KR20240083286A - Motion control system using core engine for robot - Google Patents

Abstract

The present invention provides a plurality of operating devices provided in a robot, a plurality of control units having a program and a confirmation unit that controls at least one of the operating devices to perform the motion of the robot, and at least one operating device for each control unit. registers control rights, and when at least one motion is requested, a control unit that searches for a control unit capable of performing at least one motion among a plurality of control units and a confirmation unit of the searched control unit checks the searched control unit to perform at least one motion. It determines whether the searched control unit is a control unit that has control over the operating devices necessary to perform at least one motion, and controls the execution of the control unit. A motion control system using a core engine for a robot is provided, which includes a core engine that drives actuators.
According to the present invention, it is possible to determine whether the control unit has control over the operating devices, including the core engine, and control the execution of the control unit to drive the operating devices.
Meanwhile, this specification was prepared with the help of the Incheon Research and Development Activation Project (Task Number: 2022-R&D Performance Commercialization-01).

Description

Motion control system using core engine for robots {MOTION CONTROL SYSTEM USING CORE ENGINE FOR ROBOT}

The present invention relates to a motion control system using a robot core engine for executing multiple programs.

The industry is actively introducing various intelligent robots into industrial sites for the purpose of preparing for labor shortages and improving productivity. Accordingly, there is a constant demand for improvements in the problems of domestic intelligent robots. In particular, the limitations of ROS-based solutions and the need for unstable motion control are the greatest, and attempts to overcome the difficulty of robot operation and low durability are continuing.

In order to overcome these limitations of conventional robots and meet market demands, the present invention relates to a motion control system using a core engine for robots that prevents collision of multiple control units developed to be expandable to robots of various kinematic shapes. I would like to start.

The technical task of the present invention is to provide a motion control system using a core engine for robots that prevents collision of a plurality of control units developed to be expandable to robots of kinematic shape.

The present invention provides a plurality of operating devices provided in a robot, a plurality of control units having a program and a confirmation unit that controls at least one of the operating devices to perform the motion of the robot, and at least one operating device for each control unit. registers control rights, and when at least one motion is requested, a control unit that searches for a control unit capable of performing at least one motion among the plurality of control units, and a confirmation unit of the searched control unit, and checks that the searched control unit performs at least one motion. It determines whether the searched control unit is a control unit that has control over the operating devices required to perform at least one motion, and if it is determined that the searched control unit is a control unit that has control over the operating devices required to perform at least one motion, the execution of the control unit is controlled. Provides a motion control system using a core engine for a robot, which includes a core engine that drives the actuating devices.

According to the present invention, control conflicts between multiple control units can be prevented. This ensures the safety of the robot.

In addition, control conflicts between multiple control units can be prevented, ensuring safety while simultaneously performing small motions, and preventing robot malfunctions.

In addition, according to the present invention, it is possible to determine whether the control unit has control over the operating devices, including the core engine, and control the execution of the control unit to drive the operating devices.

Figure 1 is a detailed configuration diagram of an intermediate layer provided in a motion control system using a core engine for a robot according to an embodiment.
Figure 2 is a configuration diagram of a motion control system using a robot core engine to control a robot according to an embodiment.
Figure 3 is a flowchart of obtaining control registration rights for a motion control system using a core engine for a robot according to an embodiment.
Figure 4 is a flowchart of control authority registration of the control unit provided in the motion control system using a core engine for a robot according to an embodiment.

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

Figure 1 is a detailed configuration diagram of an intermediate layer provided in a motion control system using a robot core engine according to an embodiment, and Figure 2 is a configuration diagram of a motion control system using a robot core engine for controlling a robot according to an embodiment. Hereinafter, with reference to the attached drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily practice the present invention. However, the present invention may be implemented in various different forms and is not limited to the embodiments disclosed below. In addition, in order to clearly disclose the present invention in the drawings, parts not related to the present invention are omitted, and identical or similar symbols in the drawings indicate identical or similar components.

