九、發明說明： 【發明所屬之技術領域】 本發明係有關於一種模組化機器人的控制系統’尤其 是指一種將機器人的各種控制技術模組化，且各模組異有 及時加入或移除該控制系統的功能，以令該機器人的功能 不再被限制住，而可以隨需求或目的改變其功能，以符合 多元性的需求者。 【先前技術】 近來可以發現機器人種類繁多，如仿人形機器人、保 全機器人'水下機器人及娛樂機器人等各種因應人們所需 求功能的機器人紛紛上市，為了讓機器人在各種環境中都 可發揮其功能，就必須做到功能多樣化，但是機器人一旦 1 力能變多時，系統也就會跟著變得相當龐大且複雜。 當一個系統複雜、功能多樣化時，利用單一微處理機 的架構來處理時，往往使的微處理機在處理大量資料時， 吏的系統執行的效率降低’或是為了要同使處理許多突發 事件時’無法有效的使系統更加穩定。 【發明内容】 卷為了解決這個問題，發明人想到應用模組化的觀念。 :^觀念應用在機器人後機器人除了擁有各種不一樣的 外’還使系統簡單化’碰到需要更換或升級機器人的 ’曰、種功能時會因為模組化而變得更加的容易且方便，加上 是以隨取即用為目標，使得機器人除了功能多樣性之外， J可以因需求而改變與更換模組’應用範圍也將變的更加 廣關 〜 ’機器人的體積與重量也會因隨插即用的特性而大幅 減夕。而除了利用更強而有力的微處理機或是使用功能強 1375141 功效有更完整且清楚的揭露， 併參閱所揭之圖式及圖號： 如第一圖所示，係本發明 架構，其包括： 於下詳細說明之，並請一 之模級化機器人的控制系統 模組⑶及-電腦⑷【以下 到-感測值’而該資料整合器⑴再透過既IX. INSTRUCTIONS: [Technical Field] The present invention relates to a control system for a modular robot, in particular, a modularization of various control technologies of a robot, and each module is added or moved in time. In addition to the function of the control system, the function of the robot is no longer restricted, and its function can be changed as needed or intended to meet the needs of the diverse. [Prior Art] Recently, a wide variety of robots have been discovered, such as humanoid robots, security robots, underwater robots, and entertainment robots. Various robots that respond to people's needs have been listed. In order to allow robots to perform their functions in various environments, It is necessary to diversify functions, but once the robot becomes more powerful, the system will become quite large and complicated. When a system is complex and functions are diversified, when processing with a single microprocessor architecture, the microprocessor often reduces the efficiency of the system execution when processing large amounts of data' or in order to handle many bursts. When the incident occurred, 'the system could not be effectively stabilized. SUMMARY OF THE INVENTION In order to solve this problem, the inventors have thought of applying the concept of modularization. :^Conceptual application in the robot after the robot in addition to having a variety of different 'also makes the system simple' When it comes to the need to replace or upgrade the robot's '曰, kind of function, it will become easier and more convenient because of modularization. In addition to the versatile use of the robot, in addition to the functional diversity of the robot, J can change and replace the module due to the demand. The application range will also become more extensive ~ 'The volume and weight of the robot will also be due to The plug-and-play feature has been greatly reduced. In addition to the use of a more powerful microprocessor or the use of the powerful 1375141 function, there is a more complete and clear disclosure, and refer to the disclosed drawings and drawings: as shown in the first figure, the architecture of the present invention, Including: Explain in detail below, and please control the control system module (3) and computer (4) of the modeled robot [below to - sensed value] and the data integrator (1) re-transmits both
【Inter-Integrated Circuit ，譬 & 二 & L ， (11)的通訊協定來抓取該感測值，° # ’串列匯/;u•排 g阻並將之彙举德，利用 (Γ2=(12)的串列傳輸缺，將資料送至個人相 mi腦（4自）主控顯示與控制其視窗介面⑹各個感測 P;握q 。另整個模組化機器人的系統架構，其感 測模組（3)可以隨使用者的需求增減，且並不影變資料整 合器（1)的資料存取與整個系統架構的運作。[Inter-Integrated Circuit, 譬 & II & L, (11) communication protocol to capture the sensed value, ° # '串串汇 /; u • 排 g resistance and remit it, use ( Γ 2 = (12) serial transmission is missing, the data is sent to the personal phase mi brain (4 self) master display and control its window interface (6) each sensing P; grip q. The system architecture of the entire modular robot, The sensing module (3) can be increased or decreased according to the needs of the user, and does not affect the data access of the data integrator (1) and the operation of the entire system architecture.
