WO2018129799A1 - Moteur de direction, intégration de moteur de direction, et procédé de commande de moteur de direction - Google Patents

Moteur de direction, intégration de moteur de direction, et procédé de commande de moteur de direction 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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WO
WIPO (PCT)
Prior art keywords
bus interface
steering gear
processor
signal
bus
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Application number
PCT/CN2017/076180
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English (en)
Chinese (zh)
Inventor
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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Application filed by 上海未来伙伴机器人有限公司 filed Critical 上海未来伙伴机器人有限公司
Publication of WO2018129799A1 publication Critical patent/WO2018129799A1/fr

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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

La présente invention concerne un moteur de direction, l'intégration du moteur de direction et un procédé de commande d'un moteur de direction. Le moteur de direction comprend un processeur (32) et une interface de sortie numérique et d'entrée analogique (13), l'interface de sortie numérique et d'entrée analogique (13) étant connectée au processeur (32), et étant utilisée pour exécuter au moins l'une des actions suivantes consistant : à entrer un signal analogique dans le processeur (32) et à émettre un signal numérique traité par le processeur (32). La réponse du moteur de direction à des signaux externes ne dépend plus uniquement d'un dispositif de commande principal, et le moteur de direction peut traiter certains des signaux par lui-même, ce qui permet de traiter de manière plus souple les signaux externes tout en atténuant la charge sur le processeur principal.
PCT/CN2017/076180 2017-01-11 2017-03-09 Moteur de direction, intégration de moteur de direction, et procédé de commande de moteur de direction WO2018129799A1 (fr)

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CN201710017750.3 2017-01-11
CN201710017750.3A CN106773996A (zh) 2017-01-11 2017-01-11 一种舵机、舵机集成和舵机的控制方法

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CN110440860A (zh) * 2019-08-31 2019-11-12 山东省计量科学研究院 吸油烟机风量测试孔板自动固定装置

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CN109131840B (zh) * 2018-09-10 2023-09-22 天津市大然科技有限公司 三口舵机
CN109634192A (zh) * 2019-01-24 2019-04-16 天津大学 一种具有语音交互功能的便携式智能舵机及其控制方法
CN110757505B (zh) * 2019-10-18 2022-11-25 深圳勇艺达机器人有限公司 一种串联式舵机的工况测试电路
CN112083706B (zh) * 2020-07-28 2021-07-23 浪潮集团有限公司 一种区分模拟舵机与数字舵机的装置及舵机检测方法
CN113183149B (zh) * 2021-04-01 2022-09-16 深圳市优必选科技股份有限公司 控制方法、控制装置及终端设备

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CN105783612A (zh) * 2016-03-28 2016-07-20 北京航天控制仪器研究所 一种通用小型化数字电动舵机控制器及其控制方法
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US20020138187A1 (en) * 2001-02-09 2002-09-26 The Board Of Trustees Of The University Of Illinois Fuzzy steering controller
CN101256423A (zh) * 2008-04-07 2008-09-03 北京工业大学 一种基于can总线通讯的智能型电动舵机
CN101609329A (zh) * 2008-06-19 2009-12-23 北京航空航天大学 一种基于单通道双处理器结构的高性能三余度舵机
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CN110440860B (zh) * 2019-08-31 2024-04-16 山东省计量科学研究院 吸油烟机风量测试孔板自动固定装置

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