WO2022053040A1 - Control system of self-propelled robot platform and communication method therefor - Google Patents

Control system of self-propelled robot platform and communication method therefor Download PDF

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Publication number
WO2022053040A1
WO2022053040A1 PCT/CN2021/117955 CN2021117955W WO2022053040A1 WO 2022053040 A1 WO2022053040 A1 WO 2022053040A1 CN 2021117955 W CN2021117955 W CN 2021117955W WO 2022053040 A1 WO2022053040 A1 WO 2022053040A1
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Prior art keywords
node
message
unit
steering
unit node
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PCT/CN2021/117955
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French (fr)
Chinese (zh)
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金菶
喻川
张凯帆
宗楠
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贵州翰凯斯智能技术有限公司
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Publication of WO2022053040A1 publication Critical patent/WO2022053040A1/en

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L12/40006—Architecture of a communication node
    • H04L12/40013—Details regarding a bus controller
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/02—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP]
    • H04L67/025—Protocols based on web technology, e.g. hypertext transfer protocol [HTTP] for remote control or remote monitoring of applications
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/06—Protocols specially adapted for file transfer, e.g. file transfer protocol [FTP]
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L67/00—Network arrangements or protocols for supporting network services or applications
    • H04L67/01—Protocols
    • H04L67/12—Protocols specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40208—Bus networks characterized by the use of a particular bus standard
    • H04L2012/40215—Controller Area Network CAN
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
    • H04L12/00—Data switching networks
    • H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
    • H04L12/40—Bus networks
    • H04L2012/40267—Bus for use in transportation systems
    • H04L2012/40273—Bus for use in transportation systems the transportation system being a vehicle
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Definitions

  • the invention relates to the technical field of automatic driving, in particular to a self-propelled robot platform control system and a communication method thereof.
  • Autonomous driving is the product of the deep integration of the automotive industry with next-generation information technologies such as artificial intelligence, visual computing, Internet of Things, radar, high-precision maps, and high-performance computing.
  • autonomous driving transportation equipment adds core sensors such as high-definition cameras, lidars, and high-precision positioning devices, and collects data in real time through sensors, cooperates with high-precision maps, and uses on-board computing units to make real-time and efficient reasoning decisions. And feedback to the chassis wire control system to achieve automatic driving.
  • the on-board computing unit only processes the data obtained by the signal acquisition device and the path planning, and does not control the physical hardware of the wire-controlled chassis.
  • the control algorithm is basically concentrated on the vehicle controller, such as To perform customized chassis control, it is necessary to rewrite the internal program of the vehicle controller. The operation is very cumbersome and is not conducive to customized design.
  • integrating the chassis control algorithm into the on-board computing unit increases the size of the on-board computing unit.
  • the patent document "A Loose Coupling-Based On-Board Computing System” discloses a loose-coupling-based on-board computing system, which belongs to the field of smart cars. It integrates IT information technology and provides loosely coupled computing resource services; its structure includes hardware layer, system layer, driver layer, service layer and application layer.
  • the hardware layer can provide hardware resources
  • the system layer can provide operating system resources
  • the driver layer can provide Provide driving resources
  • the service layer can generate multiple different application services based on different combinations of the above hardware layer, system layer and driver layer
  • the application layer can call corresponding application services from the service layer according to the external requirements of the vehicle, and the application layer and the above hardware layer There is no coupling relationship between layer, system layer and driver layer.
  • the system can effectively coordinate and call the heterogeneous resources inside the vehicle, and improve the cooperation compatibility between the various systems of the vehicle.
  • ROS Robot Operating System
  • the system fails to specifically disclose the system layer and The corresponding relationship between the hardware layers and the communication method, the technical solution is not fully expressed, and the above-mentioned problems cannot be well solved.
  • the present invention proposes a self-propelled robot platform control system and a communication method thereof.
  • the control system realizes the separation between the chassis hardware and the control algorithm, and breaks the technical barriers in the automotive field and the robot field. It has a wide range of applications, and the communication method has high stability and strong immediacy.
  • the invention provides a self-propelled robot platform control system, including a robot operating system and a wire-controlled system, the wire-controlled system includes a power mechanism, a braking mechanism, a steering mechanism, a parking mechanism, a light indicating mechanism, and a communication system through a CAN bus.
  • the vehicle controller connected by the above-mentioned mechanism, the robot operating system is installed on the upper computer, and includes a power unit node, a braking unit node, a steering unit node, a parking unit node and a lighting unit node, the power unit node, the braking unit node, the braking unit node and the lighting unit node.
  • the unit node, the steering unit node, the parking unit node and the lighting unit node are all provided with communication interfaces, and the robot operating system also includes a communication node for realizing the communication between the robot operating system and the vehicle controller and a detection node for judging the operation state of the above mechanism , the communication node subscribes to the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node respectively, and maintains communication with the vehicle controller, and the detection node maintains the vehicle controller. Communication, and the detection node's message is sent to the topic.
  • control system of the present invention further includes a signal acquisition device
  • the robot operating system further includes a signal receiving node that receives and processes messages from the signal acquisition device, and the signal receiving nodes are respectively controlled by the power unit node, the braking unit node, and the steering.
  • Unit node, parking unit node and light unit node subscription are respectively controlled by the power unit node, the braking unit node, and the steering.
  • the power mechanism includes drive motors located in four directions: front left, front right, rear left, and rear right, and a motor controller corresponding to the drive motors one-to-one
  • the power unit nodes include a left front throttle node, a right front throttle node, The left rear throttle node, the right rear throttle node, and the power unit general node that subscribes to the left front throttle node message, the right front throttle node message, the left rear throttle node message, and the right rear throttle node message respectively.
  • the braking mechanism includes brakes located in four directions: left front, right front, left rear, and right rear, a brake assembly connected with the brake, and a brake controller for controlling the brake assembly, the brake
  • the moving unit node includes a braking node and a braking master node that subscribes to braking node messages
  • the parking mechanism includes a parking controller
  • the parking unit node includes a parking node and a parking master that subscribes to parking node messages. node.
  • the steering mechanism includes a front steering mechanism, a rear steering mechanism, and a steering controller that controls the front steering mechanism and the rear steering mechanism respectively
  • the steering unit node includes a front steering node, a rear steering node, and subscribes to the front steering node messages respectively.
  • the total node of the steering unit of the post-steering node message is a front steering mechanism, a rear steering mechanism, and a steering controller that controls the front steering mechanism and the rear steering mechanism respectively.
  • the light indicating mechanism includes a left turn signal, a right turn signal, a headlight, and a light controller that controls the start and stop of the left turn signal, the right turn signal, and the headlight, respectively
  • the lighting unit node includes a left turn signal. node, right turn signal node, headlight node, and the total node of the lighting unit that subscribes to the left turn signal node message, the right turn signal node message, and the headlight node message respectively.
  • the message data of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node includes the time stamp of the message sending, the control amount of the corresponding actuator, and the corresponding ID information.
  • the communication node is parsed by calling the DBC file, so that the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node are parsed according to the order of time stamps.
  • the code is entered into the CAN message, and the CAN message is sent to the vehicle controller.
  • the detection node receives the CAN message fed back from the vehicle controller, analyzes by calling the DBC file, decodes the CAN message to obtain the status message of each actuator, and sends the status message to the subject respectively.
  • the present invention also provides a communication method for the self-propelled robot platform control system, comprising the following steps:
  • S1 Define the data format, and complete the writing of the DBC file according to the signal rules of the vehicle controller
  • S2 Complete the node message subscription of the robot operating system.
  • the power unit node, braking unit node, steering unit node, parking unit node, and lighting unit node subscribe to the message of the signal receiving node or receive the message sent by the communication interface, and the communication node subscribes respectively. Messages of power unit node, braking unit node, steering unit node, parking unit node and lighting unit node;
  • S3 Establish the communication between the robot operating system and the vehicle controller, and realize the communication between the detection node and the communication node and the vehicle controller;
  • the signal receiving node message is sent to the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node, the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node.
  • the node determines the control amount of the corresponding actuator according to the received message, and sends the message data of ID information, time stamp and control amount to the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node to the communication node;
  • the communication node calls and parses the DBC file, and encodes the ID information and the control amount into the can message according to the order of the timestamps of the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node. , and sent to the vehicle controller;
  • the vehicle controller After receiving the can message of the communication node, the vehicle controller parses it into control commands of the power mechanism, braking mechanism, steering mechanism, parking mechanism, and light indicating mechanism, and sends it to the above-mentioned mechanism, and the above-mentioned mechanism executes the relevant instructions and sends the The feedback signal is sent to the vehicle controller;
  • the vehicle controller receives the feedback signal of the above-mentioned actuator, converts it into a CAN message, and sends it to the detection node;
  • the detection node invokes the DBC file parsing, decodes the CAN message and converts it into a detection node message, and sends the message to the topic.
  • step S4 of the communication method of the self-propelled robot platform control system includes the following steps:
  • the signal receiving node message is sent to the child node corresponding to each actuator of the robot operating system, and the child node determines the control amount of the corresponding actuator according to the received message;
  • the child nodes include left front throttle node, right front throttle node, left rear throttle node, right rear throttle node, brake node, parking node, front steering node, rear steering node, left turn signal node, right turn signal node and front lighting node;
  • the child node sends a message to the corresponding parent node.
  • the message data sent by the child node includes a timestamp and a control amount.
  • the parent node calls the DBC file, and encodes the control amount information into the parent node message according to the timestamp, and converts it into CAN signal, and set unique ID information to the CAN signal of each parent node, generate new message data, and described message data includes time stamp, ID information and control quantity information list;
  • the parent node of the present invention includes the total node of the power unit, the total node of the braking unit, the total node of the steering unit, the total node of the parking unit and the total node of the lighting unit;
  • the parent node sends the message data including the ID information, the time stamp and the control amount information list to the communication node.
  • the present invention has the following advantages:
  • the present invention simplifies the structure, and uses the robot operating system to separate the business processing unit and the physical drive unit.
