WO2018129799A1 - Steering engine, integration of steering engine, and control method for steering engine - Google Patents

Steering engine, integration of steering engine, and control method for steering engine Download PDF

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Publication number
WO2018129799A1
WO2018129799A1 PCT/CN2017/076180 CN2017076180W WO2018129799A1 WO 2018129799 A1 WO2018129799 A1 WO 2018129799A1 CN 2017076180 W CN2017076180 W CN 2017076180W WO 2018129799 A1 WO2018129799 A1 WO 2018129799A1
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Prior art keywords
bus interface
steering gear
processor
signal
bus
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PCT/CN2017/076180
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French (fr)
Chinese (zh)
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恽为民
蔡咸健
庞作伟
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上海未来伙伴机器人有限公司
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Publication of WO2018129799A1 publication Critical patent/WO2018129799A1/en

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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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors

Definitions

  • the present disclosure relates to the field of robot steering gears, for example, to a steering gear, a steering gear integration, and a control method for a steering gear.
  • the steering gear is divided into an analog steering gear and a digital steering gear according to the signal processing of the steering gear.
  • the difference is that the analog steering gear needs to send PWM (Pulse Width Modulation).
  • the signal can be kept in the specified position or rotated at a specific speed, and the digital servo only needs to send the PWM signal once to maintain a specified specific position.
  • the steering gear consists of the following parts: DC motor, reducer (reduction gear set), position feedback potentiometer and control circuit board (MCU (Microcontroller Unit) control chip).
  • the steering gear can only perform rotation and displacement according to a given control signal, and the sampling of the peripheral device needs to be processed by the main controller, and then sent to the corresponding steering gear in the form of a control signal.
  • the data processing pressure of the main controller will be large, and the generation and transmission of control signals will make the response of the steering gear not timely enough.
  • the present disclosure proposes a control method for a steering gear, a steering gear integration and a steering gear, which can receive a digital signal through an interface, and is processed by a servo processor and output as an analog signal.
  • the present disclosure provides a steering gear including a processor and an analog input digital output interface
  • the analog input digital output interface is coupled to the processor for inputting at least one of an analog signal to the processor and a digital signal processed by the processor.
  • the analog input digital output interface includes a power terminal, a power ground, an analog signal input terminal, and a digital signal output terminal;
  • the power terminal is used to access a standard 5 volt ground power source
  • the analog signal input end is configured to receive an analog signal obtained by an external device, convert the analog signal into a digital signal, and transmit the signal to a processor for processing;
  • the digital signal output is configured to output the digital signal processed by the processor to an external device for execution.
  • the method further includes: a first bus interface and a second bus interface, configured to receive a control signal through the bus and transmit the signal to the processor.
  • the first bus interface and the second bus interface are of the same type.
  • the first bus interface is connected in parallel with the second bus interface.
  • the first bus interface is an RS-485 bus interface, an RS-232 bus interface, a TTL interface, or an I2C bus interface.
  • the second bus interface is an RS-485 bus interface, an RS-232 bus interface, a TTL interface, or an I2C bus interface.
  • the present disclosure provides a steering gear integration, comprising the steering gear of any of the above;
  • the steering gear is connected to the main controller through the first bus interface or the second bus interface, and is configured to receive a control signal sent by the main controller through the bus;
  • the number of the steering gears is at least two, and adjacent steering gears are connected through the first bus interface or the second bus to realize series connection of multiple steering gears.
  • the present disclosure provides a control method for a steering gear, using the steering gear according to any of the above;
  • the analog input digital output interface receives an analog signal obtained by an external device
  • the digital signal processed by the processor is output to an external device for execution.
  • control method further includes:
  • At least one of the first bus interface and the second bus interface receives a control signal through a bus and transmits the control signal to the processor;
  • the processor parses the control signal according to a protocol to identify a signal flow that is required to be executed by the steering gear;
  • the processor instructs an execution component of the steering gear to perform a control task specified by the signal flow.
  • the processor of the steering gear can receive the input of the analog signal, after processing, giving corresponding feedback, and outputting the feedback in the form of a digital signal, the present disclosure makes the steering gear pair
  • the response of the external signal no longer depends solely on the main controller, but can process some of the signals by itself, reducing the burden on the main controller and making the external signal processing more flexible.
  • FIG. 1 is a schematic view of a steering gear provided in the first embodiment.
  • FIG. 2 is a schematic diagram of a parallel topology structure of the steering gear integrated according to the second embodiment.
  • FIG. 3 is a schematic diagram of a series topology structure of the steering gear integrated according to the second embodiment.