The purpose and effect of the present invention can be naturally understood or become clearer through the following description, and the purpose and effect of the present invention are not limited to the following description.

The purpose, features and advantages of the present invention will become clearer through the following detailed description. Additionally, in describing the present invention, if it is determined that a detailed description of known techniques related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, embodiments according to the present invention will be described in detail with reference to the attached drawings.

Figure 1 is a detailed configuration diagram of an intermediate layer provided in a motion control system using a robot core engine according to an embodiment, and Figure 2 is a configuration diagram of a motion control system using a robot core engine for controlling a robot according to an embodiment. am.

As shown in FIG. 2, the motion control system 200 using a core engine for a robot includes a physical layer 210, an intermediate layer 220, and an application layer 230.

The physical layer 210 is made up of hardware provided in the robot 100.

The physical layer 210 includes an input unit 211, a sensor unit 212, an operating device unit 213, an output unit 214, and a control unit 215.

The input unit 211 includes a user interface (UI: User Interface, not shown) that receives robot motion control commands from the user, a camera 111 that acquires images around the robot, and detects the user's voice and surrounding sounds. Includes a microphone 112, etc.

The sensor unit 212 includes a pose detector 133 that detects the pose of the upper body, a force/torque detector 171 that detects whether the robot has landed and the support leg and swing leg corresponding to the landing, and the rotation speed of the motor. Includes an encoder (not shown) that detects.

The operating device unit 213 is made up of a plurality of operating devices, and the joints of the robot 100 are mechanically connected to the plurality of operating devices.

These plural actuating devices consist of motors that drive each joint, and the motors are driven according to instructions from the control unit 215 to perform motions corresponding to user commands.

The operating unit 213 has an electrical interface that reports the results of executing the control commands of the control unit 215.

In addition, the operating device unit 213 may further include each detection unit of the input unit 211 and the sensor unit 212 as an operating device. This is because the camera 111 of the input unit 211, etc., and each detection unit of the sensor unit 212 may also need to be controlled.

The output unit 214 includes a speaker that outputs sound, an indicator light that outputs light, etc.

The control unit 215 controls the operation of the operating device unit 213 and the output unit 214 by performing data operation processing based on data transmitted from the input unit 211 and the sensor unit 212. This control unit 215 includes a processor 215a, ROM 215b, and RAM 215c.

The processor 215a is a CPU (Central Processing Unit) or the like, and executes hardware-independent programs such as applications or hardware-dependent programs such as middleware under software control to comprehensively control the overall operation of the robot 100.

The processor 215a is connected to memory such as ROM 215b or RAM 215c through a bus.

Each of the components 215a, 215b, and 215c on the bus is assigned a unique address (memory address or I/O address), and the processor 215a designates the address to at least one component on the bus. Communication is possible with (215b, 215c). Here, the bus is a common signal transmission path including the address bus, data bus, and control bus.

ROM (Read Only Memory, 215b) is a non-volatile memory that stores programs such as applications for controlling the motion or thinking of a robot or an intermediate layer for hardware operation.

RAM (Random Access Memory, 215c) is a volatile memory that loads the execution program of the processor 215a or temporarily preserves the work data.

The RAM 215c maps the application or intermediate layer program transferred from the ROM 215b onto the memory space.

The middle layer 220 consists of program modules for performing robot motion. This intermediate layer 220 includes a connection module 221, an adjustment unit 222, a control unit 223, a core engine 224, and a timer module 225.

The connection module 221 receives a request to perform at least one motion from an external motion task client (not shown) and provides feedback on the motion progress.

In addition, a motion task client (not shown) requests at least one motion from the connection module 221 of the middle layer 220, and the motion task client is a user interface that is an external program module or input unit 211. (UI: User Interface).

The control unit 222 controls the execution of the control unit 223 so that the motion requested by the motion task client (not shown) is performed.

When at least one motion performance signal is transmitted from a motion task client (not shown), the control unit 222 selects a control unit 223 for performing the transmitted motion and transmits a tick signal to the selected control unit 223. do.