  • the business control processing of most auto-driving cars themselves is concentrated in On the vehicle controller, even if the robot operating system is used, it only processes the data and path planning obtained by the signal acquisition device, but does not control the physical hardware of the wire-controlled chassis. If you need to customize the chassis control , it is necessary to rewrite the internal program of the vehicle controller, and the operation is very cumbersome.
  • the present invention transfers the control algorithms of each actuator mechanism to the robot operating system, and sets up multiple nodes by classifying the hardware of the automatic driving function.
  • the operating system can improve the relevant functions without the need for in-depth knowledge of automotive hardware.
  • the hardware part only needs to be assembled by personnel in the relevant fields, which is conducive to industrialized mass production.
  • it is only necessary to The robot operating system can be customized and improved, and it has a wide range of applications.
  • the communication method provided by the present invention ensures the integration of node messages in a certain time series through the setting of time stamps, the establishment of communication nodes and parent nodes, and avoids sending multiple CAN messages in the same time series process,
  • the communication data redundancy is caused, which greatly improves the efficiency of data transmission, solves the limitation of CAN bus data transmission bandwidth, ensures the stability and immediacy of the communication of the self-propelled robot platform, and ensures the communication data by setting ID information. Uniqueness is beneficial to distinguish the source of the message, and also facilitates the subsequent executor to receive the corresponding control quantity information.
  • FIG. 1 is a schematic diagram of the system framework of the present invention.
  • FIG. 2 is a schematic diagram of a communication flow of the present invention.
  • the present invention provides a self-propelled robot platform control system, including a robot operating system and a wire control system
  • the wire control system includes a power mechanism, a braking mechanism, a steering mechanism, a parking mechanism, and a light indicator A mechanism and a vehicle controller connected to the above-mentioned mechanism through a CAN bus
  • the robot operating system is installed on the host computer, and includes a power unit node, a braking unit node, a steering unit node, a parking unit node and a lighting unit node.
  • the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node are all provided with communication interfaces.
  • the vehicle unit node and the lighting unit node send messages so that the relevant nodes can perform control processing.
  • the sent message data includes speed data, steering data and braking data.
  • the robot operating system also includes the communication between the robot operating system and the vehicle controller.
  • a communication node and a detection node for judging the operating state of the above-mentioned mechanism the communication node subscribes to the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node respectively, and maintains communication with the vehicle controller , the detection node maintains communication with the vehicle controller, and the message of the detection node is sent to the topic.
  • the present invention simplifies the structure, and uses the robot operating system to separate the business processing unit and the physical drive unit.
  • the business control processing of most auto-driving cars themselves is concentrated in On the vehicle controller, even if the robot operating system is used, it only processes the data and path planning obtained by the signal acquisition device, but does not control the physical hardware of the wire-controlled chassis. If you need to customize the chassis control , it is necessary to rewrite the internal program of the vehicle controller, and the operation is very cumbersome.
  • the present invention transfers the control algorithms of each actuator mechanism to the robot operating system, and sets up multiple nodes by classifying the hardware of the automatic driving function.
  • the robot operating system can improve related functions without the need for in-depth knowledge of automotive hardware.
  • the hardware part only needs to be assembled by personnel in related fields, which is conducive to industrial mass production.
  • it can be customized and improved for the robot operating system, which has a wide range of applications.
  • the control system of the present invention further includes a signal acquisition device, the robot operating system further includes a signal receiving node for receiving and processing messages from the signal acquisition device, and the signal receiving nodes are respectively controlled by the power unit node, the braking unit node, the steering unit node, Parking unit node and light unit node subscription.
  • the signal acquisition device of the present invention includes multi-channel high-definition cameras, laser radar, millimeter-wave radar, V2X sensing equipment, and high-precision positioning device. Other nodes send messages.
  • the signal received by the receiving node shown by the signal acquisition device is a sensor signal, including information such as pictures and point clouds.
  • the sent message data includes speed data, steering data, and braking data.
  • the power mechanism includes drive motors located in four directions: front left, front right, rear left, and rear right, and motor controllers corresponding to the drive motors one-to-one.
  • the power unit nodes include a left front throttle node, a right front throttle node, and a left rear throttle node. node, right rear throttle node, and the power unit general node that subscribes to left front throttle node messages, right front throttle node messages, left rear throttle node messages, and right rear throttle node messages, respectively.
  • the power mechanism of the present invention includes a plurality of driving motors and a motor controller that controls each driving motor, and the power unit node of the robot operating system is provided with a corresponding node for each driving motor and its corresponding motor controller, so that the The individual control of each drive motor is realized, which is beneficial to the customized design of the product.
  • the present invention also sets a power unit general node, and sends the node messages corresponding to each drive motor and the motor controller to the power unit general node.
  • the transmission to the communication node is beneficial to reduce the redundancy of data communication, reduce the load of message transmission, and improve the communication efficiency.
  • the braking mechanism includes brakes located in four directions: front left, front right, rear left, and rear right, a brake assembly connected with the brakes, and a brake controller for controlling the brake assembly, and the brake unit node It includes a braking node and a braking master node that subscribes to braking node messages, the parking mechanism includes a parking controller, and the parking unit node includes a parking node and a parking master node that subscribes to parking node messages.
  • the braking mechanism of the present invention includes a plurality of brakes, a braking assembly connected with the brakes, and a braking controller for controlling the braking assembly, and the braking unit node of the robot operating system is provided with a corresponding braking node,
  • the braking function can be independently controlled, which is beneficial to the customized design of the product.
  • the braking function of the present invention can also realize braking by controlling the reverse rotation of the driving motor.
  • the parking mechanism of the present invention includes a parking controller.
  • the parking controller receives an execution instruction, and can control the brake assembly, and then control the brake to realize the parking function.
  • the business processing of car functions is controlled separately, which is conducive to the customized design of products.
  • the steering mechanism includes a front steering mechanism, a rear steering mechanism, and a steering controller that respectively controls the front steering mechanism and the rear steering mechanism
  • the steering unit node includes a front steering node, a rear steering node, and subscribes to the messages of the front steering node and the rear steering respectively.
  • the total node of the steering unit of the node message is a front steering mechanism, a rear steering mechanism, and subscribes to the messages of the front steering node and the rear steering respectively.
  • the steering mechanism of the present invention includes a front steering mechanism, a rear steering mechanism, and a steering controller that respectively controls the front steering mechanism and the rear steering mechanism, and the steering unit nodes of the robot operating system are specifically provided with front steering nodes and rear steering nodes, so that It is possible to realize the independent control of the front steering mechanism, the rear steering mechanism and their corresponding steering controllers, which is beneficial to the customized design of the product.
  • Corresponding node messages are uniformly sent to the main node of the steering unit and then transmitted to the communication nodes, which is beneficial to reduce the redundancy of data communication, reduce the load of message transmission, and improve the communication efficiency.
  • the light indicator mechanism includes a left turn signal, a right turn signal, a headlight, and a light controller that controls the start and stop of the left turn signal, the right turn signal, and the headlight, respectively, and the lighting unit node includes a left turn signal node, a right turn signal The turn signal node, the headlight node, and the total node of the lighting unit that subscribe to the left turn signal node message, the right turn signal node message, and the headlight node message respectively.
  • the light indication mechanism of the present invention includes a left turn signal, a right turn light, a headlight, and a light controller that controls the start and stop of the left turn signal, the right turn light, and the headlight respectively, and the lighting unit node of the robot operating system is directed to the left turn
  • the lamp, the right turn signal, the headlamp and their corresponding motor controllers are provided with corresponding nodes, so that different lights can be individually controlled, which is beneficial to the customized design of the product.
  • the present invention also sets the lights
  • the total node of the unit sends the node messages corresponding to the left turn signal, right turn signal and headlight uniformly to the lighting unit total node and then transmits it to the communication node, which is beneficial to reduce the redundancy of data communication, reduce the load of message transmission, and improve communication. effectiveness.
  • the message data of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node includes the time stamp of the message sending, the control amount of the corresponding actuator, and the corresponding ID information.
  • the messages sent by each child node are entered into the messages of the parent node in the order of time stamps by using the time stamps, and ID information is set for the messages of each node, including It is helpful to distinguish the source of the message, and it is also convenient for the subsequent executor to receive the corresponding control quantity information.
  • the sent control quantity information is 0, so that after the node receives the message sent by the subscription node , can complete the sending in time, and ensure the immediacy of the message delivery.
  • the communication node is parsed by calling the DBC file, so that the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node are entered into the ID information and the control quantity code according to the sequence of the time stamps.
  • CAN message and send the CAN message to the vehicle controller.
  • the establishment of the communication node and the compilation of the DBC file in the present invention are beneficial to realize the integration of the messages of each node in the same time series, avoid sending multiple CAN messages in the same time series process, resulting in redundancy of communication data, and greatly improve the efficiency of data transmission , which solves the limitation of the data transmission bandwidth of the CAN bus and ensures the stability and immediacy of the communication of the self-propelled robot platform.
  • the detection node receives the CAN message fed back from the vehicle controller, analyzes by calling the DBC file, decodes the CAN message to obtain the status message of each actuator, and sends the status message to the subject respectively.
  • the detection node of the present invention receives the CAN message content fed back from the vehicle controller, including the speed, the steering value and the state of each actuator, which is conducive to the subsequent use of the feedback message information for control operations; another embodiment of the present invention is to detect In addition to sending status messages to topics, nodes can also directly send status messages to related nodes that need to perform control operations.
  • the present invention also provides a communication method of the self-propelled robot platform control system, comprising the following steps:
  • S1 Define the data format, and complete the writing of the DBC file according to the signal rules of the vehicle controller
  • S2 Complete the node message subscription and reception of the robot operating system.
  • the power unit node, braking unit node, steering unit node, parking unit node, and lighting unit node subscribe to the message of the signal receiving node or receive the message sent by the communication interface.