  • FIG. 4 is a schematic structural view of a steering gear provided in Embodiment 3.
  • FIG. 5 is a schematic flow chart of a control method of a steering gear according to Embodiment 3.
  • FIG. 1 is a schematic view of a steering gear provided in the first embodiment.
  • the embodiment provides a steering gear applied to a robot as a driving of the robot, including a processor, a bus interface, a motor, a gear set, a feedback circuit, etc., and an analog input digital output interface 13 .
  • the bus type that the bus interface can access includes a common bus such as a parallel bus and an RS-485 bus.
  • the analog input digital output interface 13 is coupled to the processor for inputting at least one of an analog signal to the processor and a digital signal processed by the processor.
  • the steering gear further includes an analog to digital converter.
  • the analog input digital output interface 13 can include four pins, which are respectively a power terminal, a power ground GND (ground), an analog signal input terminal, and a digital signal output terminal.
  • the power terminal is used for accessing a standard 5V (volt, abbreviated as volts) ground power;
  • the analog signal input terminal is configured to receive an analog signal obtained by an external device, access an analog to digital converter, and convert the analog signal
  • the digital signal is then transmitted to the processor for processing; the digital signal output is used to output the digital signal processed by the processor to an external device, or is executed by the servo.
  • the standard 5V signal input and output adopted by the analog input digital output interface 13 can make the steering gear have better versatility and enhance the docking function of the robot and the external device or system.
  • the bus interface of the servo comprises: a first bus interface 11 and a second bus interface 12 of the same type for receiving control signals through the bus and transmitting to the processor.
  • the first bus interface 11 is connected in parallel with the second bus interface 12 to facilitate bus cascading.
  • the control signals transmitted to the first bus interface 11 via the bus are simultaneously transmitted to the second bus interface 12.
  • first bus interface 11 and the second bus interface 12 are RS-485 bus interfaces, or Regular interface such as RS-232 bus interface, or TTL (Transistor Transistor Logic) interface, or I2C (Inter-Integrated Circuit) bus interface.
  • Regular interface such as RS-232 bus interface, or TTL (Transistor Transistor Logic) interface, or I2C (Inter-Integrated Circuit) bus interface.
  • the servo input device adds an analog input digital output interface, can receive the input of the analog signal, and converts the digital signal into a digital signal, and the processor processes the digital signal according to a previously written program, and gives corresponding feedback, and The feedback is output in the form of a digital signal.
  • the present disclosure makes the response of the steering gear to the external signal no longer solely depends on the main controller, but can process part of the signal by itself, reducing the burden on the main controller and processing the external signal. More flexible.
  • the embodiment provides a steering gear integration, including a main controller and the steering gear described in the above embodiments.
  • the main controller is the control center of the robot, and is connected to a plurality of servos via a bus for transmitting control commands to the steering gear to indicate the operation of the steering gear.
  • FIG. 2 is a schematic diagram of a parallel topology structure of the steering gear integrated according to the second embodiment. As shown in FIG. 2, the steering gear is connected to the main controller through the first bus interface 11 or the second bus interface 12 for receiving a control signal sent by the main controller through the bus.
  • FIG. 3 is a schematic diagram of a series topology structure of the steering gear integrated according to the second embodiment. As shown in FIG. 3, the number of the steering gears is at least two, and adjacent steering gears are connected through the first bus interface 11 or the second bus connection 12 to realize series connection of a plurality of steering gears.
  • the above series and parallel connections can be combined to form a topological network of the steering gear.
  • control signals of the main controller are received through two bus interfaces of the same type and in parallel, so that the bus signals can be transmitted between the servos, and various topologies can be realized according to actual applications, and wiring can be reduced.
  • FIG. 5 is a schematic flow chart of a control method of a steering gear according to Embodiment 3.
  • the control method of the steering gear provided by the embodiment adopts the steering gear described in the above embodiment for realizing processing of an external signal and response to a control signal.
  • control method package include:
  • the analog input digital output interface 13 receives an analog signal acquired by the external device 31, wherein the external device may include a sensor, a pan/tilt system, and a controlled terminal.
  • the analog input digital output interface 13 is connected to an analog to digital converter, converts the analog signal into a digital signal and transmits it to the processor 32 for processing, and the processor 32 presets a processing program according to the processing. The flow of the program outputs the processing result, and the processing result is output as a digital signal.
  • the digital signal processed by the processor 32 is output to the external device 31 for execution. If the result of the processing requires the servo to be executed, the processor 32 outputs the digital signal to the motor 33 for execution.
