WO2016004587A1 - 一种基于多核处理器架构的机器人混合系统应用框架 - Google Patents
一种基于多核处理器架构的机器人混合系统应用框架 Download PDFInfo
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- WO2016004587A1 WO2016004587A1 PCT/CN2014/081856 CN2014081856W WO2016004587A1 WO 2016004587 A1 WO2016004587 A1 WO 2016004587A1 CN 2014081856 W CN2014081856 W CN 2014081856W WO 2016004587 A1 WO2016004587 A1 WO 2016004587A1
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1602—Programme controls characterised by the control system, structure, architecture
- B25J9/161—Hardware, e.g. neural networks, fuzzy logic, interfaces, processor
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F15/00—Digital computers in general; Data processing equipment in general
- G06F15/76—Architectures of general purpose stored program computers
- G06F15/80—Architectures of general purpose stored program computers comprising an array of processing units with common control, e.g. single instruction multiple data processors
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/48—Program initiating; Program switching, e.g. by interrupt
- G06F9/4806—Task transfer initiation or dispatching
- G06F9/4843—Task transfer initiation or dispatching by program, e.g. task dispatcher, supervisor, operating system
- G06F9/4881—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues
- G06F9/4887—Scheduling strategies for dispatcher, e.g. round robin, multi-level priority queues involving deadlines, e.g. rate based, periodic
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F9/00—Arrangements for program control, e.g. control units
- G06F9/06—Arrangements for program control, e.g. control units using stored programs, i.e. using an internal store of processing equipment to receive or retain programs
- G06F9/46—Multiprogramming arrangements
- G06F9/54—Interprogram communication
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33216—Operational, real time for system, and service for configuration is non real time
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/34—Director, elements to supervisory
- G05B2219/34258—Real time system, qnx, works together with non real time system, windows nt
Definitions
- the invention belongs to the field of robots and relates to a robot hybrid system application framework based on a multi-core processor architecture. Background technique
- Robotic control is an important area of robotics research, and its demand for applications is becoming more complex, with system support using a variety of real-time and non-real-time operating systems.
- Programmers need to write robot control programs using the rich programming resources provided by the operating system, as well as real-time support provided by the operating system.
- the Linux-based Robotic Operating System (ROS) is an open source operating system created to improve the efficiency of robot development.
- ROS Robotic Operating System
- ROS Robotic Operating System
- the non-real-time nature of Linux limits the application of robotic operating system ROS in real-time robot control.
- the present invention provides a robot hybrid system application framework based on a multi-core processor architecture.
- the framework can be applied to various robot controllers based on ARM/X86 multi-core architecture. While ensuring real-time requirements, it can greatly improve the development efficiency of robot control software and reduce the cost of integrated development.
- This application framework consists of three main components, the robot operating system ROS, the real-time operating system, and the mixed operating system support framework RGMP (RTOS and GPOS on Multi-Processor).
- ROS robot operating system
- RGMP mixed operating system support framework
- the robotic operating system ROS (including non-real-time operating systems that support the ROS of the robotic operating system, usually Linux), is used to provide basic robotic applications, corresponding services and system resources.
- Hybrid operating system support framework RGMP used to support the operation and coordination of the robot operating system ROS and real-time operating systems.
- RGMP is an open source support framework that supports real-time operating systems and non-real-time operating systems running in parallel on multi-core processors. It uses SMP (Symmetric Multi-Core Architecture) computer interrupt routers to independently allocate interrupt resources for real-time operating systems and non-real-time operating systems. These operating systems can be naturally run in parallel on each processor core, allocate processing resources reasonably, reduce system coupling, and avoid the resources of the traditional shared hybrid operating system due to the same processor core. Competition and switching issues. RGMP open source source code and documentation see [1], BP:
- the hybrid operating system support framework RGMP includes the following four components: -- Users can quickly develop real-time robot control programs (optional) through the real-time application framework RTroscpp.
- Non-real-time systems and real-time systems separately occupy different CPU cores of multi-core processors, which can maintain their respective application states without being optimized for the hybrid operating system architecture, and their operation and debugging are independent of each other.
- a real-time system and a non-real-time system use a robot operating system to provide an inter-node communication protocol of ROS, and RGMP provides an upper-layer communication interface based on shared memory between the two systems, including:
- Inter-system external device interrupts are independent of each other, no sharing, and interrupts are independently allocated through interrupt routers provided in ARM/X86 multicore.
- Robot applications written by users using the ROS robotic operating system can run on real-time or non-real-time devices.
- the application can directly utilize the relevant software resources of the ROS itself in the non-real-time operating system part, such as human-computer interaction, speech recognition, three-dimensional modeling, mapping navigation, etc., or can independently write programs;
- the system part writes a real-time application, and connects the motor driver by using a real-time bus (such as CAN (Controller Area Network) bus, Beverly EtherCAT bus, etc.) to complete complex motor motion control and other tasks with high real-time requirements.