  • the communication node Subscribe to the messages of the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node respectively;
  • S3 Establish the communication between the robot operating system and the vehicle controller, and realize the communication between the detection node and the communication node and the vehicle controller;
  • the signal receiving node message is sent to the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node, the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node.
  • the node determines the control amount of the corresponding actuator according to the received message, and sends the message data of ID information, time stamp and control amount to the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node to the communication node;
  • the communication node calls and parses the DBC file, and encodes the ID information and the control amount into the can message according to the order of the timestamps of the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node. , and sent to the vehicle controller;
  • the vehicle controller After receiving the CAN message from the communication node, the vehicle controller parses it into control commands of the power mechanism, braking mechanism, steering mechanism, parking mechanism, and light indicating mechanism, and sends it to the above-mentioned mechanism, and the above-mentioned mechanism executes the relevant instructions and sends the The feedback signal is sent to the vehicle controller;
  • the vehicle controller receives the feedback signal of the above-mentioned actuator, converts it into a CAN message, and sends it to the detection node;
  • the detection node invokes the DBC file parsing, decodes the CAN message and converts it into a detection node message, and sends the message to the topic.
  • Step S4 of the communication method of the self-propelled robot platform control system includes the following steps:
  • the signal receiving node message is sent to the child node corresponding to each actuator of the robot operating system, and the child node determines the control amount of the corresponding actuator according to the received message;
  • the actuator described in the present invention includes a driving motor belonging to a power mechanism located in four directions of left front, right front, left rear, and right rear, and a motor controller corresponding to the driving motor one-to-one, and a braking mechanism located in the left front, right front,
  • stop light controller ;
  • the child nodes include left front throttle node, right front throttle node, left rear throttle node, right rear throttle node, brake node, parking node, front steering node, rear steering node, left turn signal node, right turn signal node and front lighting node;
  • the child node sends a message to the corresponding parent node.
  • the message data sent by the child node includes a timestamp and a control amount.
  • the parent node calls the DBC file, and encodes the control amount information into the parent node message according to the timestamp, and converts it into CAN signal, and set unique ID information to the CAN signal of each parent node, generate new message data, the new message data is CAN message, and the format of the new message data is CAN message mainly including frame ID With the CAN signal, the message data includes a time stamp, ID information and a list of control amount information;
  • the parent node of the present invention includes the total node of the power unit, the total node of the braking unit, the total node of the steering unit, the total node of the parking unit and the total node of the lighting unit;
  • the parent node sends the message data including the ID information, the time stamp and the control amount information list to the communication node.
  • the communication method of the present invention ensures the integration of node messages in a certain time series through the setting of time stamps, the establishment of communication nodes and parent nodes, and avoids sending multiple CAN messages in the same time series process, resulting in redundant communication data. , greatly improves the efficiency of data transmission, solves the limitation of CAN bus data transmission bandwidth, ensures the stability and immediacy of the communication of the self-propelled robot platform, and ensures the uniqueness of the communication data by setting the ID information, which is beneficial to Distinguishing the source of the message is also convenient for subsequent executors to receive the corresponding control quantity information.

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Abstract

A control system of a self-propelled robot platform, the system comprising a signal acquisition apparatus, a robot operating system, and a wire control system. The robot operating system comprises a signal receiving node, a power unit node, a brake unit node, a steering unit node, a parking unit node, a light unit node, a communication node, and a detection node. A communication method for a control system of a self-propelled robot platform, the method comprising using time stamps to completely integrate messages having a certain time sequence and then transmitting same. By using the control system, chassis hardware and a control algorithm are separated, thereby reducing the difficulty of research and development, breaking down technical barriers, and being beneficial to large-scale production and customized production. The communication method implements the information integration of communication messages, reduces the redundancy of communication data, improves the efficiency of data transmission, eliminates the restriction of the data transmission bandwidth of a CAN bus, and ensures the stability and instantaneity of products.

Description

一种自走机器人平台控制系统及其通信方法A self-propelled robot platform control system and its communication method 技术领域technical field
本发明涉及自动驾驶技术领域，特别是涉及一种自走机器人平台控制系统及其通信方法。The invention relates to the technical field of automatic driving, in particular to a self-propelled robot platform control system and a communication method thereof.
背景技术Background technique
自动驾驶是汽车产业与人工智能、视觉计算、物联网、雷达、高精地图、高性能计算等新一代信息技术深度融合的产物,是当前全球汽车与交通出行领域发展的主要方向。相较于传统交通设备，自动驾驶交通设备增加了高清摄像头、激光雷达、高精度定位装置等核心传感器，并通过传感器实时采集数据，配合高精地图，利用车载计算单元进行实时高效的推理决策，并反馈给底盘线控系统实现自动驾驶。但是目前车载计算单元仅只针对信号采集装置获取的数据与路径规划进行处理，不会对线控底盘的物理硬件进行控制，对于底盘线控系统其控制算法基本还是集中在整车控制器上，如需进行自定义的底盘控制，就必须重新刷写整车控制器的内部程序，操作非常繁琐，不利于定制化设计，然而，将底盘控制算法集中到车载计算单元，则加大了车载计算单元与底盘线控系统之间的通信数据量，但是底盘线控系统大多采用CAN总线设计，其通信数据大小存在限制，这样则会影响自动驾驶通信的稳定性和即时性，那么设计一种能够自由定制的控制系统和稳定即时的通信方法成为亟待解决的问题。Autonomous driving is the product of the deep integration of the automotive industry with next-generation information technologies such as artificial intelligence, visual computing, Internet of Things, radar, high-precision maps, and high-performance computing. Compared with traditional transportation equipment, autonomous driving transportation equipment adds core sensors such as high-definition cameras, lidars, and high-precision positioning devices, and collects data in real time through sensors, cooperates with high-precision maps, and uses on-board computing units to make real-time and efficient reasoning decisions. And feedback to the chassis wire control system to achieve automatic driving. However, at present, the on-board computing unit only processes the data obtained by the signal acquisition device and the path planning, and does not control the physical hardware of the wire-controlled chassis. For the chassis-by-wire system, the control algorithm is basically concentrated on the vehicle controller, such as To perform customized chassis control, it is necessary to rewrite the internal program of the vehicle controller. The operation is very cumbersome and is not conducive to customized design. However, integrating the chassis control algorithm into the on-board computing unit increases the size of the on-board computing unit. The amount of communication data with the chassis-by-wire system, but most of the chassis-by-wire systems are designed with CAN bus, and the size of the communication data is limited, which will affect the stability and immediacy of automatic driving communication. Customized control systems and stable and instant communication methods become urgent problems.
专利文件《一种基于松耦合的车载计算系统》(CN108614555A)公开了一种基于松耦合的车载计算系统，属于智能汽车领域，要解决的技术问题为如何将自动驾驶汽车或智能网联汽车的IT信息技术进行融合、并提供松耦合计算资源服务；其结构包括硬件层、系统层、驱动层、服务层和应用层，硬件层能够提供硬件资源，系统层能够提供操作系统资源，驱动层能够提供驱动资源，服务层能够基于上述硬件层、系统层和驱动层的不同组合生成多个不同的应用服务，应用层能够根据车辆的外部需求从服务层调用相应的应用服务，应用层与上述硬件层、系统层和驱动层均无耦合关系。该系统可有效协调调用车辆内部异构资源，提升车辆各系统之间的协作兼容性。该系统虽然公开了利用ROS(英文全称为Robot Operating System，是一个机器人软件平台，能为异质计算机集群提供类似操作系统的功能)操作系统作为车载计算系统，但是却未能具体公开系统层与硬件层之间的对应关系以及通信方式，技术方案表述不够完全，未能很好的解决前述所提出的问题。The patent document "A Loose Coupling-Based On-Board Computing System" (CN108614555A) discloses a loose-coupling-based on-board computing system, which belongs to the field of smart cars. It integrates IT information technology and provides loosely coupled computing resource services; its structure includes hardware layer, system layer, driver layer, service layer and application layer. The hardware layer can provide hardware resources, the system layer can provide operating system resources, and the driver layer can provide Provide driving resources, the service layer can generate multiple different application services based on different combinations of the above hardware layer, system layer and driver layer, the application layer can call corresponding application services from the service layer according to the external requirements of the vehicle, and the application layer and the above hardware layer There is no coupling relationship between layer, system layer and driver layer. The system can effectively coordinate and call the heterogeneous resources inside the vehicle, and improve the cooperation compatibility between the various systems of the vehicle. Although the system discloses the use of ROS (the full name in English is Robot Operating System, which is a robot software platform that can provide functions similar to operating systems for heterogeneous computer clusters) operating system as an on-board computing system, it fails to specifically disclose the system layer and The corresponding relationship between the hardware layers and the communication method, the technical solution is not fully expressed, and the above-mentioned problems cannot be well solved.
发明内容SUMMARY OF THE INVENTION
为解决现有技术存在的问题，本发明提出一种自走机器人平台控制系统及其通信方法，该控制系统实现了底盘硬件与控制算法间的分离，打破了汽车领域与机器人领域的技术壁垒， 应用范围广，且通信方法稳定性高、即时性强。In order to solve the problems existing in the prior art, the present invention proposes a self-propelled robot platform control system and a communication method thereof. The control system realizes the separation between the chassis hardware and the control algorithm, and breaks the technical barriers in the automotive field and the robot field. It has a wide range of applications, and the communication method has high stability and strong immediacy.