貢料整合器（1) 該資料整合器⑴在主控核心的微處理單元【明（13) 上，係採用具有_【As一r_s ==r/Transrai tter，通用非同步收發傳輸器】功能的 其架構如第二圖所示，其功能在於透過I2C(U) 抓取感測模組（3)的資料，再轉以RS232介面（12)的格式 傳送至電腦（4)。而為了確保每個感測模組（3)都能隨時的 抓到·貝料，本系統架構採用輪尋的方式去抓取各個感測模 組（3)的資料，首先取得目前有連接本系統的感測模組 (3)’並取得每個感測模組（3)的ID碼與資料存取的長度， 再藉由這些資訊來去抓取每個感測模組（3)完整的資料， 抓取兩次的目的，除了可以重複確認感測模組（3)有無存The tributary integrator (1) The data integrator (1) is equipped with the function of _[As-r_s ==r/Transrai tter, universal non-synchronous transceiver) in the micro-processing unit of the main control unit [Ming (13)] Its structure is shown in the second figure. Its function is to capture the data of the sensing module (3) through I2C (U), and then transfer it to the computer (4) in the format of RS232 interface (12). In order to ensure that each sensing module (3) can capture the material at any time, the system architecture uses the wheel-seeking method to capture the data of each sensing module (3), first obtaining the current connection book. The sensing module (3) of the system obtains the ID code and the length of the data access of each sensing module (3), and then uses the information to capture each sensing module (3) intact. Data, the purpose of grabbing twice, in addition to repeatedly confirming whether the sensing module (3) is stored or not
7 1375141 在之外，更重要的是能夠最佳化的將資料完整的存入 I2C(11)陣列中’因為每個感測模組⑶的長度均非固定， 因此先得知資料長度，才能夠確保資料的完整性；兩 ，測模，、且（3)搜哥完畢後，若發現感測模組⑶的數量不 符，則重新抓取資料，若正確，則將資料轉至微處理 ⑽所需的陣列中’並轉換成電腦可接收的訊號資 將轉換後之職詩透過RS232介面⑽傳至電 當電腦⑷接收到資料時’便會藉由其之視窗介面⑷）顯 不=各個❹'m組（3)的感難，且視❹者需求將資料 出料回傳，職料整合器⑴會將從電腦 資料傳送碼，看是要給那個感測模組⑶後，再將 貝枓傳送給該感測模組（3)。 夕Μ f I ^測模組（3 )的組成均是以亂TEK晶片為核心 ，模組控制器⑶)【請併參第三圖】，並藉由外部二 的資料經由驅動電路(33)轉換成該模組控制琴 L I ㈣格式’至於是何餘㈣資料格式將取 〕於、、測模組（3)之態樣，再透過I2C位址選擇（34)來決 ^該^模組⑶的唯—11}碼，最後再由模 、 來做資料的運算，祐Τ9Γ从从丄* 让市Jindl) 器⑴來麵，的=來呈現，資料整合 ==顯示_)是用LCD【液晶螢二二 【發光一極體】則依需求而定。 月之感測模組⑶可分為無線遙控模組、電子羅 盤感測模組、加速产舛汚、加抬 电于羅 測模组、雷W ί 環境感測模組、火焰感 組。、. 《測模組、馬達驅動模組及反射型紅外線模7 1375141 In addition, it is more important to optimize the storage of data into the I2C (11) array. 'Because the length of each sensing module (3) is not fixed, the data length is known first. Can ensure the integrity of the data; two, the test, and (3) after the search is completed, if the number of the sensing module (3) does not match, then re-crawl the data, if correct, then transfer the data to the micro-processing (10) The required arrays are converted into computer-receivable signals. The converted poems are transmitted to the computer via the RS232 interface (10). When the computer receives the data, it will display the information through its window interface (4). ❹ 'm group (3) feels difficult, and depending on the needs of the person to return the data, the material integrator (1) will transfer the code from the computer, to see the sensor module (3), and then Bellow is transmitted to the sensing module (3). The composition of the Μ Μ f I ^ module (3) is based on the random TEK chip, the module controller (3)) [please refer to the third figure], and the data of the external two via the drive circuit (33) Converted into the module to control the LI (4) format of the piano. As for the data format (4), the data format will be taken, and the module (3) will be selected through the I2C address selection (34). (3) The only -11} code, and finally the operation of the data by the model, the Τ Τ 9 Γ from the 丄 * let the city Jind) (1) face, the = to present, data integration == display _) is using LCD [ LCD Firefly 22 [Lighting Polar Body] is subject to demand. The monthly sensing module (3) can be divided into a wireless remote control module, an electronic compass sensing module, an accelerated production contamination, a lifting and heating module, a Ray W ί environment sensing module, and a flame sensing group. , "Measurement module, motor drive module and reflective infrared mode
