable of performing individual tasks are provided, and each channel controls one robot to provide a robot control system capable of performing multi-tasking by a plurality of robots.

In other words, the channel module constituting the present invention includes a plurality of channels having separate internal channel processors capable of independent tasks in a preemptive multi-tasking manner, and each channel is provided through a can communication driver. The server driver module controls the server driver module by outputting a control signal including the trajectory generated as a result of the task execution by the server driver module. One processor in a channel capable of performing independent tasks by preemptive multi-tasking method is provided. By controlling the robot, it is possible to perform multi-tasking by a plurality of robots.

Third, it provides a robot control system capable of cooperative operation between a plurality of channels.

In other words, when a separate work command is input through the input / output module while the work is performed in each of the channel internal processors according to the internal coordinates and the internal variables, the internal coordinates and the internal variables used only for the internal work execution of each of the channels are displayed. By synchronizing to global coordinates and global variables, the positions of the channels may be identified, and each of the channels may perform a cooperative operation according to the input work command.

Claims (3)

In a multi-channel robot control system equipped with an operating system (OS) that is provided with a plurality of channels for performing multi-tasking and cooperative operation between channels, A main module 100 having an external interface unit 110, a channel module 120, an internal memory 130, and a can communication driver 140; An input / output module (200) provided with a can communication connector (210) for connecting with the can communication driver (140) of the main module (100); And, A server driver module (300) having a can communication connection unit (310) for connecting with the can communication driver (140) of the main module (100); Including, The external interface unit 110 is provided with a communication module that can communicate with the external operating system, The channel module 120, A plurality of channels 125 having individual channel internal processors 126 capable of independent tasks in a preemptive multi-tasking manner, wherein the channels 125 each include the can communication driver ( Multi-channel robot control system, characterized in that for outputting a control signal containing the trajectory of the movement path of the robot generated as a result of the work performed through the server driver module (300). The method of claim 1, wherein the channel module 120, A main processor unit 121 for identifying and designating a channel internal processor 126 to which priority is given among the channels 125; And, A channel manager 122 which is managed by the main processor 121 and checks and manages a state of each of the channels 125; Include more, The channel internal processor 126 retrieves from the parameter manager 127 and the file manager 128 an internal coordinate 31 and an internal variable 32 designated to be used only for internal work of each of the channels 125. A separate work command is required in all of the channels 125 that requires cooperative operation between the channels 125 while the work is performed in each of the channel internal processors 126 according to the coordinates 31 and the internal variables 32. When input through the input / output module 200 in the form of global coordinates 21 and global variables 22 designated to be possible, the internal coordinates 31 and internal variables designated to be used only for the internal work of each of the channels 125. Synchronize (32) to the global coordinates 21 and global variables 22 designated to be available on all of the channels 125 to confirm the position between the channels 125 and the channels 125 in accordance with the input work order. ) Each of the cooperative operation Multi-channel robot control system characterized in that to perform. In claim 2, The channel module 120 is provided with four channels 125, each of the channels 125 manages three server driver modules 300, and each of the server driver modules 300 has an axis 41. Multi-channel robot control system, characterized in that for controlling two movements, the axis (41) is each assigned an identification factor (ID).

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