本发明提供了一种自走机器人平台控制系统，包括机器人操作系统和线控系统，所述线控系统包括动力机构、制动机构、转向机构、驻车机构、灯光指示机构以及通过CAN总线与上述机构连接的整车控制器，所述机器人操作系统安装在上位机上，包括动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点，所述动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点均设有通信接口，所述机器人操作系统还包括实现机器人操作系统与整车控制器通信的通信节点和判断上述机构运行状态的检测节点，所述通信节点分别订阅动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点的消息，且与整车控制器保持通信，所述检测节点与整车控制器保持通信，且检测节点的消息发送到主题。The invention provides a self-propelled robot platform control system, including a robot operating system and a wire-controlled system, the wire-controlled system includes a power mechanism, a braking mechanism, a steering mechanism, a parking mechanism, a light indicating mechanism, and a communication system through a CAN bus. The vehicle controller connected by the above-mentioned mechanism, the robot operating system is installed on the upper computer, and includes a power unit node, a braking unit node, a steering unit node, a parking unit node and a lighting unit node, the power unit node, the braking unit node, the braking unit node and the lighting unit node. The unit node, the steering unit node, the parking unit node and the lighting unit node are all provided with communication interfaces, and the robot operating system also includes a communication node for realizing the communication between the robot operating system and the vehicle controller and a detection node for judging the operation state of the above mechanism , the communication node subscribes to the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node respectively, and maintains communication with the vehicle controller, and the detection node maintains the vehicle controller. Communication, and the detection node's message is sent to the topic.
进一步地，本发明的控制系统还包括信号采集装置，所述机器人操作系统还包括接收并处理信号采集装置消息的信号接收节点，所述信号接收节点分别被动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点订阅。Further, the control system of the present invention further includes a signal acquisition device, the robot operating system further includes a signal receiving node that receives and processes messages from the signal acquisition device, and the signal receiving nodes are respectively controlled by the power unit node, the braking unit node, and the steering. Unit node, parking unit node and light unit node subscription.
进一步地，所述动力机构包括位于左前、右前、左后、右后四个方位的驱动电机以及与驱动电机一一对应的电机控制器，所述动力单元节点包括左前油门节点、右前油门节点、左后油门节点、右后油门节点以及分别订阅左前油门节点消息、右前油门节点消息、左后油门节点消息、右后油门节点消息的动力单元总节点。Further, the power mechanism includes drive motors located in four directions: front left, front right, rear left, and rear right, and a motor controller corresponding to the drive motors one-to-one, and the power unit nodes include a left front throttle node, a right front throttle node, The left rear throttle node, the right rear throttle node, and the power unit general node that subscribes to the left front throttle node message, the right front throttle node message, the left rear throttle node message, and the right rear throttle node message respectively.
进一步地，所述制动机构包括位于左前、右前、左后、右后四个方位的制动器、与制动器连接的制动总成以及用于控制制动总成的制动控制器，所述制动单元节点包括制动节点以及订阅制动节点消息的制动总节点，所述驻车机构包括驻车控制器，所述驻车单元节点包括驻车节点以及订阅驻车节点消息的驻车总节点。Further, the braking mechanism includes brakes located in four directions: left front, right front, left rear, and right rear, a brake assembly connected with the brake, and a brake controller for controlling the brake assembly, the brake The moving unit node includes a braking node and a braking master node that subscribes to braking node messages, the parking mechanism includes a parking controller, and the parking unit node includes a parking node and a parking master that subscribes to parking node messages. node.
进一步地，所述转向机构包括前转向机构、后转向机构以及分别控制前转向机构、后转向机构的转向控制器，所述转向单元节点包括前转向节点、后转向节点以及分别订阅前转向节点消息、后转向节点消息的转向单元总节点。Further, the steering mechanism includes a front steering mechanism, a rear steering mechanism, and a steering controller that controls the front steering mechanism and the rear steering mechanism respectively, and the steering unit node includes a front steering node, a rear steering node, and subscribes to the front steering node messages respectively. , The total node of the steering unit of the post-steering node message.
进一步地，所述灯光指示机构包括左转向灯、右转向灯、前照灯以及控制分别左转向灯、右转向灯、前照灯启停的灯光控制器，所述灯光单元节点包括左转向灯节点、右转向灯节点、前照灯节点以及分别订阅左转向灯节点消息、右转向灯节点消息、前照灯节点消息的灯光单元总节点。Further, the light indicating mechanism includes a left turn signal, a right turn signal, a headlight, and a light controller that controls the start and stop of the left turn signal, the right turn signal, and the headlight, respectively, and the lighting unit node includes a left turn signal. node, right turn signal node, headlight node, and the total node of the lighting unit that subscribes to the left turn signal node message, the right turn signal node message, and the headlight node message respectively.
进一步地，所述动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息数据包括消息发送的时间戳、对应执行器的控制量以及对应的ID信息。Further, the message data of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node includes the time stamp of the message sending, the control amount of the corresponding actuator, and the corresponding ID information.
进一步地，所述通信节点通过调用DBC文件进行解析，让动力单元节点、制动单元节点、 转向单元节点、驻车单元节点、灯光单元节点的消息根据时间戳的先后顺序将ID信息、控制量编码录入到CAN消息中，并将CAN消息发送给整车控制器。Further, the communication node is parsed by calling the DBC file, so that the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node are parsed according to the order of time stamps. The code is entered into the CAN message, and the CAN message is sent to the vehicle controller.
进一步地，所述检测节点接收来自整车控制器反馈的CAN消息，通过调用DBC文件进行解析，对CAN消息进行解码得到各执行器的状态消息，并将状态消息分别发送到主题。Further, the detection node receives the CAN message fed back from the vehicle controller, analyzes by calling the DBC file, decodes the CAN message to obtain the status message of each actuator, and sends the status message to the subject respectively.
本发明还提供了一种自走机器人平台控制系统的通信方法，包括下列步骤：The present invention also provides a communication method for the self-propelled robot platform control system, comprising the following steps:
S1：定义数据格式，根据整车控制器的信号规则完成DBC文件的编写；S1: Define the data format, and complete the writing of the DBC file according to the signal rules of the vehicle controller;
S2：完成机器人操作系统的节点消息订阅，动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点订阅信号接收节点的消息或者接收通信接口发送的消息，通信节点分别订阅动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点的消息；S2: Complete the node message subscription of the robot operating system. The power unit node, braking unit node, steering unit node, parking unit node, and lighting unit node subscribe to the message of the signal receiving node or receive the message sent by the communication interface, and the communication node subscribes respectively. Messages of power unit node, braking unit node, steering unit node, parking unit node and lighting unit node;
S3：建立机器人操作系统与整车控制器之间的通信，实现检测节点与通信节点和整车控制器通信；S3: Establish the communication between the robot operating system and the vehicle controller, and realize the communication between the detection node and the communication node and the vehicle controller;
S4：信号接收节点消息发送给动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点，动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点根据接收的消息确定对应执行器的控制量，将动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点将ID信息、时间戳和控制量的消息数据发送给通信节点；S4: The signal receiving node message is sent to the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node, the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node. The node determines the control amount of the corresponding actuator according to the received message, and sends the message data of ID information, time stamp and control amount to the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node to the communication node;
S5：通信节点调用并解析DBC文件，将动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息根据时间戳的先后顺序将ID信息、控制量编码成为can消息，并发送到整车控制器；S5: The communication node calls and parses the DBC file, and encodes the ID information and the control amount into the can message according to the order of the timestamps of the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node. , and sent to the vehicle controller;
S6：整车控制器接收到通信节点的can消息之后再解析成为动力机构、制动机构、转向机构、驻车机构、灯光指示机构的控制指令发送给上述机构，上述机构执行相关指令，并将反馈信号发送给整车控制器；S6: After receiving the can message of the communication node, the vehicle controller parses it into control commands of the power mechanism, braking mechanism, steering mechanism, parking mechanism, and light indicating mechanism, and sends it to the above-mentioned mechanism, and the above-mentioned mechanism executes the relevant instructions and sends the The feedback signal is sent to the vehicle controller;
S7：整车控制器接收上述执行机构的反馈信号再转换成CAN消息，发送给检测节点；S7: The vehicle controller receives the feedback signal of the above-mentioned actuator, converts it into a CAN message, and sends it to the detection node;
S8：检测节点调用DBC文件解析，将CAN消息进行解码转为检测节点消息，并将消息发送到主题。S8: The detection node invokes the DBC file parsing, decodes the CAN message and converts it into a detection node message, and sends the message to the topic.
进一步地，所述自走机器人平台控制系统的通信方法的步骤S4包括以下步骤：Further, step S4 of the communication method of the self-propelled robot platform control system includes the following steps:
S41：信号接收节点消息发送给机器人操作系统各执行器对应的子节点，子节点根据接收到的消息，确定对应执行器的控制量；S41: The signal receiving node message is sent to the child node corresponding to each actuator of the robot operating system, and the child node determines the control amount of the corresponding actuator according to the received message;
所述子节点包括左前油门节点、右前油门节点、左后油门节点、右后油门节点、制动节点、驻车节点、前转向节点、后转向节点、左转向灯节点、右转向灯节点和前照灯节点；The child nodes include left front throttle node, right front throttle node, left rear throttle node, right rear throttle node, brake node, parking node, front steering node, rear steering node, left turn signal node, right turn signal node and front lighting node;
S42：子节点发送消息给对应的父节点，所述子节点发送的消息数据包括时间戳和控制量，父节点调用DBC文件，根据时间戳将控制量信息编码录入到父节点消息中，转化为CAN信号，并且对每个父节点的CAN信号设定唯一的ID信息，生成新的消息数据，所述消息数据包括时间戳、ID信息和控制量信息列表；S42: The child node sends a message to the corresponding parent node. The message data sent by the child node includes a timestamp and a control amount. The parent node calls the DBC file, and encodes the control amount information into the parent node message according to the timestamp, and converts it into CAN signal, and set unique ID information to the CAN signal of each parent node, generate new message data, and described message data includes time stamp, ID information and control quantity information list;
本发明的父节点包括动力单元总节点、制动单元总节点、转向单元总节点、驻车单元总节点和灯光单元总节点；The parent node of the present invention includes the total node of the power unit, the total node of the braking unit, the total node of the steering unit, the total node of the parking unit and the total node of the lighting unit;
S43：父节点将包括ID信息、时间戳和控制量信息列表的消息数据发送给通信节点。S43: The parent node sends the message data including the ID information, the time stamp and the control amount information list to the communication node.