8 S 1375141 該無線遙控模組係使用無線電及紅外線作為遠端遙 控之無線通訊介面；無線電通訊使用150MHz至ι〇ΟΟΜΗζ 之無線射頻電波，進行資料的無線傳輸。紅外線通訊以IR LED【紅外線發光二極體】作為紅外線遙控的發射源，信 號成份由38KHz載波加上資料訊號後再由IR led發射， 由IR接收器接收訊號並濾掉38KHz載波’留下資料訊號， 使用此模組的目的是要增加不同控制機器人之介面。 該電子羅盤感測模組係使用Hitachi HM55B電子羅盤 模組，主要是利用地球的磁場，當方位改變時可以量測到 微弱的磁場變化，進而推算出目前機器人的方位，以得知 機器人之移動方向。 該加速度計感測模組係使用Memsic 2125雙軸加速度 計模組。當架設於機器人上時，得到加速度的變化，就可 以推算出目前機器人的狀態，是否為平衡狀況，或是傾斜 的狀況，當傾斜時可能得知是往那一方向傾斜及傾斜的角 度，進而控制機器人運動，避免機器人跌倒並因此造成機 器人的損壞。 環境感測模組其溫度及溼度的感測是使用S Η T1X溫度 溼度感測器，是已模組化之感測器，而此感測器之解析 度，可以達到攝氏〇·〇1度和溼度0.〇3%，是一非常精準之 感測器’且可輸出一串列傳輸訊號。照度的感測則利用亮 度感測器偵測環境中之亮度，並配合相關放大及校正電 路，以量測機器人所處之環境狀態。 該火焰感測模組係利用當有火焰產生時會伴隨著紫 外線’故利用紫外線感測器做為偵測是否有火災產生；紫 外線感測器是在一密閉式容器内裝有二個電極，並於容器 ί s 9 中充入氣體，當有紫外線照射到電極時，因光電效應便會 產生光電子，改變輸出訊號；較佳為，令該火焰感測模組 由二個紫外線感測器組成，利用三個紫外線感測器之後再 與單晶片做搭配以多數決的方式來判斷是否有火源產 生’而以多數決的方式係為了降低感測器之誤動作，並減 少誤差。 該電力感測模組主要使用霍爾電流感測器對系統之 電流進行量測，而霍爾電流感測器主要是利用霍爾元件， 當一個有電流流過的導體經過一個與電流方向成直角的 磁場時’會在電流與電場二者成直角方向產生電壓；較佳 為’本發明利用四個霍爾電流感測器，搭配簡單的演算 法’針對當有感測器發生故障時，依舊能夠估算出實際之 電流值。由電流量測配合電壓量測值，以估算出功率值。 該馬達驅動模組係使用Pololu馬達驅動器，其中主 要是利用ST的VNH3SP30晶片所設計的馬達驅動電路，較 佳為’本發明使用二個驅動模組，並且使用兩輪差動驅動 模式’再透過控制H-Bridge驅動電路，及輸入PWM訊號 即可控制轉速及行進方向。 該反射型紅外線模組’以十六/八個反射型紅外線模 組安置在機器人四周上’偵測機器人四周是否有障礙物。 本發明之電腦（4)的部分主要是用來做視覺化的圖形 顯示，使用者可以很清楚明暸的知道各感測模組（3)之感 測值的狀態，並由資料整合器（1)整合各感測模組（3)之資 料，且依據表1的排列方式做組合後再經由RS232介面（12) 傳至該電腦（4);資料的處理流程則如第四圖所示，一開 始先等待I2C(11)串列埠的資料進來，並檢查資料的格式 10 與正確性’ f料若錯關重新等待下—筆㈣，資料若正 確則將該接收到的資料作前置處理；該前置處理主要 收到的串列資料做切割’即將每個感測模組（3)的資料分 離出來，讓每個感測模組（3)的資料獨立，以方便顯示其 感測值’之後再依有連上電腦⑷的感賴組⑶做個別^ 顯不，顯示完畢後’視電腦⑷系統需求是否要 給資料整合器⑴，最後再回到等待I2C⑻串列蜂的資料 進來。 電腦⑷視需求回傳資料給詩整合器⑴，以驅動相 =時’因電腦⑷之監控晝面設計有多種規 鍵’當使用者移動滑鼠到該位置按下 k器人就會執行該按鍵所表示之動作。即電腦 之需求選項㈣【按鍵】回傳資^整合器 的H ⑴再㈣翻f料崎料，解瑪後 得到相對所欲驅動之感測模組⑶是哪- 模电（3) 合器⑴將該資料傳送給該對應的感測 使該感測模組(3)執行相對應該需求選項之資料 錢賴組⑶， 電力狀況以及當自击味处泳 诅疋古彳貝对 物，並可透過騎電過紅外線彳貞測是否有障礙 各感測模組均為獨立執行之架構，並: 器⑴及電腦（4)_^傳^^感測模組⑶、資料整合 料傳輸，因此在不同的環境中更換 13.75141 不同的感測模組（3)或運作中移除或加入感測模組（3)，並 不需要對該模組化機器人重新設定，且皆能正常的運作。 綜上所述，本發明實施例確能達到所預期之使用功 效，又其所揭露之具體構造，不僅未曾見諸於同類產品 中，亦未曾公開於申請前，誠已完全符合專利法之規定與 要求，爰依法提出發明專利之申請，懇請惠予審查，並賜 准專利，則實感德便。8 S 1375141 This wireless remote control module uses radio and infrared rays as the wireless communication interface for remote remote control; radio communication uses wireless radio frequency waves of 150MHz to ι〇ΟΟΜΗζ for wireless transmission of data. Infrared communication uses IR LED [infrared light-emitting diode] as the source of infrared remote control. The signal component is transmitted by the LED led with the signal signal from the 38KHz carrier, and the IR receiver receives the signal and filters out the 38KHz carrier. Signal, the purpose of using this module is to increase the interface of different control robots. The electronic compass sensing module uses the Hitachi HM55B electronic compass module, which mainly uses the magnetic field of the earth. When the orientation changes, it can measure the weak magnetic field change, and then calculate the current robot's orientation to know the robot's movement. direction. The