  • the distance sensor collects the distance between the limb and the obstacle of the robot, and after determining by the processor, if it is determined that the distance between the limb of the robot and the obstacle is too close, the output command instructs the servo to stop and prevent collision with the obstacle.
  • control method further includes:
  • At least one of the first bus interface 11 and the second bus interface 12 receives a control signal through a bus and transmits it to the processor 32; if the control signal is a digital signal containing a protocol, the processor 32 is The protocol parses the control signal to identify a signal flow that is required to be executed by the steering gear; the processor 32 instructs an execution component of the steering gear (motor 33 drives gear set 34) to perform the control task specified by the signal flow.
  • the analog input digital output interface receives the sampling signal of the external device and outputs control of the external device
  • the first bus interface 11 and the second bus interface 12 execute a control signal sent by the main controller through the bus, Relatively independent and interoperable, the servo can process external signals in addition to the implementation of conventional functions, reducing the computational burden of the main controller.
  • the servo provided by the present disclosure enables the processor of the steering gear to receive the input of the analog signal by adding an analog input digital output interface, and after processing, gives corresponding feedback, and outputs the feedback in the form of a digital signal, the present disclosure
  • the response of the steering gear to the external signal is no longer solely dependent on the main controller, but It is possible to process part of the signal by itself, which reduces the burden on the main controller and makes the processing of external signals more flexible.

Abstract

A steering engine, integration of the steer engine, and a control method for a steering engine. The steering engine comprises a processor (32) and an analogue input and digital output interface (13), wherein the analogue input and digital output interface (13) is connected to the processor (32), and is used for executing at least one of the following actions: inputting an analogue signal into the processor (32) and outputting a digital signal processed by the processor (32). The response of the steering engine to external signals does not purely depend on a main controller any more, and same can process some of the signals by itself, thereby more flexibly processing the external signals while alleviating the burden on the main processor.

Description

舵机、舵机集成和舵机的控制方法Steering gear, steering gear integration and steering gear control method 技术领域Technical field
本公开涉及机器人舵机技术领域，例如涉及一种舵机、舵机集成和舵机的控制方法。The present disclosure relates to the field of robot steering gears, for example, to a steering gear, a steering gear integration, and a control method for a steering gear.
背景技术Background technique
舵机作为一种小型化伺服电机，按照舵机的信号处理分为模拟舵机和数字舵机，它们的区别在于，模拟舵机需要给它不停的发送PWM(Pulse Width Modulation，脉冲宽度调制)信号，才能让它保持在规定的位置或者让它按照一个特定速度转动，数字舵机则只需要发送一次PWM信号就能保持在规定的一个特定位置。舵机由以下几个部分组成：直流电动机、减速器(减速齿轮组)、位置反馈电位计以及控制电路板(MCU(Microcontroller Unit，微控制单元)控制芯片)。As a miniaturized servo motor, the steering gear is divided into an analog steering gear and a digital steering gear according to the signal processing of the steering gear. The difference is that the analog steering gear needs to send PWM (Pulse Width Modulation). The signal can be kept in the specified position or rotated at a specific speed, and the digital servo only needs to send the PWM signal once to maintain a specified specific position. The steering gear consists of the following parts: DC motor, reducer (reduction gear set), position feedback potentiometer and control circuit board (MCU (Microcontroller Unit) control chip).
相关技术中，舵机仅能根据给定的控制信号执行旋转和位移，外设的采样需要经过主控制器的处理后，再以控制信号的形式发送给相应的舵机执行。在舵机很多的情况下，主控制器的数据处理压力会很大，并且控制信号的生成和传输过程会使舵机的响应不够及时。In the related art, the steering gear can only perform rotation and displacement according to a given control signal, and the sampling of the peripheral device needs to be processed by the main controller, and then sent to the corresponding steering gear in the form of a control signal. In the case of a large number of steering gears, the data processing pressure of the main controller will be large, and the generation and transmission of control signals will make the response of the steering gear not timely enough.
发明内容Summary of the invention
本公开提出了一种舵机、舵机集成和舵机的控制方法，能够通过接口接收数字信号，经过舵机自带的处理器处理后输出为模拟信号。The present disclosure proposes a control method for a steering gear, a steering gear integration and a steering gear, which can receive a digital signal through an interface, and is processed by a servo processor and output as an analog signal.