本发明相对于现有技术，其优点在于：Compared with the prior art, the present invention has the following advantages:
本发明相对于现有技术，在结构上进行了简化，利用机器人操作系统，对业务处理单元和物理驱动单元实行了分离，区别于现有技术大多数自动驾驶的汽车本身的业务控制处理集中在整车控制器上，即便采用了机器人操作系统，也仅仅只是针对信号采集装置获取的数据与路径规划进行处理，而不会对线控底盘的物理硬件进行控制，如需进行自定义的底盘控制，就必须重新刷写整车控制器的内部程序，操作非常繁琐，本发明将各执行器机构的控制算法都转移到了机器人操作系统，并且通过对自动驾驶功能硬件的归类，设置多个节点，提高了控制效率和质量，通过底盘硬件与控制算法间的分离，更好的降低了研发难度，打破了机器人技术领域与汽车领域技术人员的技术壁垒，机器人技术领域从业人员仅需通过改进机器人操作系统即可完善相关功能，而无需深入了解掌握汽车硬件知识，同时硬件部分也只需相关领域人员完成组装即可，有利于工业化大规模生产，此外，针对具有特定需求客户，也仅需针对机器人操作系统进行定制化改进即可，适用范围广泛。Compared with the prior art, the present invention simplifies the structure, and uses the robot operating system to separate the business processing unit and the physical drive unit. Different from the prior art, the business control processing of most auto-driving cars themselves is concentrated in On the vehicle controller, even if the robot operating system is used, it only processes the data and path planning obtained by the signal acquisition device, but does not control the physical hardware of the wire-controlled chassis. If you need to customize the chassis control , it is necessary to rewrite the internal program of the vehicle controller, and the operation is very cumbersome. The present invention transfers the control algorithms of each actuator mechanism to the robot operating system, and sets up multiple nodes by classifying the hardware of the automatic driving function. , improve the control efficiency and quality, through the separation between the chassis hardware and the control algorithm, the research and development difficulty is better reduced, and the technical barriers between the robotics field and the automotive field are broken, and the practitioners in the robotics field only need to improve the robot. The operating system can improve the relevant functions without the need for in-depth knowledge of automotive hardware. At the same time, the hardware part only needs to be assembled by personnel in the relevant fields, which is conducive to industrialized mass production. In addition, for customers with specific needs, it is only necessary to The robot operating system can be customized and improved, and it has a wide range of applications.
于此同时，本发明提供的通信方法通过时间戳的设定、通信节点和父节点的设立，保证了在一定时间序列中节点消息的整合，避免在同一时间序列过程中发送多条CAN消息，造成通信数据冗余，大大提高了数据传输的效率，解决了CAN总线数据传输带宽的限制，保证了自走机器人平台通信的稳定性与即时性，并且通过设定ID信息，保证了通信数据的唯一性，有利于区分消息来源，也便于后续执行器接收对应的控制量信息。At the same time, the communication method provided by the present invention ensures the integration of node messages in a certain time series through the setting of time stamps, the establishment of communication nodes and parent nodes, and avoids sending multiple CAN messages in the same time series process, The communication data redundancy is caused, which greatly improves the efficiency of data transmission, solves the limitation of CAN bus data transmission bandwidth, ensures the stability and immediacy of the communication of the self-propelled robot platform, and ensures the communication data by setting ID information. Uniqueness is beneficial to distinguish the source of the message, and also facilitates the subsequent executor to receive the corresponding control quantity information.
附图说明Description of drawings
为了更清楚地说明本发明的技术方案，下面将对实施例描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的有关本发明的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。In order to illustrate the technical solutions of the present invention more clearly, the following briefly introduces the accompanying drawings used in the description of the embodiments. Obviously, the drawings related to the present invention in the following description are only some embodiments of the present invention. , for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.
图1为本发明系统框架示意图。FIG. 1 is a schematic diagram of the system framework of the present invention.
图2为本发明通信流程示意图。FIG. 2 is a schematic diagram of a communication flow of the present invention.
具体实施方式detailed description
下面将结合本发明实施例中的附图，对本发明实施例中的技术方案进行详细的描述，显然，所描述的实施例仅仅是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有做出创造性劳动的前提下所获得的所有其他实施例，都属于本发明保护的范围。The technical solutions in the embodiments of the present invention will be described in detail below with reference to the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
如图1所示，本发明提供了一种自走机器人平台控制系统，包括机器人操作系统和线控系统，所述线控系统包括动力机构、制动机构、转向机构、驻车机构、灯光指示机构以及通过CAN总线与上述机构连接的整车控制器，所述机器人操作系统安装在上位机上，包括动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点，所述动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点均设有通信接口，研究开发人员可以通过通信接口直接向动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点发送消息，以便相关节点进行控制处理，发送的消息数据包括速度数据、转向数据以及制动数据，所述机器人操作系统还包括实现机器人操作系统与整车控制器通信的通信节点和判断上述机构运行状态的检测节点，所述通信节点分别订阅动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点的消息，且与整车控制器保持通信，所述检测节点与整车控制器保持通信，且检测节点的消息发送到主题。As shown in FIG. 1, the present invention provides a self-propelled robot platform control system, including a robot operating system and a wire control system, the wire control system includes a power mechanism, a braking mechanism, a steering mechanism, a parking mechanism, and a light indicator A mechanism and a vehicle controller connected to the above-mentioned mechanism through a CAN bus, the robot operating system is installed on the host computer, and includes a power unit node, a braking unit node, a steering unit node, a parking unit node and a lighting unit node. The power unit node, braking unit node, steering unit node, parking unit node and lighting unit node are all provided with communication interfaces. The vehicle unit node and the lighting unit node send messages so that the relevant nodes can perform control processing. The sent message data includes speed data, steering data and braking data. The robot operating system also includes the communication between the robot operating system and the vehicle controller. A communication node and a detection node for judging the operating state of the above-mentioned mechanism, the communication node subscribes to the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node respectively, and maintains communication with the vehicle controller , the detection node maintains communication with the vehicle controller, and the message of the detection node is sent to the topic.
本发明相对于现有技术，在结构上进行了简化，利用机器人操作系统，对业务处理单元和物理驱动单元实行了分离，区别于现有技术大多数自动驾驶的汽车本身的业务控制处理集中在整车控制器上，即便采用了机器人操作系统，也仅仅只是针对信号采集装置获取的数据与路径规划进行处理，而不会对线控底盘的物理硬件进行控制，如需进行自定义的底盘控制，就必须重新刷写整车控制器的内部程序，操作非常繁琐，本发明将各执行器机构的控制算法都转移到了机器人操作系统，并且通过对自动驾驶功能硬件的归类，设置多个节点，提高了控制效率和质量，通过了底盘硬件与控制算法间的分离，更好的降低了研发难度，打破了机器人技术领域与汽车领域技术人员的技术壁垒，机器人技术领域从业人员仅需通过改进机器人操作系统即可完善相关功能，而无需深入了解掌握汽车硬件知识，同时硬件部分也只需相关领域人员完成组装即可，有利于工业化大规模生产，此外，针对具有特定需求客户，也仅需针对机器人操作系统进行定制化改进即可，适用范围广泛。Compared with the prior art, the present invention simplifies the structure, and uses the robot operating system to separate the business processing unit and the physical drive unit. Different from the prior art, the business control processing of most auto-driving cars themselves is concentrated in On the vehicle controller, even if the robot operating system is used, it only processes the data and path planning obtained by the signal acquisition device, but does not control the physical hardware of the wire-controlled chassis. If you need to customize the chassis control , it is necessary to rewrite the internal program of the vehicle controller, and the operation is very cumbersome. The present invention transfers the control algorithms of each actuator mechanism to the robot operating system, and sets up multiple nodes by classifying the hardware of the automatic driving function. , improve the control efficiency and quality, through the separation between chassis hardware and control algorithms, better reduce the difficulty of research and development, and break the technical barriers of technicians in the field of robotics and automobiles, and practitioners in the field of robotics only need to improve The robot operating system can improve related functions without the need for in-depth knowledge of automotive hardware. At the same time, the hardware part only needs to be assembled by personnel in related fields, which is conducive to industrial mass production. In addition, for customers with specific needs, only need It can be customized and improved for the robot operating system, which has a wide range of applications.
本发明的控制系统还包括信号采集装置，所述机器人操作系统还包括接收并处理信号采集装置消息的信号接收节点，所述信号接收节点分别被动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点订阅。The control system of the present invention further includes a signal acquisition device, the robot operating system further includes a signal receiving node for receiving and processing messages from the signal acquisition device, and the signal receiving nodes are respectively controlled by the power unit node, the braking unit node, the steering unit node, Parking unit node and light unit node subscription.
本发明的信号采集装置包括多路高清摄像头、激光雷达、毫米波雷达、V2X传感设备、 高精度定位装置，信号接收节点接收信号采集装置信号，并对信号数据进行处理，向订阅该节点的其他节点发送消息，所示接收节点接收信号采集装置的信号为传感器信号，包括图片、点云等信息，发送的消息数据包括速度数据、转向数据以及制动数据。The signal acquisition device of the present invention includes multi-channel high-definition cameras, laser radar, millimeter-wave radar, V2X sensing equipment, and high-precision positioning device. Other nodes send messages. The signal received by the receiving node shown by the signal acquisition device is a sensor signal, including information such as pictures and point clouds. The sent message data includes speed data, steering data, and braking data.
所述动力机构包括位于左前、右前、左后、右后四个方位的驱动电机以及与驱动电机一一对应的电机控制器，所述动力单元节点包括左前油门节点、右前油门节点、左后油门节点、右后油门节点以及分别订阅左前油门节点消息、右前油门节点消息、左后油门节点消息、右后油门节点消息的动力单元总节点。The power mechanism includes drive motors located in four directions: front left, front right, rear left, and rear right, and motor controllers corresponding to the drive motors one-to-one. The power unit nodes include a left front throttle node, a right front throttle node, and a left rear throttle node. node, right rear throttle node, and the power unit general node that subscribes to left front throttle node messages, right front throttle node messages, left rear throttle node messages, and right rear throttle node messages, respectively.