accelerometer sensing module uses the Memsic 2125 dual-axis accelerometer module. When the robot is mounted on the robot, the acceleration is changed, and the current state of the robot can be derived. Whether it is a balanced state or a tilted state, when tilting, it may be known that the angle is inclined and tilted in that direction, and then Control the movement of the robot to prevent the robot from falling and thus causing damage to the robot. The environment sensing module senses the temperature and humidity using the S Η T1X temperature and humidity sensor, which is a modular sensor, and the resolution of the sensor can reach 摄·〇1 degree Celsius. And humidity of 0. 〇 3%, is a very accurate sensor 'and can output a series of transmission signals. The illumination is sensed by a brightness sensor to detect the brightness in the environment, and the associated amplification and correction circuit is used to measure the environmental state of the robot. The flame sensing module utilizes an ultraviolet sensor to detect whether a fire is generated when a flame is generated, and the ultraviolet sensor is equipped with two electrodes in a closed container. And filling the container ί s 9 with gas, when ultraviolet light is irradiated to the electrode, photoelectrons are generated due to photoelectric effect, and the output signal is changed; preferably, the flame sensing module is composed of two ultraviolet sensors The use of three ultraviolet sensors and then with the single chip to determine whether there is a fire source in the majority decision method, and in a majority decision to reduce the sensor's malfunction, and reduce errors. The power sensing module mainly uses a Hall current sensor to measure the current of the system, and the Hall current sensor mainly uses a Hall element, when a conductor having a current flows through a current direction A right-angled magnetic field will generate a voltage at right angles to both the current and the electric field; preferably 'the invention utilizes four Hall current sensors, with a simple algorithm' for when a sensor fails. The actual current value can still be estimated. The current measurement is combined with the voltage measurement to estimate the power value. The motor drive module uses a Pololu motor driver, which mainly uses a motor drive circuit designed by ST's VNH3SP30 chip, preferably 'the invention uses two drive modules, and uses two-wheel differential drive mode' to re-transmit Control the H-Bridge drive circuit and input the PWM signal to control the speed and direction of travel. The reflective infrared module 'is placed around the robot with a sixteen/eight reflective infrared module' to detect whether there are obstacles around the robot. The part of the computer (4) of the present invention is mainly used for visual graphic display, and the user can clearly know the state of the sensing value of each sensing module (3), and the data integrator (1) The data of each sensing module (3) is integrated and combined according to the arrangement of Table 1 and then transmitted to the computer (4) via the RS232 interface (12); the processing flow of the data is as shown in the fourth figure. At the beginning, wait for the I2C (11) serial data to come in, and check the format of the data 10 and the correctness. If