本公开采用以下技术方案：The present disclosure adopts the following technical solutions:
第一方面，本公开提供一种舵机，包括处理器和模拟输入数字输出接口；In a first aspect, the present disclosure provides a steering gear including a processor and an analog input digital output interface;
其中，所述模拟输入数字输出接口与处理器连接，用于输入模拟信号到所述处理器和输出经过所述处理器处理的数字信号中的至少一项。The analog input digital output interface is coupled to the processor for inputting at least one of an analog signal to the processor and a digital signal processed by the processor.
其中，所述模拟输入数字输出接口包括电源端、电源接地端、模拟信号输入端以及数字信号输出端；The analog input digital output interface includes a power terminal, a power ground, an analog signal input terminal, and a digital signal output terminal;
所述电源端用于接入标准的5伏对地电源；The power terminal is used to access a standard 5 volt ground power source;
所述模拟信号输入端用于接收外部设备获取的模拟信号，将所述模拟信号转换成数字信号并传送到处理器进行处理； The analog signal input end is configured to receive an analog signal obtained by an external device, convert the analog signal into a digital signal, and transmit the signal to a processor for processing;
所述数字信号输出端用于将经过处理器处理的数字信号输出到外部设备上执行。The digital signal output is configured to output the digital signal processed by the processor to an external device for execution.
可选的，还包括：第一总线接口和第二总线接口，用于通过总线接收控制信号并传输给处理器。Optionally, the method further includes: a first bus interface and a second bus interface, configured to receive a control signal through the bus and transmit the signal to the processor.
可选的，所述第一总线接口和第二总线接口的类型相同。Optionally, the first bus interface and the second bus interface are of the same type.
可选的，所述第一总线接口与所述第二总线接口并联。Optionally, the first bus interface is connected in parallel with the second bus interface.
可选的，所述第一总线接口为RS-485总线接口、RS-232总线接口、TTL接口或I2C总线接口。Optionally, the first bus interface is an RS-485 bus interface, an RS-232 bus interface, a TTL interface, or an I2C bus interface.
可选的，所述第二总线接口为RS-485总线接口、RS-232总线接口、TTL接口或I2C总线接口。Optionally, the second bus interface is an RS-485 bus interface, an RS-232 bus interface, a TTL interface, or an I2C bus interface.
第二方面，本公开提供一种舵机集成，包括上述任一项所述的舵机；In a second aspect, the present disclosure provides a steering gear integration, comprising the steering gear of any of the above;
所述舵机通过所述第一总线接口或所述第二总线接口与主控制器连接，用于接收主控制器通过总线发送的控制信号；或者The steering gear is connected to the main controller through the first bus interface or the second bus interface, and is configured to receive a control signal sent by the main controller through the bus; or
所述舵机的数量为至少两个，相邻的舵机通过所述第一总线接口或所述第二总线接连接，实现多个舵机的串联。The number of the steering gears is at least two, and adjacent steering gears are connected through the first bus interface or the second bus to realize series connection of multiple steering gears.
第三方面，本公开提供一种舵机的控制方法，采用上述任一项所述的舵机；In a third aspect, the present disclosure provides a control method for a steering gear, using the steering gear according to any of the above;
所述模拟输入数字输出接口接收外部设备获取的模拟信号；The analog input digital output interface receives an analog signal obtained by an external device;
将所述模拟信号转换成数字信号并传送到处理器进行处理；以及Converting the analog signal to a digital signal and transmitting it to a processor for processing;
将经过处理器处理的所述数字信号输出到外部设备上执行。The digital signal processed by the processor is output to an external device for execution.
可选的，所述控制方法还包括：Optionally, the control method further includes:
所述第一总线接口和所述第二总线接口中的至少一个通过总线接收控制信号并传输给处理器；At least one of the first bus interface and the second bus interface receives a control signal through a bus and transmits the control signal to the processor;
所述处理器根据协议解析所述控制信号，识别出需要舵机执行的信号流；以及The processor parses the control signal according to a protocol to identify a signal flow that is required to be executed by the steering gear;
所述处理器指示所述舵机的执行部件执行所述信号流指定的控制任务。The processor instructs an execution component of the steering gear to perform a control task specified by the signal flow.
通过为舵机增加模拟输入数字输出接口，使舵机的处理器能够接收模拟信号的输入，经过处理后，给出相应的反馈，并将反馈以数字信号的形式输出，本公开使得舵机对外部信号的响应不再单纯的依赖主控制器，而是可以自行处理部分信号，减轻了主控制器负担的同时，对外部信号的处理更灵活。By adding an analog input digital output interface to the steering gear, the processor of the steering gear can receive the input of the analog signal, after processing, giving corresponding feedback, and outputting the feedback in the form of a digital signal, the present disclosure makes the steering gear pair The response of the external signal no longer depends solely on the main controller, but can process some of the signals by itself, reducing the burden on the main controller and making the external signal processing more flexible.