本发明的动力机构包括多个驱动电机以及控制每个驱动电机的电机控制器，并且机器人操作系统的动力单元节点针对每个驱动电机和其对应的电机控制器设有对应的节点，这样就可以实现对于每个驱动电机的单独控制，有利于产品的定制化设计，此外，本发明还设置了动力单元总节点，将每个驱动电机与电机控制器对应的节点消息统一发送给动力单元总节点再传输给通信节点，有利于减少数据通信的冗余，降低消息传输的负载，提高通信效率。The power mechanism of the present invention includes a plurality of driving motors and a motor controller that controls each driving motor, and the power unit node of the robot operating system is provided with a corresponding node for each driving motor and its corresponding motor controller, so that the The individual control of each drive motor is realized, which is beneficial to the customized design of the product. In addition, the present invention also sets a power unit general node, and sends the node messages corresponding to each drive motor and the motor controller to the power unit general node. The transmission to the communication node is beneficial to reduce the redundancy of data communication, reduce the load of message transmission, and improve the communication efficiency.
所述制动机构包括位于左前、右前、左后、右后四个方位的制动器、与制动器连接的制动总成以及用于控制制动总成的制动控制器，所述制动单元节点包括制动节点以及订阅制动节点消息的制动总节点，所述驻车机构包括驻车控制器，所述驻车单元节点包括驻车节点以及订阅驻车节点消息的驻车总节点。The braking mechanism includes brakes located in four directions: front left, front right, rear left, and rear right, a brake assembly connected with the brakes, and a brake controller for controlling the brake assembly, and the brake unit node It includes a braking node and a braking master node that subscribes to braking node messages, the parking mechanism includes a parking controller, and the parking unit node includes a parking node and a parking master node that subscribes to parking node messages.
本发明的制动机构包括多个制动器、与制动器连接的制动总成以及用于控制制动总成的制动控制器，并且机器人操作系统的制动单元节点设有对应的制动节点，这样就可以针对制动功能进行独立控制，有利于产品的定制化设计，做为优选的，本发明的制动功能还可以通过控制驱动电机的反向旋转实现制动。The braking mechanism of the present invention includes a plurality of brakes, a braking assembly connected with the brakes, and a braking controller for controlling the braking assembly, and the braking unit node of the robot operating system is provided with a corresponding braking node, In this way, the braking function can be independently controlled, which is beneficial to the customized design of the product. Preferably, the braking function of the present invention can also realize braking by controlling the reverse rotation of the driving motor.
本发明的驻车机构包括驻车控制器，在实施过程中驻车控制器接到执行指令，可以控制制动总成，进而控制制动器实现驻车功能，本发明通过驻车单元节点单独对驻车功能的业务处理进行单独控制，有利于产品的定制化设计。The parking mechanism of the present invention includes a parking controller. During the implementation process, the parking controller receives an execution instruction, and can control the brake assembly, and then control the brake to realize the parking function. The business processing of car functions is controlled separately, which is conducive to the customized design of products.
所述转向机构包括前转向机构、后转向机构以及分别控制前转向机构、后转向机构的转向控制器，所述转向单元节点包括前转向节点、后转向节点以及分别订阅前转向节点消息、后转向节点消息的转向单元总节点。The steering mechanism includes a front steering mechanism, a rear steering mechanism, and a steering controller that respectively controls the front steering mechanism and the rear steering mechanism, and the steering unit node includes a front steering node, a rear steering node, and subscribes to the messages of the front steering node and the rear steering respectively. The total node of the steering unit of the node message.
本发明的转向机构包括前转向机构、后转向机构以及分别控制前转向机构、后转向机构的转向控制器，并且机器人操作系统的转向单元节点针对性的设置有前转向节点、后转向节点，这样就可以实现对于前转向机构、后转向机构及其对应的转向控制器的单独控制，有利于产品的定制化设计，此外，本发明还设置了转向单元总节点，将前转向机构、后转向机构对应的节点消息统一发送给转向单元总节点再传输给通信节点，有利于减少数据通信的冗余， 降低消息传输的负载，提高通信效率。The steering mechanism of the present invention includes a front steering mechanism, a rear steering mechanism, and a steering controller that respectively controls the front steering mechanism and the rear steering mechanism, and the steering unit nodes of the robot operating system are specifically provided with front steering nodes and rear steering nodes, so that It is possible to realize the independent control of the front steering mechanism, the rear steering mechanism and their corresponding steering controllers, which is beneficial to the customized design of the product. Corresponding node messages are uniformly sent to the main node of the steering unit and then transmitted to the communication nodes, which is beneficial to reduce the redundancy of data communication, reduce the load of message transmission, and improve the communication efficiency.
所述灯光指示机构包括左转向灯、右转向灯、前照灯以及控制分别左转向灯、右转向灯、前照灯启停的灯光控制器，所述灯光单元节点包括左转向灯节点、右转向灯节点、前照灯节点以及分别订阅左转向灯节点消息、右转向灯节点消息、前照灯节点消息的灯光单元总节点。The light indicator mechanism includes a left turn signal, a right turn signal, a headlight, and a light controller that controls the start and stop of the left turn signal, the right turn signal, and the headlight, respectively, and the lighting unit node includes a left turn signal node, a right turn signal The turn signal node, the headlight node, and the total node of the lighting unit that subscribe to the left turn signal node message, the right turn signal node message, and the headlight node message respectively.
本发明的灯光指示机构包括左转向灯、右转向灯、前照灯以及控制分别左转向灯、右转向灯、前照灯启停的灯光控制器，并且机器人操作系统的灯光单元节点针对左转向灯、右转向灯、前照灯和其对应的电机控制器设有对应的节点，这样就可以实现对于不同的灯光进行单独控制，有利于产品的定制化设计，此外，本发明还设置了灯光单元总节点，将左转向灯、右转向灯、前照灯对应的节点消息统一发送给灯光单元总节点再传输给通信节点，有利于减少数据通信的冗余，降低消息传输的负载，提高通信效率。The light indication mechanism of the present invention includes a left turn signal, a right turn light, a headlight, and a light controller that controls the start and stop of the left turn signal, the right turn light, and the headlight respectively, and the lighting unit node of the robot operating system is directed to the left turn The lamp, the right turn signal, the headlamp and their corresponding motor controllers are provided with corresponding nodes, so that different lights can be individually controlled, which is beneficial to the customized design of the product. In addition, the present invention also sets the lights The total node of the unit sends the node messages corresponding to the left turn signal, right turn signal and headlight uniformly to the lighting unit total node and then transmits it to the communication node, which is beneficial to reduce the redundancy of data communication, reduce the load of message transmission, and improve communication. effectiveness.
所述动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息数据包括消息发送的时间戳、对应执行器的控制量以及对应的ID信息。The message data of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node includes the time stamp of the message sending, the control amount of the corresponding actuator, and the corresponding ID information.
本发明通过设立时间戳有利于实现在同一时间序列时，利用时间戳将各个子节点发送的消息按照时间戳的先后顺序录入父节点的消息中，并且对每个节点的消息设置ID信息，有利于区分消息来源，也便于后续执行器接收对应的控制量信息，此外本发明中，当执行器不需要进行操作时，发送的控制量信息为0，这样当节点接收完订阅节点发送的消息后，能够及时完成发送，保证了消息的传递的即时性。In the present invention, by setting up time stamps, it is beneficial to realize that in the same time series, the messages sent by each child node are entered into the messages of the parent node in the order of time stamps by using the time stamps, and ID information is set for the messages of each node, including It is helpful to distinguish the source of the message, and it is also convenient for the subsequent executor to receive the corresponding control quantity information. In addition, in the present invention, when the executor does not need to operate, the sent control quantity information is 0, so that after the node receives the message sent by the subscription node , can complete the sending in time, and ensure the immediacy of the message delivery.
所述通信节点通过调用DBC文件进行解析，让动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息根据时间戳的先后顺序将ID信息、控制量编码录入到CAN消息中，并将CAN消息发送给整车控制器。The communication node is parsed by calling the DBC file, so that the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node are entered into the ID information and the control quantity code according to the sequence of the time stamps. CAN message, and send the CAN message to the vehicle controller.
本发明通信节点的设立与DBC文件的编写，有利于实现同一时间序列各个节点消息的整合，避免在同一时间序列过程中发送多条CAN消息，造成通信数据冗余，大大提高了数据传输的效率，解决了CAN总线数据传输带宽的限制，保证了自走机器人平台通信的稳定性与即时性。The establishment of the communication node and the compilation of the DBC file in the present invention are beneficial to realize the integration of the messages of each node in the same time series, avoid sending multiple CAN messages in the same time series process, resulting in redundancy of communication data, and greatly improve the efficiency of data transmission , which solves the limitation of the data transmission bandwidth of the CAN bus and ensures the stability and immediacy of the communication of the self-propelled robot platform.
所述检测节点接收来自整车控制器反馈的CAN消息，通过调用DBC文件进行解析，对CAN消息进行解码得到各执行器的状态消息，并将状态消息分别发送到主题。The detection node receives the CAN message fed back from the vehicle controller, analyzes by calling the DBC file, decodes the CAN message to obtain the status message of each actuator, and sends the status message to the subject respectively.
本发明检测节点接收来自整车控制器反馈的CAN消息内容包括速度、转向值还有各执行机构的状态，有利于后续利用反馈的消息信息进行控制运算；本发明的另一种实施方式为检测节点除了将状态消息分别发送到主题外，也可以直接将状态消息分别发送需要进行控制运算的相关节点。The detection node of the present invention receives the CAN message content fed back from the vehicle controller, including the speed, the steering value and the state of each actuator, which is conducive to the subsequent use of the feedback message information for control operations; another embodiment of the present invention is to detect In addition to sending status messages to topics, nodes can also directly send status messages to related nodes that need to perform control operations.