At this time, the tick signal is generated in response to the tick signal transmitted from the timer module 225.

When the control unit 223 for performing a motion is selected and a control unit for performing the motion does not exist, the control unit 222 creates a control unit capable of performing the motion.

Here, creating a control unit capable of performing the corresponding motion means searching for a control unit among a plurality of control units that is not authorized to control the operating device, and enabling the searched control unit to perform the corresponding motion.

The control unit 222 searches for a control unit 223 capable of performing the corresponding motion, generates a program constituting the searched control unit 223, and determines which operating device is required to perform the corresponding motion. ), and when the information on the operating device corresponding to the check result is transmitted from the control unit 223, it is determined whether the transmitted operating device is available, and if the operating device is not available, the control of the control unit that attempts to control the operating device is determined. The permission is canceled, and if the corresponding operating device is available, the control authority to control the corresponding operating device is transferred to the control unit 223.

At this time, the control unit 222 transmits a request signal to the core engine 224 to allow the control unit to control the operating device so that the control unit can control the operating device. In addition, the control unit 222 transmits a confirmation unit that can identify the control unit to the core engine 224.

When the control unit 222 receives a control permission signal from the core engine 224, the control unit 222 registers the information of the control unit and the operating device in the control unit list.

The control unit 222 manages the list of running control units, monitors the execution status such as execution and suspension of each control unit 223, and when a control violation signal is received from the core engine 224, the control unit 223 is selected from the control unit list. The control unit 223 that violates is deleted.

Here, the control unit list stores identification unit (ID) information of the execution unit of the control unit that has control over each operating device.

A run unit can be executed independently on an operating system (OS), and depending on the operating system, there are threads, tasks, and processes.

When a motion performance request signal is transmitted, the control unit 222 instructs the control unit 223 to execute in response to the periodic tick signal of the timer module 225.

The controller 222 executes the interface provided by the core engine 224 in an independent execution unit on the same operating system (OS).

The control unit 222 has control registration rights for all operating devices.

This control unit 222 requests the core engine 224 for control registration rights for all operating devices and then obtains control registration rights for all operating devices when a control registration right permission signal is transmitted from the core engine 224. .

The control unit 222 can request control registration rights from the core engine 224 during initialization. Here, the control registration right is the right to mediate control rights to the control unit 223, register the control rights of the control unit 223, or retrieve control rights from the control unit 223.

The control unit 223 (223a, 223b, 223c, ..., 223n) is a program that interprets at least one motion and converts it into a control command for an abstracted operating device.

There are a plurality of control units (223: 223a, 223b, 223c, ..., 223n), and each control unit (223: 223a, 223b, 223c, ..., 223n) is a program corresponding to one motion. This is provided. Each of these control units 223 (223a, 223b, 223c, ..., 223n) each has an independent execution unit on an operating system (OS: Operating System), and the execution unit of each control unit stores a confirmation unit (ID). there is.

Here, the execution unit is classified according to the operating system and is one of a thread, task, or process.

When the control of the operating device is transferred from the control unit 222, the plurality of control units 223 (223a, 223b, 223c, ..., 223n) each store the brokered control.

Here, the right to control is the right of the control unit to control the operating device, including control of moving the robot to a desired location, control of movement at a desired speed, control of starting sensor calibration, and control of movement with a desired torque or force.

When a tick signal is transmitted from the control unit 222, the control unit 223 executes the program and transmits a control command corresponding to the program execution result to the core engine 224 using an application programming interface (API).

Here, the application programming interface (API) is an interface provided by the core engine 224.

When a check signal as to which operating device is required is transmitted from the adjusting unit 222, the control unit 223 determines the required operating device and transmits it to the adjusting unit 222.

That is, when determining the necessary operating device, the control unit 223 determines the operating device necessary to perform the motion based on the motion data transmitted from the connection module 221 or the controlling unit 222, and the controlling unit ( The information of the determined operating device is transmitted in response to the check in 222).

Additionally, the control unit 223 can directly request control of the necessary operating device from the control unit 222.