附图概述 BRIEF abstract
图1是实施例一提供的舵机的示意图。1 is a schematic view of a steering gear provided in the first embodiment.
图2是实施例二提供的舵机集成的并联拓扑结构示意图。2 is a schematic diagram of a parallel topology structure of the steering gear integrated according to the second embodiment.
图3是实施例二提供的舵机集成的串联拓扑结构示意图。FIG. 3 is a schematic diagram of a series topology structure of the steering gear integrated according to the second embodiment.
图4是实施例三提供的舵机的结构示意图。4 is a schematic structural view of a steering gear provided in Embodiment 3.
图5是实施例三提供的一种舵机的控制方法的流程示意图。FIG. 5 is a schematic flow chart of a control method of a steering gear according to Embodiment 3.
具体实施方式detailed description
下面将结合附图对实施例的技术方案作详细描述，所描述的实施例仅仅是本公开一部分实施例，而不是全部的实施例。在不冲突的情况下，以下实施例和实施例中的特征可以相互组合。The technical solutions of the embodiments are described in detail below with reference to the accompanying drawings, which are only a part of the embodiments of the present disclosure, and not all of the embodiments. The features of the following embodiments and embodiments may be combined with each other without conflict.
实施例一Embodiment 1
图1是实施例一提供的舵机的示意图。如图1所示，本实施例提供一种舵机，应用在机器人上，作为机器人的驱动，包括处理器、总线接口、电机、齿轮组、反馈电路等，还包括：模拟输入数字输出接口13。其中，总线接口可接入的总线类型包括并行总线、RS-485总线等常用总线。1 is a schematic view of a steering gear provided in the first embodiment. As shown in FIG. 1 , the embodiment provides a steering gear applied to a robot as a driving of the robot, including a processor, a bus interface, a motor, a gear set, a feedback circuit, etc., and an analog input digital output interface 13 . . Among them, the bus type that the bus interface can access includes a common bus such as a parallel bus and an RS-485 bus.
所述模拟输入数字输出接口13与处理器连接，用于输入模拟信号到所述处理器和输出经过所述处理器处理的数字信号中的至少一项。可选的，所述舵机还包括模数转换器。The analog input digital output interface 13 is coupled to the processor for inputting at least one of an analog signal to the processor and a digital signal processed by the processor. Optionally, the steering gear further includes an analog to digital converter.
其中，所述模拟输入数字输出接口13可以是包括四个引脚，分别为电源端、电源接地端GND(Ground，地)、模拟信号输入端、数字信号输出端。所述电源端用于接入标准的5V(伏特，简称伏)对地电源；所述模拟信号输入端用于接收外部设备获取的模拟信号，接入模数转换器，将所述模拟信号转换成数字信号再传送到处理器进行处理；所述数字信号输出端用于将经过处理器处理的数字信号输出到外部设备上执行，或者由所述舵机执行。The analog input digital output interface 13 can include four pins, which are respectively a power terminal, a power ground GND (ground), an analog signal input terminal, and a digital signal output terminal. The power terminal is used for accessing a standard 5V (volt, abbreviated as volts) ground power; the analog signal input terminal is configured to receive an analog signal obtained by an external device, access an analog to digital converter, and convert the analog signal The digital signal is then transmitted to the processor for processing; the digital signal output is used to output the digital signal processed by the processor to an external device, or is executed by the servo.
所述模拟输入数字输出接口13采用的标准的5V信号输入及输出，可使舵机具备更好的通用性，增强了机器人与外部设备或系统的对接功能。The standard 5V signal input and output adopted by the analog input digital output interface 13 can make the steering gear have better versatility and enhance the docking function of the robot and the external device or system.
可选的，所述舵机的总线接口包括：相同类型的第一总线接口11和第二总线接口12，用于通过总线接收控制信号并传输给处理器。所述第一总线接口11与所述第二总线接口12并联，可以便于总线级联。通过总线传输到第一总线接口11的控制信号会同时传输到第二总线接口12上。Optionally, the bus interface of the servo comprises: a first bus interface 11 and a second bus interface 12 of the same type for receiving control signals through the bus and transmitting to the processor. The first bus interface 11 is connected in parallel with the second bus interface 12 to facilitate bus cascading. The control signals transmitted to the first bus interface 11 via the bus are simultaneously transmitted to the second bus interface 12.