the material is wrong, wait for the next pen (4). If the data is correct, the received data will be pre-positioned. Processing; the pre-processing mainly receives the serial data for cutting', and the data of each sensing module (3) is separated, so that the data of each sensing module (3) is independent, so as to facilitate display of the sense After the measurement, it will be displayed separately according to the sensory group (3) connected to the computer (4). After the display is completed, it depends on whether the computer (4) system needs to give the data integrator (1), and finally returns to the data waiting for the I2C (8) serial bee. Come in. The computer (4) returns the data to the poetry integrator (1) according to the demand, in order to drive the phase = when 'the computer (4) monitors the design surface has a variety of keys 'When the user moves the mouse to the position, press the k device to execute the The action indicated by the button. That is, the computer's demand option (4) [button] return the capital ^ integrator H (1) and then (four) flip f material, after the solution, get the sensor module (3) that is driven by the relative desire - mode (3) (1) transmitting the data to the corresponding sensing, causing the sensing module (3) to execute the data corresponding to the demand option, the Qianlai group (3), the power status, and the self-scratching place, the ancient mussel object, and Through the riding and over-infrared detection, it is possible to detect whether there are obstacles. Each sensing module is an independent execution architecture, and: (1) and computer (4) _ ^ transmission ^ ^ sensing module (3), data integration material transmission, therefore Replacing 13.75141 different sensing modules (3) in different environments or removing or adding sensing modules (3) during operation does not require resetting the modular robot and can operate normally. In summary, the embodiments of the present invention can achieve the expected use efficiency, and the specific structure disclosed therein has not been seen in similar products, nor has it been disclosed before the application, and has completely complied with the provisions of the Patent Law. And the request, the application for the invention of a patent in accordance with the law, please forgive the review, and grant the patent, it is really sensible.
12 1375141 【圖式簡單說明】 第一圖：本發明之系統架構圖 第二圖：本發明之資料整合器架構圖 第三圖：本發明之感測模組架構圖 第四圖：本發明之資料處理流程圖 【參照附表】 表一：資料傳輸格式表 【主要元件符號說明】 <本發明> (1) 資料整合器 (11) I2C (12) RS232介面 (13) 微處理單元 (2) 驅動模組 (3) 感測模組 (31) 模組控制器 (32) 外部感測器 (33) 驅動電路 (34) I2C位址選擇 (35) 顯示器 (4) 電腦 (41) 視窗介面12 1375141 [Simplified description of the drawings] First: system architecture diagram of the present invention, second diagram: data integrator architecture diagram of the present invention, third diagram: architecture of the sensing module of the present invention, fourth diagram: the present invention Data processing flow chart [Refer to the attached table] Table 1: Data transmission format table [Main component symbol description] <The present invention> (1) Data integrator (11) I2C (12) RS232 interface (13) Micro processing unit ( 2) Drive Module (3) Sensing Module (31) Module Controller (32) External Sensor (33) Drive Circuit (34) I2C Address Selection (35) Display (4) Computer (41) Window interface