These control units 223 (223a, 223b, 223c, ..., 223n) must be implemented according to a designated interface for communication with the control unit 222.

The interface that the control unit (223: 223a, 223b, 223c, ..., 223n) must satisfy is getRequiredResources, which checks the operating devices required to perform motion, and an algorithm that is executed when a timer tick occurs. There are onTick, getId, a function that returns the confirmation unit (ID) of the execution unit of the control unit, etc.

Here, onTick, which performs the control algorithm, is executed in an independent execution unit on the operating system (OS).

The core engine 224 is a robot hardware abstraction layer and is a module that abstracts multiple operating devices of the operating device unit 213 and allows them to be used through a consistent interface. In other words, it allows actuators that perform the same function but have different specifications to be accessed consistently.

When a control command is transmitted from the control unit 223, the core engine 224 verifies whether the control unit 223 that transmitted the control command is the owner of control rights to the operating device to be controlled.

Here, checking whether the owner of control rights is confirmed is by comparing whether the confirmation unit of the execution unit of the control unit 223 that transmitted the control command is the same as the confirmation unit of the execution unit of the control unit that has control over the operating device stored in the control unit 222. It is done.

The operating system (OS) provides a system call to find out the identification unit (ID) of the execution unit currently executing the code, and accordingly, the core engine 224 can check the identification unit (ID) of the execution unit of the control unit. do.

If the control unit 223 that transmitted the control command is the owner of control rights to the operating device to be controlled, the core engine 224 converts the control command into a low-level control command that can be read by the operating device and transmits it to the operating device.

If the control unit 223 that transmitted the control command does not have control over the operating device to be controlled, the core engine 224 transmits a control violation signal of the control unit to the control unit 222.

This core engine 224 grants control of the control unit for each operating device, or provides an interface that allows control of each control unit 223 to be recovered.

The interface provided by the core engine 224 is registerControlRight, which allows only the controller with control registration rights to mediate and register control rights, releaseControlRight, which allows only controllers with control registration rights to retrieve control rights, and performs the first application programming interface. There are registerRegRight, which allows the control unit to have the control registration right, and releaseRegRight, which retrieves the control registration right from the control unit.

Additionally, the core engine 224 has an application programming interface (API).

When a control registration right request signal for registering control rights for all operating devices is transmitted from the control unit 222, the core engine 224 checks whether a module with control registration rights already exists, and determines whether a module that already has control registration rights exists. If the module exists, the request for control registration rights is rejected, and if the module with control registration rights does not exist, the control registration right is granted to the control unit 222 that requested the control registration rights.

Here, checking whether a module with control registration rights already exists means checking whether the confirmation section of modules with control registration rights is stored in the core engine.

The timer module 225 is a module that generates a tick signal at regular intervals, and transmits this tick signal to the controller 222. That is, the control unit 222 transmits a tick signal to the control unit 223, so that the plurality of control units 223 operate in accordance with the tick signal.

The application layer 230 is provided with a plurality of programs used to operate the robot.

This application layer 230 includes an emotion model that models the robot's emotions, an instinct model that models the instincts, a learning module that sequentially remembers the causal relationship between external events and the motions taken by the robot, and a motion pattern modeled. It has a motion model. Here, the model consists of a program.

The application layer 230 communicates with the intermediate layer 220 through a programming interface.

Figure 3 is a flowchart of how a control unit provided in a motion control system using a core engine for a robot according to an embodiment acquires control registration rights from the core engine.

If a plurality of control units (223: 223a, 223b, 223c, ..., 223n) arbitrarily register control rights through the core engine 224, the control rights of each control unit cannot be adjusted.

Accordingly, a plurality of control units (223: 223a, 223b, 223c, ..., 223n) can receive control only through the control unit 222, thereby preventing conflicts between programs of the plurality of control units. This is explained in detail as follows.

First, the control unit 222 requests control registration rights from the core engine 224 in order to obtain control registration rights to mediate and register control rights for all operating devices of the robot.