其中，所述第一总线接口11和所述第二总线接口12为RS-485总线接口、或 RS-232总线接口、或TTL(Transistor Transistor Logic，晶体管-晶体管逻辑)接口、或I2C(Inter-Integrated Circuit)总线接口等常规接口。Wherein the first bus interface 11 and the second bus interface 12 are RS-485 bus interfaces, or Regular interface such as RS-232 bus interface, or TTL (Transistor Transistor Logic) interface, or I2C (Inter-Integrated Circuit) bus interface.
本实施例中，舵机增加了模拟输入数字输出接口，能够接收模拟信号的输入，转换成数字信号后，由处理器配合事先编写的程序，对数字信号进行处理，给出相应的反馈，并将反馈以数字信号的形式输出，本公开使得舵机对外部信号的响应不再单纯的依赖主控制器，而是可以自行处理部分信号，减轻了主控制器负担的同时，对外部信号的处理更灵活。In this embodiment, the servo input device adds an analog input digital output interface, can receive the input of the analog signal, and converts the digital signal into a digital signal, and the processor processes the digital signal according to a previously written program, and gives corresponding feedback, and The feedback is output in the form of a digital signal. The present disclosure makes the response of the steering gear to the external signal no longer solely depends on the main controller, but can process part of the signal by itself, reducing the burden on the main controller and processing the external signal. More flexible.
实施例二Embodiment 2
本实施例提供一种舵机集成，包括主控制器和上述实施例所述的舵机。主控制器为机器人的控制中心，通过总线与多个舵机连接，用于发送控制指令到舵机上，指示舵机的动作。The embodiment provides a steering gear integration, including a main controller and the steering gear described in the above embodiments. The main controller is the control center of the robot, and is connected to a plurality of servos via a bus for transmitting control commands to the steering gear to indicate the operation of the steering gear.
图2是实施例二提供的舵机集成的并联拓扑结构示意图。如图2所示，所述舵机通过所述第一总线接口11或所述第二总线接口12与主控制器连接，用于接收主控制器通过总线发送的控制信号。2 is a schematic diagram of a parallel topology structure of the steering gear integrated according to the second embodiment. As shown in FIG. 2, the steering gear is connected to the main controller through the first bus interface 11 or the second bus interface 12 for receiving a control signal sent by the main controller through the bus.
图3是实施例二提供的舵机集成的串联拓扑结构示意图。如图3所示，所述舵机的数量为至少两个，相邻的舵机通过所述第一总线接口11或所述第二总线接12连接，实现多个舵机的串联。FIG. 3 is a schematic diagram of a series topology structure of the steering gear integrated according to the second embodiment. As shown in FIG. 3, the number of the steering gears is at least two, and adjacent steering gears are connected through the first bus interface 11 or the second bus connection 12 to realize series connection of a plurality of steering gears.
根据实际应用的需要，可以将上述串联和并联结合起来，形成舵机的拓扑网络。According to the needs of practical applications, the above series and parallel connections can be combined to form a topological network of the steering gear.
相关技术中，所有舵机都需要直接与主控制器连接，才能接收主控制器的控制信号，这样会使机器人的布线数量过多，不利于精简结构和机器人的灵活运动。本实施例中，通过类型相同且并联的两个总线接口，接收主控制器的控制信号，使总线信号能够在舵机之间传递，可根据实际应用实现多样化的拓扑结构，减少布线。In the related art, all the steering gears need to be directly connected to the main controller to receive the control signals of the main controller, which will cause the robot to have too many wirings, which is disadvantageous for the flexible structure and the flexible movement of the robot. In this embodiment, the control signals of the main controller are received through two bus interfaces of the same type and in parallel, so that the bus signals can be transmitted between the servos, and various topologies can be realized according to actual applications, and wiring can be reduced.
实施例三Embodiment 3
图5是实施例三提供的一种舵机的控制方法的流程示意图。本实施例提供的一种舵机的控制方法，采用上述实施例所述的舵机，用于实现对外部信号的处理和对控制信号的响应。FIG. 5 is a schematic flow chart of a control method of a steering gear according to Embodiment 3. The control method of the steering gear provided by the embodiment adopts the steering gear described in the above embodiment for realizing processing of an external signal and response to a control signal.