如图2所示，本发明还提供了一种自走机器人平台控制系统的通信方法，包括下列步骤：As shown in Figure 2, the present invention also provides a communication method of the self-propelled robot platform control system, comprising the following steps:
S1：定义数据格式，根据整车控制器的信号规则完成DBC文件的编写；S1: Define the data format, and complete the writing of the DBC file according to the signal rules of the vehicle controller;
S2：完成机器人操作系统的节点消息订阅与接收，动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点订阅信号接收节点的消息或者接收通信接口发送的消息，通信节点分别订阅动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点的消息；S2: Complete the node message subscription and reception of the robot operating system. The power unit node, braking unit node, steering unit node, parking unit node, and lighting unit node subscribe to the message of the signal receiving node or receive the message sent by the communication interface. The communication node Subscribe to the messages of the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node respectively;
S3：建立机器人操作系统与整车控制器之间的通信，实现检测节点与通信节点和整车控制器通信；S3: Establish the communication between the robot operating system and the vehicle controller, and realize the communication between the detection node and the communication node and the vehicle controller;
S4：信号接收节点消息发送给动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点，动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点根据接收的消息确定对应执行器的控制量，将动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点将ID信息、时间戳和控制量的消息数据发送给通信节点；S4: The signal receiving node message is sent to the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node, the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node. The node determines the control amount of the corresponding actuator according to the received message, and sends the message data of ID information, time stamp and control amount to the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node to the communication node;
S5：通信节点调用并解析DBC文件，将动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息根据时间戳的先后顺序将ID信息、控制量编码成为can消息，并发送到整车控制器；S5: The communication node calls and parses the DBC file, and encodes the ID information and the control amount into the can message according to the order of the timestamps of the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node. , and sent to the vehicle controller;
S6：整车控制器接收到通信节点的CAN消息之后再解析成为动力机构、制动机构、转向机构、驻车机构、灯光指示机构的控制指令发送给上述机构，上述机构执行相关指令，并将反馈信号发送给整车控制器；S6: After receiving the CAN message from the communication node, the vehicle controller parses it into control commands of the power mechanism, braking mechanism, steering mechanism, parking mechanism, and light indicating mechanism, and sends it to the above-mentioned mechanism, and the above-mentioned mechanism executes the relevant instructions and sends the The feedback signal is sent to the vehicle controller;
S7：整车控制器接收上述执行机构的反馈信号再转换成CAN消息，发送给检测节点；S7: The vehicle controller receives the feedback signal of the above-mentioned actuator, converts it into a CAN message, and sends it to the detection node;
S8：检测节点调用DBC文件解析，将CAN消息进行解码转为检测节点消息，并将消息发送到主题。S8: The detection node invokes the DBC file parsing, decodes the CAN message and converts it into a detection node message, and sends the message to the topic.
所述自走机器人平台控制系统的通信方法的步骤S4包括以下步骤：Step S4 of the communication method of the self-propelled robot platform control system includes the following steps:
S41：信号接收节点消息发送给机器人操作系统各执行器对应的子节点，子节点根据接收到的消息，确定对应执行器的控制量；S41: The signal receiving node message is sent to the child node corresponding to each actuator of the robot operating system, and the child node determines the control amount of the corresponding actuator according to the received message;
本发明所述的执行器包括属于动力机构的位于左前、右前、左后、右后四个方位的驱动电机以及与驱动电机一一对应的电机控制器，属于制动机构的位于左前、右前、左后、右后四个方位的制动器、与制动器连接的制动总成以及用于控制制动总成的制动控制器，属于驻车机构的驻车控制器，属于转向机构的前转向机构、后转向机构以及分别控制前转向机构、后转向机构的转向控制器，属于灯光指示机构的左转向灯、右转向灯、前照灯以及控制分别左转向灯、右转向灯、前照灯启停的灯光控制器；The actuator described in the present invention includes a driving motor belonging to a power mechanism located in four directions of left front, right front, left rear, and right rear, and a motor controller corresponding to the driving motor one-to-one, and a braking mechanism located in the left front, right front, The brakes in the four directions of the left rear and the right rear, the brake assembly connected with the brake, and the brake controller for controlling the brake assembly, the parking controller belonging to the parking mechanism, and the front steering mechanism belonging to the steering mechanism , the rear steering mechanism and the steering controller that respectively controls the front steering mechanism and the rear steering mechanism, and the left turn signal, right turn signal, and headlight belonging to the light indicating mechanism, and control the left turn signal, right turn signal, and headlight turn on respectively. stop light controller;
所述子节点包括左前油门节点、右前油门节点、左后油门节点、右后油门节点、制动节 点、驻车节点、前转向节点、后转向节点、左转向灯节点、右转向灯节点和前照灯节点；The child nodes include left front throttle node, right front throttle node, left rear throttle node, right rear throttle node, brake node, parking node, front steering node, rear steering node, left turn signal node, right turn signal node and front lighting node;
S42：子节点发送消息给对应的父节点，所述子节点发送的消息数据包括时间戳和控制量，父节点调用DBC文件，根据时间戳将控制量信息编码录入到父节点消息中，转化为CAN信号，并且对每个父节点的CAN信号设定唯一的ID信息，生成新的消息数据，所述新的消息数据为CAN消息，所述新的消息数据为CAN消息的格式主要包括帧ID与CAN信号，所述消息数据包括时间戳、ID信息和控制量信息列表；S42: The child node sends a message to the corresponding parent node. The message data sent by the child node includes a timestamp and a control amount. The parent node calls the DBC file, and encodes the control amount information into the parent node message according to the timestamp, and converts it into CAN signal, and set unique ID information to the CAN signal of each parent node, generate new message data, the new message data is CAN message, and the format of the new message data is CAN message mainly including frame ID With the CAN signal, the message data includes a time stamp, ID information and a list of control amount information;
本发明的父节点包括动力单元总节点、制动单元总节点、转向单元总节点、驻车单元总节点和灯光单元总节点；The parent node of the present invention includes the total node of the power unit, the total node of the braking unit, the total node of the steering unit, the total node of the parking unit and the total node of the lighting unit;
S43：父节点将包括ID信息、时间戳和控制量信息列表的消息数据发送给通信节点。S43: The parent node sends the message data including the ID information, the time stamp and the control amount information list to the communication node.
本发明的通信方法通过时间戳的设定、通信节点和父节点的设立，保证了在一定时间序列中节点消息的整合，避免在同一时间序列过程中发送多条CAN消息，造成通信数据冗余，大大提高了数据传输的效率，解决了CAN总线数据传输带宽的限制，保证了自走机器人平台通信的稳定性与即时性，并且通过设定ID信息，保证了通信数据的唯一性，有利于区分消息来源，也便于后续执行器接收对应的控制量信息。The communication method of the present invention ensures the integration of node messages in a certain time series through the setting of time stamps, the establishment of communication nodes and parent nodes, and avoids sending multiple CAN messages in the same time series process, resulting in redundant communication data. , greatly improves the efficiency of data transmission, solves the limitation of CAN bus data transmission bandwidth, ensures the stability and immediacy of the communication of the self-propelled robot platform, and ensures the uniqueness of the communication data by setting the ID information, which is beneficial to Distinguishing the source of the message is also convenient for subsequent executors to receive the corresponding control quantity information.
以上显示和描述了本发明的基本原理、主要特征和本发明的优点。本行业的技术人员应该了解，本发明不受上述实施例的限制，上述实施例和说明书中描述的只是说明本发明的原理，在不脱离本发明精神和范围的前提下本发明还会有各种变化和改进，这些变化和改进都落入要求保护的本发明范围内。本发明要求保护范围由所附的权利要求书及其等同物界定。The foregoing has shown and described the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited by the above-mentioned embodiments. The above-mentioned embodiments and descriptions only illustrate the principle of the present invention. Such changes and improvements fall within the scope of the claimed invention. The claimed scope of the present invention is defined by the appended claims and their equivalents.

Claims (11)

  1. 一种自走机器人平台控制系统，包括机器人操作系统和线控系统，所述线控系统包括动力机构、制动机构、转向机构、驻车机构、灯光指示机构以及通过CAN总线与上述机构连接的整车控制器，其特征在于，所述机器人操作系统安装在上位机上，包括动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点，所述动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点均设有通信接口，所述机器人操作系统还包括实现机器人操作系统与整车控制器通信的通信节点和判断上述机构运行状态的检测节点，所述通信节点分别订阅动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点的消息，且与整车控制器保持通信，所述检测节点与整车控制器保持通信，且检测节点的消息发送到主题。A self-propelled robot platform control system, including a robot operating system and a wire control system, the wire control system includes a power mechanism, a braking mechanism, a steering mechanism, a parking mechanism, a light indicating mechanism, and a CAN bus connected to the above mechanism. The vehicle controller is characterized in that the robot operating system is installed on the host computer, and includes a power unit node, a braking unit node, a steering unit node, a parking unit node and a lighting unit node. The unit node, the steering unit node, the parking unit node and the lighting unit node are all provided with communication interfaces, and the robot operating system also includes a communication node for realizing the communication between the robot operating system and the vehicle controller and a detection node for judging the operation state of the above mechanism , the communication node subscribes to the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node respectively, and maintains communication with the vehicle controller, and the detection node maintains the vehicle controller. Communication, and the detection node's message is sent to the topic.
  2. 如权利要求1所述的自走机器人平台控制系统，其特征在于，还包括信号采集装置，所述机器人操作系统还包括接收并处理信号采集装置消息的信号接收节点，所述信号接收节点分别被动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点订阅。The self-propelled robot platform control system according to claim 1, further comprising a signal acquisition device, the robot operating system further comprising a signal receiving node for receiving and processing messages from the signal acquisition device, and the signal receiving nodes are respectively Power unit node, braking unit node, steering unit node, parking unit node and lighting unit node subscription.