- a robot hybrid system based on a multi-core processor architecture comprising:
- a robotic operating system that includes a non-real-time operating system with a supporting robotic operating system for providing basic robotic applications, corresponding services, and system resources;
- Real-time operating system which provides services and system resources for real-time tasks of the robot
- the hybrid operating system support framework (RGMP) is used to support the operation and coordination of the robot operating system and the real-time operating system, and the non-real-time operating system and the real-time operating system run simultaneously on the multi-core processor platform.
- RGMP The hybrid operating system support framework
- a non-real time operating system and real time The operating system occupies an independent memory space
- the multi-core processor platform is a control board, a controller, and/or a control computer based on an ARM/X86 architecture multi-core processor
- the non-real-time operating system may be Linux.
- the operating system can be Yuqix. DRAWINGS
- Figure 1 is a diagram showing the overall composition of the present invention.
- FIG. 2 is a connection diagram of an exemplary control application example of the present invention.
- Fig. 3 is a flow chart showing a motion control portion in a typical application example of the present invention.
- FIG. 4 is a diagram of an interrupt resource allocation based on a C 0 rtex-A9 dual-core processor platform according to the present invention. detailed description
- FIG. 1 for an overall composition structure diagram of a multi-core processor architecture-based robot hybrid system application framework shown in FIG. 1.
- the robot hybrid system application framework uses a hybrid operating system framework RGMP 19 to connect the Linux system 13 to the Yuqix real-time system. 17
- the Linux system 13 is an embedded system, and includes necessary operating modules such as the operating system basic system library SYS LIB 131, C language library LIBC 132, network protocol NET 133, BOOST library 134, Linux kernel 135, and driver 136, and runs on RGMP (non- On the real-time part) above the framework 191, the upper layer of the Linux system 13 is running the robot operating system ROS 12. Above ROS 12 is a non-real-time ROS application node written using the ROS standard interface and ROS tools.
- Yuqix real-time operating system 17 provides a large number of POSIX-compliant system call interfaces, which also include the operating system basic system library SYS LIB 171, C language library LIBC 172, network protocol NET 173, BOOST library 174, Yuqix The necessary modules such as the kernel 175 and the driver 176.
- the user can directly write the real-time ROS application node 15, or rely on the RTroscpp software framework 16 to write the ROS real-time node program 15 using the standard ROS function interface, or it can be run on a non-real-time system.
- the ROS program node 11 is placed on the Yuqix to run. Yuqix runs on top of the RGMP (Real Time Part) framework 192.
- RGMP Real Time Part
- Fig. 2 shows a connection diagram of an exemplary control application example of the robot hybrid system application framework according to the present invention.
- the multi-core processor-based robot controller runs the application framework of the robot hybrid operating system of the present invention, and the non-real-time system Linux 13 and the real-time system Yuqix 17 respectively use the RGMP 19 to run on the different CPUs of the multi-core to form the robot. system.
- the real-time system Yuqix 17 runs on the processor core 2 and is connected to the real-time device (drive unit 2407) via the CAN bus 23.
- the Linux system 13 (including the robot operating system ROS) runs on the processor core 1 and runs ROS real-time nodes with different functions, including position closed-loop control 2408, current, depending on the requirements of the robot control application.
- application nodes on the bot operating system ROS can run at various locations in the system network, so the hardware and software modules 24 are placed together for convenience).
- the real-time system Yuqix 17 and the Linux system 13 are respectively connected to various cameras or sensors on the robot through various bus interfaces, wherein the real-time system is connected to the motor controller (drive unit 2407) through the CAN bus 23 to ensure motor motion control. Real-time and stability, the completed function is mainly for the motion control of the robot.
- the real-time system Yuqix 17 can also drive other peripheral devices through the USB bus 22 or other buses to complete related tasks as needed.
- the non-real-time system Linux 13 is connected to external devices via USB bus 22, Ethernet bus 25, etc., and is responsible for tasks such as vision, sound, human-machine processing, task decision-making, etc. for the entire robot.
- the connected peripheral devices include voice sensor 2412, visual (camera) Sensor 2413 and so on.
- the motion control of the present invention for the robot is implemented by transmitting a control command to the controller to the interface of the CAN bus 23.
- the motion control in the real-time system Yuqix 17 is mainly distinguished by different threads.
- the main thread 31 is a real-time ROS node thread, which is responsible for establishing a real-time node conforming to the ROS communication protocol, and is responsible for the initialization of the robot motor and the communication between the Yuqix kernel 175 and the ROS node running on the Linux kernel 135.
- the main thread 31 is responsible for communication between the real-time and non-real-time nodes, and distributes the messages to the remaining threads.