图4是实施例三提供的舵机的结构示意图。参考图4和图5，所述控制方法包 括：4 is a schematic structural view of a steering gear provided in Embodiment 3. Referring to FIG. 4 and FIG. 5, the control method package include:
在步骤S110中，所述模拟输入数字输出接口13接收外部设备31获取的模拟信号，其中，所述外部设备可以是包括传感器、云台系统和受控端。在步骤S120中，所述模拟输入数字输出接口13连接到模数转换器，将所述模拟信号转换成数字信号并传送到处理器32进行处理，处理器32中预置了处理程序，根据处理程序的流程输出处理结果，处理结果输出为数字信号。在步骤S130中，将经过处理器32处理的所述数字信号输出到外部设备31上执行，若处理结果需要所述舵机执行，则处理器32将数字信号输出到电机33执行。In step S110, the analog input digital output interface 13 receives an analog signal acquired by the external device 31, wherein the external device may include a sensor, a pan/tilt system, and a controlled terminal. In step S120, the analog input digital output interface 13 is connected to an analog to digital converter, converts the analog signal into a digital signal and transmits it to the processor 32 for processing, and the processor 32 presets a processing program according to the processing. The flow of the program outputs the processing result, and the processing result is output as a digital signal. In step S130, the digital signal processed by the processor 32 is output to the external device 31 for execution. If the result of the processing requires the servo to be executed, the processor 32 outputs the digital signal to the motor 33 for execution.
例如，距离传感器采集到机器人的肢体与障碍物的距离，经过处理器的判断，若是判断为机器人的肢体与障碍物距离太近，则输出指令指示舵机停止动作，预防与障碍物碰撞。For example, the distance sensor collects the distance between the limb and the obstacle of the robot, and after determining by the processor, if it is determined that the distance between the limb of the robot and the obstacle is too close, the output command instructs the servo to stop and prevent collision with the obstacle.
可选的，所述控制方法还包括：Optionally, the control method further includes:
所述第一总线接口11和所述第二总线接口12中的至少一个通过总线接收控制信号并传输给处理器32；若所述控制信号为含协议的数字信号，则所述处理器32根据协议解析所述控制信号，识别出需要舵机执行的信号流；所述处理器32指示所述舵机的执行部件(电机33带动齿轮组34)执行所述信号流指定的控制任务。At least one of the first bus interface 11 and the second bus interface 12 receives a control signal through a bus and transmits it to the processor 32; if the control signal is a digital signal containing a protocol, the processor 32 is The protocol parses the control signal to identify a signal flow that is required to be executed by the steering gear; the processor 32 instructs an execution component of the steering gear (motor 33 drives gear set 34) to perform the control task specified by the signal flow.
执行部件执行控制任务的过程中，若产生信息反馈，则由反馈电路35接收处理，并将相应的反馈结果交由处理器32来执行。In the process of executing the control task by the executing component, if information feedback is generated, the processing is received by the feedback circuit 35, and the corresponding feedback result is sent to the processor 32 for execution.
本实施例中，模拟输入数字输出接口接收外部设备的采样信号并输出对外部设备的控制，第一总线接口11和所述第二总线接口12执行主控制器通过总线发送的控制信号，二者相对独立又相互配合，使舵机除了执行实现常规功能，还能处理外部信号，减轻主控制器的运算负担。In this embodiment, the analog input digital output interface receives the sampling signal of the external device and outputs control of the external device, and the first bus interface 11 and the second bus interface 12 execute a control signal sent by the main controller through the bus, Relatively independent and interoperable, the servo can process external signals in addition to the implementation of conventional functions, reducing the computational burden of the main controller.
以上结合具体实施例描述了本公开的技术原理。这些描述只是为了解释本公开的原理。The technical principles of the present disclosure have been described above in connection with specific embodiments. These descriptions are only for the purpose of explaining the principles of the present disclosure.
工业实用性Industrial applicability
本公开提供的舵机，通过增加模拟输入数字输出接口，使舵机的处理器能够接收模拟信号的输入，经过处理后，给出相应的反馈，并将反馈以数字信号的形式输出，本公开使得舵机对外部信号的响应不再单纯的依赖主控制器，而 是可以自行处理部分信号，减轻了主控制器负担的同时，对外部信号的处理更灵活。 The servo provided by the present disclosure enables the processor of the steering gear to receive the input of the analog signal by adding an analog input digital output interface, and after processing, gives corresponding feedback, and outputs the feedback in the form of a digital signal, the present disclosure The response of the steering gear to the external signal is no longer solely dependent on the main controller, but It is possible to process part of the signal by itself, which reduces the burden on the main controller and makes the processing of external signals more flexible.