  3. 如权利要求1所述的自走机器人平台控制系统，其特征在于，所述动力机构包括位于左前、右前、左后、右后四个方位的驱动电机以及与驱动电机一一对应的电机控制器，所述动力单元节点包括左前油门节点、右前油门节点、左后油门节点、右后油门节点以及分别订阅左前油门节点消息、右前油门节点消息、左后油门节点消息、右后油门节点消息的动力单元总节点。The self-propelled robot platform control system according to claim 1, wherein the power mechanism includes drive motors located in four directions: front left, front right, rear left, and rear right, and a motor controller corresponding to the driving motors one-to-one. , the power unit node includes the left front throttle node, the right front throttle node, the left rear throttle node, the right rear throttle node, and the power that subscribes to the left front throttle node message, the right front throttle node message, the left rear throttle node message, and the right rear throttle node message respectively. Element total node.
  4. 如权利要求1所述的自走机器人平台控制系统，其特征在于，所述制动机构包括位于左前、右前、左后、右后四个方位的制动器、与制动器连接的制动总成以及用于控制制动总成的制动控制器，所述制动单元节点包括制动节点以及订阅制动节点消息的制动总节点，所述驻车机构包括驻车控制器，所述驻车单元节点包括驻车节点以及订阅驻车节点消息的驻车总节点。The self-propelled robot platform control system according to claim 1, wherein the braking mechanism comprises brakes located in four directions: front left, front right, rear left, and rear right, a brake assembly connected to the brake, and a brake A brake controller for controlling a brake assembly, the brake unit node includes a brake node and a brake master node that subscribes to brake node messages, the parking mechanism includes a parking controller, and the parking unit The nodes include a parking node and a parking general node that subscribes to the parking node messages.
  5. 如权利要求1所述的自走机器人平台控制系统，其特征在于，如权利要求1所述的自走机器人平台控制系统，其特征在于，所述转向机构包括前转向机构、后转向机构以及分别控制前转向机构、后转向机构的转向控制器，所述转向单元节点包括前转向节点、后转向节点以及分别订阅前转向节点消息、后转向节点消息的转向单元总节点。The self-propelled robot platform control system according to claim 1, wherein the self-propelled robot platform control system according to claim 1, wherein the steering mechanism comprises a front steering mechanism, a rear steering mechanism and a A steering controller that controls the front steering mechanism and the rear steering mechanism, the steering unit nodes include a front steering node, a rear steering node, and a steering unit general node that subscribes to the messages of the front steering node and the rear steering node respectively.
  6. 如权利要求1所述的自走机器人平台控制系统，其特征在于，所述灯光指示机构包括左转向灯、右转向灯、前照灯以及控制分别左转向灯、右转向灯、前照灯启停的灯光控制器，所述灯光单元节点包括左转向灯节点、右转向灯节点、前照灯节点以及分别订阅左转向灯节点消息、右转向灯节点消息、前照灯节点消息的灯光单元总节点。The self-propelled robot platform control system according to claim 1, wherein the light indicating mechanism includes a left turn signal, a right turn signal, a headlight, and controls to control the left turn signal, the right turn signal, and the headlight turn on respectively. The stopped light controller, the lighting unit node includes a left turn signal node, a right turn signal node, a headlight node, and a lighting unit total that subscribes to the left turn signal node message, the right turn signal node message, and the headlight node message respectively. node.
  7. 如权利要求1所述的自走机器人平台控制系统，其特征在于，所述动力单元节点、制 动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息数据包括消息发送的时间戳、对应执行器的控制量以及对应的ID信息。The self-propelled robot platform control system according to claim 1, wherein the message data of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node includes a time stamp of message sending , corresponding to the control amount of the actuator and the corresponding ID information.
  8. 如权利要求7所述的自走机器人平台控制系统，其特征在于，所述通信节点通过调用DBC文件进行解析，让动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息根据时间戳的先后顺序将ID信息、控制量编码录入到CAN消息中，并将CAN消息发送给整车控制器。The self-propelled robot platform control system according to claim 7, wherein the communication node is parsed by calling a DBC file, so that the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit The message of the node records the ID information and the control quantity code into the CAN message according to the sequence of time stamps, and sends the CAN message to the vehicle controller.
  9. 如权利要求1所述的自走机器人平台控制系统，其特征在于，所述检测节点接收来自整车控制器反馈的CAN消息，通过调用DBC文件进行解析，对CAN消息进行解码得到各执行器的状态消息，并将状态消息分别发送到主题。The self-propelled robot platform control system according to claim 1, wherein the detection node receives the CAN message fed back from the vehicle controller, analyzes by calling the DBC file, and decodes the CAN message to obtain the information of each actuator. Status messages, and send status messages to topics separately.
  10. 一种自走机器人平台控制系统的通信方法，其特征在于，包括下列步骤：A communication method for a self-propelled robot platform control system, comprising the following steps:
    S1：定义数据格式，根据整车控制器的信号规则完成DBC文件的编写；S1: Define the data format, and complete the writing of the DBC file according to the signal rules of the vehicle controller;
    S2：完成机器人操作系统的节点消息订阅，动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点订阅信号接收节点的消息或者接收通信接口发送的消息，通信节点分别订阅动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点的消息；S2: Complete the node message subscription of the robot operating system. The power unit node, braking unit node, steering unit node, parking unit node, and lighting unit node subscribe to the message of the signal receiving node or receive the message sent by the communication interface, and the communication node subscribes respectively. Messages of power unit node, braking unit node, steering unit node, parking unit node and lighting unit node;
    S3：建立机器人操作系统与整车控制器之间的通信，实现检测节点与通信节点和整车控制器通信；S3: Establish the communication between the robot operating system and the vehicle controller, and realize the communication between the detection node and the communication node and the vehicle controller;
    S4：信号接收节点消息发送给动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点，动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点根据接收的消息确定对应执行器的控制量，将动力单元节点、制动单元节点、转向单元节点、驻车单元节点和灯光单元节点将ID信息、时间戳和控制量的消息数据发送给通信节点；S4: The signal receiving node message is sent to the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node, the power unit node, the braking unit node, the steering unit node, the parking unit node and the lighting unit node. The node determines the control amount of the corresponding actuator according to the received message, and sends the message data of ID information, time stamp and control amount to the power unit node, braking unit node, steering unit node, parking unit node and lighting unit node to the communication node;
    S5：通信节点调用并解析DBC文件，将动力单元节点、制动单元节点、转向单元节点、驻车单元节点、灯光单元节点的消息根据时间戳的先后顺序将ID信息、控制量编码成为can消息，并发送到整车控制器；S5: The communication node calls and parses the DBC file, and encodes the ID information and the control amount into the can message according to the order of the timestamps of the messages of the power unit node, the braking unit node, the steering unit node, the parking unit node, and the lighting unit node. , and sent to the vehicle controller;
    S6：整车控制器接收到通信节点的can消息之后再解析成为动力机构、制动机构、转向机构、驻车机构、灯光指示机构的控制指令发送给上述机构，上述机构执行相关指令，并将反馈信号发送给整车控制器；S6: After receiving the can message of the communication node, the vehicle controller parses it into control commands of the power mechanism, braking mechanism, steering mechanism, parking mechanism, and light indicating mechanism, and sends it to the above-mentioned mechanism, and the above-mentioned mechanism executes the relevant instructions and sends the The feedback signal is sent to the vehicle controller;
    S7：整车控制器接收上述执行机构的反馈信号再转换成CAN消息，发送给检测节点；S7: The vehicle controller receives the feedback signal of the above-mentioned actuator, converts it into a CAN message, and sends it to the detection node;
    S8：检测节点调用DBC文件解析，将CAN消息进行解码转为检测节点消息，并将消息发送到主题。S8: The detection node invokes the DBC file parsing, decodes the CAN message and converts it into a detection node message, and sends the message to the topic.
  11. 如权利要求10所述自走机器人平台控制系统的通信方法，其特征在于，步骤S4包括以下步骤：The communication method of the self-propelled robot platform control system according to claim 10, wherein step S4 comprises the following steps:
    S41：信号接收节点消息发送给机器人操作系统各执行器对应的子节点，子节点根据接收到的消息，确定对应执行器的控制量；S41: The signal receiving node message is sent to the child node corresponding to each actuator of the robot operating system, and the child node determines the control amount of the corresponding actuator according to the received message;
    所述子节点包括左前油门节点、右前油门节点、左后油门节点、右后油门节点、制动节点、驻车节点、前转向节点、后转向节点、左转向灯节点、右转向灯节点和前照灯节点；The child nodes include left front throttle node, right front throttle node, left rear throttle node, right rear throttle node, brake node, parking node, front steering node, rear steering node, left turn signal node, right turn signal node and front lighting node;
    S42：子节点发送消息给对应的父节点，所述子节点发送的消息数据包括时间戳和控制量，父节点调用DBC文件，根据时间戳将控制量信息编码录入到父节点消息中，转化为CAN信号，并且对每个父节点的CAN信号设定唯一的ID信息，生成新的消息数据，所述消息数据包括时间戳、ID信息和控制量信息列表；S42: The child node sends a message to the corresponding parent node. The message data sent by the child node includes a timestamp and a control amount. The parent node calls the DBC file, and encodes the control amount information into the parent node message according to the timestamp, and converts it into CAN signal, and set unique ID information to the CAN signal of each parent node, generate new message data, and described message data includes time stamp, ID information and control quantity information list;
    本发明的父节点包括动力单元总节点、制动单元总节点、转向单元总节点、驻车单元总节点和灯光单元总节点；The parent node of the present invention includes the total node of the power unit, the total node of the braking unit, the total node of the steering unit, the total node of the parking unit and the total node of the lighting unit;
    S43：父节点将包括ID信息、时间戳和控制量信息列表的消息数据发送给通信节点。S43: The parent node sends the message data including the ID information, the time stamp and the control amount information list to the communication node.
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