At this time, when the core engine 224 receives a control registration right request signal from the control unit 222 (301), it checks (302) whether a module that already owns the control registration right exists.

If the module that owns the next control registration right does not exist, the control unit 222 that requested the control registration right is permitted as the owner of the control registration right (303). At this time, the confirmation unit of the control unit is authorized as the holder of the control registration right.

Here, the confirmation part is the confirmation part (ID) of the execution unit, and the execution unit runs independently on the operating system (OS: Operating System) and is divided into tasks or processes depending on the operating system (OS: Operating System). .

On the other hand, if there is a module that owns the control registration right, the control registration right request is rejected (304) by the control unit 222 that requested the control registration right.

Figure 4 is a flowchart for registering control rights of a control unit provided in a motion control system using a core engine for a robot according to an embodiment.

For example, the control unit 222 has control registration rights for operating devices a1, a2, a4, a5, a6, a7, and a8, and the control unit list in which control rights for each operating device for each control unit are registered in the control unit 222. Assume this is stored.

At this time, in the control unit list, the first control unit 223a for performing the first motion (m1) has control over the operating devices a1 and a2, and the second control unit (223a) for performing the second motion (m2) Assume that 223b) has control over actuators a3, a4, and a5.

First, when performing a plurality of motions (m1, m2, m3) is requested from the connection module 221, the connection module 221 transmits a request signal to perform a plurality of motions (m1, m2, m3) to the controller 222. do.

When a request signal to perform a plurality of motions (m1, m2, m3) is received (401), the control unit 222 controls a plurality of motions (m1) among the plurality of control units (223: 223a, 223b, 223c, ..., 223n). , m2, and m3) are searched for in each control unit (402).

At this time, the first control unit 223a for performing the first motion (m1) is searched, and the second control unit 223b for performing the second motion (m2) is searched, but the control unit 222 The control unit for performing the third motion (m3) is not searched.

That is, if a control unit for performing the third motion (m3), which is one of the plurality of motions (m1, m2, m3), does not exist, a control unit for performing the third motion (m3) is created (403). .

At this time, among the plurality of control units (223a, 223b, 223c, ..., 223n), executable control units are searched for control units (223c, ..., 223n) that are not permitted to control the operating device, and the searched control unit is A control unit capable of performing the third motion is created by selecting a control unit capable of performing the third motion among the parts and creating a program to enable the third motion to be performed within the selected control unit. It is assumed that the control unit created here is the third control unit 223c.

If a control unit capable of performing the third motion has been created in advance, the control unit creation process can be omitted.

Next, the control unit 223 receives specific motion data from the connection module 221 (404). At this time, the control unit 223 can also receive motion data from the control unit 22.

Next, the control unit 223 analyzes various parameters in the motion data and determines the operating device required to perform the third motion (405).

Next, the control unit 222 checks (406) the third control unit 223c which operating device is required to perform the third motion m3.

At this time, the third control unit 223c transmits the information on the operating device determined according to the check signal of the control unit 222 to the control unit 222.

When information on the operating device determined from the third control unit 223c is transmitted, the control unit 222 determines (407) whether the transmitted operating device is available, and if the operating device is not available, the third control unit 223c attempts to control the operating device. The control permission of the control unit 223c is canceled, and if the corresponding operating device is available, the control right to control the corresponding operating device is relayed to the third control unit 223c (408).

In addition, it is possible for the control unit 222 to request control of the necessary operation devices from the control unit 222 rather than checking the control unit 223 for necessary operating devices.

In this case, it is possible for the control unit 222 to provide an interface such as askCtrlRigh so that the control unit 223 can request control from the control unit 222. Here, as an argument to askCtrlRight(), at least a confirmation unit of the execution unit of the control unit and a list of necessary operating devices must be provided so that the control unit 222 can know which control unit 223 has requested control of which operating device. .

Next, the control unit 222 sends a request signal to allow the third control unit 223c to control the actuating devices a6, a7, and a8 so that the third control unit 223c has control over the actuating devices a6, a7, and a8. is transmitted to the core engine (224).