- the CAN bus transceiver thread 34 is for transmitting and reading data from the CAN bus 23 obtained from the CAN bus device descriptor, and is capable of publishing related data to other threads 36 in real time.
- the motion control thread 32 is primarily responsible for setting the initial position and posture of the robot while achieving fine interpolation for motion of the motion unit.
- the closed loop control thread 33 reads the state of each motion joint of the current robot in a period of 1 ms. When the motion unit section does not reach the position required by the control command, the closed loop control thread 33 corrects the current motion unit. Position gesture.
- the monitoring thread 35 in the real-time system is responsible for reading the running posture of the robot when the CAN bus line 23 is idle, and simultaneously reading the sensor data information on each motion unit and the task status flag on the control board. For example, when the temperature of the motion unit is too high, the motion should be stopped.
- the relevant error handling function needs to be used to perform the robot abnormal behavior processing according to the error.
- Figure 4 shows the basic principle of the support framework RGMP of the robot hybrid system according to the present invention (see: Qiang Yu, Hongxing Wei, Miao Liu, Tianmiao Wang: A novel multi-OS architecture for robot application [C] . ROBIO 2011: 2301 -2306).
- Robotic hybrid system support frame
- RGMP utilizes the characteristics of the SMP processor to classify different types of (real-time, non-real-time) external devices into processor cores running on different operating systems (real-time system Yuqix 17, non-real-time system Linux 13), respectively taking over these
- the device of the external device is interrupted, and a reasonable allocation of the processor resources of the hybrid system is realized by establishing coordinated communication between the cores.
- the kernels of the two operating systems are the non-real-time system Linux kernel 135 (supporting the non-real-time ROS application node 11) and the real-time system Yuqix kernel 175 (supporting The real-time ROS application node 15) communicates using the shared memory 43, and obtains interrupts of the respective external devices 14 and 18 through the global interrupt routing module (GIC) 45, respectively, and the corresponding operating system completes an independent interrupt response to the respective control device.
- GIC global interrupt routing module
- the real-time system Yuqix kernel 175 is generally connected to the real-time device 18 (usually a plurality of independent devices), the non-real-time system Linux kernel 135 is connected to the non-real-time device 14 (generally a plurality of independent devices), devices 14 and 18
- the interrupt number is controlled by the global interrupt router module (GIC) 45 to configure the fixed interrupt number to the corresponding CPU core (Processor Core 1 or Processor Core 2). Since the interrupt of the real-time device 46 is mapped to the real-time operating system Yuqix for processing, the present method can effectively ensure the real-time response of the interrupt.
- GIC global interrupt router module
- RGMP the underlying communication between the real-time system Yuqixl7 and the non-real-time system Linux 13 is realized by the shared memory between the processor cores, and the communication process is mapped to the virtual network VNET, in the real-time system Yuqixl7 and the non-real-time system Linuxl3.
- Virtual network devices are created separately and managed by their respective device managers.
- the communication between the non-real-time ROS application node 11 and the real-time ROS application node 15 can be accomplished by directly operating the corresponding virtual network device.
- a dynamic loop queue is created in the shared memory pool of the real-time system Yuqixl7 and the non-real-time system Linuxl3 for each communication link. That is, an operating system allocates a block of memory from the memory pool, passes it to another operating system through a circular queue, and another operating system releases it back to the same memory pool after use.
- the content communicated between the two operating systems includes data and status.
- Yuqix is a common open source operating system in the industry (see [1]). It supports both C language and C++ programming languages. It also supports BOOST libraries and high-precision timers. Users can use related system resources. Real-time system tailoring according to different needs. Yuqix integrates mainstream software protocols such as floating-point arithmetic library, XML-RPC protocol, and UIP protocol stack. Users can use these system call functions by calling their own programming or by calling the standard interface of the robot operating system ROS.
- mainstream software protocols such as floating-point arithmetic library, XML-RPC protocol, and UIP protocol stack. Users can use these system call functions by calling their own programming or by calling the standard interface of the robot operating system ROS.
- RTroscpp is a common development platform in the industry that is independent of the operating system platform. Its role is to enable programmers to write operating system-independent but standard-compliant R0S node programs. Its role is to allow users to develop programs that are more Normal operation in real-time systems. The user's development efficiency is greatly improved, and the security of the system code is also increased. Programs written by programmers via RTroscpp can be run directly on standard R0S systems.
- the invention fully utilizes the architecture of the multi-core processor and the characteristics of the robot system application, and provides a simple and flexible robot application framework, and the advantages thereof include:
- the proposal of the present invention regulates the design of the real-time application of the robot, reduces the complexity of the system, and further improves the maintainability of the system.
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PCT/CN2014/081856 WO2016004587A1 (zh) | 2014-07-08 | 2014-07-08 | 一种基于多核处理器架构的机器人混合系统应用框架 |
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