Claims (10)

  1. 一种舵机，包括处理器和模拟输入数字输出接口；A steering gear comprising a processor and an analog input digital output interface;
    其中，所述模拟输入数字输出接口与处理器连接，用于执行以下至少一个动作：输入模拟信号到所述处理器和输出经过所述处理器处理的数字信号。The analog input digital output interface is coupled to the processor for performing at least one of: inputting an analog signal to the processor and outputting a digital signal processed by the processor.
  2. 根据权利要求1所述的舵机，其中，所述模拟输入数字输出接口包括电源端、电源接地端、模拟信号输入端以及数字信号输出端；The steering gear according to claim 1, wherein said analog input digital output interface comprises a power supply terminal, a power supply ground terminal, an analog signal input terminal, and a digital signal output terminal;
    所述电源端用于接入标准的5伏对地电源；The power terminal is used to access a standard 5 volt ground power source;
    所述模拟信号输入端用于接收外部设备获取的模拟信号，将所述模拟信号转换成数字信号并传送到处理器进行处理；The analog signal input end is configured to receive an analog signal obtained by an external device, convert the analog signal into a digital signal, and transmit the signal to a processor for processing;
    所述数字信号输出端用于将经过处理器处理的数字信号输出到外部设备上执行。The digital signal output is configured to output the digital signal processed by the processor to an external device for execution.
  3. 根据权利要求1所述的舵机，还包括：第一总线接口和第二总线接口，用于通过总线接收控制信号并传输给处理器。The steering gear of claim 1 further comprising: a first bus interface and a second bus interface for receiving control signals over the bus and transmitting to the processor.
  4. 根据权利要求3所述的舵机，其中，所述第一总线接口和第二总线接口的类型相同。The steering gear according to claim 3, wherein said first bus interface and said second bus interface are of the same type.
  5. 根据权利要求3或4所述的舵机，其中，所述第一总线接口与所述第二总线接口并联。A steering gear according to claim 3 or 4, wherein said first bus interface is in parallel with said second bus interface.
  6. 根据权利要求5所述的舵机，其中，所述第一总线接口为RS-485总线接口、RS-232总线接口、TTL接口或I2C总线接口。The steering gear according to claim 5, wherein the first bus interface is an RS-485 bus interface, an RS-232 bus interface, a TTL interface or an I2C bus interface.
  7. 根据权利要求5所述的舵机，其中，所述第二总线接口为RS-485总线接口、RS-232总线接口、TTL接口或I2C总线接口。The steering gear according to claim 5, wherein the second bus interface is an RS-485 bus interface, an RS-232 bus interface, a TTL interface or an I2C bus interface.
  8. 一种舵机集成，包括权利要求3-7任一所述的舵机；A steering gear integration comprising the steering gear of any of claims 3-7;
    所述舵机通过所述第一总线接口或所述第二总线接口与主控制器连接，用于接收主控制器通过总线发送的控制信号；或者The steering gear is connected to the main controller through the first bus interface or the second bus interface, and is configured to receive a control signal sent by the main controller through the bus; or
    所述舵机的数量为至少两个，相邻的舵机通过所述第一总线接口或所述第二总线接连接，实现多个舵机的串联。The number of the steering gears is at least two, and adjacent steering gears are connected through the first bus interface or the second bus to realize series connection of multiple steering gears.
  9. 一种舵机的控制方法，其中，采用权利要求1至7任一项所述的舵机；A control method for a steering gear, wherein the steering gear according to any one of claims 1 to 7 is used;
    所述模拟输入数字输出接口接收外部设备获取的模拟信号；The analog input digital output interface receives an analog signal obtained by an external device;
    将所述模拟信号转换成数字信号并传送到处理器进行处理；以及Converting the analog signal to a digital signal and transmitting it to a processor for processing;
    将经过处理器处理的所述数字信号输出到外部设备上执行。The digital signal processed by the processor is output to an external device for execution.
  10. 根据权利要求9所述的控制方法，还包括：The control method according to claim 9, further comprising:
    所述第一总线接口和所述第二总线接口中的至少一个通过总线接收控制信 号并传输给处理器；At least one of the first bus interface and the second bus interface receives a control signal over a bus Number and transmitted to the processor;
    所述处理器根据协议解析所述控制信号，识别出需要舵机执行的信号流；以及The processor parses the control signal according to a protocol to identify a signal flow that is required to be executed by the steering gear;
    所述处理器指示所述舵机的执行部件执行所述信号流指定的控制任务。 The processor instructs an execution component of the steering gear to perform a control task specified by the signal flow.
PCT/CN2017/076180 2017-01-11 2017-03-09 Steering engine, integration of steering engine, and control method for steering engine WO2018129799A1 (en)

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