In addition, the control unit 222 transmits a confirmation unit that can identify the third control unit 223c to the core engine 224.

Next, when the control right permission signal of the third control unit 223c is transmitted from the control unit 222, the core engine 224 checks whether the control unit that applied for control permission permission of the third control unit 223c is the control registration right holder ( 409).

At this time, the control right permission application for the third control unit 223c is applied by comparing whether the confirmation unit of the control unit that applied for control permission permission of the third control unit 223c and the confirmation unit of the control registration right holder stored in the core engine 224 are the same. Verifies whether the control unit is the holder of the control registration rights.

Next, the core engine 224 determines whether the confirmation unit of the third control unit 223c, which has applied for control permission, is the same as the confirmation unit of the control registration right holder stored in the core engine 224, then the confirmation unit of the third control unit 223c. and register control rights to actuators a6, a7, and a8 (410).

Next, the control unit 222 registers the control authority for the confirmation unit and the operating devices a6, a7, and a8 of the third control unit 223c in the control unit list (411).

In this way, the plurality of control units 223 (223a, 223b, 223c, ..., 223n) must receive mediation from the control unit 222 in order to request control over the required operating device. Accordingly, the control unit 222 can control the overall control of the system. This process is performed during the robot's motion control initialization, but can also be performed during execution.

The preferred embodiments of the present invention described above have been disclosed for illustrative purposes, and those skilled in the art will be able to make various modifications, changes, and additions within the spirit and scope of the present invention, and such modifications, changes, and additions will be possible. should be regarded as falling within the scope of the above patent claims.

Those of ordinary skill in the technical field to which the present invention pertains can make various substitutions, modifications and changes without departing from the technical spirit of the present invention. Therefore, the present invention is limited to the above-described embodiments and the accompanying drawings. It is not limited by

In the above-described exemplary system, the methods are described on a flowchart basis as a series of steps or blocks; however, the invention is not limited to the order of the steps, and some steps may occur simultaneously or in a different order than other steps as described above. You can. Additionally, those skilled in the art will understand that the steps shown in the flowchart are not exclusive and that other steps may be included or one or more steps in the flowchart may be deleted without affecting the scope of the present invention.

100: Robot
200: Motion control system using core engine for robots
210: Physical layer 220: Middle layer
230: Application layer

Claims (5)

A plurality of operating devices provided on the robot;
a plurality of control units having a program and a confirmation unit that controls at least one operating device among the plurality of operating devices to perform motion of the robot;
a control unit that registers control rights of the at least one operating device for each control unit and, when at least one motion is requested, searches for a control unit capable of performing the at least one motion among the plurality of control units; and
The confirmation unit of the searched control unit is checked to determine whether the searched control unit is a control unit that has control over operating devices required to perform the at least one motion, and the searched control unit performs the at least one motion. A motion control system using a core engine for a robot, characterized in that it includes a core engine that controls the execution of the control unit and drives the operating devices when it is determined that the control unit has control over the operating devices required for the operation.
According to claim 1,
A motion control system using a core engine for a robot in which the plurality of control units determine a plurality of operating devices capable of performing the at least one motion, and request control rights for the determined plurality of operating devices from the control unit. .
According to claim 1,
The control unit requests control registration rights for registering control rights for all operating devices provided in the robot from the core engine, and when a control registration right permission signal is transmitted from the core engine, it registers control registration rights for all operating devices. A motion control system using a core engine for robots.
According to claim 3,
When a request signal for control registration rights of all operating devices is received from the controller, the core engine checks whether there is a module that already owns control registration rights, and if there is no module that owns control registration rights, the core engine performs the control registration. A motion control system using a core engine for a robot that grants control registration rights for all operating devices to the control unit that requests rights.
According to claim 1,
It further includes a timer module that generates a tick signal at regular intervals,
A motion control system using a core engine for a robot in which the control unit instructs the searched control unit to execute a program in response to the tick signal from the timer module.